A map element association method and device, electronic equipment and storage medium

Abstract

The application relates to a map element association method and device, electronic equipment and a storage medium, and comprises a map element association method. The method comprises the following steps: acquiring a to-be-associated road object element and different road line elements; according to the spatial position relationship between the to-be-associated road object element and the different road line elements, the to-be-associated road object element is classified to obtain a classification result of the to-be-associated road object element; acquiring association information corresponding to the classification result; the association information represents a physical association relationship between the different road line elements and the to-be-associated road object element; and based on the association information, the to-be-associated road object element and the different road line elements are physically associated, the efficiency and accuracy of physical association are improved, and the association cost is reduced.

Description

Technical Field

[0001] This application relates to the field of map technology, and in particular to a method, apparatus, electronic device and storage medium for associating map features. Background Technology

[0002] High-precision maps, essential sensor data for autonomous driving, primarily consist of road line features representing the driving area and road object features used to assist driving. Road line features include reference lines, lane center lines, and lane boundary lines; road object features include directional arrows, stop lines, road boundary lines, pedestrian crossings, poles, and parking spaces. When creating high-precision maps, it is necessary to physically associate road object features with road line features to establish spatial correlation, serving the subsequent compilation of high-precision map data. In existing technologies, after obtaining the data of road objects and road line features, a first projection of the road object and a second projection of the road within the same location area are plotted, and the number of second projections intersecting with the first projection is determined. Then, based on the number of second projections, the association between the road object and the road is established.

[0003] However, high-precision maps include a wide variety of road object elements with inconsistent physical association rules. Using a single method makes it difficult to automatically associate all road object elements with road line elements, which reduces association efficiency and accuracy, increases association costs, and consumes system resources during the association process. Summary of the Invention

[0004] In view of this, this application proposes a map feature association method, apparatus, electronic device and storage medium, which can at least realize the automatic association of road object features and road line features, improve association efficiency and accuracy, reduce association costs and reduce the consumption of system resources during the association process.

[0005] According to one aspect of this application, a map feature association method is provided, the method comprising:

[0006] Obtain the elements of the road object to be associated and the elements of different road lines;

[0007] Based on the spatial relationship between the road object elements to be associated and the different road line elements, the road object elements to be associated are classified to obtain the classification results of the road object elements to be associated.

[0008] Obtain the association information corresponding to the classification result; the association information represents the physical relationship between the different road line elements and the road object elements to be associated.

[0009] Based on the association information, a physical association is established between the road object elements to be associated and the different road line elements.

[0010] Furthermore, the different road line elements include road reference lines and lane center lines. The step of classifying the road object elements to be associated based on the spatial relationship between the road object elements to be associated and the different road line elements, to obtain the classification result of the road object elements to be associated, includes:

[0011] Based on the spatial relationship between the road object elements to be associated and the different road line elements, the road object elements to be associated are classified to obtain a first road object element that is physically associated with the road reference line and a second road object element that is physically associated with the lane center line.

[0012] The first road object element and the second road object element are determined as the classification results of the road object elements to be associated.

[0013] Furthermore, the association information characterizes the physical association between the first road object element and the road reference line, and the step of establishing physical associations between the road object element to be associated and different road line elements based on the association information includes:

[0014] Obtain scene information;

[0015] Based on the scene information, different scenes are classified to obtain scene classification results;

[0016] From the road object elements to be associated and the different road line elements, respectively obtain the target first road object element and the target road reference line corresponding to the scene classification result;

[0017] Based on the association information, a physical association is established between the target first road object element and the target road reference line.

[0018] Furthermore, the scene classification result indicates that the scene is an intersection scene, and the association information is information that associates the target first road object element and the target road reference line based on the direction coefficient of entering the intersection and the direction coefficient of exiting the intersection. The step of establishing a physical association between the target first road object element and the target road reference line based on the association information includes:

[0019] The entry direction coefficient and exit direction coefficient of the road boundary object element and the road reference line element outside the intersection in the scenario are determined respectively; the road boundary object element outside the intersection is the road boundary element outside the intersection that intersects with the target first road object element, and the road reference line element outside the intersection is the road reference line element outside the intersection that intersects with the road reference line; the entry direction coefficient indicates that the vehicle enters the intersection, and the exit direction coefficient indicates that the vehicle exits the intersection;

[0020] When the inbound direction coefficient corresponding to the road boundary element outside the intersection and the inbound direction coefficient corresponding to the road reference line element outside the intersection are equal, and the outbound direction coefficient corresponding to the road boundary element outside the intersection and the outbound direction coefficient corresponding to the road reference line element outside the intersection are equal, a physical association is established between the target first road object element and the target road reference line.

[0021] Furthermore, the scene classification result indicates that the scene is a straight road cluster scene, and the association information is information that associates the target first object element with the target road reference line based on the distance relationship between the target first object element and the target road reference line. Establishing a physical association between the target first road object element and the target road reference line based on the association information includes:

[0022] Based on the straight road cluster scenario, a first road buffer zone is constructed; the straight road cluster includes multiple straight roads, and the multiple straight roads have different travel directions;

[0023] A set of road reference lines is determined based on the first road buffer zone; the road reference lines in the set of road reference lines include first road reference lines that intersect the boundary of the first road buffer zone and second road reference lines contained in the first road buffer zone;

[0024] Determine the perpendicular line of the plane corresponding to the target first road object element;

[0025] From the first road reference line and the second road reference line, determine the candidate road reference line that intersects with the plane perpendicular line;

[0026] Based on the planar distance between the candidate road reference line and the target first road object element, a first planar distance between the target first object element and the target road reference line is determined;

[0027] Based on the association information and the first planar distance, a physical association is established between the target first road object element and the target road reference line.

[0028] Furthermore, establishing a physical association between the target first road object element and the target road reference line based on the association information and the first planar distance includes:

[0029] Based on the first planar distance and the target first road object features, a second road buffer is established; the second road buffer includes road boundary object features.

[0030] Determine the target road boundary object features that intersect the plane perpendicular line from the second road buffer zone;

[0031] Determine the second planar distance between the target road boundary object feature and the target first road object feature;

[0032] If the second planar distance between the target road boundary object element and the target first road object element is greater than the first planar distance, a physical association is established between the target first road object element and the target road reference line.

[0033] Furthermore, the association information characterizes the physical association between the lane centerline and the second road object element. The step of establishing physical associations between the road object element to be associated and different road line elements based on the association information includes:

[0034] Determine the target lane centerline associated with the second road object element; the target lane centerline is either a first target lane centerline that intersects with the second road object element, or a second target lane centerline that corresponds to the main direction line of the second road object element.

[0035] Establish a physical association between the centerline of the first target lane or the centerline of the second target lane and the second road object element.

[0036] Furthermore, determining the target lane centerline associated with the second road object element includes:

[0037] When the type of the second road object element is a stop line object element, determine the center line of the first target lane that intersects with the stop line object element;

[0038] When the type of the second road object element is a directional arrow object element or a parking space object element, the main direction line of the directional arrow object element or the parking space object element, and the perpendicular line of the main direction line are determined; the main direction line is used to characterize the direction of the directional arrow object element or the parking space object element.

[0039] The center line of the second target lane is determined based on the main direction line and the perpendicular line to the main direction line;

[0040] The center lines of the first and second target lanes are defined as the target lane center lines.

[0041] Furthermore, establishing the physical association between the first target lane centerline or the second target lane centerline and the second road object element includes:

[0042] Establish a physical association between the centerline of the first target lane and the stop line object element; or,

[0043] Establish a physical association between the centerline of the second target lane and the directional arrow object element or the parking space object element.

[0044] According to another aspect of this application, a map feature association device is provided, the device comprising:

[0045] The feature acquisition module is used to acquire the features of the road objects to be associated and the features of different road lines;

[0046] The classification module is used to classify the road object elements to be associated based on the spatial positional relationship between the road object elements to be associated and the different road line elements, and to obtain the classification result of the road object elements to be associated.

[0047] The association information acquisition module is used to acquire association information corresponding to the classification result; the association information represents the physical association relationship between the different road line elements and the road object elements to be associated.

[0048] The physical association module is used to establish physical associations between the road object elements to be associated and the different road line elements based on the association information.

[0049] According to another aspect of this application, an electronic device for map feature association is provided, comprising: a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the map feature association method described above.

[0050] According to another aspect of this application, a storage medium is provided that stores computer program instructions thereon, wherein the computer program instructions, when executed by a processor, implement the above-described map feature association method.

[0051] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0052] Implementing this application will have the following beneficial effects:

[0053] This application embodiment classifies the road object elements to be associated and, based on the classification results and association information, realizes automatic physical association between road object elements and road line elements, thereby improving association efficiency and accuracy, reducing association costs, and minimizing the consumption of system resources during the association process.

[0054] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0055] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0056] Figure 1 This is a flowchart illustrating a map feature association method provided in an embodiment of this application.

[0057] Figure 2 This is a classification diagram of a map feature association method provided in an embodiment of this application.

[0058] Figure 3 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 1 .

[0059] Figure 4 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 2 .

[0060] Figure 5 This is a scenario illustration of a map feature association method provided in an embodiment of this application. Figure 1 .

[0061] Figure 6 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 3 .

[0062] Figure 7 This is a scenario illustration of a map feature association method provided in an embodiment of this application. Figure 2 .

[0063] Figure 8 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 4 .

[0064] Figure 9 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 5 .

[0065] Figure 10This is a scenario illustration of a map feature association method provided in an embodiment of this application. Figure 3 .

[0066] Figure 11 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 6 .

[0067] Figure 12 This is a schematic diagram of the structure of a map feature association device provided in an embodiment of this application. Detailed Implementation

[0068] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0069] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0070] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0071] Figure 1 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. This specification provides method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. In actual system or server products, the method can be executed sequentially according to the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment). For example, as shown... Figure 1 As shown, the method may include:

[0072] S101. Obtain the elements of the road object to be associated and the elements of different road lines;

[0073] Specifically, road objects can be fixed facilities around the road that provide auxiliary reference and guidance for traffic and ensure driving safety, such as traffic signs, traffic lights, guardrails, and curbs. These road objects can all be considered as road object elements to be associated, meaning the road objects that need to establish a relationship with the road. The road line elements include road reference lines and lane center lines, which also need to be associated with the road object elements.

[0074] S103. Based on the spatial relationship between the above-mentioned road object elements to be associated and the above-mentioned different road line elements, classify the above-mentioned road object elements to be associated to obtain the classification results of the above-mentioned road object elements to be associated.

[0075] The classification of the aforementioned road object elements to be associated can be based on the spatial positional relationship between the aforementioned road object elements to be associated and the aforementioned different road line elements. The classification results of the aforementioned road object elements to be associated first classify the road object elements to be associated. Different classification categories correspond to different physical association rules. The road object elements to be associated are physically associated according to different physical association rules, thereby improving the accuracy and efficiency of physical association and reducing resource consumption.

[0076] The classification results of the above-mentioned road object elements to be associated can be road object elements to be associated with road reference lines, and road object elements to be associated with lane center lines.

[0077] In an optional embodiment, the different road line elements include road reference lines and lane center lines, and S103 includes:

[0078] Based on the spatial relationship between the above-mentioned road object elements to be associated and the above-mentioned different road line elements, the above-mentioned road object elements to be associated are classified to obtain the first road object element that is physically associated with the above-mentioned road reference line and the second road object element that is physically associated with the above-mentioned lane center line.

[0079] The first road object element and the second road object element are determined as the classification results of the road object elements to be associated.

[0080] Figure 2 This is a classification diagram illustrating a map feature association method provided in an embodiment of this application. For example... Figure 2As shown, the different road line elements include road reference lines and lane center lines. The road reference line indicates road attributes and can be understood as the projection of the road center line onto a horizontal plane, reflecting the road's top-down shape. The lane center line indicates a specific lane. The first road object element physically associated with the road reference line indicates the maximum drivable area of ​​a road segment in the same direction of travel; specifically, it may include road boundary lines, guardrails, curbs, horizontal walls, etc. Physically associating this first road object element with the road reference line allows vehicles to quickly locate the road boundary line of the road they are on, providing better left and right road boundary lookup.

[0081] The lane centerline mentioned above is used to indicate a specific lane. The second road object elements physically associated with the lane centerline can include stop line object elements, directional arrow object elements, and roadside parking space object elements. Stop line object elements need to be associated with a specific lane; directional arrow object elements are generally used to indicate the direction of travel in a specific lane and also need to be associated with that lane; and roadside parking space object elements need to be associated with the specific lane used for parking. Therefore, stop line object elements, directional arrow object elements, and roadside parking space object elements all need to be associated with specific lanes.

[0082] S105. Obtain the association information corresponding to the above classification results; the above association information represents the physical association relationship between the above different road line elements and the above road object elements to be associated.

[0083] In one implementation, the aforementioned association information characterizes the physical association between the first road object element and the road reference line;

[0084] In another implementation, the aforementioned association information characterizes the relationship between the aforementioned second road object element and the aforementioned lane centerline.

[0085] S107. Based on the above-mentioned association information, establish physical associations between the above-mentioned road object elements to be associated and the above-mentioned different road line elements.

[0086] Figure 3 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 1 ,like Figure 3 As shown, in an optional embodiment, the specific process of a map feature association method may be:

[0087] S301. Obtain the elements of the road object to be associated and the elements of different road lines;

[0088] S303. Obtain scene classification results;

[0089] Specifically, based on point cloud data collected by mobile measurement and acquisition equipment, the scene can be coarsely classified. Furthermore, based on the principle that the elevation difference between the lowest points of the aforementioned different road line elements and the aforementioned road object elements to be associated is less than a preset value, high-precision map object elements and road line elements in different scenes can be further identified to obtain the target first road object element and the target road reference line. This preset value is usually set according to the vehicle's height; for example, considering the uphill and downhill slopes of an elevated bridge, this preset value can be set to 1.0m.

[0090] S305. Classify the above-mentioned road object elements to be associated to obtain the classification results;

[0091] S307. Obtain the association information corresponding to the above classification results; the above association information represents the physical association relationship between different road line elements and the road object elements to be associated;

[0092] S309. Based on the above-mentioned association information and scene classification results, establish physical associations between the classification results of the above-mentioned at least two road object elements and the above-mentioned different road line elements.

[0093] In an optional embodiment, Figure 4 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 2 ,like Figure 4 As shown, the aforementioned association information characterizes the physical relationship between the aforementioned first road object element and the aforementioned road reference line. S107 may include:

[0094] S10701. Obtain scene information;

[0095] The aforementioned scenario information can be point cloud data collected by mobile measurement and acquisition devices.

[0096] S10703. Based on the above scene information, classify different scenes to obtain scene classification results;

[0097] The above scenario classification results can include intersection scenarios and up / down road scenarios, etc.

[0098] S10705. From the above-mentioned road object elements to be associated and the above-mentioned different road line elements, respectively obtain the target first road object element and the target road reference line corresponding to the above-mentioned scene classification results;

[0099] Specifically, based on the principle that the elevation difference between the lowest points of the aforementioned different road line elements and the aforementioned road object elements to be associated is less than a preset value, high-precision map object elements and road line elements in different scenarios can be further identified to obtain the target first road object element and the target road reference line. This preset value is usually set according to the height of the vehicle. For example, when considering the uphill and downhill slopes of an elevated bridge, this preset value can be set to 1.0m.

[0100] S10707. Based on the above-mentioned related information, establish a physical association between the above-mentioned target first road object elements and the above-mentioned target road reference lines.

[0101] By classifying scenes and filtering road object elements and road line elements to be associated based on the scene classification results, the accuracy and efficiency of physical association are improved, redundant storage is reduced, and resource consumption is reduced.

[0102] Figure 5 This is a scenario illustration of a map feature association method provided in an embodiment of this application. Figure 1 ,like Figure 5 As shown, in an optional embodiment, the scene classification result indicates that the scene is an intersection scene. Figure 6 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 3 ,like Figure 6 As shown, the determination result of whether it belongs to an intersection is that it belongs to an intersection. The above-mentioned association information is based on the direction coefficient of entering the intersection and the direction coefficient of exiting the intersection, and is used to associate the above-mentioned target first road object element and the above-mentioned target road reference line. S10707 may include:

[0103] Determine the inbound and outbound direction coefficients for the road boundary object elements and road reference line elements outside the intersection in the above intersection scenario.

[0104] The aforementioned road boundary object elements outside the intersection are the road boundary elements outside the intersection that intersect with the aforementioned target first road object elements; the aforementioned road reference line elements outside the intersection are the road reference line elements outside the intersection that intersect with the aforementioned road reference lines; the aforementioned entry intersection direction coefficient indicates that a vehicle is entering the intersection; the aforementioned exit intersection coefficient indicates that a vehicle is exiting the intersection.

[0105] like Figure 5 As shown, the aforementioned road boundary object features outside the intersection can be road boundary object features outside the intersection area represented by the dashed box, including the entry boundary and the exit boundary. The aforementioned road reference line features outside the intersection are... Figure 5 The solid-line arrows indicate the entry and exit points, labeled with the text "Entry Point" and "Exit Point." The direction coefficient for an entry point can be represented by t. i1 The directional coefficient for exiting an intersection can be represented by t.i2 Let represent the direction coefficient of the road boundary element outside the intersection intersecting with the first road object element mentioned above, where i is 0, dx represents the difference in the horizontal coordinates of the road boundary element or the road reference line element outside the intersection, and dy represents the difference in the vertical coordinates of the road boundary element or the road reference line element. The direction coefficients of the road boundary element outside the intersection and the road reference line element outside the intersection, respectively, can be determined according to the following formulas (1) and (2):

[0106]

[0107]

[0108] When the inbound direction coefficient corresponding to the road boundary element outside the intersection is equal to the inbound direction coefficient corresponding to the road reference line element outside the intersection, and the outbound direction coefficient corresponding to the road boundary element outside the intersection is equal to the outbound direction coefficient corresponding to the road reference line element outside the intersection, a physical association is established between the target first road object element and the target road reference line.

[0109] The directional coefficient of the road boundary element outside the intersection can be expressed as t 01 The exit direction coefficient of the road boundary element outside the intersection can be expressed as t. 02 The directional coefficient for the road reference line element outside the intersection can be expressed as t. 11 The exit direction coefficient of the road reference line element outside the intersection can be expressed as t. 12 When the inbound direction coefficient corresponding to the aforementioned road boundary element outside the intersection is equal to the inbound direction coefficient corresponding to the aforementioned road reference line element outside the intersection, and the outbound direction coefficient corresponding to the aforementioned road boundary element outside the intersection is equal to the outbound direction coefficient corresponding to the aforementioned road reference line element outside the intersection, i.e., t 01 =t 11 And t 02 =t 12 In this case, a physical association is established between the aforementioned target first road object elements and the aforementioned target road reference lines.

[0110] like Figure 6 As shown, when the judgment result is an intersection, the direction coefficients for entering and exiting the intersection are used, and a road reference line that meets the requirements is found to establish a physical relationship.

[0111] Figure 7This is a scenario illustration of a map feature association method provided in an embodiment of this application. Figure 2 ,like Figure 6 As shown, the result of determining whether it is an intersection is no, as... Figure 7 As shown, in an optional embodiment, the scene classification result indicates that the scene is a straight road cluster scene, and the association information is information that associates the target first object element with the target road reference line based on the distance relationship between the target first object element and the target road reference line. Figure 8 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 4 ,like Figure 8 As shown, S10707 may include:

[0112] S801. Based on the straight road cluster scenario described above, construct a first road buffer zone; the straight road cluster includes multiple straight roads, and the driving directions of the multiple straight roads are different;

[0113] like Figure 7 As shown, the aforementioned straight-ahead road cluster can be composed of both uphill and downhill roads. The aforementioned target first road object element can be physical isolation facilities such as road boundary lines and guardrails. Specifically, based on the aforementioned straight-ahead road cluster scenario, constructing the first road buffer zone can be achieved by constructing first road buffer zones with a certain width on both the left and right sides of the aforementioned target first road object element. This certain width is a preset value, for example, 30m. Figure 6 As shown, this certain width can be represented by the left and right lateral direction coefficient G. By establishing a first road buffer zone, road reference lines are initially screened, reducing data processing volume and improving association efficiency. Figure 8 As shown, a first road buffer zone can be established on the right side of the road boundary line.

[0114] S803. Determine a set of road reference lines based on the first road buffer zone; the road reference lines in the set of road reference lines include the first road reference lines that intersect with the boundary of the first road buffer zone and the second road reference lines contained in the first road buffer zone;

[0115] The aforementioned set of road reference lines can be represented by P. For example... Figure 6 As shown, the above set of road reference lines may include the set of road reference lines P on the left. l and the right-hand road reference line P r .like Figure 7 As shown, a first road buffer zone can be established to the right of the road boundary line. In this case, the road reference line set P can include road reference lines indicating the uphill road and road reference lines indicating the downhill road.

[0116] S805. Determine the plane perpendicular line corresponding to the first road object element of the above-mentioned target;

[0117] The aforementioned target first road object element may contain m nodes, where m is a positive integer, and the nodes on the aforementioned target first road object element can be represented as O. i Let i = 1…m. Pass through each node O… i Draw perpendicular lines to the aforementioned target first road object elements, and define these perpendicular lines as the plane perpendicular lines corresponding to the aforementioned target first road object elements.

[0118] S807. From the first road reference line and the second road reference line, determine the candidate road reference line that intersects with the plane perpendicular line;

[0119] When a road reference line in the set P of road reference lines intersects with the aforementioned plane perpendicular line, it is considered a candidate road reference line.

[0120] S809. Based on the planar distance between the candidate road reference line and the target first road object element, determine the first planar distance between the target first object element and the target road reference line;

[0121] The planar distance between the aforementioned candidate road reference line and the aforementioned target first road object element can be represented by D. XY The planar distance can be determined based on equation (3).

[0122]

[0123] When the length of the aforementioned candidate road reference line is greater than the length of the aforementioned target first road object element, n is the number of nodes of the aforementioned target first road object element; conversely, n is the number of nodes of the aforementioned candidate road reference line; [X] 1i Y 1i ] represents the planar coordinates of the node on the aforementioned candidate road reference line or the aforementioned target first road object element corresponding to n, [X 0i Y 0i ] is the planar coordinate of the projection point of the node onto another feature; i = 1…n. When the planar distance between the above candidate road reference line and the above target first road object feature meets the preset conditions, the above candidate road reference line is taken as the target road reference line, and the planar distance between the above candidate road reference line and the above target first road object feature is taken as the first planar distance.

[0124] S8011. Based on the above-mentioned association information and the above-mentioned first plane distance, establish a physical association between the above-mentioned target first road object element and the above-mentioned target road reference line.

[0125] Figure 9 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 5 ,like Figure 9 As shown, S8011 may include:

[0126] S901. Based on the above-mentioned planar distance and the above-mentioned target first road object elements, establish a second road buffer zone; the above-mentioned second road buffer zone includes road boundary object elements;

[0127] Based on the aforementioned target first road object elements, and using D XY The left or right buffer is constructed for the width. The selection of the left or right buffer is similar to the selection of the first buffer in S703, and will not be repeated here.

[0128] S903. Determine the target road boundary object elements that intersect the aforementioned plane perpendicular line from the aforementioned second road buffer zone;

[0129] When the road boundary object element within the second road buffer zone intersects with the plane perpendicular line, the road boundary object element is identified as the target road boundary object element.

[0130] S905. Determine the second planar distance between the aforementioned target road boundary object elements and the aforementioned target first road object elements;

[0131] The calculation method for the second planar distance is the same as that for the first planar distance in S709. This second planar distance can be represented by D′. XY To express.

[0132]

[0133] When the length of the aforementioned target road boundary object element is greater than the length of the aforementioned target first road object element, n is the number of nodes of the aforementioned target first road object element; otherwise, n is the number of nodes of the aforementioned target road boundary object element; [X′ 1i ,Y′ 1i ] represents the planar coordinates of the node on the aforementioned target road boundary object element or the aforementioned target first road object element corresponding to n, [X′ 0i ,Y′ 0i [Then] represents the planar coordinates of the projection point of the node onto another feature; i = 1…n. For example… Figure 6 As shown, it is necessary to traverse all target road boundary object elements.

[0134] S907. When the second plane distance between the target road boundary object element and the target first road object element is greater than the first plane distance, a physical association is established between the target first road object element and the target road reference line.

[0135] That is, when the second plane distance between all the above-mentioned target road boundary object elements and the above-mentioned target first road object elements is greater than the above-mentioned first plane distance, the above-mentioned target first road object elements and the above-mentioned target road reference lines are physically associated.

[0136] By comparing the distance between the first plane and the distance between the second plane, it is ensured that there are no other road object elements between the target first road object element and the target road reference line.

[0137] Figure 10 This is a scenario illustration of a map feature association method provided in an embodiment of this application. Figure 3 In an optional embodiment, the aforementioned association information characterizes the physical association between the lane centerline and the second road object element. Figure 11 This is a flowchart illustrating a map feature association method provided in an embodiment of this application. Figure 6 ,like Figure 11 As shown, S107 may include:

[0138] S1101. Determine the target lane centerline associated with the aforementioned second road object element; the aforementioned target lane centerline is either the first target lane centerline intersecting with the aforementioned second road object element, or the second target lane centerline corresponding to the main direction line of the aforementioned second road object element.

[0139] Specifically, S1101 may include:

[0140] When the type of the second road object element is a stop line object element, the center line of the first target lane that intersects with the stop line object element is determined.

[0141] like Figure 10 As shown in the diagram, A and B indicate the stop line object elements, and L1 and L2 indicate the lane center lines. Lane center line L1 intersects with stop line object element A and is the first target lane center line intersecting with stop line object element A.

[0142] When the type of the second road object element is a directional arrow object element or a parking space object element, the main direction line of the directional arrow object element or the parking space object element and the perpendicular line of the main direction line are determined; the main direction line is used to characterize the direction of the directional arrow object element or the parking space object element.

[0143] like Figure 10 As shown, T1, T2, T3, T4, and T5 are parking space object elements, F is a directional arrow object element, X1 is the main direction line of the parking space object element, and X2 is the main direction line of the directional arrow object element. Take any node on the main direction line and draw a perpendicular line to the main direction line through the node.

[0144] Based on the aforementioned main direction line and its perpendicular line, the center line of the aforementioned second target lane is determined;

[0145] Specifically, the perpendicular lines to the center line of the second target lane and the main direction line intersect, and the distance between the center line of the second target lane and the main direction line meets a preset condition. This preset condition may be that the distance between the center line of the second target lane and the main direction line is the shortest among the distances from the center line of the lane intersecting the perpendicular lines of the main direction line to the main direction line. For example... Figure 10 As shown, L1 is the lane centerline that is shortest to the main direction line of the direction arrow object element and intersects with the perpendicular line of the main direction line of the direction arrow object element. Therefore, the target lane centerline corresponding to the above-mentioned direction arrow object element F is L1. Similarly, the target lane centerlines corresponding to the parking space object elements T1 to T5 are L3.

[0146] The center lines of the first and second target lanes are defined as the target lane center lines.

[0147] S1103. Establish the physical relationship between the aforementioned first target lane centerline or the aforementioned second target lane centerline and the aforementioned second road object element.

[0148] Specifically, S1103 may include:

[0149] Establish a physical relationship between the centerline of the first target lane and the stop line object elements; or,

[0150] Establish a physical connection between the centerline of the second target lane and the directional arrow object element or the parking space object element.

[0151] like Figure 10 As shown, the parking line object element B is physically associated with the lane center line L2, the parking line object element A is physically associated with the lane center lines L1 and L3, the parking space object elements T1 to T5 are physically associated with the lane center line L3, and the directional arrow object element F is physically associated with the lane center line L1. Figure 12 This is a schematic diagram of the structure of a map feature association device provided in an embodiment of this application, such as... Figure 12 As shown in the figure, this application embodiment also provides a map feature association device, which may include:

[0152] The feature acquisition module 1201 is used to acquire the features of the road objects to be associated and the features of different road lines;

[0153] The classification module 1202 is used to classify the road object elements to be associated based on the spatial positional relationship between the road object elements to be associated and the different road line elements, and to obtain the classification result of the road object elements to be associated.

[0154] The association information acquisition module 1203 is used to acquire association information corresponding to the classification result; the association information represents the physical association relationship between the different road line elements and the road object elements to be associated.

[0155] The physical association module 1204 is used to establish physical associations between the road object elements to be associated and the different road line elements based on the association information.

[0156] In an optional embodiment, the aforementioned different road line elements include road reference lines and lane center lines. The classification module 1202, based on the spatial relationship between the road object elements to be associated and the aforementioned different road line elements, classifies the road object elements to be associated to obtain a classification result. The classification module 1202 includes:

[0157] The first classification unit is used to classify the road object elements to be associated according to the spatial positional relationship between the road object elements to be associated and the different road line elements to obtain the first road object elements that are physically associated with the road reference line and the second road object elements that are physically associated with the lane center line.

[0158] The determining unit is used to determine that the first road object element and the second road object element are the classification results of the road object elements to be associated.

[0159] In an optional embodiment, the aforementioned association information characterizes the physical association relationship between the first road object element and the road reference line, and the aforementioned physical association module 1204 includes:

[0160] Scene information acquisition unit, used to acquire scene information;

[0161] The scene classification unit is used to classify different scenes based on the above scene information to obtain scene classification results;

[0162] The element acquisition unit is used to acquire the target first road object element and the target road reference line corresponding to the above scene classification result from the above-mentioned road object elements to be associated and the above-mentioned different road line elements, respectively.

[0163] The association unit is used to establish a physical association between the target first road object element and the target road reference line based on the above association information.

[0164] In an optional embodiment, the scene classification result indicates that the scene is an intersection scene, and the association information is information that associates the target first road object element and the target road reference line based on the direction coefficient of entering the intersection and the direction coefficient of exiting the intersection. The association unit includes:

[0165] The coefficient determination unit is used to determine the entry direction coefficient and exit direction coefficient of the road boundary object element and the road reference line element outside the intersection, respectively, in the above scenario; the road boundary object element outside the intersection is the road boundary element outside the intersection that intersects with the target first road object element, and the road reference line element outside the intersection is the road reference line element outside the intersection that intersects with the road reference line; the entry direction coefficient indicates that the vehicle enters the intersection, and the exit direction coefficient indicates that the vehicle exits the intersection.

[0166] The first association unit is used to establish a physical association between the target first road object element and the target road reference line when the inbound direction coefficient corresponding to the road boundary element outside the intersection and the inbound direction coefficient corresponding to the road reference line element outside the intersection are equal, and the outbound direction coefficient corresponding to the road boundary element outside the intersection and the outbound direction coefficient corresponding to the road reference line element outside the intersection are equal.

[0167] In an optional embodiment, the scene classification result indicates that the scene is a straight road cluster scene, and the association information is information that associates the target first object element with the target road reference line based on the distance relationship between the target first object element and the target road reference line. The association unit includes:

[0168] The first buffer zone construction unit is used to construct a first road buffer zone based on the straight road cluster scenario described above; the straight road cluster includes multiple straight roads with different travel directions.

[0169] The set determination unit is used to determine a set of road reference lines based on the first road buffer zone mentioned above; the road reference lines in the set of road reference lines include first road reference lines that intersect the boundary of the first road buffer zone and second road reference lines contained in the first road buffer zone.

[0170] The perpendicular line determination unit is used to determine the plane perpendicular line corresponding to the above-mentioned target first road object element;

[0171] The candidate reference line determination unit is used to determine, from the first road reference line and the second road reference line, a candidate road reference line that intersects with the plane perpendicular line.

[0172] The first planar distance determination unit is used to determine the first planar distance between the target first object element and the target road reference line based on the planar distance between the candidate road reference line and the target first road object element.

[0173] The second association unit is used to establish a physical association between the target first road object element and the target road reference line based on the above association information and the above first plane distance.

[0174] In an optional embodiment, the second associated unit includes:

[0175] The second buffer zone determination unit is used to establish a second road buffer zone based on the above-mentioned average planar distance and the above-mentioned target first road object features; the second road buffer zone includes road boundary object features;

[0176] The target road boundary object feature determination unit is used to determine the target road boundary object features that intersect with the plane perpendicular line from the second road buffer zone.

[0177] The second planar distance determination unit is used to determine the second planar distance between the aforementioned target road boundary object element and the aforementioned target first road object element;

[0178] The third association unit is used to establish a physical association between the target first road object element and the target road reference line when the second plane distance between the target road boundary object element and the target first road object element is greater than the first plane distance.

[0179] In an optional embodiment, the aforementioned association information characterizes the physical association relationship between the lane centerline and the second road object element, and the aforementioned physical association module 1204 includes:

[0180] The target lane centerline determination unit is used to determine the target lane centerline associated with the aforementioned second road object element; the aforementioned target lane centerline is either the first target lane centerline that intersects with the aforementioned second road object element, or the second target lane centerline that corresponds to the main direction line of the aforementioned second road object element.

[0181] The fourth association unit is used to establish a physical association between the center line of the first target lane or the center line of the second target lane and the second road object element.

[0182] In an optional embodiment, the target lane centerline determination unit includes:

[0183] The first target lane centerline determination unit is used to determine the first target lane centerline that intersects with the stop line object element when the type of the second road object element is a stop line object element.

[0184] The main direction line determination unit is used to determine the main direction line of the directional arrow object element or the parking space object element, and the perpendicular line of the main direction line, when the type of the second road object element is a directional arrow object element or a parking space object element; the main direction line is used to characterize the direction of the directional arrow object element or the parking space object element.

[0185] The second target lane centerline determination unit is used to determine the second target lane centerline based on the main direction line and the perpendicular line to the main direction line.

[0186] The first target lane centerline determination unit is used to determine the first target lane centerline and the second target lane centerline as the target lane centerline.

[0187] In an optional embodiment, the fourth associated unit includes:

[0188] The fifth association unit is used to establish a physical association between the centerline of the first target lane and the stop line object element; or,

[0189] The sixth association unit is used to establish a physical association between the center line of the second target lane and the directional arrow object element or the parking space object element.

[0190] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0191] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0192] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0193] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing the status information of the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0194] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0195] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0196] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0197] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which includes one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0198] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for associating map features, characterized in that, The method includes: Obtain the road object elements to be associated and different road line elements; the different road line elements include road reference lines and lane center lines; the road reference lines are used to indicate the attributes of the road and reflect the shape of the road from above; the lane center lines are used to indicate the specific lanes; Based on the spatial relationship between the road object elements to be associated and the different road line elements, the road object elements to be associated are classified to obtain the classification results of the road object elements to be associated; the classification results of the road object elements to be associated include a first road object element physically associated with the road reference line and a second road object element physically associated with the lane center line; Obtain the association information corresponding to the classification result; the association information represents the physical relationship between the first road object element and the road reference line; Obtain scene information; Based on the scene information, different scenes are classified to obtain scene classification results; From the road object elements to be associated and the different road line elements, respectively obtain the target first road object element and the target road reference line corresponding to the scene classification result; Based on the association information, a physical association is established between the target first road object element and the target road reference line.

2. The method according to claim 1, characterized in that, The scene classification result indicates that the scene is an intersection scene. The association information is information that associates the target first road object element and the target road reference line based on the direction coefficient of entering the intersection and the direction coefficient of exiting the intersection. The step of establishing a physical association between the target first road object element and the target road reference line based on the association information includes: The entry direction coefficient and exit direction coefficient of the road boundary object element and the road reference line element outside the intersection in the scenario are determined respectively; the road boundary object element outside the intersection is the road boundary element outside the intersection that intersects with the target first road object element, and the road reference line element outside the intersection is the road reference line element outside the intersection that intersects with the road reference line; the entry direction coefficient indicates that the vehicle enters the intersection, and the exit direction coefficient indicates that the vehicle exits the intersection; When the inbound direction coefficient corresponding to the road boundary element outside the intersection is equal to the inbound direction coefficient corresponding to the road reference line element outside the intersection, and the outbound direction coefficient corresponding to the road boundary element outside the intersection is equal to the outbound direction coefficient corresponding to the road reference line element outside the intersection, a physical association is established between the target first road object element and the target road reference line.

3. The method according to claim 1, characterized in that, The scene classification result indicates that the scene is a straight road cluster scene. The association information is information that associates the target first road object element with the target road reference line based on the distance relationship between the target first road object element and the target road reference line. Establishing a physical association between the target first road object element and the target road reference line based on the association information includes: Based on the straight road cluster scenario, a first road buffer zone is constructed; the straight road cluster includes multiple straight roads, and the multiple straight roads have different travel directions; A set of road reference lines is determined based on the first road buffer zone; the road reference lines in the set of road reference lines include first road reference lines that intersect the boundary of the first road buffer zone and second road reference lines contained in the first road buffer zone; Determine the perpendicular line of the plane corresponding to the target first road object element; From the first road reference line and the second road reference line, determine the candidate road reference line that intersects with the plane perpendicular line; Based on the planar distance between the candidate road reference line and the target first road object element, a first planar distance between the target first road object element and the target road reference line is determined; Based on the association information and the first planar distance, a physical association is established between the target first road object element and the target road reference line.

4. The method according to claim 3, characterized in that, The step of establishing a physical association between the target first road object element and the target road reference line based on the association information and the first planar distance includes: Based on the first planar distance and the target first road object features, a second road buffer is established; the second road buffer includes road boundary object features. Determine the target road boundary object features that intersect the plane perpendicular line from the second road buffer zone; Determine the second planar distance between the target road boundary object feature and the target first road object feature; If the second planar distance between the target road boundary object element and the target first road object element is greater than the first planar distance, a physical association is established between the target first road object element and the target road reference line.

5. The method according to claim 1, characterized in that, The association information also characterizes the physical association between the lane centerline and the second road object element, and the method further includes: Determine the target lane centerline associated with the second road object element; the target lane centerline is either a first target lane centerline that intersects with the second road object element, or a second target lane centerline that corresponds to the main direction line of the second road object element. Establish a physical association between the centerline of the first target lane or the centerline of the second target lane and the second road object element.

6. The method according to claim 5, characterized in that, Determining the target lane centerline associated with the second road object element includes: When the type of the second road object element is a stop line object element, determine the center line of the first target lane that intersects with the stop line object element; When the type of the second road object element is a directional arrow object element or a parking space object element, the main direction line of the directional arrow object element or the parking space object element, and the perpendicular line of the main direction line are determined; the main direction line is used to characterize the direction of the directional arrow object element or the parking space object element. The center line of the second target lane is determined based on the main direction line and the perpendicular line to the main direction line; The center lines of the first and second target lanes are defined as the target lane center lines.

7. The method according to claim 6, characterized in that, The establishment of the physical association between the first target lane centerline or the second target lane centerline and the second road object element includes: Establish a physical association between the centerline of the first target lane and the stop line object element; or, Establish a physical association between the centerline of the second target lane and the directional arrow object element or the parking space object element.

8. A map feature association device, characterized in that, The device includes: The feature acquisition module is used to acquire the features of the road object to be associated and different road line features; the different road line features include road reference lines and lane center lines; the road reference lines are used to indicate the attributes of the road and reflect the shape of the road from above; the lane center lines are used to indicate the specific lanes. The classification module is used to classify the road object elements to be associated based on the spatial positional relationship between the road object elements to be associated and the different road line elements, and obtain the classification result of the road object elements to be associated; the classification result of the road object elements to be associated includes a first road object element physically associated with the road reference line and a second road object element physically associated with the lane center line; The association information acquisition module is used to acquire association information corresponding to the classification result; the association information represents the physical relationship between the first road object element and the road reference line. The physical association module is used to acquire scene information; classify different scenes based on the scene information to obtain scene classification results; acquire the target first road object element and the target road reference line corresponding to the scene classification results from the road object elements to be associated and the different road line elements; and establish a physical association between the target first road object element and the target road reference line based on the association information.

9. An electronic device for associating map features, characterized in that, The electronic device includes a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by the processor to implement the map feature association method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the map feature association method as described in any one of claims 1 to 7.

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