A method and system for flush cutting of high-precision map lane groups

Abstract

The present invention provides a method and system for flush cutting of lane groups in high-precision maps. First, the positional relationship between simple points and lines is used to select the lane group closest to the road cutting point, and the cutting point is projected onto the middle lane of the lane group. Then, the relationship between straight lines and line segments is used to determine whether the cutting line needs to cut the lane group, and the lane shape and lane edge shape in the lane group are cut to ensure that the shape of the lane group is flush after cutting. Within the accuracy error range, the positioning accuracy and safety of the autonomous driving vehicle are improved through simple plane-level data calculation problems, and the algorithm is simple and easy to implement and understand.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision electronic map data processing, and more specifically, to a method and system for flush cutting of a lane group of a high-precision electronic map. Background Art

[0002] With the gradual application of high-precision navigation maps in autonomous driving, the map data sheet management function is fully applied to the basic needs of active safety and unmanned driving to meet the needs of vehicles to quickly obtain the required range of data. Road and lane group data need to be cut at the boundaries of high-precision map sheets to meet the storage of map data in separate sheets. The flatness of the lane group shape can improve the accuracy and efficiency of vehicle positioning and ensure the safety of autonomous driving vehicles. Therefore, it is necessary to try to ensure that the shapes of all lanes and lane edges associated with the lane group are flat after cutting to provide guarantee for accurate vehicle positioning. Summary of the invention

[0003] The present invention aims at solving the technical problems existing in the prior art and provides a method and system for flush cutting of lane groups in a high-precision electronic map.

[0004] According to a first aspect of the present invention, a method for flush cutting of a high-precision map lane group is provided, comprising:

[0005] Obtain lane, lane edge data and road cutting data in high-precision maps;

[0006] Collect lane group data on each road according to the road traffic direction;

[0007] According to the road cutting data, a list of lane cutting lines on each road is obtained, and a lane group index closest to each cutting line in the lane cutting line list is calculated as a lane group associated with each cutting line;

[0008] Based on the lane group index closest to each cutting line, a cutting line is allocated to the lane group associated with each cutting line along the road travel direction;

[0009] The lane groups are cut according to the cutting lines assigned to each lane group.

[0010] Based on the above technical solution, the present invention can also make the following improvements.

[0011] Optionally, the road id and lane group number associated with each lane, grouping all lanes in each lane group, and sorting all lanes in each lane group;

[0012] According to the lane edge line IDs of the left and right lane edges associated with the lanes, the lane edge lines of each lane group are collected;

[0013] According to the road ID, all lane groups associated with each road are collected and sorted according to the road travel direction.

[0014] Optionally, according to the road cutting data, a list of lane cutting lines on each road is obtained, which also includes:

[0015] Traverse the road set and determine whether the current road is cut according to the road cutting data of the current road. If it is not cut, all lane groups associated with the current road do not need to be cut;

[0016] If the current road is cut, obtain the sub-roads after the current road is cut, and sort all the sub-roads in the cutting order to form a sub-road set.

[0017] Optionally, obtaining a list of lane cutting lines on each road according to the road cutting data includes:

[0018] Traversing the first n-1 sub-roads in the sub-road set in sequence, taking the last shape point of each sub-road as the cutting point corresponding to the current sub-road, and forming a road cutting point set;

[0019] Get the shapes of the leftmost lane and the middle lane of each lane group associated with the current road;

[0020] Traverse the cutting points in the road cutting point set in turn, calculate the shortest distance from any cutting point to the leftmost lane of each lane group, and take the lane group with the shortest distance as the lane group associated with any cutting point;

[0021] Project any of the cutting points onto the middle lane of the associated lane group to obtain the projection point pt_a, draw a perpendicular line through the projection point pt_a to the middle lane as the cutting line, traverse all the cutting points, record the shape of each cutting line and the associated lane group index, and form a cutting line set.

[0022] Optionally, the step of allocating a cutting line to a lane group associated with each cutting line along the road travel direction based on the lane group index closest to each cutting line includes:

[0023] Take the first cutting line in the cutting line set, obtain the associated lane group lg_index and the first sub-road, and record the lane group index pre_lg_index corresponding to the previous cutting line;

[0024] For lane groups with indexes between pre_lg_index and lg_index, no cutting line is assigned, and the lane group is directly associated with the first sub-road;

[0025] Get the lane group lg_a with index lg_index, and determine whether to assign the associated cutting line to the lane group lg_a according to the state of the associated cutting line cutting the lane group lg_a;

[0026] Traverse each cutting line, and obtain the cutting line assigned to each lane group according to the status of the lane group associated with the cutting line.

[0027] Optionally, the acquiring the lane group lg_a with index lg_index and judging whether to assign the associated cutting line to the lane group lg_a according to the state of the associated cutting line cutting the lane group lg_a include:

[0028] All lanes in the lane group are cut based on the cutting line. If only part of the lanes are cut, no cutting line is allocated to the lane group; if the length of the lane after cutting is less than a set length threshold, no cutting line is allocated to the lane group either;

[0029] Otherwise, assign the cut line to the lane group.

[0030] Optionally, the cutting of the lane groups according to the cutting lines assigned to each lane group includes:

[0031] Traverse the list of lane groups associated with the road. If the lane group has no assigned cutting line, no cutting is required.

[0032] Otherwise, obtain the cutting line assigned to the lane group, use the cutting line to cut the lane edge and lane in the lane group, form the lane group information after cutting, and associate the lane group after cutting to the corresponding sub-road.

[0033] According to a second aspect of the present invention, a high-precision map lane group flush cutting system is provided, comprising:

[0034] The first acquisition module is used to acquire lane, lane edge data and road cutting data in the high-precision map;

[0035] A collection module is used to collect lane group data on each road according to the road traffic direction;

[0036] A second acquisition module is used to acquire a lane cutting line list on each road according to the road cutting data, and calculate the lane group index closest to each cutting line in the lane cutting line list as the lane group associated with each cutting line;

[0037] An allocation module, for allocating a cutting line to a lane group associated with each cutting line along a road travel direction based on a lane group index closest to each cutting line;

[0038] The cutting module is used to cut the lane groups according to the cutting lines assigned to each lane group.

[0039] According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor, wherein the processor is used to implement the steps of a method for flush cutting of lane groups in a high-precision map when executing a computer management program stored in the memory.

[0040] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium on which a computer management program is stored, and when the computer management program is executed by a processor, the steps of a method for flush cutting of lane groups in a high-precision map are implemented.

[0041] The present invention provides a method and system for flush cutting of lane groups in high-precision maps. First, the positional relationship between simple points and lines is used to select the lane group closest to the road cutting point, and the cutting point is projected onto the middle lane of the lane group. Then, the relationship between straight lines and line segments is used to determine whether the cutting line needs to cut the lane group, and the lane shape and lane edge shape in the lane group are cut to ensure that the shape of the lane group is flush after cutting. Within the accuracy error range, the positioning accuracy and safety of the autonomous driving vehicle are improved through simple plane-level data calculation problems. The algorithm is simple to implement and easy to understand. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A flow chart of a method for flush cutting of high-precision map lane groups provided by the present invention;

[0043] Figure 2 A schematic diagram of the relationship between roads, lane groups, sub-roads, and cutting lines;

[0044] Figure 3 A schematic diagram of the overall process of flush cutting of a high-precision map lane group;

[0045] Figure 4 A schematic diagram of the structure of a high-precision map lane group flush cutting system provided by the present invention;

[0046] Figure 5 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0047] Figure 6 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention can be arbitrarily combined with each other to form a feasible technical solution. This combination is not subject to the constraints of the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] In view of the deficiencies in the prior art, the present invention provides a method and system for flush cutting of lane groups in high-precision maps, which are used to solve the problem of uneven cutting of lane groups when the shapes of roads and lanes are greatly different. The lane groups are cut by mapping the road cutting points onto the lanes to construct cutting lines, thereby ensuring the flushness of the shapes of the lane groups after cutting, thereby improving the accuracy of autonomous driving vehicle positioning and shortening the vehicle positioning time.

[0050] Figure 1 A flow chart of a high-precision map lane group flush cutting method provided by the present invention, such as Figure 1 As shown, the method mainly includes the following steps:

[0051] S1, obtain lane, lane edge data and road cutting data in the high-precision map.

[0052] It is understandable that high-precision lane and lane edge data are loaded based on high-precision map data to obtain lane group information. After loading road cutting data, the lane group on the road needs to be cut according to the road cutting information.

[0053] S2, collects lane group data on each road according to the road travel direction.

[0054] It is understandable that based on the lanes, lane edge data and road cutting data of the acquired high-precision map data, all lanes in each lane group are collected according to the road ID and lane group sequence number associated with the lane, and are sorted from right to left. According to the left and right lane edge IDs associated with the lane, the lane edge of each lane group is collected. According to the road ID, all lane group sets associated with the road are collected, and all lane groups are sorted according to the road travel direction.

[0055] See also Figure 2 ,exist Figure 2In the figure, the original road 1 is associated with three lane groups, which are sorted by the travel direction in the order of lane group 1, lane group 2, and lane group 3. Each lane group contains the information of the lane and the lane edge.

[0056] S3, according to the road cutting data, obtaining a lane cutting line list on each road, and calculating the lane group index closest to each cutting line in the lane cutting line list as the lane group associated with each cutting line.

[0057] As an embodiment, the method of obtaining a list of lane cutting lines on each road based on the road cutting data also includes: traversing the road set, judging whether the current road is cut based on the road cutting data of the current road, and if not cut, all lane groups associated with the current road do not need to be cut; if the current road is cut, obtaining the sub-roads after the current road is cut, and sorting all the sub-roads in sequence according to the cutting order to form a sub-road set.

[0058] Among them, the method of obtaining a list of lane cutting lines on each road according to the road cutting data includes: traversing the first n-1 sub-roads in the sub-road set in turn, taking the last shape point of each sub-road as the cutting point corresponding to the current sub-road, and forming a road cutting point set; obtaining the shape of the leftmost lane and the middle lane of each lane group associated with the current road; traversing the cutting points in the road cutting point set in turn, calculating the shortest distance from any cutting point to the leftmost lane of each lane group, and taking the lane group with the shortest distance as the lane group associated with any cutting point; projecting any cutting point onto the middle lane of the associated lane group to obtain the projection point pt_a, making a perpendicular line perpendicular to the middle lane through the projection point pt_a as the cutting line, traversing all cutting points, recording the shape of each cutting line and the associated lane group index, and forming a cutting line set, which includes each cutting line and the associated lane group index.

[0059] See also Figure 2 , the original road 1 is cut into 3 sub-roads, and the sub-road set sorted in the cutting order is {sub-road 1, sub-road 2, sub-road 3}. The end point of sub-road 1 is taken as the cutting point clip_pt1, and the end point of sub-road 2 is taken as the cutting point clip_pt2. The cutting point clip_pt1 is closest to lane group 1. The cutting point clip_pt1 is mapped to lane 1 to obtain mapping point pt1, and cutting line 1 is made through pt1; clip_pt2 is closest to lane group 3, and is mapped to lane 7 to obtain mapping point pt2, and cutting line 2 is made through pt2.

[0060] S4, based on the lane group index closest to each cutting line, assigning a cutting line to the lane group associated with each cutting line along the road travel direction.

[0061] As an embodiment, the method allocates cutting lines to the lane groups associated with each cutting line along the road travel direction based on the lane group index closest to each cutting line, including: taking the first cutting line in the cutting line set, obtaining the associated lane group lg_index and the first sub-road, and recording the lane group index pre_lg_index corresponding to the previous cutting line; for lane groups with indexes between pre_lg_index and lg_index, no cutting lines are allocated, and the lane groups are directly associated with the first sub-road; obtaining the lane group lg_a with index lg_index, and judging whether to allocate the associated cutting line to the lane group lg_a according to the state of the associated cutting line cutting the lane group lg_a; traversing each cutting line, and obtaining the cutting lines allocated to each lane group according to the state of the cutting line cutting the associated lane group.

[0062] It can be understood that for the scenario where the road is cut into multiple sub-roads, the step of assigning cutting lines to lane groups includes: obtaining the sub-road set after the road is cut and sorting them in the cutting order. Obtaining the shapes of all lanes in each lane group associated with the road. Taking the first cutting line clip_line_1 in the cutting line set clip_lines_set, obtaining the associated lane group index lg_index and sub-road link1, and recording the lane group index pre_lg_index (0 at this time) corresponding to the previous cutting line. Processing lane groups without assigned cutting lines: All lane groups with indexes between pre_lg_index and lg_index do not need to be assigned cutting lines and are directly associated with sub-road link1. Obtaining the lane group lg_a corresponding to the index lg_index, judging whether to assign the cutting line to the lane group lg_a according to the situation that the cutting line clip_line_1 cuts the lane group lg_a, and if it needs to be assigned, recording the cutting line information assigned to the lane group. Traversing each cutting line in the cutting line set in turn, and assigning the cutting line to the corresponding lane group.

[0063] Among them, the method for judging whether to assign the cutting line to the lane group is as follows: use the cutting line to cut all lanes in the associated lane group. If only part of the lanes are cut, the cutting line is not assigned; if the length of the lane after cutting is less than the set threshold, the cutting line is not assigned either; except for the above two cases, the cutting line needs to be assigned to the current lane group, and the shape information of the lanes in the lane group is updated to participate in the cutting judgment of the subsequent cutting line.

[0064] See also Figure 2 ,exist Figure 2In the example, the lane group associated with cutting line 1 is lane group 1. After cutting the shape of lane group 1 using cutting line 1, the length of the lane will be less than the threshold, so cutting line 1 is not assigned to lane group 1. Lane group 2 has no corresponding cutting line, so no processing is required. Cutting line 2 can cut all lanes of lane group 3 and the length of all lanes after cutting is greater than the threshold, so cutting line 2 needs to be assigned to lane group 3.

[0065] S5, cutting the lane groups according to the cutting lines assigned to each lane group.

[0066] It can be understood that when traversing the list of lane groups associated with the road, if the lane group has no assigned cutting line, no cutting is required. Otherwise, the cutting line assigned to the lane group is obtained, and the lane edges and lanes in the lane group are cut using the cutting line to form the lane group information after cutting, and the lane group after cutting is associated with the corresponding sub-road.

[0067] exist Figure 2 In the figure, lane group 1 and lane group 2 are not assigned cutting lines and do not need to be cut. Lane group 1 is associated with sub-road 1, and lane group 2 is assigned to sub-road 2. Lane group 3 is cut into two lane groups: lg1 and lg2 by cutting line 2, where lane group lg1 is associated with sub-road 2, and lane group lg2 is associated with sub-road 3.

[0068] See also Figure 3 , which is an overall flow chart of a high-precision map lane group flush cutting method provided by the present invention, loads high-precision lane, lane edge data and road cutting data, and collects lane group data on each road according to the road travel direction. For each road, determine whether the road is cut. If it is cut, obtain the lane cutting line list and the lane group index associated with each cutting line according to the road cutting data. Assign corresponding cutting lines to each lane group along the road travel direction, and cut the lane group according to the cutting lines assigned to the lane group.

[0069] See also Figure 4 , is a high-precision map lane group flush cutting system provided by the present invention, the system includes a first acquisition module 401, a collection module 402, a second acquisition module 403, an allocation module 404 and a cutting module 405, wherein:

[0070] The first acquisition module 401 is used to acquire lanes, lane edge data and road cutting data in the high-precision map; the collection module 402 is used to collect lane group data on each road according to the road travel direction; the second acquisition module 403 is used to acquire a lane cutting line list on each road based on the road cutting data, and calculate the lane group index closest to each cutting line in the lane cutting line list as the lane group associated with each cutting line; the allocation module 404 is used to allocate cutting lines to the lane group associated with each cutting line along the road travel direction based on the lane group index closest to each cutting line; the cutting module 405 is used to cut the lane group according to the cutting lines allocated to each lane group.

[0071] It can be understood that the high-precision map lane group flush cutting system provided by the present invention corresponds to the high-precision map lane group flush cutting method provided by the aforementioned embodiments. The relevant technical features of the high-precision map lane group flush cutting system can refer to the relevant technical features of the high-precision map lane group flush cutting method, which will not be repeated here.

[0072] See also Figure 5 , Figure 5 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 5 As shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 510 and executable on the processor 520. When the processor 520 executes the computer program 511, the steps of the method for flush cutting of high-precision map lane groups are implemented.

[0073] See also Figure 6 , Figure 6 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Figure 6 As shown, this embodiment provides a computer-readable storage medium 600 on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the steps of the method for flush cutting of high-precision map lane groups are implemented.

[0074] The embodiment of the present invention provides a method and system for flush cutting of lane groups in a high-precision map. The method uses the positional relationship between simple points and lines to select the lane group closest to the road cutting point, and projects the cutting point onto the middle lane of the lane group. The method then uses the relationship between straight lines and line segments to determine whether the cutting line needs to cut the lane group, and cuts the lane shape and lane edge shape within the lane group to ensure that the shape of the lane group is flush after cutting. Within the accuracy error range, the positioning accuracy and safety of the autonomous driving vehicle are improved through simple plane-level data calculation problems. The algorithm is simple to implement and easy to understand.

[0075] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0076] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0078] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0080] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0081] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for flush cutting of lane groups in a high-precision map, characterized in that: include: Obtain lane, lane edge data and road cutting data in high-precision maps; Collect lane group data on each road according to the road traffic direction; According to the road cutting data, a list of lane cutting lines on each road is obtained, and a lane group index closest to each cutting line in the lane cutting line list is calculated as a lane group associated with each cutting line; Based on the lane group index closest to each cutting line, a cutting line is allocated to the lane group associated with each cutting line along the road travel direction; The lane groups are cut according to the cutting lines assigned to each lane group; Based on the lane group index closest to each cutting line, a cutting line is assigned to the lane group associated with each cutting line along the road travel direction, including: Take the first cutting line in the cutting line set, obtain the associated lane group lg_index and the first sub-road, and record the lane group index pre_lg_index corresponding to the previous cutting line; For lane groups with indexes between pre_lg_index and lg_index, no cutting line is assigned, and the lane group is directly associated with the first sub-road; Get the lane group lg_a with index lg_index, and determine whether to assign the associated cutting line to the lane group lg_a according to the state of the associated cutting line cutting the lane group lg_a; Traverse each cutting line, and obtain the cutting line assigned to each lane group according to the status of the lane group associated with the cutting line; The method of obtaining the lane group lg_a with the index lg_index and judging whether to allocate the associated cutting line to the lane group lg_a according to the state of the associated cutting line cutting the lane group lg_a comprises: All lanes in the lane group are cut based on the cutting line. If only part of the lanes are cut, no cutting line is allocated to the lane group; if the length of the lane after cutting is less than a set length threshold, no cutting line is allocated to the lane group either; Otherwise, assign the cut line to the lane group.

2. The lane group flush cutting method according to claim 1, characterized in that: The lane group data on each road is collected according to the road traffic direction, including: According to the road ID and lane group number associated with each lane, all lanes in each lane group are collected and sorted; According to the lane edge line IDs of the left and right lane edges associated with the lanes, the lane edge lines of each lane group are collected; According to the road ID, all lane groups associated with each road are collected and sorted according to the road travel direction.

3. The lane group flush cutting method according to claim 1, characterized in that: The method of obtaining a list of lane cutting lines on each road according to the road cutting data also includes: Traverse the road set and determine whether the current road is cut according to the road cutting data of the current road. If it is not cut, all lane groups associated with the current road do not need to be cut; If the current road is cut, obtain the sub-roads after the current road is cut, and sort all the sub-roads in the cutting order to form a sub-road set.

4. The lane group flush cutting method according to claim 3, characterized in that: The obtaining, according to the road cutting data, a list of lane cutting lines on each road comprises: Traversing the first n-1 sub-roads in the sub-road set in sequence, taking the last shape point of each sub-road as the cutting point corresponding to the current sub-road, and forming a road cutting point set; Get the shapes of the leftmost lane and the middle lane of each lane group associated with the current road; Traverse the cutting points in the road cutting point set in turn, calculate the shortest distance from any cutting point to the leftmost lane of each lane group, and take the lane group with the shortest distance as the lane group associated with any cutting point; Project any of the cutting points onto the middle lane of the associated lane group to obtain the projection point pt_a, draw a perpendicular line through the projection point pt_a to the middle lane as the cutting line, traverse all the cutting points, record the shape of each cutting line and the associated lane group index, and form a cutting line set.

5. The lane group flush cutting method according to claim 1, characterized in that: The lane groups are cut according to the cutting lines assigned to each lane group, including: Traverse the list of lane groups associated with the road. If the lane group has no assigned cutting line, no cutting is required. Otherwise, obtain the cutting line assigned to the lane group, use the cutting line to cut the lane edge and lane in the lane group, form the lane group information after cutting, and associate the lane group after cutting to the corresponding sub-road.

6. A high-precision map lane group flush cutting system, characterized in that: include: The first acquisition module is used to acquire lane, lane edge data and road cutting data in the high-precision map; A collection module is used to collect lane group data on each road according to the road traffic direction; A second acquisition module is used to acquire a lane cutting line list on each road according to the road cutting data, and calculate the lane group index closest to each cutting line in the lane cutting line list as the lane group associated with each cutting line; An allocation module, for allocating a cutting line to a lane group associated with each cutting line along a road travel direction based on a lane group index closest to each cutting line; A cutting module, used for cutting the lane groups according to the cutting lines assigned to each lane group; Based on the lane group index closest to each cutting line, a cutting line is assigned to the lane group associated with each cutting line along the road travel direction, including: Take the first cutting line in the cutting line set, obtain the associated lane group lg_index and the first sub-road, and record the lane group index pre_lg_index corresponding to the previous cutting line; For lane groups with indexes between pre_lg_index and lg_index, no cutting line is assigned, and the lane group is directly associated with the first sub-road; Get the lane group lg_a with index lg_index, and determine whether to assign the associated cutting line to the lane group lg_a according to the state of the associated cutting line cutting the lane group lg_a; Traverse each cutting line, and obtain the cutting line assigned to each lane group according to the status of the lane group associated with the cutting line; The method of obtaining the lane group lg_a with the index lg_index and judging whether to allocate the associated cutting line to the lane group lg_a according to the state of the associated cutting line cutting the lane group lg_a comprises: All lanes in the lane group are cut based on the cutting line. If only part of the lanes are cut, no cutting line is allocated to the lane group; if the length of the lane after cutting is less than a set length threshold, no cutting line is allocated to the lane group either; Otherwise, assign the cut line to the lane group.

7. An electronic device, characterized in that: It includes a memory and a processor, and the processor is used to implement the steps of the high-precision map lane group flush cutting method as described in any one of claims 1 to 5 when executing the computer management program stored in the memory.

8. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the high-precision map lane group flush cutting method as described in any one of claims 1 to 5 are implemented.

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