Method, System and Medium for Inheriting Speed Limit at Lane Starting Point of High-Precision Map

Abstract

The present invention discloses a method, system and medium for speed limit inheritance at the starting point of lanes in a high-precision map. The method includes the following steps: obtaining road network data and lane self-limited speed data; constructing a set of road topological relationships for the entering road, the road inside the intersection and the exiting road according to the road network data; constructing a set of lane topological relationships for the entering lane and the exiting lane according to the road network data and the set of road topological relationships; processing speed limit inheritance at the starting point of the lane according to the set of road topological relationships, the set of lane topological relationships and the lane self-limited speed data; selecting roads with unprocessed speed limit inheritance in the road network data for legal speed limit association; enabling big data speed limit inheritance at the starting point of all lanes in the high-precision map, providing more powerful support for safer driving of autonomous driving lanes, and at the same time greatly reducing the occurrence of traffic accidents and the workload of manual operations.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision map production, and in particular to a method, system and medium for inheriting speed limits at the starting point of a lane on a high-precision map. Background Art

[0002] In autonomous driving, it is necessary to obtain the vehicle speed limit information on each lane for vehicle planning and guidance, so as to achieve safe and legal driving of autonomous vehicles and improve the driving safety of drivers. Speed ​​limit information is mainly obtained through speed limit signs set up on the road and speed limit text printed on the ground. However, the current road network is complex and the data is numerous, and a systematic and complete lane speed limit inheritance method cannot be formed to meet the needs of the increasingly developed road traffic network. Therefore, when the road speed limit cannot be obtained in time (the speed limit sign is far away or the speed limit sign on the road does not exist), and the driver cannot obtain it from other channels or can only obtain it based on experience, there will be serious safety hazards. Summary of the invention

[0003] The present invention provides a method, system and medium for inheriting the speed limit at the starting point of a lane on a high-precision map, which can perform big data speed limit inheritance at the starting points of all lanes on the high-precision map, provide more powerful support for safer driving in automatic driving lanes, and greatly reduce the occurrence of traffic accidents and the amount of manual work.

[0004] In a first aspect, a method for inheriting the speed limit at the starting point of a lane on a high-precision map is provided, comprising the following steps:

[0005] Obtain road network data and lane speed limit data;

[0006] Constructing a road topology relationship set of entry roads, intersection roads and exit roads according to the road network data;

[0007] Constructing a lane topology relationship set of an entry lane and an exit lane according to the road network data and the road topology relationship set;

[0008] Processing the speed limit inheritance at the starting point of the lane according to the road topology relationship set, the lane topology relationship set and the lane's own speed limit data;

[0009] In the road network data, roads with unprocessed speed limit inheritance are selected to be associated with regulatory speed limits.

[0010] According to the first aspect, in a first possible implementation manner of the first aspect, the step of “constructing a road topology relationship set of entry roads, roads in intersections, and exit roads according to the road network data” specifically includes the following steps:

[0011] When it is detected that there is no road containing the road within the intersection in the road network data, the road topological relationship between the exit road and the entry road is constructed;

[0012] When it is detected that there is a road containing the road within the intersection in the road network data, the road topological relationship between the entry road, the road within the intersection, and the exit road is constructed according to the intersection type;

[0013] All the constructed road topological relationships are attributed to the road topological relationship set.

[0014] According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, the step of "when it is detected that there is a road containing the road within the intersection in the road network data, the road topological relationship between the entry road, the road within the intersection, and the exit road is constructed according to the intersection type" specifically includes the following steps:

[0015] When it is detected that the intersection type is a divergence intersection and the road within the intersection and the entry road are of the same road category, the road topological relationship between the road within the intersection and the entry road is constructed; when the exit road and the road within the intersection are of the same road category, the road topological relationship between the exit road and the road within the intersection is constructed;

[0016] When it is detected that the intersection type is a confluence intersection and the road within the intersection and the entry road are of the same road category, the road topological relationship between the road within the intersection and the entry road is constructed. If the exit road and the road within the intersection are of the same road category, the road topological relationship between the exit road and the road within the intersection is constructed; if the road within the intersection and the entry road are not of the same road category, the road topological relationship between the road within the intersection and the exit road is stored separately, and subsequently, the speed limit of the exit road is inherited by the road within the intersection;

[0017] When it is detected that the intersection type is an intersection and the road within the intersection and the entry road are of the same road category, the road topological relationship between the road within the intersection and the entry road is constructed; the road topological relationship between the exit road and the road within the intersection going straight in the same category is constructed.

[0018] According to the second possible implementation manner of the first aspect, in the third possible implementation manner of the first aspect, the step of "constructing the lane topological relationship set between the entry lane and the exit lane according to the road network data and the road topological relationship set" specifically includes the following steps:

[0019] Obtain the road where the entry lane is located and the road where the exit lane is located. When it is detected that the road where the entry lane is located and the road where the exit lane is located exist in the road topological relationship set, the lane topological relationship between the entry lane and the exit lane is constructed, and the constructed lane topological relationship is attributed to the lane topological relationship set.

[0020] According to the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, the step of "processing the speed limit inheritance at the starting point of the lane according to the road topology relationship, the lane topology relationship, and the lane self-limited speed data" specifically includes the following steps:

[0021] When it is detected that each lane of the current road exists in the road topology relationship and the lane topology relationship, select the first road section of the current road. If there are lanes in the first road section that are not associated with the lane self-limited speed data, first process the speed limit inheritance at the starting point of the first road section according to the road topology relationship; then use the first road section as the reference road section, and the starting point of the subsequent road section of the current road inherits the lane self-limited speed data on the reference road section until the subsequent road section of the current road is also associated with the lane self-limited speed data;

[0022] According to the fourth possible implementation manner of the first aspect, in the fifth possible implementation manner of the first aspect, the step of "processing the speed limit inheritance at the starting point of the first road section according to the road topology relationship" specifically includes the following steps:

[0023] If there is a subsequent incoming road, select the last road section of the incoming road as the reference road section; if there is no incoming road, obtain the subsequent outgoing road, select the first road section of the outgoing road as the reference road section, and set the speed limit inheritance at the starting point of the current road section according to the lane topology relationship;

[0024] If there are multiple lanes in the reference road section that are consecutive with the lanes of the current road section, the starting point of the current road section inherits the lane self-limited speed data of the lane with the largest maximum speed limit value. When the maximum speed limit values are the same, the starting point of the current road section inherits the lane self-limited speed data of the lane with the smallest minimum speed limit value;

[0025] When the lane self-limited speed data in the reference road section is not obtained, the starting point of the current road section inherits the lane speed limit on the adjacent lane.

[0026] According to the fifth possible implementation manner of the first aspect, in the sixth possible implementation manner of the first aspect, the step of "the starting point of the subsequent road section of the current road inherits the lane self-limited speed data on the reference road section" specifically includes the following steps:

[0027] Select the lanes at the starting point of the subsequent road section that are not associated with the lane self-limited speed. According to the lane topology relationship, obtain the subsequent incoming lanes. If there are multiple lanes, the starting point of the subsequent road section inherits the lane self-limited speed data of the lane with the largest maximum speed limit value. When the maximum speed limit values are the same, the starting point of the subsequent road section inherits the lane self-limited speed data of the lane with the smallest minimum speed limit value;

[0028] When the lane self-limiting speed data in the reference road section is not obtained, the lane speed limit on the adjacent lane is inherited at the starting point of the subsequent road section.

[0029] According to the sixth possible implementation manner of the first aspect, in the seventh possible implementation manner of the first aspect, the step of "selecting a road for which the unprocessed speed limit inheritance is to be associated with the regulatory speed limit in the road network data" specifically includes the following steps:

[0030] When it is detected in the road network data that the road for which the unprocessed speed limit inheritance is not associated with the lane self-limiting speed data, the regulatory speed limit is associated with the road for which the unprocessed speed limit inheritance is to be carried out according to the road category regulation preset table.

[0031] In a second aspect, there is provided a speed limit inheritance system at the starting point of a lane of a high-precision map, including:

[0032] A data acquisition module, configured to acquire road network data and lane self-limiting speed data;

[0033] A road topology construction module, communicatively connected to the data acquisition module, and configured to construct a set of road topology relationships of the entering road, the in-road of the intersection, and the exiting road according to the road network data;

[0034] A lane topology construction module, communicatively connected to the data acquisition module and the road topology construction module, and configured to construct a set of lane topology relationships of the entering lane and the exiting lane according to the road network data and the set of road topology relationships;

[0035] A speed limit inheritance module, communicatively connected to the data acquisition module, the road topology construction module, and the lane topology construction module, and configured to process the speed limit inheritance at the starting point of the lane according to the set of road topology relationships, the set of lane topology relationships, and the lane self-limiting speed data; and,

[0036] A regulation inheritance module, communicatively connected to the data acquisition module, and configured to select a road for which the unprocessed speed limit inheritance is to be associated with the regulatory speed limit in the road network data.

[0037] In a third aspect, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the high-precision map lane starting point speed limit inheritance method as described in any one of the above.

[0038] Compared with the prior art, the advantages of the present invention are as follows: First, road network data and lane self-limiting speed data are obtained; then, according to the road network data, a set of road topological relationships of the entering road, the road inside the intersection, and the exiting road is constructed; then, according to the road network data and the set of road topological relationships, a set of lane topological relationships of the entering lane and the exiting lane is constructed; then, according to the set of road topological relationships, the set of lane topological relationships, and the lane self-limiting speed data, the speed limit inheritance at the starting point of the lane is processed; then, the legal speed limit is associated with the roads for which the speed limit inheritance has not been processed in the road network data; big data speed limit inheritance can be performed at the starting point of all lanes of the high-precision map, providing more powerful support for the safer driving of the automatic driving lane, and at the same time greatly reducing the occurrence of traffic accidents and the workload of manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic flowchart of an embodiment of a method for speed limit inheritance at the starting point of a lane of a high-precision map according to the present invention;

[0040] Figure 2 is a schematic diagram of a diverging intersection according to the present invention;

[0041] Figure 3 is a schematic diagram of a merging intersection according to the present invention;

[0042] Figure 4 is a schematic diagram of an intersection according to the present invention;

[0043] Figure 5 is a schematic diagram of speed limit inheritance on the same road according to the present invention;

[0044] Figure 6 is a schematic structural diagram of a system for speed limit inheritance at the starting point of a lane of a high-precision map according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS:

[0046] 100. System for speed limit inheritance at the starting point of a lane of a high-precision map; 110. Data acquisition module; 120. Road topology construction module; 130. Lane topology construction module; 140. Speed limit inheritance module; 150. Legal inheritance module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] Now, specific embodiments of the present invention will be described in detail, and examples of the present invention are illustrated in the drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the described embodiments. On the contrary, it is intended to cover modifications, variations, and equivalents included within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0048] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0049] Note: The examples to be introduced next are only specific examples and do not limit the embodiments of the present invention to the following specific steps, numerical values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present invention by reading this specification to construct more embodiments not mentioned in this specification.

[0050] See Figure 1 As shown, an embodiment of the present invention provides a method for inheriting speed limits at the starting point of lanes in a high-precision map, including the following steps:

[0051] S100, obtain road network data and lane self-limiting speed data;

[0052] Obtain the speed limit information generated according to the real speed limit sign / text on the lane - lane self-limiting speed data for subsequent lane inheritance; at the same time, obtain road network data for subsequent traversal to find the preceding and succeeding roads; obtain lane data, each lane records the information of the road it is on and the road section, and the lane set of each road section can be obtained according to this information later, and the topology can be used to find the preceding and succeeding lanes, and the lane shape can be used to construct the geometric coordinates of the new speed limit point at the starting point;

[0053] S200, construct a set of road topology relationships for the entering road, the road inside the intersection, and the exiting road according to the road network data;

[0054] S300, construct a set of lane topology relationships for the entering lane and the exiting lane according to the road network data and the set of road topology relationships;

[0055] S400, process the inheritance of speed limits at the starting point of the lane according to the set of road topology relationships, the set of lane topology relationships, and the lane self-limiting speed data;

[0056] S500, select roads that have not processed speed limit inheritance in the road network data for regulatory speed limit association.

[0057] Specifically, in this embodiment, due to the complexity of the current road network and the large amount of data, a systematic and complete lane speed limit inheritance method cannot be formed, and it cannot meet the needs of the increasingly developed road traffic network. Therefore, when the road speed limit cannot be obtained in time (the speed limit sign is far away, or the speed limit sign on the road does not exist), and the driver cannot obtain it from other channels, or can only obtain it based on experience, there will be serious safety hazards; therefore, the present invention first obtains the road network data and the lane automatic speed limit data; then, based on the road network data, a road topology relationship set of entering roads, roads in intersections and exiting roads is constructed; then, based on the road network data and the road topology relationship set, a lane topology relationship set of entering lanes and exiting lanes is constructed; then, based on the road topology relationship set, the lane topology relationship set and the lane automatic speed limit data, the speed limit inheritance at the starting point of the lane is processed; then, the road that has not been processed for speed limit inheritance is selected in the road network data for legal speed limit association; big data speed limit inheritance can be performed at the starting points of all lanes in the high-precision map, providing more powerful support for safer driving in the automatic driving lane, and at the same time, it can greatly reduce the occurrence of traffic accidents and the amount of manual work.

[0058] Preferably, in another embodiment of the present application, the step of "S200, constructing a road topology relationship set of entry roads, roads in intersections, and exit roads according to the road network data" specifically includes the following steps:

[0059] S210, when it is detected that there is no road including the road in the intersection in the road network data, constructing a road topological relationship between the exit road and the entrance road;

[0060] S220, when it is detected that there is a road including a road in an intersection in the road network data, a road topology relationship between an entry road, a road in the intersection, and an exit road is constructed according to the intersection type;

[0061] S230: assigning all constructed road topological relationships to a road topological relationship set.

[0062] Preferably, in another embodiment of the present application, the step of "S220, when it is detected that there is a road including a road in an intersection in the road network data, constructing a road topological relationship between the entry road, the road in the intersection and the exit road according to the intersection type" specifically includes the following steps:

[0063] S221, when it is detected that the intersection type is a bifurcated intersection, and the road in the intersection and the entrance road are of the same road category, a road topological relationship between the road in the intersection and the entrance road is constructed; when the exit road and the road in the intersection are of the same road category, a road topological relationship between the exit road and the road in the intersection is constructed;

[0064] S222. When it is detected that the intersection type is a confluence intersection and the road inside the intersection and the entering road are of the same road category, the road topological relationship between the road inside the intersection and the entering road is constructed. If the exiting road and the road inside the intersection are of the same road category, the road topological relationship between the exiting road and the road inside the intersection is constructed; if the road inside the intersection and the entering road are not of the same road category, the road topological relationship between the road inside the intersection and the exiting road is stored separately, and subsequently, the speed limit of the exiting road is inherited by the road inside the intersection.

[0065] S223. When it is detected that the intersection type is an intersection and the road inside the intersection and the entering road are of the same road category, the road topological relationship between the road inside the intersection and the entering road is constructed; the road topological relationship between the exiting road and the road inside the intersection going straight in the same category is constructed.

[0066] Specifically, in this embodiment, each intersection topological network data is traversed. If there is no road inside the intersection, the topological relationship between the exiting road and the entering road is directly constructed. If there is a road inside the intersection, the road topological relationship is constructed according to the type of the intersection. The topological relationship between the exiting road and the entering road is recorded in the set out_in_road:

[0067] 1. Diverging intersection:

[0068] If the road inside the intersection and the entering road have the same road category, the road topological relationship between the road inside the intersection and the entering road is constructed; if the exiting road and the road inside the intersection have the same road category, the road topological relationship between the exiting road and the road inside the intersection is constructed.

[0069] For example, in Figure 2 the diverging intersection model, the entering road Road1 is the main road, and the roads Road2 and Road4 inside the intersection are both main roads. Among them, Road4 connects the main road and the ramp. The road categories of Road2, Road4, and Road1 are the same. Therefore, the topological relationships between Road2 and Road1, and Road4 and Road1 are constructed. The exiting road Road3 is the main road, and Road5 is the ramp. Therefore, the topological relationship between Road3 and Road2 is constructed, and the topological relationship between Road5 and Road4 is not constructed.

[0070] 2. Confluence intersection:

[0071] If the road inside the intersection and the entering road have the same road category, the road topological relationship between the road inside the intersection and the entering road is constructed. At this time, it is continued to judge whether the exiting road and the road inside the intersection have the same road category. If they are the same, the road topological relationship between the exiting road and the road inside the intersection is also constructed.

[0072] If the roads inside the intersection and the entering roads have different road grades and categories, then store the topological relationship cross_out_road between the roads inside the intersection and the exiting roads separately.

[0073] For example, in Figure 3 the confluence intersection model, the entering road Road1 is the main road, Road4 is the ramp, the road Road2 inside the intersection is the main road, Road5 is the ramp, and the exiting road Road3 is the main road. Therefore, construct the topological relationships between Road2 and Road1, Road3 and Road2, and Road5 and Road4.

[0074] 3. Intersection:

[0075] If the roads inside the intersection and the entering roads have the same road category, then construct the topological relationship between the roads inside the intersection and the entering roads; construct the topological relationship between the exiting road and the roads inside the straight-through intersection of the same category. If there is no consecutive road inside the straight-through intersection, then do not construct the topological relationship between the exiting road and the roads inside the intersection.

[0076] For example, in Figure 4 the intersection model, the road category of the road Road2 inside the intersection and the entering road Road1 is the same, so construct the topological relationship between Road2 and Road1. There are a total of 3 roads inside the intersection connected to the exiting road Road5: Road2, Road3, and Road4. Among them, Road2 is a straight-through road, and the road categories of the 3 roads inside the intersection and the road category of Road5 are the same. At this time, only construct the topological relationship between Road5 and Road2, and do not construct the topological relationships between Road5 and Road3, and Road5 and Road4.

[0077] Preferably, in another embodiment of the present application, the step of "S300, constructing a set of lane topological relationships between the entering lane and the exiting lane according to the road network data and the set of road topological relationships" specifically includes the following steps:

[0078] Obtain the road where the entering lane is located and the road where the exiting lane is located. When it is detected that the road where the entering lane is located and the road where the exiting lane is located exist in the set of road topological relationships, then construct the lane topological relationship between the entering lane and the exiting lane, and attribute the constructed lane topological relationship to the set of lane topological relationships.

[0079] Specifically, in this embodiment, traverse the road network data and the set of road topology relationships to obtain the road road_in associated with the entry lane and the road road_out associated with the exit lane. If road_in and road_out are the same road, or their topological relationships exist in out_in_road or cross_out_road, then construct the topological relationship between the exit lane and the entry lane and store it in the set out_in_lane.

[0080] Preferably, in another embodiment of the present application, the step of "S400, process the speed limit inheritance at the starting point of the lane according to the road topology relationship, the lane topology relationship, and the lane self-limited speed data" specifically includes the following steps:

[0081] When it is detected that each lane of the current road exists in the road topology relationship and the lane topology relationship, select the first road section of the current road. If there are lanes in the first road section that are not associated with the lane self-limited speed data, first process the speed limit inheritance at the starting point of the first road section according to the road topology relationship; then use the first road section as the reference road section, and the starting point of the subsequent road section of the current road inherits the lane self-limited speed data on the reference road section until the subsequent road section of the current road is also associated with the lane self-limited speed data.

[0082] Preferably, in another embodiment of the present application, the step of "process the speed limit inheritance at the starting point of the first road section according to the road topology relationship" specifically includes the following steps:

[0083] If there is a subsequent entry road, select the last road section of the entry road as the reference road section; if there is no entry road, obtain the subsequent exit road, select the first road section of the exit road as the reference road section, and set the speed limit inheritance at the starting point of the current road section according to the lane topology relationship;

[0084] If there are multiple lanes in the reference road section that are consecutive with the lanes of the current road section, the starting point of the current road section inherits the lane self-limited speed data of the lane with the largest maximum speed limit value. When the maximum speed limit values are the same, the starting point of the current road section inherits the lane self-limited speed data of the lane with the smallest minimum speed limit value;

[0085] When the lane self-limited speed data in the reference road section is not obtained, the starting point of the current road section inherits the lane speed limit on the adjacent lane.

[0086] Specifically, in this embodiment, refer to Figure 3As shown, when there is a self-limiting speed for the unassociated lane at the starting point of the first road section, according to the road topology relationship, the speed limit inheritance at the starting point of the first road section is processed. The first road section of Road2 is road section 2, and there is a self-limiting speed for the unassociated lane at the starting point. Its incoming road is Road1, and the road categories of Road1 and Road2 are the same. Therefore, road section 2 can inherit the speed limit of road section 1. Among them, the incoming lane corresponding to lane 4 is lane 1, so the starting point of lane 4 inherits the speed limit of lane 1. Similarly, the starting point of lane 5 inherits the speed limit of lane 2.

[0087] When processing the speed limit inheritance at the starting point of road section 3 of Road3, the road categories of Road2 and Road3 are the same, and the road categories of Road5 and Road3 are different. Then the incoming road of Road3 is Road2. According to the lane topology relationship, lane 7 inherits the speed limit of lane 4, lane 8 inherits the speed limit of lane 5, and lane 9 has no corresponding incoming lane, so the speed limit at the starting point of the adjacent lane 8 is reused.

[0088] Preferably, in another embodiment of the present application, the step of "inheriting the self-limiting speed data of the lane on the reference road section at the starting point of the subsequent road section of the current road" specifically includes the following steps:

[0089] Select the lane with no self-limiting speed for the unassociated lane at the starting point in the subsequent road section. According to the lane topology relationship, obtain the subsequent incoming lane. If there are multiple lanes, the self-limiting speed data of the lane with the largest maximum speed limit value is inherited at the starting point of the subsequent road section. When the maximum speed limit values are the same, the self-limiting speed data of the lane with the smallest minimum speed limit value is inherited at the starting point of the subsequent road section;

[0090] When the self-limiting speed data of the lane in the reference road section cannot be obtained, the lane speed limit on the adjacent lane is inherited at the starting point of the subsequent road section.

[0091] Specifically, in this embodiment, refer to Figure 5As shown in the figure, at the starting point of the subsequent road section of the current road, the lanes on the reference road section inherit the lane self-limiting speed data. Road section 1 has only one lane, and the starting point is associated with the lane self-limiting speed data (the speed limit information generated according to the real speed limit sign / text). Then, starting from road section 1 (the reference road section), the speed limit inheritance of the subsequent road sections on this road is processed: Lanes 2 and 3 of road section 2 inherit the speed limits (80, 60) of lane 1 at the starting point. Lane 5 of road section 3 inherits the speed limit at the starting point of lane 2, and lane 6 inherits the speed limit at the starting point of lane 3. Since there are speed limit change points associated with both lanes 5 and 6, the inheritance process ends at road section 3. If there are still subsequent road sections on this road, repeat the above operations starting from road section 3 until the next road section that is associated with the lane self-limiting speed data (the speed limit information generated according to the real speed limit sign / text) or the last road section of this road is encountered.

[0092] Preferably, in another embodiment of the present application, the step of "S500, select the roads that have not processed speed limit inheritance in the road network data and associate them with the regulatory speed limits" specifically includes the following steps:

[0093] When it is detected in the road network data that the roads that have not processed speed limit inheritance are not associated with the lane self-limiting speed data, the regulatory speed limits of the roads that have not processed speed limit inheritance are associated according to the preset table of road category regulations.

[0094] Specifically, in this embodiment, the preset table of road category regulations is the regulatory speed limit information that is set in advance and automatically obtained according to the road category, which is commonly available and queryable in traffic information.

[0095] Finally, the newly constructed lane speed limit information is output for autonomous driving to ensure driving safety.

[0096] See also Figure 6 As shown in the figure, an embodiment of the present invention also provides a speed limit inheritance system 100 at the starting point of a high-precision map lane, including: a data acquisition module 110, a road topology construction module 120, a lane topology construction module 130, a speed limit inheritance module 140, and a regulation inheritance module 150;

[0097] The data acquisition module 110 is used to acquire road network data and lane self-limiting speed data;

[0098] The road topology construction module 120 is communicatively connected to the data acquisition module 110 and is used to construct a set of road topology relationships of the incoming road, the road inside the intersection, and the outgoing road according to the road network data;

[0099] The lane topology construction module 130 is communicatively connected to the data acquisition module 110 and the road topology construction module 120, and is configured to construct a set of lane topology relationships of entry lanes and exit lanes according to the road network data and the set of road topology relationships;

[0100] The speed limit inheritance module 140 is communicatively connected to the data acquisition module 110, the road topology construction module 120, and the lane topology construction module 130, and is configured to process speed limit inheritance at the starting point of a lane according to the set of road topology relationships, the set of lane topology relationships, and the self-limited speed data of the lane; and,

[0101] The regulation inheritance module 150 is communicatively connected to the data acquisition module 110, and is configured to select, from the road network data, the regulation speed limits associated with roads for which speed limit inheritance has not been processed.

[0102] The present invention uses simple road topology relationships and lane topology relationships, combines actual speed limit information, and through global data deduction, more accurately and reasonably constructs the missing speed limit information at the starting point of a road section, making the lane speed limit information of a high-precision map more complete, providing stronger support for the safer driving of an autonomous driving lane, and at the same time greatly reducing the occurrence of traffic accidents and the amount of manual work.

[0103] Specifically, this embodiment corresponds one-to-one with the above method embodiment, and the functions of each module have been described in detail in the corresponding method embodiment, and thus will not be elaborated one by one.

[0104] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0105] The implementation of all or part of the processes in the above method of the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0106] Based on the same inventive concept, an embodiment of the present application further provides an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0107] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the computer device and connects various parts of the entire computer device through various interfaces and lines.

[0108] The memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory, and by calling the data stored in the memory, the processor can implement various functions of the computer device. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system and application programs required for at least one function (such as the sound playback function, the image playback function, etc.); the data storage area can store the data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0109] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, a server, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0110] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, and 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 the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0111] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the functions specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for the functions specified in one block or a plurality of blocks.

[0113] 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 equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for inheriting speed limits at the starting point of a lane in a high-precision map, characterized in that, It includes the following steps: Obtain road network data and lane self-limited speed data; According to the road network data, construct a set of road topological relationships for the entering road, the road inside the intersection, and the exiting road; According to the road network data and the set of road topological relationships, construct a set of lane topological relationships for the entering lane and the exiting lane; According to the set of road topological relationships, the set of lane topological relationships, and the lane self-limited speed data, process the speed limit inheritance at the starting point of the lane; Select roads without processed speed limit inheritance in the road network data for legal speed limit association; The step of "According to the road topological relationship, the lane topological relationship, and the lane self-limited speed data, process the speed limit inheritance at the starting point of the lane" specifically includes the following steps: When it is detected that each lane of the current road exists in the road topological relationship and the lane topological relationship, select the first road section of the current road. If there are lanes in the first road section that are not associated with the lane self-limited speed data, first process the speed limit inheritance at the starting point of the first road section according to the road topological relationship; then use the first road section as the reference road section, and the starting point of the subsequent road section of the current road inherits the lane self-limited speed data on the reference road section until the subsequent road section of the current road is also associated with the lane self-limited speed data.

2. The method for inheriting speed limits at the starting point of a lane in a high-precision map according to claim 1, characterized in that, The step of "According to the road network data, construct a set of road topological relationships for the entering road, the road inside the intersection, and the exiting road" specifically includes the following steps: When it is detected that there is no road containing the road inside the intersection in the road network data, construct the road topological relationship between the exiting road and the entering road; When it is detected that there is a road containing the road inside the intersection in the road network data, construct the road topological relationship between the entering road, the road inside the intersection, and the exiting road according to the intersection type; Attribute all the constructed road topological relationships to the set of road topological relationships; 3. The method for inheriting speed limits at the starting point of a lane in a high-precision map according to claim 2, characterized in that, The step of "When it is detected that there is a road containing the road inside the intersection in the road network data, construct the road topological relationship between the entering road, the road inside the intersection, and the exiting road according to the intersection type" specifically includes the following steps: When it is detected that the intersection type is a divergence intersection and the road inside the intersection and the entering road are of the same road category, construct the road topological relationship between the road inside the intersection and the entering road; when the exiting road and the road inside the intersection are of the same road category, construct the road topological relationship between the exiting road and the road inside the intersection; When it is detected that the intersection type is a confluence intersection and the road inside the intersection and the entering road are of the same road category, construct the road topological relationship between the road inside the intersection and the entering road. If the exiting road and the road inside the intersection are of the same road category, construct the road topological relationship between the exiting road and the road inside the intersection; if the road inside the intersection and the entering road are not of the same road category, separately store the road topological relationship between the road inside the intersection and the exiting road, and the speed limit of the exiting road will be inherited by the road inside the intersection subsequently; When it is detected that the intersection type is a cross intersection and the road inside the intersection and the entering road are of the same road category, construct the road topological relationship between the road inside the intersection and the entering road; construct the road topological relationship between the exiting road and the road inside the intersection that goes straight in the same category.

4. The method for inheriting speed limits at the starting point of a lane in a high-precision map according to claim 1, characterized in that, The step of "constructing a lane topological relationship set of the entry lane and the exit lane according to the road network data and the road topological relationship set" specifically includes the following steps: Obtain the road where the entry lane is located and the road where the exit lane is located. When it is detected that the road where the entry lane is located and the road where the exit lane is located exist in the road topological relationship set, construct the lane topological relationship between the entry lane and the exit lane, and assign the constructed lane topological relationship to the lane topological relationship set.

5. The method for inheriting speed limits at the starting point of a lane in a high-precision map according to claim 1, characterized in that, The step of "processing the speed limit inheritance at the starting point of the first road section according to the road topological relationship" specifically includes the following steps: If there is a consecutive entry road, select the last road section of the entry road as the reference road section; if there is no entry road, obtain the consecutive exit road, select the first road section of the exit road as the reference road section, and set the speed limit inheritance at the starting point of the current road section according to the lane topological relationship; If there are multiple lanes in the reference road section that are consecutive with the lanes of the current road section, the self-limited speed data of the lane with the maximum maximum speed limit value is inherited at the starting point of the current road section. When the maximum speed limit values are the same, the self-limited speed data of the lane with the minimum minimum speed limit value is inherited at the starting point of the current road section; When the self-limited speed data of the lanes in the reference road section is not obtained, the lane speed limit on the adjacent lane is inherited at the starting point of the current road section.

6. The method for inheriting speed limits at the starting point of a lane in a high-precision map according to claim 1, characterized in that, The step of "inheriting the self-limited speed data of the lanes on the reference road section at the starting point of the consecutive road section of the current road" specifically includes the following steps: Select the lanes in the consecutive road section whose starting points are not associated with the self-limited speed of the lanes. According to the lane topological relationship, obtain the consecutive entry lanes. If there are multiple lanes, the self-limited speed data of the lane with the maximum maximum speed limit value is inherited at the starting point of the consecutive road section. When the maximum speed limit values are the same, the self-limited speed data of the lane with the minimum minimum speed limit value is inherited at the starting point of the consecutive road section; When the self-limited speed data of the lanes in the reference road section is not obtained, the lane speed limit on the adjacent lane is inherited at the starting point of the consecutive road section.

7. The method for inheriting speed limits at the starting point of a lane in a high-precision map according to claim 1, characterized in that, The step of "selecting in the road network data to associate the regulatory speed limit with the roads for which the speed limit inheritance has not been processed" specifically includes the following steps: When it is detected in the road network data that the roads for which the speed limit inheritance has not been processed are not associated with the self-limited speed data of the lanes, the regulatory speed limit is associated with the roads for which the speed limit inheritance has not been processed according to the road category regulation preset table.

8. A system for inheriting speed limits at the starting point of a lane in a high-precision map, characterized in that, Including: A data acquisition module for acquiring road network data and self-limited speed data of lanes; A road topology construction module, communicatively connected to the data acquisition module, for constructing a road topological relationship set of entry roads, roads within intersections, and exit roads according to the road network data; A lane topology construction module, communicatively connected to the data acquisition module and the road topology construction module, for constructing a lane topological relationship set of entry lanes and exit lanes according to the road network data and the road topological relationship set; A speed limit inheritance module, communicatively connected to the data acquisition module, the road topology construction module, and the lane topology construction module, is configured to process speed limit inheritance at the starting point of a lane according to the set of road topology relationships, the set of lane topology relationships, and the lane self-limited speed data. And, A regulation inheritance module, communicatively connected to the data acquisition module, is configured to associate regulation speed limits with roads for which speed limit inheritance has not been processed in the road network data. The speed limit inheritance module is configured to, when it is detected that each lane of the current road exists in the road topology relationship and the lane topology relationship, select the first road section of the current road. If there are lanes in the first road section that are not associated with the lane self-limited speed data, first process the speed limit inheritance at the starting point of the first road section according to the road topology relationship; then use the first road section as the reference road section, and inherit the lane self-limited speed data on the reference road section at the starting point of the subsequent road sections of the current road until the subsequent road sections of the current road are also associated with the lane self-limited speed data.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method for speed limit inheritance at the starting point of a lane in a high-precision map as described in any one of claims 1 to 7.

Images