A method and system for generating a speed limit point at the end of a continuous bridge tunnel

Abstract

The application relates to a continuous bridge-tunnel ending position speed-limit point generation method and system, which comprises the following steps: taking the starting position start_road of a bridge-tunnel connecting road as a starting point, searching for a bridge-tunnel speed-limit point cur_sp in a driving direction; recording the nearest non-bridge-tunnel speed-limit point pre_sp before the speed-limit point cur_sp; taking the speed-limit point cur_sp as a starting point, sequentially searching for various road attribute change points in the driving direction, positioning the attribute change point cur_attr and the nearest attribute change point next_attr of the attribute change point cur_attr in the driving direction; determining the length relationship of various adjacent roads of different types according to the attribute change point cur_attr and the attribute change point next_attr, judging whether it is a continuous bridge-tunnel; generating a bridge-tunnel ending position speed-limit point based on the judgment result of whether it is a continuous bridge-tunnel and the speed of the non-bridge-tunnel speed-limit point pre_sp; and supplementing the accurate matching of the high-precision map data and the automatic driving scheme at the continuous bridge-tunnel ending speed-limit value, improving the completeness of the map data.

Description

Technical Field

[0001] This invention relates to the field of high-precision electronic map production, and in particular to a method and system for generating speed limit points at the end of continuous bridge tunnels. Background Technology

[0002] In high-precision electronic maps, road speed limit elements present a complex and diverse range of scenarios, such as section speed limits, advance warning speed limits, school zone speed limits, and bridge and tunnel speed limits. Continuous bridge and tunnel scenarios are a relatively special case, such as bridge-tunnel-bridge, tunnel-bridge-tunnel, or bridges and tunnels connected by ordinary roads. If the length of the ordinary road meets a threshold, it can also be considered a continuous bridge and tunnel system. There may be no speed limit sign at the end of a continuous bridge and tunnel system. Determining the end point of a continuous bridge and tunnel system and setting a speed limit when no speed limit is available at the end point becomes a complex problem. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a method and system for generating speed limit points at the end of continuous bridge tunnels. This method supplements the accurate matching of high-precision map data and autonomous driving schemes at the speed limit values ​​at the end of continuous bridge tunnels, thereby improving the integrity of map data.

[0004] According to a first aspect of the present invention, a method for generating speed limit points at the end of continuous bridge tunnels is provided, comprising: step 1, taking the starting position start_road of the road connecting the bridge and tunnel as the starting point, searching for the bridge and tunnel speed limit point cur_sp along the driving direction;

[0005] Step 2: Record the most recent non-bridge / tunnel speed limit point pre_sp before the speed limit point cur_sp;

[0006] Step 3: Starting from the speed limit point cur_sp, find each road attribute change point in sequence along the driving direction, locate the attribute change point cur_attr and the attribute change point next_attr that is closest to the attribute change point cur_attr along the driving direction;

[0007] Step 4: Determine the length relationship of various adjacent roads of different types based on the attribute change points cur_attr and next_attr of each adjacent road, and determine whether they are continuous bridges and tunnels.

[0008] Step 5: Based on the determination result of whether it is a continuous bridge and tunnel and the speed of the non-bridge and tunnel speed limit point pre_sp, generate the bridge and tunnel end position speed limit point.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Optionally, step 1 includes:

[0011] Step 101: Starting from the starting point of the bridge-tunnel connecting road start_road, traverse the speed limit point set along the driving direction to find the speed limit point bt_sp of type bridge or tunnel.

[0012] Step 102: Starting from the speed limit point bt_sp, find the starting position of the connecting road where bt_sp is located in the opposite direction of the driving direction, and update the starting position start_road with the starting position.

[0013] Step 103: Starting from the starting position start_road, find the first speed limit point of type bridge or tunnel along the driving direction as the speed limit point cur_sp.

[0014] Optionally, step 3 includes:

[0015] Step 301: Find each road attribute change point. Starting from the speed limit point cur_sp, find the first attribute change point along the driving direction. If the attribute change point is a bridge or tunnel change point, locate it as the attribute change point cur_attr. If the attribute change point is not a bridge or tunnel change point, find the first attribute change point in the opposite direction of the driving direction and record it as the attribute change point cur_attr.

[0016] Step 302: Record the nearest attribute change point next_attr along the driving direction of the attribute change point cur_attr.

[0017] Optionally, steps 3 and 4 further include:

[0018] Construct a continuous set of attribute changes from start_road to the last end of the connecting road as an attr_vec container. The iterator itr_start_attr of the attr_vec container points to the location of the attribute change point cur_attr. Record the location of the attribute change point cur_attr as the starting point of the continuous bridge and tunnel.

[0019] Optionally, step 4 includes: determining the first road segment between the starting position start_road and the attribute change point cur_attr, and the second road segment between the attribute change point cur_attr and the attribute change point next_attr; determining whether the road attribute of the first road segment and the second road segment is a normal road or a bridge / tunnel; determining the length of the first road segment and the second road segment; and determining whether it is a continuous bridge / tunnel based on four set conditions.

[0020] Condition 1: If the first road segment and the second road segment are a section of ordinary road and a section of bridge and tunnel, and the length of the ordinary road is greater than the length of the bridge and tunnel, determine whether the length of the ordinary road is within the threshold range of the non-bridge and tunnel road connection length. If yes, continue to search for the next set of attribute change points cur_attr and next_attr. If not, find the end position of the continuous bridge and tunnel, and use an iterator to mark the road attribute where cur_attr is located as itr_end_attr.

[0021] Condition 2: When the first road segment and the second road segment are two ordinary roads, find the end position of the continuous bridge and tunnel, and use an iterator to mark the road attribute where cur_attr is located as i tr_end_attr;

[0022] Condition 3: If the first road segment and the second road segment are a section of ordinary road and a section of bridge and tunnel, and the length of the bridge and tunnel is greater than the length of the ordinary road, then cur_attr and next_attr look up the previous road attribute and determine whether they are continuous under either condition 1 or condition 2.

[0023] Condition 4: When the first road segment and the second road segment are two bridge tunnels, cur_attr and next_attr look up the attributes of the previous two roads and determine whether they are continuous under either condition 1 or condition 2.

[0024] Optionally, step 4 includes: subtracting the interval attributes using an iterator to obtain the number of interval attributes attr_count. When attr_count > 1, it indicates that there are multiple road attribute spans, which is considered as a continuous bridge-tunnel situation.

[0025] attr_count=itr_end_attr-itr_start_attr.

[0026] Optionally, if there is no speed limit cancellation sign within the set end position range in step 5, it is assumed that the bridge / tunnel end position does not exist, and a speed limit needs to be generated. The rules for generating the speed limit include:

[0027] If the non-bridge / tunnel speed limit point pre_sp is a non-bridge / tunnel speed limit, and the road attribute of the non-bridge / tunnel speed limit point pre_sp is consistent with the road attribute of the bridge / tunnel end position, a speed limit is generated at the bridge / tunnel end position based on the non-bridge / tunnel speed limit point pre_sp; otherwise, a speed limit point is generated at the bridge / tunnel end position based on regulations or experience.

[0028] According to a second aspect of the present invention, a system for generating speed limit points at the end of a continuous bridge tunnel is provided, comprising: an attribute change point search module, a continuous bridge tunnel determination module, and a speed limit point generation module;

[0029] The attribute change point lookup module is used to find the bridge-tunnel speed limit point cur_sp along the driving direction, starting from the starting position start_road of the road connecting the bridge and tunnel; record the nearest non-bridge-tunnel speed limit point pre_sp before the speed limit point cur_sp; and sequentially find each road attribute change point along the driving direction, starting from the speed limit point cur_sp, and locate the attribute change point cur_attr and the nearest attribute change point next_attr along the driving direction of the attribute change point cur_attr.

[0030] The continuous bridge and tunnel determination module is used to determine the length relationship of various adjacent roads of different types based on the attribute change points cur_attr and next_attr of each adjacent road, and to determine whether the road is a continuous bridge and tunnel.

[0031] The speed limit point generation module is used to generate a speed limit point at the end of a bridge or tunnel based on the determination result of whether it is a continuous bridge or tunnel and the speed of the non-bridge / tunnel speed limit point pre_sp.

[0032] According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, wherein the processor is configured to execute a computer management program stored in the memory to implement the steps of a method for generating a speed limit point at the end position of a continuous bridge tunnel.

[0033] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management class program is stored, wherein when executed by a processor, the computer management class program implements the steps of a method for generating a speed limit point at the end position of a continuous bridge tunnel.

[0034] This invention provides a method, system, electronic device, and storage medium for generating speed limit points at the end of continuous bridge and tunnel sections. It addresses the situation of continuous bridges and tunnels, handling complex scenarios such as bridge-tunnel-bridge, tunnel-bridge-tunnel, or bridge-tunnel, ordinary road, and bridge-tunnel sequences. By traversing the speed limit points at the starting positions of the connecting roads where the bridge-tunnel speed limit points are located, it avoids generating incorrect speed limit values ​​at intermediate speed limit points in continuous bridge and tunnel sections. This ensures accurate determination of the end position and correct generation of speed limit points in four scenarios involving continuous bridges and tunnels, providing accurate reference values ​​for lifting speed limits at the end of continuous bridge and tunnel sections for vehicle navigation and autonomous driving. Attached Figure Description

[0035] Figure 1 This is a schematic diagram illustrating the generation of the speed limit point at the end of a continuous bridge-tunnel connection, provided in an embodiment of the present invention.

[0036] Figure 2 A flowchart of a method for generating speed limit points at the end of a continuous bridge tunnel provided by the present invention;

[0037] Figure 3 A flowchart illustrating the implementation process of a method for generating speed limit points at the end of a continuous bridge tunnel, as provided in an embodiment of the present invention.

[0038] Figure 4 A structural block diagram of a continuous bridge tunnel end position speed limit point generation system provided by the present invention;

[0039] Figure 5 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0040] Figure 6 This is a schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. Detailed Implementation

[0041] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0042] like Figure 1 The diagram shown is a schematic diagram illustrating the generation of speed limit points at the end of continuous bridge and tunnel operations according to an embodiment of the present invention. Figure 2 The diagram shows a flowchart of a method for generating speed limit points at the end of a continuous bridge tunnel, as provided by the present invention; Figure 1 and Figure 2 As shown, the generation method includes:

[0043] Step 1: Starting from the starting point of the bridge-tunnel connecting road (start_road), find the bridge-tunnel speed limit point (cur_sp) along the driving direction.

[0044] Step 2: Record the most recent non-bridge / tunnel speed limit point pre_sp before the speed limit point cur_sp, and use it as the end position of the bridge / tunnel to generate the speed limit.

[0045] Step 3: Starting from the speed limit point cur_sp, find each road attribute change point in sequence along the driving direction, locate the attribute change point cur_attr, and the attribute change point next_attr that is closest to cur_attr along the driving direction. It can be understood that in the actual implementation, the speed limit sign is assumed to be there first, followed by bridges and tunnels. Therefore, starting from the speed limit point cur_sp, find each attribute change point.

[0046] Step 4: Determine the length relationships of various adjacent roads of different types based on the attribute change points cur_attr and next_attr of each adjacent road, and determine whether they are continuous bridges and tunnels.

[0047] Step 5: Based on the determination result of whether it is a continuous bridge and tunnel and the speed limit point pre_sp of the non-bridge and tunnel speed limit point, generate the speed limit point at the end of the bridge and tunnel.

[0048] This invention provides a method for generating speed limit points at the end of continuous bridge tunnels, which is used to supplement the accurate matching of high-precision map data and the speed limit values ​​at the end of continuous bridge tunnels in autonomous driving schemes, thereby improving the integrity of map data.

[0049] Example 1

[0050] Embodiment 1 provided by this invention is an embodiment of a method for generating speed limit points at the end of a continuous bridge tunnel, provided by this invention. Figure 1 and Figure 2 It can be seen that embodiments of this generation method include:

[0051] Step 1: Starting from the starting point of the bridge-tunnel connecting road (start_road), find the bridge-tunnel speed limit point (cur_sp) along the driving direction.

[0052] In one possible embodiment, step 1 includes:

[0053] Step 101: Starting from the starting point of the bridge-tunnel connecting road, start_road, traverse the set of speed limit points along the driving direction to find the speed limit point bt_sp of type bridge or tunnel.

[0054] Step 102: Starting from the speed limit point bt_sp, find the starting position of the connecting road where bt_sp is located in the opposite direction of the driving direction, and update the starting position start_road with the starting position. It can be understood that starting from the beginning can avoid the situation where the speed limit point in the middle of the continuous bridge and tunnel is used as the starting point of the bridge and tunnel speed limit, which would lead to the generation of an incorrect speed limit point at the ending position.

[0055] Step 103: Starting from the starting position start_road, find the first speed limit point of type bridge or tunnel along the driving direction as the speed limit point cur_sp.

[0056] Step 2: Record the most recent non-bridge / tunnel speed limit point pre_sp before the speed limit point cur_sp, and use it as the end position of the bridge / tunnel to generate the speed limit.

[0057] Step 3: Starting from the speed limit point cur_sp, find each road attribute change point in sequence along the driving direction, locate the attribute change point cur_attr, and the attribute change point next_attr that is closest to cur_attr along the driving direction. It can be understood that in the actual implementation, the speed limit sign is assumed to be there first, followed by bridges and tunnels. Therefore, starting from the speed limit point cur_sp, find each attribute change point.

[0058] Step 4: Determine the length relationships of various adjacent roads of different types based on the attribute change points cur_attr and next_attr of each adjacent road, and determine whether they are continuous bridges and tunnels.

[0059] In one possible embodiment, steps 3 and 4 further include:

[0060] Construct a continuous set of attribute changes from start_road to the last end of the connecting road as an attr_vec container. The iterator itr_start_attr of the attr_vec container points to the position of the attribute change point cur_attr. Record the position of the attribute change point cur_attr as the starting point of the continuous bridge and tunnel.

[0061] In one possible embodiment, step 4 includes: determining a first road segment between the starting position start_road and the attribute change point cur_attr, and a second road segment between the attribute change point cur_attr and the attribute change point next_attr; determining whether the road attributes of the first and second road segments are ordinary roads or bridge / tunnels; determining the lengths of the first and second road segments; and determining whether they are continuous bridge / tunnels based on four predefined conditions.

[0062] Condition 1: If the first and second road segments consist of a regular road and a bridge / tunnel, and the length of the regular road is greater than the length of the bridge / tunnel, determine whether the length of the regular road is within the threshold range for the non-bridge / tunnel road continuation length. If yes, continue searching for the next set of attribute change points cur_attr and next_attr. If not, find the end position of the continuous bridge / tunnel and mark the road attribute where cur_attr is located as itr_end_attr using an iterator.

[0063] Condition 2: When the first and second road segments are two ordinary roads, find the end position of the continuous bridge and tunnel, and use an iterator to mark the road attribute where cur_attr is located as i tr_end_attr.

[0064] Condition 3: If the first and second road segments consist of a regular road and a bridge / tunnel, and the length of the bridge / tunnel is greater than the length of the regular road, then cur_attr and next_attr look up the attributes of the previous road and determine whether they are continuous under either condition 1 or condition 2.

[0065] Condition 4: When the first and second road segments are two bridge and tunnel sections, cur_attr and next_attr search the attributes of the previous two roads and determine whether they are continuous under either condition 1 or condition 2.

[0066] In one possible embodiment, step 4 includes: subtracting the interval attribute count using an iterator to obtain the number of interval attributes, attr_count. When attr_count > 1, it indicates that there are multiple road attribute spans, which is considered a continuous bridge-tunnel situation.

[0067] attr_count=itr_end_attr-itr_start_attr.

[0068] Step 5: Based on the determination result of whether it is a continuous bridge and tunnel and the speed limit point pre_sp of the non-bridge and tunnel speed limit point, generate the speed limit point at the end of the bridge and tunnel.

[0069] In one possible implementation, if no speed limit sign is found within the set end position range in step 5, it is assumed that the bridge / tunnel end position does not exist, and a speed limit needs to be generated. The rules for generating the speed limit include:

[0070] If the non-bridge / tunnel speed limit point `pre_sp` is a non-bridge / tunnel speed limit, and the road attribute of the non-bridge / tunnel speed limit point `pre_sp` is consistent with the road attribute at the end of the bridge / tunnel, a speed limit is generated at the end of the bridge / tunnel based on this non-bridge / tunnel speed limit point `pre_sp`; otherwise, a speed limit point is generated at the end of the bridge / tunnel based on regulations or experience. In this case, a speed limit point is generated at the end. If a speed limit point in the middle of a continuous bridge / tunnel is used as the starting point, it will not be generated again because a speed limit point already exists, thus avoiding duplicate speed limit generation.

[0071] Example 2

[0072] Embodiment 2 of this invention is a specific application embodiment of the method for generating speed limit points at the end of continuous bridge tunnels provided by this invention. This invention requires the following condition: It already possesses basic high-precision geographic element data with complete range, element types, and attributes. For example... Figure 3 The diagram shows a flowchart of the implementation process of a method for generating speed limit points at the end of a continuous bridge tunnel according to an embodiment of the present invention. Figure 3 As can be seen, the process of this specific application embodiment includes:

[0073] Step 1: Configure the database host and account to obtain the following map data.

[0074] Step 101, Speed ​​limit sign information, used to locate speed limit signs located on bridges and tunnels.

[0075] Step 102, Road network connection information, used to find the starting position of the current road.

[0076] Step 103, Road attribute change points, used to identify whether they are bridge or tunnel attributes.

[0077] Step 2: Configure the export path for the generated speed limit point shape file.

[0078] Step 3: Execute the speed limit point generation program, find the start and end positions of continuous bridges and tunnels, and if there are no speed limit removal points or speed limit points within a certain distance of the end position, generate speed limit points according to the generation rules.

[0079] Results verification: The final generated speed limit data was exported as a shapefile and opened with the image viewer QGIS as the generated speed limit point layer. At the same time, the original speed limit point layer was opened and configured with distinct color differences. The results were checked to see if the end position of the continuous bridge and tunnel was correctly generated to remove the speed limit and that there were no duplicate speed limits.

[0080] Example 3

[0081] Embodiment 3 provided by this invention is an embodiment of a continuous bridge tunnel end position speed limit point generation system provided by this invention. Figure 4 This is a structural diagram of a continuous bridge tunnel end-speed limit point generation system provided in an embodiment of the present invention, combined with... Figure 4 It can be seen that the embodiment of the generation system includes: an attribute change point search module, a continuous bridge and tunnel determination module, and a speed limit point generation module.

[0082] The attribute change point lookup module is used to find the bridge and tunnel speed limit point cur_sp along the driving direction, starting from the starting position start_road of the road connecting the bridge and tunnel; record the nearest non-bridge and tunnel speed limit point pre_sp before the speed limit point cur_sp; and find each road attribute change point sequentially along the driving direction, starting from the speed limit point cur_sp, and locate the attribute change point cur_attr and the nearest attribute change point next_attr along the driving direction of the attribute change point cur_attr.

[0083] The continuous bridge and tunnel determination module is used to determine the length relationship of various adjacent roads of different types based on the attribute change points cur_attr and next_attr of each adjacent road, and to determine whether the road is a continuous bridge and tunnel.

[0084] The speed limit point generation module is used to generate the speed limit point at the end of the bridge / tunnel based on the determination result of whether it is a continuous bridge / tunnel and the speed of the non-bridge / tunnel speed limit point pre_sp.

[0085] It is understood that the continuous bridge tunnel end position speed limit point generation system provided by the present invention corresponds to the continuous bridge tunnel end position speed limit point generation method provided in the foregoing embodiments. The relevant technical features of the continuous bridge tunnel end position speed limit point generation system can be referred to the relevant technical features of the continuous bridge tunnel end position speed limit point generation method, and will not be repeated here.

[0086] Please see Figure 5 , Figure 5This is a schematic diagram illustrating an embodiment of the electronic device provided in this invention. For example... Figure 5 As shown, this embodiment of the invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, it performs the following steps: starting from the starting position start_road of the bridge-tunnel connecting road, it searches for the bridge-tunnel speed limit point cur_sp along the driving direction; it records the nearest non-bridge-tunnel speed limit point pre_sp before the speed limit point cur_sp; starting from the speed limit point cur_sp, it sequentially searches for each road attribute change point along the driving direction, locates the attribute change point cur_attr and the attribute change point next_attr closest to cur_attr along the driving direction; it determines the length relationship of various adjacent roads of different types based on each adjacent attribute change point cur_attr and attribute change point next_attr, and determines whether it is a continuous bridge-tunnel; based on the determination result of whether it is a continuous bridge-tunnel and the speed of the non-bridge-tunnel speed limit point pre_sp, it generates the bridge-tunnel end position speed limit point.

[0087] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating an embodiment of a computer-readable storage medium provided by the present invention. (See diagram below.) Figure 6 As shown, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, it performs the following steps: taking the starting position start_road of the bridge-tunnel connecting road as the starting point, searching for the bridge-tunnel speed limit point cur_sp along the driving direction; recording the nearest non-bridge-tunnel speed limit point pre_sp before the speed limit point cur_sp; taking the speed limit point cur_sp as the starting point, sequentially searching for each road attribute change point along the driving direction, locating the attribute change point cur_attr and the attribute change point next_attr closest to cur_attr along the driving direction; determining the length relationship of various adjacent different types of roads based on each adjacent attribute change point cur_attr and attribute change point next_attr, and determining whether it is a continuous bridge-tunnel; generating the bridge-tunnel end position speed limit point based on the determination result of whether it is a continuous bridge-tunnel and the speed of the non-bridge-tunnel speed limit point pre_sp.

[0088] This invention provides a method, system, electronic device, and storage medium for generating speed limit points at the end of continuous bridge and tunnel sections. It addresses the situation of continuous bridges and tunnels, handling complex scenarios such as bridge-tunnel-bridge, tunnel-bridge-tunnel, or bridge-tunnel, ordinary road, and bridge-tunnel sequences. By traversing the speed limit points at the starting position of the connecting road where the bridge-tunnel speed limit point is located, it avoids generating incorrect speed limit values ​​at speed limit points in the middle of continuous bridges and tunnels. This ensures accurate determination of the end position and correct generation of speed limit points in four scenarios of continuous bridges and tunnels, providing accurate reference values ​​for lifting speed limits at the end of continuous bridges and tunnels for vehicle navigation and autonomous driving.

[0089] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0090] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. 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. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0091] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0092] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0094] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0095] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for generating speed limit points at the end of a continuous bridge tunnel, characterized in that, The generation method includes: Step 1: Starting from the starting point of the bridge-tunnel connecting road (start_road), find the bridge-tunnel speed limit point (cur_sp) along the driving direction. Step 2: Record the most recent non-bridge / tunnel speed limit point pre_sp before the speed limit point cur_sp; Step 3: Starting from the speed limit point cur_sp, find each road attribute change point in sequence along the driving direction, locate the attribute change point cur_attr and the attribute change point next_attr that is closest to cur_attr along the driving direction; Step 4: Determine the length relationship of various adjacent roads of different types based on the attribute change points cur_attr and next_attr of each adjacent road, and determine whether they are continuous bridges and tunnels. Step 5: Based on the determination result of whether it is a continuous bridge and tunnel and the speed of the non-bridge and tunnel speed limit point pre_sp, generate the bridge and tunnel end position speed limit point. Step 4 includes: determining the first road segment between the starting position start_road and the attribute change point cur_attr, and the second road segment between the attribute change point cur_attr and the attribute change point next_attr; determining whether the road attribute of the first road segment and the second road segment is a normal road or a bridge / tunnel; determining the length of the first road segment and the second road segment; and determining whether it is a continuous bridge / tunnel based on four set conditions. Condition 1: If the first road segment and the second road segment are a section of ordinary road and a section of bridge and tunnel, and the length of the ordinary road is greater than the length of the bridge and tunnel, determine whether the length of the ordinary road is within the threshold range of the non-bridge and tunnel road connection length. If yes, continue to search for the next set of attribute change points cur_attr and next_attr. If not, find the end position of the continuous bridge and tunnel, and use an iterator to mark the road attribute where cur_attr is located as itr_end_attr. Condition 2: When the first road segment and the second road segment are two ordinary roads, find the end position of the continuous bridge and tunnel, and use an iterator to mark the road attribute where cur_attr is located as itr_end_attr; Condition 3: If the first road segment and the second road segment are a section of ordinary road and a section of bridge and tunnel, and the length of the bridge and tunnel is greater than the length of the ordinary road, then cur_attr and next_attr search for the previous road attribute and determine whether they are continuous under either condition 1 or condition 2. Condition 4: When the first and second road segments are two bridge and tunnel sections, cur_attr and next_attr search the previous two road attributes and determine whether they are continuous under either Condition 1 or Condition 2.

2. The generation method according to claim 1, characterized in that, Step 1 includes: Step 101: Starting from the starting point of the bridge-tunnel connecting road start_road, traverse the set of speed limit points along the driving direction to find the speed limit point bt_sp of type bridge or tunnel. Step 102: Starting from the speed limit point bt_sp, find the starting position of the connecting road where bt_sp is located in the opposite direction of the driving direction, and update the starting position start_road with the starting position. Step 103: Starting from the starting position start_road, find the first speed limit point of type bridge or tunnel along the driving direction, which is the speed limit point cur_sp.

3. The generation method according to claim 1, characterized in that, Step 3 includes: Step 301: Find each road attribute change point. Starting from the speed limit point cur_sp, find the first attribute change point along the driving direction. If the attribute change point is a bridge or tunnel change point, locate it as the attribute change point cur_attr. If the attribute change point is not a bridge or tunnel change point, find the first attribute change point in the opposite direction of the driving direction and record it as the attribute change point cur_attr. Step 302: Record the nearest attribute change point nextattr along the driving direction of the attribute change point cur_attr.

4. The generation method according to claim 3, characterized in that, Steps 3 and 4 also include: Construct a continuous set of attribute changes from start_road to the last end of the connecting road as an attr_vec container. The iterator itr_start_attr of the attr_vec container points to the location of the attribute change point cur_attr. Record the location of the attribute change point cur_attr as the starting point of the continuous bridge and tunnel.

5. The generation method according to claim 1, characterized in that, Step 4 includes: subtracting the interval attribute using an iterator to obtain the number of interval attributes attr_count. When attr_count > 1, it indicates that there are multiple road attribute spans, which is considered as a continuous bridge and tunnel situation; attrcount = itrendattr - itrstartattr.

6. The generation method according to claim 1, characterized in that, If no speed limit sign is found within the set end position range in step 5, it is assumed that the bridge / tunnel end position does not exist, and a speed limit needs to be generated. The rules for generating the speed limit include: If the non-bridge / tunnel speed limit point pre_sp is a non-bridge / tunnel speed limit, and the road attribute of the non-bridge / tunnel speed limit point pre_sp is consistent with the road attribute of the bridge / tunnel end position, a speed limit is generated at the bridge / tunnel end position based on the non-bridge / tunnel speed limit point pre_sp; otherwise, a speed limit point is generated at the bridge / tunnel end position based on regulations or experience.

7. A system for generating speed limit points at the end of a continuous bridge tunnel, characterized in that, The generation system includes: an attribute change point search module, a continuous bridge and tunnel determination module, and a speed limit point generation module; The attribute change point search module is used to search for the bridge and tunnel speed limit point cur_sp along the driving direction, starting from the starting position start_road of the road connecting the bridge and tunnel; record the nearest non-bridge and tunnel speed limit point pre_sp before the speed limit point cur_sp; and sequentially search for each road attribute change point along the driving direction, starting from the speed limit point cur_sp, and locate the attribute change point cur_attr and the nearest attribute change point next_attr along the driving direction of the attribute change point cur_attr. The continuous bridge and tunnel determination module is used to determine the length relationship of various adjacent roads of different types based on the attribute change points cur_attr and next_attr of each adjacent road, and to determine whether the road is a continuous bridge and tunnel. The speed limit point generation module is used to generate a speed limit point at the end of a bridge or tunnel based on the determination result of whether it is a continuous bridge or tunnel and the speed of the non-bridge / tunnel speed limit point pre_sp. Based on the attribute change points cur_attr and next_attr of each adjacent point, determine the length relationship of various adjacent roads of different types, and determine whether they are continuous bridges and tunnels. This includes: determining the first road segment between the starting position start_road and the attribute change point cur_attr, and the second road segment between the attribute change point cur_attr and the attribute change point next_attr; determining whether the road attributes of the first and second road segments are ordinary roads or bridges and tunnels; determining the lengths of the first and second road segments; and determining whether they are continuous bridges and tunnels based on four set conditions. Condition 1: If the first road segment and the second road segment are a section of ordinary road and a section of bridge and tunnel, and the length of the ordinary road is greater than the length of the bridge and tunnel, determine whether the length of the ordinary road is within the threshold range of the non-bridge and tunnel road connection length. If yes, continue to search for the next set of attribute change points cur_attr and next_attr. If not, find the end position of the continuous bridge and tunnel, and use an iterator to mark the road attribute where cur_attr is located as itr_end_attr. Condition 2: When the first road segment and the second road segment are two ordinary roads, find the end position of the continuous bridge and tunnel, and use an iterator to mark the road attribute where cur_attr is located as itr_end_attr; Condition 3: If the first road segment and the second road segment are a section of ordinary road and a section of bridge and tunnel, and the length of the bridge and tunnel is greater than the length of the ordinary road, then cur_attr and next_attr search for the previous road attribute and determine whether they are continuous under either condition 1 or condition 2. Condition 4: When the first and second road segments are two bridge and tunnel sections, cur_attr and next_attr search the previous two road attributes and determine whether they are continuous under either Condition 1 or Condition 2.

8. An electronic device, characterized in that, It includes a memory and a processor, wherein the processor is used to execute computer management programs stored in the memory to implement the steps of the method for generating speed limit points at the end positions of continuous bridge tunnels as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, It stores a computer management program, which, when executed by a processor, implements the steps of the method for generating speed limit points at the end position of a continuous bridge tunnel as described in any one of claims 1-6.

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