Positioning target association method and apparatus, electronic device, and storage medium

Abstract

The disclosure discloses a positioning target association method and device, electronic equipment and a storage medium, relates to the technical field of data processing, and mainly comprises the following technical schemes: after a positioning target is acquired, the positioning target is acquired, the intersection number of the positioning target and a road interest area is determined, the road interest area is a three-dimensional space generated in advance according to a sample positioning target, and the association relationship between the positioning target and a road to which the intersecting road interest area belongs is established according to the intersection number. Compared with related technologies, the road interest area of the three-dimensional space is constructed in advance, the association relationship between the positioning target and the road is determined by confirming the intersection relationship between the positioning target and the three-dimensional road interest area.

Description

Technical Field

[0001] This disclosure relates to the field of data processing technology, and in particular to a method and apparatus for locating targets, an electronic device, and a storage medium. Background Technology

[0002] Currently, when determining the spatial relationship between a positioning target and a road, the positioning target and the road surface are projected onto the same reference plane. The relationship between the positioning target and the road is determined by whether the projections of the positioning target and the road intersect on the same reference plane. However, this method has a high error rate. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, and storage medium for associating a localized target. The main objective is to determine the association between a localized target and a road by constructing a three-dimensional road region of interest (ROI) and confirming the intersection relationship between the localized target and the ROI.

[0004] According to one aspect of this disclosure, a method for associating targets is provided, comprising:

[0005] Obtain the target location;

[0006] Determine the number of intersections between the positioning target and the road interest region, where the road interest region is a three-dimensional space pre-generated based on the sample positioning target;

[0007] The relationship between the positioning target and the roads belonging to the areas of interest of the intersecting roads is established based on the number of intersections.

[0008] Optionally, before determining the number of intersections between the location target and the road region of interest, the method further includes:

[0009] The target category of the sample location target is determined, and the target category is classified according to its positional relationship with the road surface;

[0010] Generate corresponding road interest areas based on the target category.

[0011] When the target of the sample localization is a road surface object, generating a corresponding road interest region based on the target category includes:

[0012] Obtain the first road surface where the sample positioning target is located;

[0013] Using the first road surface as the center plane, extend vertically up and down by a first preset distance along the outermost lane of the first road surface to generate the road interest area corresponding to the sample positioning target.

[0014] Optionally, when the sample location target is a roadside object, generating a corresponding road interest region based on the target category includes:

[0015] Obtain the second road surface where the sample positioning target is located;

[0016] Extend a second preset distance outward along the outermost lane of the second road surface, and extend a third preset distance vertically upward along the extended second road surface to generate the road interest area corresponding to the sample positioning target.

[0017] Optionally, when the sample location target is a multi-level road, generating a corresponding road interest region based on the target category includes:

[0018] Obtain the lower road surface where the sample positioning target is located, and obtain the upper road surface;

[0019] The outermost lanes of the lower road surface are extended vertically upwards to the upper road surface to generate the road interest region corresponding to the sample positioning target.

[0020] Optionally, if the road surface object is a positioning target for controlling a single lane;

[0021] Establishing the association between the location target and the roads belonging to the areas of interest of the intersecting roads based on the number of intersections includes:

[0022] If the positioning target intersects with the road interest area, then determine whether the orthographic projection of the positioning target intersects with the orthographic projection of any lane within the road interest area;

[0023] If they intersect, then based on the number of intersections, establish the association between the positioning target and the intersecting lanes within the road interest area;

[0024] If they do not intersect, the lane closest to the orthographic projection of the positioning target is obtained, and the association between the positioning target and the lane closest to its orthographic projection is established.

[0025] Optionally, establishing the association between the positioning target and the intersecting lanes within the road interest area based on the number of intersections includes:

[0026] If the number of intersections is one, then establish the association between the positioning target and the intersecting lanes within the road interest area;

[0027] If there are multiple intersections, then establish the association between the positioning target and the intersecting lanes in each road interest area.

[0028] Optionally, establishing the association between the positioning target and the roads belonging to the intersecting road interest areas based on the number of intersections includes:

[0029] If the location target intersects with one of the road interest regions, then an association relationship is established between the location target and the road to which the intersecting road interest region belongs;

[0030] If the positioning target intersects with multiple road interest areas, then establish the association relationship between the positioning target and the roads to which the multiple intersecting road interest areas belong;

[0031] If the location target does not intersect with the road area of ​​interest, then the road area of ​​interest closest to the location target is obtained, and the association between the location target and the road to which its nearest road area of ​​interest belongs is established.

[0032] Optionally, before determining the number of intersections between the location target and the road region of interest, the method further includes:

[0033] Construct the target road region of interest corresponding to the location target;

[0034] Determining the number of intersections between the location target and the road area of ​​interest includes:

[0035] Determine the number of intersections between the target road region of interest and the road region of interest.

[0036] According to another aspect of this disclosure, an association device for locating a target is provided, comprising:

[0037] The acquisition unit is used to acquire the positioning target;

[0038] The first determining unit is used to determine the number of intersections between the positioning target and the road interest region, wherein the road interest region is a three-dimensional space pre-generated based on the sample positioning target;

[0039] The association unit is used to establish the association relationship between the positioning target and the roads belonging to the intersecting road interest areas based on the number of intersections.

[0040] Optionally, the device further includes:

[0041] The second determining unit is used to determine the target category of the sample positioning target before the first determining unit determines the number of intersections between the positioning target and the road interest area, wherein the target category is classified according to the positional relationship with the road surface;

[0042] The generation unit is used to generate corresponding road interest areas based on the target category.

[0043] Optionally, when the sample positioning target is a road surface object, the generation unit is further configured to:

[0044] Obtain the first road surface where the sample positioning target is located;

[0045] Using the first road surface as the center plane, extend vertically up and down by a first preset distance along the outermost lane of the first road surface to generate the road interest area corresponding to the sample positioning target.

[0046] Optionally, when the sample location target is a roadside object, the generation unit is further configured to:

[0047] Obtain the second road surface where the sample positioning target is located;

[0048] Extend a second preset distance outward along the outermost lane of the second road surface, and extend a third preset distance vertically upward along the extended second road surface to generate the road interest area corresponding to the sample positioning target.

[0049] Optionally, when the sample location target is a multi-layer road, the generation unit is further configured to include:

[0050] Obtain the lower road surface where the sample positioning target is located, and obtain the upper road surface;

[0051] The outermost lanes of the lower road surface are extended vertically upwards to the upper road surface to generate the road interest region corresponding to the sample positioning target.

[0052] Optionally, if the road surface object is a positioning target for controlling a single lane;

[0053] The associated unit is also used for:

[0054] If the positioning target intersects with the road interest area, then determine whether the orthographic projection of the positioning target intersects with the orthographic projection of any lane within the road interest area;

[0055] If they intersect, then based on the number of intersections, establish the association between the positioning target and the intersecting lanes within the road interest area;

[0056] If they do not intersect, the lane closest to the orthographic projection of the positioning target is obtained, and the association between the positioning target and the lane closest to its orthographic projection is established.

[0057] Optionally, the associated unit includes:

[0058] If the number of intersections is one, then establish the association between the positioning target and the intersecting lanes within the road interest area;

[0059] If there are multiple intersections, then establish the association between the positioning target and the intersecting lanes in each road interest area.

[0060] Optionally, the associated unit is further configured to:

[0061] If the location target intersects with one of the road interest regions, then an association relationship is established between the location target and the road to which the intersecting road interest region belongs;

[0062] If the positioning target intersects with multiple road interest areas, then establish the association relationship between the positioning target and the roads to which the multiple intersecting road interest areas belong;

[0063] If the location target does not intersect with the road area of ​​interest, then the road area of ​​interest closest to the location target is obtained, and the association between the location target and the road to which its nearest road area of ​​interest belongs is established.

[0064] Optionally, the device further includes:

[0065] A construction unit is configured to construct a target road interest region corresponding to the positioning target before the first determining unit determines the number of intersections between the positioning target and the road interest region;

[0066] The first determining unit is further configured to determine the number of intersections between the target road region of interest and the road region of interest.

[0067] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0068] At least one processor; and

[0069] A memory communicatively connected to the at least one processor; wherein,

[0070] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the foregoing aspect.

[0071] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method described in the foregoing aspect.

[0072] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method as described in the foregoing aspect.

[0073] The method, apparatus, electronic device, and storage medium for associating positioning targets provided in this disclosure acquire a positioning target, determine the number of intersections between the positioning target and a road interest region (ROR), wherein the ROR is a three-dimensional space pre-generated based on sample positioning targets, and establishes an association relationship between the positioning target and the roads to which the intersecting RORs belong based on the number of intersections. Compared with related technologies, the embodiments of this application determine the association relationship between a positioning target and a road by confirming the intersection relationship between the positioning target and the road ROR through a pre-constructed three-dimensional space.

[0074] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0075] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0076] Figure 1 A flowchart illustrating a method for associating a target location according to an embodiment of this disclosure;

[0077] Figure 2 This is a schematic diagram of a first type of road interest area provided in an embodiment of this disclosure;

[0078] Figure 3 This is a schematic diagram of a second type of road interest area provided in an embodiment of this disclosure;

[0079] Figure 4 This is a schematic diagram of a third type of road interest area provided in an embodiment of this disclosure;

[0080] Figure 5 A schematic diagram of the fourth type of road interest area provided in the embodiments of this disclosure.

[0081] Figure 6 A schematic diagram of the structure of an association device for locating a target provided in an embodiment of this disclosure;

[0082] Figure 7 A schematic diagram of another target location association device provided in this disclosure embodiment.

[0083] Figure 8 A schematic block diagram of an example electronic device 300 provided for embodiments of this disclosure. Detailed Implementation

[0084] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0085] The following description, with reference to the accompanying drawings, describes a method and apparatus for associating a location target, an electronic device, and a storage medium.

[0086] This application provides an association method for locating targets, such as... Figure 1 As shown, the method includes:

[0087] 101. Obtain the target location.

[0088] This application embodiment is applied to the map loading process. Therefore, the positioning target is related to the road / road surface. When classifying the positioning target, this application embodiment divides it into 4 categories: (1) road surface objects, such as pedestrian crossings, arrows, text, symbols, etc.; (2) roadside objects, such as poles, traffic signs, etc.; (3) objects above the road surface, such as obstacles above the road surface, etc.; (4) multi-level road objects, such as interchanges, etc. The above are just exemplary examples. In actual applications, they can be added or removed according to different positioning targets. This application embodiment does not limit the categories of positioning targets or the division under each category.

[0089] In practice, the target category of the location target can be pre-stored in a file. After the location target is obtained, the target category of the location target can be determined by comparing it with the file.

[0090] Each target category is different, and it corresponds to a different road interest area. Therefore, determining the target category of the positioning target is the key to establishing the association between positioning targets.

[0091] 102. Determine the number of intersections between the positioning target and the road interest region, where the road interest region is a three-dimensional space pre-generated based on the sample positioning target.

[0092] In practical applications, the road interest area can be generated in advance or generated in real time during driving. This application embodiment uses a pre-generated road interest area as an example for illustration, but this illustration method is not intended to limit the timing of road interest area generation.

[0093] 103. Establish the association between the positioning target and the roads belonging to the areas of interest of the intersecting roads based on the number of intersections.

[0094] The intersection of a location object and a road area of ​​interest (ROI) includes three application scenarios: Scenario 1: The location object is within one ROI or intersects with one ROI; Scenario 2: The location object is within multiple ROIs or intersects with multiple ROIs; Scenario 3: The location object is not within a ROI or does not intersect with multiple ROIs.

[0095] When scenario one occurs, establish the association between the positioning target and the roads within the intersecting road interest areas; when scenario two occurs, establish the association between the positioning target and multiple intersecting road interest areas, and between the positioning target and the roads within each intersecting road interest area.

[0096] Based on the application scenario of map loading, when the roads associated with the location target are determined, only the associated roads need to be loaded in the map, and the unassociated roads do not need to be loaded temporarily, which can greatly save loading resources.

[0097] The method for associating positioning targets provided in this application involves acquiring a positioning target and determining its target category. The target category is classified according to its positional relationship with the road surface. After generating a corresponding three-dimensional spatial road interest region based on the target category, the association relationship between the positioning target and the road to which the intersecting road interest region belongs is established based on the number of intersections between the positioning target and the road interest region. Compared with related technologies, this application embodiment determines the association relationship between the positioning target and the road by constructing a three-dimensional spatial road interest region and confirming the intersection relationship between the positioning target and the three-dimensional road interest region.

[0098] As an extension of the above embodiment, before generating the corresponding road interest region according to the target category in step 102, the method further includes determining the target category of the sample positioning target. The target category is classified according to its positional relationship with the road surface, and the corresponding road interest region is generated according to the target category. In this embodiment, the sample positioning target includes the positioning target obtained in step 101, that is, the positioning target is one of the sample positioning targets. The purpose of this setting is to be able to determine the road interest region related to the positioning target in a timely manner after determining the positioning target.

[0099] The following embodiments illustrate the generation of road regions of interest (ROIs) using different location targets as examples. As can be seen from the above embodiments, the location target needs to determine the road ROI based on the defined category. Therefore, the road ROIs are generated first, as follows:

[0100] (1) When the sample positioning target is a road surface object, generating a corresponding road interest region according to the target category includes: obtaining the first road surface where the sample positioning target is located, and extending vertically up and down a first preset distance along the outermost lane of the first road surface with the first road surface as the center surface to generate the road interest region corresponding to the sample positioning target. For ease of understanding, as follows Figure 2 As shown, Figure 2 This is a schematic diagram of a road area of ​​interest corresponding to a road surface object according to an embodiment of this application. Taking the road surface object as the center surface of the road area of ​​interest, the road area of ​​interest corresponding to the sample positioning target is generated by extending vertically up and down a first preset distance along the outermost lane of the first road surface.

[0101] The first preset distance is an empirical value, which can be set to 0.5 meters, 1 meter, etc. The road interest area is defined as a three-dimensional space formed by extending vertically upward 0.5 meters and vertically downward 0.5 meters from the outermost lane boundary of the road surface.

[0102] (2) When the sample positioning target is a roadside object, generating a corresponding road interest region according to the target category includes: obtaining the second road surface where the sample positioning target is located, extending outwards by a second preset distance along the outermost lane of the second road surface, and extending vertically upwards by a third preset distance along the extended second road surface to generate the road interest region corresponding to the sample positioning target. Figure 3 As shown, Figure 3 This is a schematic diagram of the second type of road interest area provided in the embodiments of this application. When the sample positioning target is the roadside object (such as a pole, traffic sign, etc.), the range of the interest area is defined as a three-dimensional space formed by extending outward from the outermost lane boundary on both sides of the road surface perpendicular to the road boundary by a second preset distance, such as 5m, and extending upward by a third preset distance (such as 10m).

[0103] As an extension, when the sample localization target is an object above the road surface (such as an obstacle surface), the region of interest is defined as extending upwards from the outermost lane boundary of the road surface by a third preset distance (e.g., 10 meters), with the second preset distance being 0, forming a three-dimensional space, such as... Figure 4 As shown, Figure 4 This is a third type of road interest area provided in the embodiments of this application.

[0104] (3) When the sample location target is a multi-level road (such as an interchange), generating the corresponding road interest region according to the target category includes: obtaining the lower road surface where the sample location target is located, obtaining the upper road surface, and extending vertically upwards along the outermost lane of the lower road surface to the upper road surface to generate the road interest region corresponding to the sample location target, such as... Figure 5 As shown, Figure 5 This is a schematic diagram of a fourth type of road interest area provided in this application embodiment. The difference between this road interest area and the above three types of road interest areas is that the upper shape of this road interest area is consistent with the shape of the upper road surface.

[0105] Establishing the association between the positioning target and the roads belonging to the intersecting road interest areas based on the number of intersections between the positioning target and the road interest areas specifically includes: if the positioning target intersects with one road interest area, then establish the association between the positioning target and the road belonging to that intersecting road interest area; if the positioning target intersects with multiple road interest areas, then establish the association between the positioning target and the roads belonging to multiple intersecting road interest areas; if the positioning target does not intersect with any road interest area, then obtain the road interest area closest to the positioning target and establish the association between the positioning target and the road belonging to its nearest road interest area.

[0106] The above embodiments illustrate a scenario where a location target is associated with a road. If the road surface object is a location target that controls a single lane, such as an arrow indicating one-way / turn-off, it also needs to be associated with the lanes within the associated road. Based on the number of intersections between the location target and the road interest area, the association relationship between the location target and the road to which the intersecting road interest area belongs is established. First, it is determined whether the road interest area contains the target object or intersects with the target object.

[0107] If the positioning target intersects with the road interest area, it is determined whether the orthographic projection of the positioning target intersects with the orthographic projection of any lane in the road interest area. If they intersect, the relationship between the positioning target and the intersecting lanes in the road interest area is established based on the number of intersections. If they do not intersect, the lane closest to the orthographic projection of the positioning target is obtained, and the relationship between the positioning target and the lane closest to its orthographic projection is established.

[0108] For example, if the object being located is only within a single road area of ​​interest or intersects only with a single road area of ​​interest, then determine whether the object intersects with the projection of the lane centerline of the road surface in that road area of ​​interest (which needs to be projected onto the same plane). If so, then associate one or more intersecting lane centerlines.

[0109] If the object being located is within or intersects with multiple road interest areas, determine whether the object intersects with the lane centerline projection (which needs to be projected onto the same plane) of the road surface in each road interest area. If so, associate one or more intersecting lane centerlines. If the object is not within any road interest area or does not intersect with any road interest area, associate the lane centerline closest to the object.

[0110] As a feasible embodiment of this application, before determining the number of intersections between the positioning target and the road interest region, a target road interest region corresponding to the positioning target is constructed, and the number of intersections between the target road interest region and the road interest region is determined. The method for constructing the target road interest region is the same as that in the above embodiments, and can be referred to the description of the above embodiments. In this embodiment of the application, the purpose of constructing the target interest region is to expand the range of the positioning target, increase the probability of intersection between the target road interest region and the road interest region, thereby increasing the probability of road association relationships.

[0111] Figure 6 This is a schematic diagram of the structure of an association device for locating a target provided in an embodiment of the present disclosure, as shown below. Figure 6 As shown, it includes:

[0112] Acquisition unit 21 is used to acquire the positioning target;

[0113] The first determining unit 22 is used to determine the number of intersections between the positioning target and the road interest region, wherein the road interest region is a three-dimensional space pre-generated based on the sample positioning target;

[0114] The association unit 23 is used to establish the association relationship between the positioning target and the roads to which the intersecting road interest areas belong based on the number of intersections.

[0115] The positioning target association device provided in this disclosure acquires a positioning target, determines the number of intersections between the positioning target and a road interest region (ROR), where the ROR is a three-dimensional space pre-generated based on sample positioning targets, and establishes the association relationship between the positioning target and the roads to which the intersecting RORs belong based on the number of intersections. Compared with related technologies, the embodiments of this application determine the association relationship between the positioning target and the road by confirming the intersection relationship between the positioning target and the road through a pre-constructed three-dimensional space ROR.

[0116] Furthermore, in one possible implementation of this embodiment, such as Figure 7 As shown, the device further includes:

[0117] The second determining unit 24 is used to determine the target category of the sample positioning target before the first determining unit 22 determines the number of intersections between the positioning target and the road interest area. The target category is classified according to its positional relationship with the road surface.

[0118] The generation unit 25 is used to generate a corresponding road interest area based on the target category.

[0119] Furthermore, in one possible implementation of this embodiment, such as Figure 7As shown, when the sample positioning target is a road surface object, the generation unit 25 is further configured to:

[0120] Obtain the first road surface where the sample positioning target is located;

[0121] Using the first road surface as the center plane, extend vertically up and down by a first preset distance along the outermost lane of the first road surface to generate the road interest area corresponding to the sample positioning target.

[0122] Furthermore, in one possible implementation of this embodiment, such as Figure 7 As shown, when the target of the sample location is a roadside object, the generation unit 25 is further configured to:

[0123] Obtain the second road surface where the sample positioning target is located;

[0124] Extend a second preset distance outward along the outermost lane of the second road surface, and extend a third preset distance vertically upward along the extended second road surface to generate the road interest area corresponding to the sample positioning target.

[0125] Furthermore, in one possible implementation of this embodiment, such as Figure 7 As shown, when the sample location target is a multi-level road, the generation unit 25 is further configured to include:

[0126] Obtain the lower road surface where the sample positioning target is located, and obtain the upper road surface;

[0127] The outermost lanes of the lower road surface are extended vertically upwards to the upper road surface to generate the road interest region corresponding to the sample positioning target.

[0128] Furthermore, in one possible implementation of this embodiment, such as Figure 7 As shown, if the road surface object is a positioning target for controlling a single lane; the association unit 23 is further used for:

[0129] If the positioning target intersects with the road interest area, then determine whether the orthographic projection of the positioning target intersects with the orthographic projection of any lane within the road interest area;

[0130] If they intersect, then based on the number of intersections, establish the association between the positioning target and the intersecting lanes within the road interest area;

[0131] If they do not intersect, the lane closest to the orthographic projection of the positioning target is obtained, and the association between the positioning target and the lane closest to its orthographic projection is established.

[0132] Furthermore, in one possible implementation of this embodiment, such as Figure 7 As shown, the associated unit 23 includes:

[0133] If the number of intersections is one, then establish the association between the positioning target and the intersecting lanes within the road interest area;

[0134] If there are multiple intersections, then establish the association between the positioning target and the intersecting lanes in each road interest area.

[0135] Furthermore, in one possible implementation of this embodiment, such as Figure 7 As shown, the associated unit 23 is further used for:

[0136] If the location target intersects with one of the road interest regions, then an association relationship is established between the location target and the road to which the intersecting road interest region belongs;

[0137] If the positioning target intersects with multiple road interest areas, then establish the association relationship between the positioning target and the roads to which the multiple intersecting road interest areas belong;

[0138] If the location target does not intersect with the road area of ​​interest, then the road area of ​​interest closest to the location target is obtained, and the association between the location target and the road to which its nearest road area of ​​interest belongs is established.

[0139] Furthermore, in one possible implementation of this embodiment, such as Figure 7 As shown, the device further includes:

[0140] Construction unit 26 is used to construct the target road interest region corresponding to the positioning target before the first determining unit determines the number of intersections between the positioning target and the road interest region;

[0141] The first determining unit 22 is further configured to determine the number of intersections between the target road region of interest and the road region of interest.

[0142] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and the principle is the same, so it is not limited in this embodiment.

[0143] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0144] Figure 8A schematic block diagram of an example electronic device 300 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0145] like Figure 8 As shown, device 300 includes a computing unit 301, which can perform various appropriate actions and processes based on a computer program stored in ROM (Read-Only Memory) 302 or a computer program loaded from storage unit 308 into RAM (Random Access Memory) 303. RAM 303 can also store various programs and data required for the operation of device 300. The computing unit 301, ROM 302, and RAM 303 are interconnected via bus 304. I / O (Input / Output) interface 305 is also connected to bus 304.

[0146] Multiple components in device 300 are connected to I / O interface 305, including: input unit 306, such as keyboard, mouse, etc.; output unit 307, such as various types of monitors, speakers, etc.; storage unit 308, such as disk, optical disk, etc.; and communication unit 309, such as network card, modem, wireless transceiver, etc. Communication unit 309 allows device 300 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0147] The computing unit 301 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as the target localization association method. For example, in some embodiments, the target localization association method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 308. In some embodiments, part or all of the computer program may be loaded and / or installed on device 300 via ROM 302 and / or communication unit 309. When the computer program is loaded into RAM 303 and executed by the computing unit 301, one or more steps of the methods described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the aforementioned method of associating the location target by any other suitable means (e.g., by means of firmware).

[0148] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System-on-Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0150] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0151] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0152] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0153] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0154] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0155] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0156] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for associating targets, characterized in that, include: Obtain the target location; The target category of the sample location target is determined, and the target category is classified according to its positional relationship with the road surface; A corresponding road interest area is generated based on the target category; wherein, the target category includes at least one of road surface object, above-road object, roadside object, and multi-level road; Determine the number of intersections between the positioning target and the road interest region, where the road interest region is a three-dimensional space pre-generated based on the sample positioning target; Establish the association between the positioning target and the roads belonging to the areas of interest of the intersecting roads based on the number of intersections; If the sample positioning target is a road surface object, then the first road surface where the sample positioning target is located is obtained; taking the first road surface as the center plane, the outermost lane of the first road surface is extended vertically up and down by a first preset distance to generate the road interest area corresponding to the sample positioning target; if the road surface object is a positioning target controlling a single lane, if the positioning target intersects with the road interest area, then it is determined whether the orthographic projection of the positioning target intersects with the orthographic projection of any lane in the road interest area; if they intersect, then based on the number of intersections, the association relationship between the positioning target and the intersecting lanes in the road interest area is established.

2. The association method according to claim 1, characterized in that, When the target of the sample localization is a roadside object, generating the corresponding road interest region according to the target category includes: Obtain the second road surface where the sample positioning target is located; Extend a second preset distance outward along the outermost lane of the second road surface, and extend a third preset distance vertically upward along the extended second road surface to generate the road interest area corresponding to the sample positioning target.

3. The association method according to claim 1, characterized in that, When the target of the sample localization is a multi-level road, the step of generating the corresponding road interest region according to the target category includes: Obtain the lower road surface where the sample positioning target is located, and obtain the upper road surface; The outermost lanes of the lower road surface are extended vertically upwards to the upper road surface to generate the road interest region corresponding to the sample positioning target.

4. The association method according to claim 1, characterized in that, If the orthographic projection of the positioning target does not intersect with the orthographic projection of any lane within the road interest area, then the lane closest to the orthographic projection of the positioning target is obtained, and the association between the positioning target and the lane closest to its orthographic projection is established.

5. The association method according to claim 1, characterized in that, The step of establishing the association between the positioning target and the intersecting lanes within the road interest area based on the number of intersections includes: If the number of intersections is one, then establish the association between the positioning target and the intersecting lanes within the road interest area; If there are multiple intersections, then establish the association between the positioning target and the intersecting lanes in each road interest area.

6. The association method according to claim 1, characterized in that, The step of establishing the association between the positioning target and the roads belonging to the intersecting road interest areas based on the number of intersections includes: If the location target intersects with one of the road interest regions, then an association relationship is established between the location target and the road to which the intersecting road interest region belongs; If the positioning target intersects with multiple road interest areas, then establish the association relationship between the positioning target and the roads to which the multiple intersecting road interest areas belong; If the location target does not intersect with the road area of ​​interest, then the road area of ​​interest closest to the location target is obtained, and the association between the location target and the road to which its nearest road area of ​​interest belongs is established.

7. The association method according to claim 1, characterized in that, Before determining the number of intersections between the location target and the road region of interest, the method further includes: Construct the target road region of interest corresponding to the location target; Determining the number of intersections between the location target and the road area of ​​interest includes: Determine the number of intersections between the target road region of interest and the road region of interest.

8. A device for associating locations of targets, characterized in that, include: The acquisition unit is used to acquire the positioning target; The second determining unit is used to determine the target category of the sample positioning target, wherein the target category is classified according to its positional relationship with the road surface; A generation unit is configured to generate a corresponding road interest area based on the target category; wherein the target category includes at least one of road surface objects, objects above the road surface, roadside objects, and multi-layer roads; The first determining unit is used to determine the number of intersections between the positioning target and the road interest region, wherein the road interest region is a three-dimensional space pre-generated based on the sample positioning target; The association unit is used to establish the association relationship between the positioning target and the roads belonging to the intersecting road interest areas based on the number of intersections; If the sample positioning target is a road surface object, then the first road surface where the sample positioning target is located is obtained; taking the first road surface as the center plane, the outermost lane of the first road surface is extended vertically up and down by a first preset distance to generate the road interest area corresponding to the sample positioning target; if the road surface object is a positioning target controlling a single lane, if the positioning target intersects with the road interest area, then it is determined whether the orthographic projection of the positioning target intersects with the orthographic projection of any lane in the road interest area; if they intersect, then based on the number of intersections, the association relationship between the positioning target and the intersecting lanes in the road interest area is established.

9. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

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