Method and device for generating a restricted surface, computer device and readable storage medium

Abstract

The application discloses a restricted driving surface generation method, a restricted driving surface generation device, computer equipment and a computer readable storage medium. The restricted driving surface generation method comprises the following steps: obtaining a plurality of target restricted driving roads; obtaining associated line segments related to the plurality of target restricted driving roads, the number of associated line segments of each target restricted driving road being greater than zero and less than the total number of line segments in the target restricted driving road; sequentially matching the plurality of associated line segments to obtain a plurality of line segment pairs, each line segment pair comprising two associated line segments; calculating a target path between the two associated line segments in each line segment pair by using a preset path planning algorithm; and performing closed processing on the plurality of target paths to obtain a restricted driving surface. According to the application, the target path of each line segment pair is calculated by means of the path planning algorithm, and the calculated target path is subjected to closed processing to obtain the restricted driving surface. The operator only needs to click a small number of line segments to generate the restricted driving surface, and the generation efficiency of the restricted driving surface is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a restricted driving area generation method, a restricted driving area generation device, a computer device and a computer readable storage medium. BACKGROUND

[0002] The restricted driving data is an important part of the map data, and can be divided into passenger car restricted driving data and truck restricted driving data according to the vehicle type. The linear data includes restricted driving line data and restricted driving area data. No matter which data, the data content includes shape information (geometry) and restricted driving rules.

[0003] In the restricted driving area generation method of the related art, each link of each restricted driving road needs to be clicked manually. If the order is incorrect or the connectivity is incorrect due to improper operation, the generation fails. Moreover, for a larger restricted driving area, if the generation is performed according to the generation scheme, the drawing time of one restricted driving area is several hours at the shortest and one or two days at the longest, which greatly affects the generation efficiency of the restricted driving area. SUMMARY

[0004] To solve at least one of the technical problems in the background, the embodiments of the present application provide a restricted driving area generation method, a restricted driving area generation device, a computer device and a computer readable storage medium.

[0005] The embodiments of the present application provide a restricted driving area generation method. The restricted driving area generation method comprises:

[0006] obtaining a plurality of target restricted driving roads;

[0007] obtaining a plurality of associated links related to the plurality of target restricted driving roads, the number of associated links of each target restricted driving road is greater than zero and less than the total number of links in the target restricted driving road;

[0008] sequentially matching the plurality of associated links to obtain a plurality of link pairs, each link pair comprising two associated links;

[0009] calculating a target path between the two associated links in each link pair by using a preset path planning algorithm;

[0010] performing closed processing on the plurality of target paths to obtain the restricted driving area.

[0011] In some embodiments, the target restricted driving road is obtained by:

[0012] receiving the input of the user to obtain the target restricted driving road; or

[0013] obtaining the target restricted driving road based on the restricted driving information.

[0014] In some embodiments, the obtaining the target restricted road based on the restricted information comprises:

[0015] extracting road information in the restricted information;

[0016] determining a plurality of target restricted roads based on the road information.

[0017] In some embodiments, the obtaining the associated line segments related to the plurality of target restricted roads comprises:

[0018] receiving an input of a user to obtain the associated line segments; or

[0019] taking a line segment in each of the target restricted roads, which has a relevance to at least one of the other target restricted roads greater than a preset value, as the associated line segment.

[0020] In some embodiments, the sequentially matching the plurality of associated line segments to obtain a plurality of line segment pairs comprises:

[0021] determining a sequence of the plurality of associated line segments based on an input of a user;

[0022] matching any two adjacent associated line segments in the sequence to obtain the line segment pair.

[0023] In some embodiments, the preset path planning algorithm comprises at least one of A* algorithm, DJ algorithm, CPR algorithm, and CH algorithm.

[0024] In some embodiments, the preset path planning algorithm comprises A* algorithm, and a weight model in the A* algorithm is related to at least one of a turn, a road grade, or the like.

[0025] The embodiments of the present application further provide a restricted surface generation device. The restricted surface generation device comprises:

[0026] a first obtaining module configured to obtain a plurality of target restricted roads;

[0027] a second obtaining module configured to obtain associated line segments related to the plurality of target restricted roads, wherein the number of the associated line segments of each of the target restricted roads is greater than zero and less than the total number of line segments in the target restricted road;

[0028] a matching module configured to sequentially match the plurality of associated line segments to obtain a plurality of line segment pairs, wherein each of the line segment pairs comprises two associated line segments;

[0029] a calculating module configured to calculate a target path between the two associated line segments in each of the line segment pairs by using a preset path planning algorithm;

[0030] a processing module configured to perform a closing processing on the target paths to obtain the restricted surface.

[0031] The computer device of the embodiments of the present application comprises one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to perform the restricted surface generation method according to any of the embodiments of the present application.

[0032] The non-volatile computer readable storage medium of the embodiments of the present application stores a computer program, which, when executed by one or more processors, causes the processors to perform the restricted surface generation method according to any of the embodiments of the present application.

[0033] In the restricted surface generation method, the restricted surface generation device, the computer device, and the computer readable storage medium of the embodiments of the present application, the associated line segments related to the target restricted roads are obtained, and the path planning algorithm is used to calculate the target paths of each pair of line segments, and then the target paths are closed to obtain the restricted surface. Thus, the operator does not need to click each line segment on each target restricted road, but only needs to click a few line segments (i.e. associated line segments) to generate the restricted surface, which greatly reduces the number of operations of the operator and the strictness and complexity in the operation process, and finally effectively improves the generation efficiency of the restricted surface, and lays a technical foundation for the large-scale production of the restricted surface.

[0034] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter in the description of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0035] The above and / or additional aspects and advantages of the present application can become apparent and be easily understood from the description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0036] Figure 1 A scene diagram of the restricted surface generation method in the related art;

[0037] Figure 2 A flowchart of the restricted surface generation method of some embodiments of the present application;

[0038] Figure 3a A first scene diagram of the restricted surface generation method of some embodiments of the present application;

[0039] Figure 3b A second scene diagram of the restricted surface generation method of some embodiments of the present application;

[0040] Figure 3c A third scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0041] Figure 3d A fourth scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0042] Figure 3e A fifth scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0043] Figure 3f A sixth scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0044] Figure 3g A seventh scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0045] Figure 3h An eighth scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0046] Figure 3i A ninth scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0047] Figure 3j A tenth scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0048] Figure 3k An eleventh scenario diagram for a method of generating a limited line face according to some embodiments of the present application;

[0049] Figure 4 A module diagram for an apparatus for generating a limited line face according to some embodiments of the present application;

[0050] Figure 5 A diagram for a computer readable storage medium in communication with a processor according to some embodiments of the present application;

[0051] Figure 6 A diagram for a computer device according to some embodiments of the present application. DETAILED DESCRIPTION

[0052] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals are used throughout the figures to refer to the same or like elements or elements with the same or similar function. The embodiments described below are merely exemplary for the purposes of explanation and are not intended to limit the application of the present application.

[0053] Suppose an internet post describes the weekend odd-even license plate restriction rules for the West Lake Scenic Area. The details include the restricted hours, rules, and restricted areas. The restricted hours are from 8:30 AM to 5:00 PM on all weekends and public holidays (if weekends are adjusted, the original hours will apply). The rules are as follows: For motor vehicles with blue license plates (including personalized and temporary plates) that need to travel within the restricted area (roads) of the West Lake Scenic Area, the last digit of their license plate must match the odd-even rule of the calendar day. Specifically: vehicles with license plates ending in 1, 3, 5, 7, or 9 are allowed to travel on odd-numbered days; vehicles with license plates ending in 2, 4, 6, 8, or 0 are allowed to travel on even-numbered days. The restricted road section is the area bounded by Beishan Street, Huancheng West Road, Hubin Road, Nanshan Road, Yuhuangshan Road, Yuhuangshan Tunnel, Nanfu Road, Huyu Road (Fenghuangshan Road), Hupao Road, Zhijiang Road, Meiling South Road, Meiling Tunnel, Meiling North Road, Tianzhu Road, Lingyin Branch Road, Lingxi Tunnel (north to Majiawu intersection), Lingxi South Road, Lingyin Road, Yugu Road, Yuquan Road, and Lingyin Road. However, Beishan Street (Baojiao Road to Huancheng West section), Huancheng West Road, Hubin Road to Nanshan Road (Jiefang Road to Wansongling section), Nanfu Road, Huyu Road (Fenghuangshan Road), Hupao Road (Zhijiang Road to Huyu Road), Zhijiang Road, and Meiling South Road (Xiaoyawu to Zhijiang section) are exempt from this restriction.

[0054] Based on the aforementioned traffic restriction information, the relevant technology generates restricted areas in the following ways: First, key information, such as city, time, vehicle type, rules, and region, is extracted manually from internet information; second, restricted areas are manually drawn on a traffic restriction area operation platform based on the restricted area information; third, attribute information such as traffic restriction rules is labeled. Thus, a traffic restriction area can be generated. Figure 1 The traffic restriction area is shown. In this related technology, the process of drawing the area in the second step requires manual clicking on each line segment (i.e., Link) of the aforementioned road. If the order is incorrect or there are connectivity issues due to improper operation, the traffic restriction area generation will fail. Furthermore, for larger traffic restriction areas, according to this work plan, the drawing time for a single traffic restriction area can be as short as several hours or as long as one or two days, which greatly affects the efficiency of traffic restriction area generation.

[0055] Based on this, this application provides a method for generating a restricted area. Please refer to [link / reference]. Figure 2 The methods for generating restricted areas include:

[0056] 01: Obtain multiple target restricted roads;

[0057] 02: Obtain the associated line segments related to multiple target restricted roads. The number of associated line segments for each target restricted road is greater than zero and less than the total number of line segments in the target restricted road.

[0058] 03: sequentially match the plurality of associated line segments to obtain a plurality of line segment pairs, each line segment pair including two associated line segments;

[0059] 04: calculate a target path between the two associated line segments in each line segment pair using a preset path planning algorithm;

[0060] 05: perform a closing process on the plurality of target paths to obtain a restricted road surface.

[0061] As an example, for step 01, the target restricted road can be obtained by receiving user input to obtain the target restricted road. Wherein, the user can be understood as a job personnel responsible for outputting the restricted road surface based on the restricted information on the Internet. The user can pay attention to the restricted information on the Internet every certain period of time to ensure that the latest restricted information can be obtained in time. After the user obtains the restricted information, the user can extract the city, time, vehicle type, rule, road and other information in the restricted information by himself, and then input the extracted city and road information into the restricted road surface job platform. The platform can match the city and road based on the user's input to determine a plurality of target restricted roads. For the convenience of the user to view, the target restricted road matched can be highlighted or bolded on the display screen of the terminal.

[0062] It should be noted that the matching here can be any one of the following, which is not limited here: each time a user input road information is received, matching and display are performed immediately; or, after receiving all the user input road information, display is performed, wherein the matching can be completed during the user input process.

[0063] It should be noted that the restricted road surface job platform mentioned in the embodiments of the present application can include front-end and back-end platforms of freight transportation, passenger transportation or map application software, which is not limited here.

[0064] As another example, for step 01, the target restricted road can also be obtained by the following method: obtaining the target restricted road based on the restricted information. The difference between this method and receiving user input to obtain the target restricted road is that the former is automatically completed by the restricted road surface job platform, while the latter is completed by the user first extracting the target restricted road and then inputting it into the restricted road surface job platform. The automatic acquisition scheme has higher intelligence.

[0065] As an example, the obtaining the target restricted road based on the restricted information can include: extracting road information in the restricted information, and determining a plurality of target restricted roads based on the road information. Specifically, the restricted surface operation platform can be linked to a website that can or is specially used to publish the restricted information, and the restricted information published by the website can be obtained at a certain time interval. After obtaining the restricted information, at least one of full matching and fuzzy matching can be used to extract the road information in the restricted information, wherein the road information includes a road name and a city where the road is located. When at least one of full matching and fuzzy matching is used to extract the road information in the restricted information, if a plurality of road information is obtained, the plurality of road information can be sorted according to similarity, and the road information with the highest similarity can be selected as the final road information. After obtaining the road information, a plurality of target restricted roads are determined based on the road information. After obtaining the plurality of target restricted roads, the plurality of target roads can be highlighted or bolded on the display screen of the terminal to facilitate the user to view.

[0066] For step 02, only part of the line segments of each target restricted road needs to be obtained as the associated line segment, that is, the number of the associated line segment of each target restricted road is greater than zero and less than the total number of line segments of the target restricted road. Whether one or more associated line segments are selected can be determined according to the complexity of the target restricted road. If the complexity of the target restricted road is high, a plurality of associated line segments can be selected, and if the complexity of the target restricted road is low, only one associated line segment can be selected. The complexity of a road can be determined based on the total number of line segments of the road. It can be understood that the line segment of a road can be understood as the line between two adjacent nodes (i.e., the intersection with other roads) in the road. When the total number of line segments of a road is greater, it means that the road has more intersection points with other roads, and the complexity is higher.

[0067] As an example, the associated line segment related to the plurality of target restricted roads can be obtained by receiving the input of the user to obtain the associated line segment. It can be understood that each road is composed of a plurality of line segments, that is, links. Therefore, after obtaining the plurality of target restricted roads, the user can click at least one link for each road on the restricted surface operation platform. Please refer to Figure 3a , it is assumed that the target restricted roads include A, B, C, and D. Although the target restricted roads A, B, C, and D each include a plurality of line segments. In this embodiment, the user only needs to click one link (i.e., the associated line segment) of each target restricted road in the restricted surface operation platform. For example, in Figure 3b , the user clicks the associated line segment A1 of the target restricted road A; in Figure 3c , the user clicks the associated line segment B1 of the target restricted road B; in Figure 3dIn the example, the user clicks on the associated line segment C1 of the target restricted road C; in Figure 3e In the example, the user clicks on the associated line segment D1 of the target restricted road D. Thus, the restricted area operation platform can receive the four associated line segments A1, B1, C1 and D1 based on the user's input.

[0068] As another example, for step 02, the associated line segments related to the multiple target restricted roads can be obtained by the following manner: taking the line segment in each target restricted road which has a correlation degree greater than a preset value with at least one of the other target restricted roads as the associated line segment. Specifically, after the restricted area operation platform determines the target restricted roads, it can first obtain all the line segments in each target restricted road. Then, one or more line segments are selected from all the line segments in each target restricted road as the associated line segment. As mentioned above, the selection of one or more line segments as the associated line segment can be determined according to the complexity of the target restricted road. However, when selecting the associated line segment, it should be noted that the line segment should have a correlation degree greater than a preset value with at least one of the other target restricted roads. For example, Figure 3k In the example, the target restricted road C has line segment C1 and line segment C2, and the position of line segment C1 is close to the position of the intersection between the target restricted road C and the target restricted road D, i.e., the correlation degree between line segment C1 and the target restricted road D is high. Therefore, line segment C1 can be selected as the associated line segment, and line segment C2 can not be selected as the associated line segment. In some cases, there can be multiple line segments that have a correlation degree greater than a preset value with at least one of the target restricted roads. In this case, the line segment that has a correlation degree greater than a preset value with the most target restricted roads can be selected as the associated line segment.

[0069] It should be noted that in some cases, the restricted area can not include the target restricted road itself, such as the description of the south of Zhongshan Road. In this case, Zhongshan Road is not included in the restricted area. For this case, the line segment of the road closer to the side where the restricted area is located can be selected as the associated line segment. For example, Zhongshan Road includes two sub-roads for driving from west to east and from east to west, and the two sub-roads are separated by a barrier. In this case, the two sub-roads have their own line segments. Assuming that the sub-road on the side of driving from east to west is closer to the side where the restricted area is located, then at least one line segment of the sub-road on the side of driving from east to west can be selected as the associated line segment.

[0070] As an example, for step 03, the sequential matching of the multiple associated line segments to obtain multiple pairs of line segments can be achieved by the following manner: determining the order of the multiple associated line segments based on the user's input, and then matching any two adjacent associated line segments in the order to obtain a pair of line segments.

[0071] For the case that the user inputs the associated line segments to obtain the line segment pairs, since the user inputs the associated line segments in a clockwise or counterclockwise order, any two adjacent associated line segments can be matched to obtain a line segment pair based on the input order of the user. As shown in FIG. 7, the input order of the user is A1, B1, C1, D1, and the following line segment pairs can be obtained: A1-B1, B1-C1, C1-D1, and D1-A1. Figures 3b to 3e

[0072] For the case that the associated line segments are selected by the lane restriction surface operation platform itself, the user can be prompted to input the order of the associated line segments. After the user inputs the order information, the lane restriction surface operation platform can match any two adjacent associated line segments to obtain a line segment pair according to the order information. Similarly, as shown in FIG. 8, the input order information of the user is A1, B1, C1, D1, and the following line segment pairs can be obtained: A1-B1, B1-C1, C1-D1, and D1-A1. Figures 3b to 3e

[0073] For step 04, the target path between the two associated line segments in each line segment pair can be calculated by using various preset path algorithms. The algorithm itself needs to be able to calculate the path based on the two associated line segments, and needs to ensure the performance of the path calculation and the effect of the path. If the performance is too low, the overall functionality will be greatly reduced in usability; if the path calculation effect is poor, the planned route will not be the required route of the lane restriction surface, and the functionality will be poor in usability.

[0074] As an example, the A* algorithm can be used to calculate the target path. The A* algorithm is the most effective direct search method for solving the optimal path in a static road network, and is a commonly used heuristic search algorithm. The formula of the A* algorithm is f(n) = g(n) + h(n), where f(n) is the cost estimate from the initial state to the target state via n, g(n) is the actual cost in the state space from the initial state to state n, and h(n) is the cost estimate of the best path from state n to the target state. The path calculation performance of the A* algorithm is relatively high, which is beneficial to reduce the time required for lane restriction surface generation. In terms of path calculation effect, the weight model of the A* algorithm can be set to be related to at least one of the turning and the road grade. Taking the case that the weight model is related to both the turning and the road grade as an example, the target path calculated based on the A* algorithm has fewer turns and the path is mostly a trunk road, which is more suitable for the demarcation of the lane restriction surface.

[0075] ​​As other examples, at least one of the following algorithms can be used to calculate the target path: DJ (Dijkstra) algorithm, CRP (Customizable Route Planning) algorithm, and CH (Contraction Hierarchies) algorithm. DJ, CRP, and CH are common and popular algorithms in graph search. DJ solves the shortest path problem in a weighted graph. Its main characteristic is that it starts from the starting point and uses a greedy algorithm strategy, finding the global optimum by finding the optimal solution at each step. It iterates through the nearest unvisited vertex neighbor to the starting point until it reaches the destination. CRP is a divide-and-conquer algorithm that divides the entire graph into several small cells and iteratively constructs an overlay graph through multi-level block operations. The overlay graph consists of vertices spanning multiple cells within a given cell. The edge weights in the overlay graph are the shortest path lengths of vertices uv within that cell, ensuring that the shortest path lengths in the overlay graph and the original graph are consistent. The CH algorithm is an optimization acceleration technique for finding the shortest path in a graph. It leverages the properties of the graph representing the road network to speed up the process by creating shortcuts during the preprocessing stage. These shortcuts are then used in the shortest path query to skip unimportant vertices. This is based on the observation of the highly hierarchical nature of the road network. Shortcuts can be used to store pre-calculated distances between two important intersections, so the algorithm does not need to consider the full path between these intersections during the query.

[0076] It should be noted that, in one example, the aforementioned preset path algorithms can be used together to calculate the target path, or only one or a few preset path algorithms can be selected. When multiple preset path algorithms are used to calculate the target path, the optimal target path can be selected from the calculated target paths as the final target path.

[0077] In other examples, a suitable preset path calculation algorithm can be selected based on the scenario requirements. For instance, when road complexity is high, the DJ algorithm or CPR algorithm can be used to calculate the target path; when road complexity is low, the A* algorithm can be used. Thus, adapting the algorithm to the scenario not only improves path calculation performance but also enhances its effectiveness.

[0078] like Figures 3f to 3i As shown, based on the preset path algorithm, four target paths can be calculated: A1→B1, B1→C1, C1→D1, and D1→A1.

[0079] For step 05, after obtaining the plurality of target paths, the plurality of target paths can be closed (also referred to as closed loop processing) to obtain the restricted area. As an example, please refer to Figures 3f to 3j The target paths include A1→B1, B1→C1, C1→D1, and D1→A1, and the area enclosed by the target paths is the restricted area.

[0080] The restricted area generation method of the embodiments of the present application optimizes the operation mode and complexity, proposes a road extracted from Internet text, automatically calculates the closed loop line by means of artificial clicking of a small number of line segments (i.e. associated line segments), and finally converts the line into a plane, which greatly reduces the number of user operations and the strictness and complexity in the operation process, and finally effectively improves the operation efficiency of the restricted area, and lays a technical foundation for the large-scale production of the restricted area.

[0081] Through testing, for a case of 100-step line segment clicking operation, the 100-step line segment clicking operation can be reduced to 5-step line segment clicking operation, and the connectivity of the associated line segment clicking does not need to be considered, thereby greatly reducing the operation steps and obviously improving the operation efficiency of the restricted area. For this scenario, it is expected to achieve about 20 times efficiency improvement.

[0082] Please refer to Figure 4 The embodiments of the present application also provide a restricted area generation device. The restricted area generation device comprises: a first acquisition module configured to acquire a plurality of target restricted roads; a second acquisition module configured to acquire associated line segments related to the plurality of target restricted roads, wherein the number of associated line segments of each target restricted road is greater than zero and less than the total number of line segments in the target restricted road; a matching module configured to sequentially match the plurality of associated line segments to obtain a plurality of line segment pairs, each line segment pair comprising two associated line segments; a calculation module configured to calculate a target path between the two associated line segments in each line segment pair by using a preset path planning algorithm; and a processing module configured to close the plurality of target paths to obtain a restricted area.

[0083] In some embodiments, the first acquisition module is further configured to: receive an input of a user to acquire the target restricted road; or acquire the target restricted road based on restricted information.

[0084] In some embodiments, the first acquisition module is further configured to: extract road information in the restricted information; and determine the plurality of target restricted roads based on the road information.

[0085] In some embodiments, the second acquisition module is further configured to: receive an input of a user to acquire the associated line segment; or take a line segment in each target restricted road as the associated line segment if the correlation between the line segment and at least one of the remaining target restricted roads is greater than a preset value.

[0086] In some embodiments, the matching module is further configured to determine an order of the plurality of association line segments based on the input of the user; and match any two adjacent association line segments in the order to obtain a line segment pair.

[0087] In some embodiments, the preset path algorithm comprises at least one of A* algorithm, DJ algorithm, CPR algorithm, and CH algorithm.

[0088] In some embodiments, the preset path algorithm comprises A* algorithm, and the weight model in the A* algorithm is related to at least one of a turn, a road level, and the like.

[0089] It should be noted that the implementation details and effects of the lane restriction face generation device of the embodiments of the present application when implementing the lane restriction face generation method of any embodiment of the present application can be referred to the description of the lane restriction face generation method above, and will not be described here.

[0090] In addition, referring to Figure 5 The computer readable storage medium of the embodiments of the present application stores a computer program, and the computer program is executed by a processor to implement the lane restriction face generation method of any embodiment described above. The computer readable storage medium includes, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, the storage device includes any medium that stores or transmits information in a form that can be read by a device (for example, a computer, a mobile phone), which can be a read-only memory, a magnetic disk or an optical disk, etc.

[0091] The contents of the method embodiments of the present application are applicable to the storage medium embodiments of the present application. The storage medium embodiments specifically implement the same functions as the above-mentioned method embodiments, and achieve the same beneficial effects as the above-mentioned method, please refer to the description in the method embodiments, which will not be described here.

[0092] In addition, referring to Figure 6The embodiments of the present application also provide a computer device. The computer device can be a server, a personal computer, a network device, or the like. The computer device comprises one or more processors, a memory, and one or more computer programs. The one or more computer programs are stored in the memory and configured to be executed by the one or more processors. The one or more computer programs are configured to execute the line-limiting surface generation method according to any one of the above embodiments.

[0093] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0094] Any process or method descriptions in flow charts or described elsewhere in this specification can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for performing specific logic functions or steps in the process. The various embodiments of the application can include additional or fewer processes, steps, operations, or combinations of processes, steps, or operations as compared to those shown or described herein, and the present application's preferred embodiments should not be limited to one process, step, operation, or combination of processes, steps, or operations as illustrated or described. Furthermore, the described processes, steps, or operations can be performed in an order other than the order described, including simultaneously or in reverse order, and the present application's preferred embodiments should not be limited to the order of the described processes, steps, or operations.

[0095] Although the embodiments of the present application have been shown and described above, it should be understood that the above-described embodiments are exemplary, and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A method of generating a lane restriction surface, characterized by, The method comprises the following steps: obtaining a plurality of target restricted driving roads; obtaining a plurality of associated line segments related to the plurality of target restricted driving roads, the number of associated line segments of each target restricted driving road being greater than zero and less than the total number of line segments in the target restricted driving road; sequentially matching the plurality of associated line segments to obtain a plurality of line segment pairs, each line segment pair comprising two associated line segments; calculating a target path between the two associated line segments in each line segment pair using a preset path planning algorithm; performing closed processing on the plurality of target paths to obtain the restricted driving surface; the step of obtaining a plurality of associated line segments related to the plurality of target restricted driving roads comprises: receiving user input to obtain the associated line segments; or regarding a line segment in each target restricted driving road as the associated line segment if the correlation between the line segment and at least one other target restricted driving road is greater than a preset value; the step of sequentially matching the plurality of associated line segments to obtain a plurality of line segment pairs comprises: determining the sequence of the plurality of associated line segments based on user input; matching any two adjacent associated line segments in the sequence to obtain the line segment pair.

2. The lane generation method according to claim 1, characterized by, the step of obtaining a target restricted driving road comprises: receiving user input to obtain the target restricted driving road; or obtaining the target restricted driving road based on restricted driving information.

3. The lane generation method according to claim 2, characterized by, the step of obtaining the target restricted driving road based on restricted driving information comprises: extracting road information from the restricted driving information; determining a plurality of target restricted driving roads based on the road information.

4. The lane generation method according to claim 1, characterized by, The preset path algorithm comprises at least one of A* algorithm, DJ algorithm, CPR algorithm and CH algorithm.

5. The lane generation method according to claim 4, characterized by, The preset path algorithm comprises A* algorithm, and the weight model in the A* algorithm is related to at least one of a turn and a road level.

6. A lane keeping surface generating device characterized by comprising: The restricted driving surface generation device comprises: a first obtaining module configured to obtain a plurality of target restricted driving roads; a second obtaining module configured to obtain a plurality of associated line segments related to the plurality of target restricted driving roads, the number of associated line segments of each target restricted driving road being greater than zero and less than the total number of line segments in the target restricted driving road; a matching module configured to sequentially match the plurality of associated line segments to obtain a plurality of line segment pairs, each line segment pair comprising two associated line segments; a calculation module configured to calculate a target path between the two associated line segments in each line segment pair using a preset path planning algorithm; a processing module configured to perform closed processing on the plurality of target paths to obtain the restricted driving surface; the step of obtaining a plurality of associated line segments related to the plurality of target restricted driving roads comprises: receiving user input to obtain the associated line segments; or regarding a line segment in each target restricted driving road as the associated line segment if the correlation between the line segment and at least one other target restricted driving road is greater than a preset value; the step of sequentially matching the plurality of associated line segments to obtain a plurality of line segment pairs comprises: determining the sequence of the plurality of associated line segments based on user input; matching any two adjacent associated line segments in the sequence to obtain the line segment pair.

7. A computer device, comprising: comprises: one or more processors; a memory; and One or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, the one or more computer programs configured for performing the road lane boundary generation method of any one of claims 1-5.

8. A non-transitory computer readable storage medium storing a computer program, characterized in that, The computer program, which, when executed by one or more processors, causes the processors to perform the road lane boundary generation method of any one of claims 1-5.

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