Road data processing method and device, computer device and storage medium

Abstract

The application relates to a road data processing method and device, computer equipment, a storage medium and a computer program product. The method can be applied to the fields of electronic maps and intelligent transportation, and the method comprises the following steps: in response to a lane-level navigation operation triggered on an electronic map, displaying a lane-level navigation page; during the display of the lane-level navigation page, determining a candidate lane section; the candidate lane section comprises a road section of at least one lane, and the candidate lane section is used for a target vehicle to pass to a target position; displaying the candidate lane section in the lane-level navigation page of the electronic map; and when a position meeting a lane-changing condition in the candidate lane section is reached, displaying a lane-level lane-changing guide on the candidate lane section. The method can accurately guide a traveling object to travel.

Description

Technical Field

[0001] This application relates to the fields of mapping and intelligent transportation technology, and in particular to a method, apparatus, computer equipment, and storage medium for processing road data. Background Technology

[0002] With the development of electronic map technology, travelers can navigate to their destinations using electronic maps when driving their vehicles, greatly facilitating their travel. Traditional electronic maps primarily rely on high-precision road data for navigation, which is typically linear. This linear road data can lead to lower navigation accuracy. Summary of the Invention

[0003] Therefore, it is necessary to provide a method, apparatus, computer equipment, computer-readable storage medium, and computer program product for processing road data that can accurately guide travelers in addressing the aforementioned technical problems.

[0004] Firstly, this application provides a method for processing road data. The method includes:

[0005] In response to a lane-level navigation action triggered on the electronic map, display the lane-level navigation page;

[0006] During the display of the lane-level navigation page, candidate road segments are determined; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by target vehicles to reach the target location;

[0007] The candidate road segments are displayed on the lane-level navigation page of the electronic map;

[0008] When the vehicle reaches a position in the candidate road segment that meets the lane change conditions, lane-level lane change guidance is displayed on the candidate road segment.

[0009] Secondly, this application also provides a road data processing apparatus. The apparatus includes:

[0010] The first display module is used to display the lane-level navigation page in response to a lane-level navigation operation triggered on the electronic map;

[0011] The determination module is used to determine candidate road segments during the display of the lane-level navigation page; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by target vehicles to reach the target location;

[0012] The second display module is used to display the candidate road segment in the lane-level navigation page of the electronic map;

[0013] The third display module is used to display lane-level lane change guidance on the candidate road segment when the vehicle reaches a position that meets the lane change conditions.

[0014] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0015] In response to a lane-level navigation action triggered on the electronic map, display the lane-level navigation page;

[0016] During the display of the lane-level navigation page, candidate road segments are determined; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by target vehicles to reach the target location;

[0017] The candidate road segments are displayed on the lane-level navigation page of the electronic map;

[0018] When the vehicle reaches a position in the candidate road segment that meets the lane change conditions, lane-level lane change guidance is displayed on the candidate road segment.

[0019] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0020] In response to a lane-level navigation action triggered on the electronic map, display the lane-level navigation page;

[0021] During the display of the lane-level navigation page, candidate road segments are determined; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by target vehicles to reach the target location;

[0022] The candidate road segments are displayed on the lane-level navigation page of the electronic map;

[0023] When the vehicle reaches a position in the candidate road segment that meets the lane change conditions, lane-level lane change guidance is displayed on the candidate road segment.

[0024] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0025] In response to a lane-level navigation action triggered on the electronic map, display the lane-level navigation page;

[0026] During the display of the lane-level navigation page, candidate road segments are determined; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by target vehicles to reach the target location;

[0027] The candidate road segments are displayed on the lane-level navigation page of the electronic map;

[0028] When the vehicle reaches a position in the candidate road segment that meets the lane change conditions, lane-level lane change guidance is displayed on the candidate road segment.

[0029] The aforementioned road data processing method, apparatus, computer equipment, storage medium, and computer program product, when lane-level navigation is required, enters a lane-level navigation page. During the process of entering this page, candidate road segments leading to the target location are identified, and then displayed on the electronic map's lane-level navigation page. This accurately displays all drivable lane ranges to the traveler, providing a visually intuitive view of all drivable road segments leading to the target location. Furthermore, when the traveler reaches a position within a candidate road segment that meets the lane-changing conditions, lane-level lane-changing guidance is displayed on that segment, providing advance notice for lane changes. Thus, when using electronic map navigation, the system can accurately guide the traveler's vehicle to the target lane, significantly improving lane-changing accuracy. Attached Figure Description

[0030] Figure 1 This is an application environment diagram of a road data processing method in one embodiment;

[0031] Figure 2 This is a flowchart illustrating a method for processing road data in one embodiment;

[0032] Figure 3 This is a schematic diagram of standard-level road data and lane-level road data in one embodiment;

[0033] Figure 4 This is a schematic diagram of a candidate road segment in one embodiment;

[0034] Figure 5 This is a schematic diagram showing candidate road segments in a highlighted manner in one embodiment;

[0035] Figure 6 This is a schematic diagram showing candidate road segments in a highlighted manner in another embodiment;

[0036] Figure 7 This is a schematic diagram illustrating the display of lane-level lane change guidance on a candidate road segment in one embodiment;

[0037] Figure 8This is a schematic diagram illustrating the process of converting standard road data into lane-level road data in one embodiment;

[0038] Figure 9 This is a flowchart illustrating the process of determining the elevation values ​​of each vertex of a road segment in one embodiment.

[0039] Figure 10 This is a schematic diagram of the process for determining candidate road segments in one embodiment;

[0040] Figure 11 This is a schematic diagram of lane-level road data in one embodiment;

[0041] Figure 12 This is a schematic diagram of the lane set calculated using forward and backward topology in one embodiment;

[0042] Figure 13 This is a schematic diagram of the lane set obtained by finding the intersection of the lane sets calculated from the forward topology and the backward topology in one embodiment.

[0043] Figure 14 This is a schematic diagram of the lane set after deleting redundant lanes using an early lane-changing strategy in one embodiment;

[0044] Figure 15 This is a schematic diagram of the lane set after deleting redundant lanes using a short lane path deletion strategy in one embodiment;

[0045] Figure 16 This is a schematic diagram showing candidate road segments in a highlighted manner in another embodiment;

[0046] Figure 17 This is a flowchart illustrating a road data processing method in another embodiment;

[0047] Figure 18 This is a schematic diagram of the process of calculating the lane set through forward topology in one embodiment;

[0048] Figure 19 This is a structural block diagram of a road data processing device in one embodiment;

[0049] Figure 20 This is a structural block diagram of a road data processing device in another embodiment;

[0050] Figure 21 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0052] Before providing a detailed description of this application, the key technologies involved in this application are described as follows:

[0053] Intelligent Traffic Systems (ITS), also known as Intelligent Transportation Systems, effectively integrate advanced technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, and artificial intelligence) into transportation, service control, and vehicle manufacturing. This strengthens the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, enhances the environment, and conserves energy.

[0054] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) are a development direction of Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information exchange between vehicles and infrastructure. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective collaboration between people, vehicles, and roads. This ensures traffic safety, improves traffic efficiency, and ultimately forms a safe, efficient, and environmentally friendly road traffic system.

[0055] The road data processing method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104, or it can be located in the cloud or on another server.

[0056] During driving, terminal 102 obtains precise road data from server 104 and displays a lane-level navigation page in response to a lane-level navigation operation triggered on the electronic map. During the display of the lane-level navigation page, candidate road segments are determined. The candidate road segments include road segments with at least one lane and are used by the target vehicle to reach the target location. The candidate road segments are displayed on the lane-level navigation page of the electronic map. When driving to a position in the candidate road segment that meets the lane-changing conditions, lane-level lane-changing guidance is displayed on the candidate road segment.

[0057] Among them, terminal 102 may be the target vehicle driven by the traveler, or the intelligent in-vehicle device on the target vehicle, or the desktop computer, laptop, smartphone and tablet placed on the target vehicle by the traveler while driving the target vehicle, as well as the portable wearable device carried by the traveler.

[0058] Server 104 can be an independent physical server or a service node in a blockchain system. The service nodes in the blockchain system form a peer-to-peer (P2P) network. The P2P protocol is an application layer protocol that runs on top of the Transmission Control Protocol (TCP).

[0059] In addition, server 104 can also be a server cluster consisting of multiple physical servers, which can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0060] In one embodiment, such as Figure 2 As shown, a method for processing road data is provided, which can be applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps:

[0061] S202, in response to a lane-level navigation operation triggered on an electronic map, displays a lane-level navigation page.

[0062] The electronic map can be one that supports lane-level navigation. The lane-level navigation page can refer to the page on the electronic map used for lane-level navigation, which displays each lane in a polygonal format.

[0063] In one embodiment, during driving, the target vehicle's forward-facing precise road data is acquired, and then the precise road data is converted into lane-level road data; or, the elevation values ​​of each road segment in the precise road data are first determined, and then the precise road data is converted into lane-level road data with elevation values.

[0064] High-precision road data can be road data represented as lines, belonging to two-dimensional road data, excluding lanes, that is, displayed as lines (links) on electronic maps. The obtained high-precision road data can be road data within the field of view observed from a first-person perspective (i.e., the perspective of the traveler controlling the target vehicle) or a third-person perspective, such as... Figure 3 As shown in Figure (a), the refined road data includes road data for four roads: Link0, Link1, Link2, and Link3. It should be noted that the terminal here can be a smart in-vehicle device on the target vehicle, or a smart terminal (such as a smartphone or tablet) placed on the target vehicle.

[0065] Lane-level road data, also known as high-definition road data, specifically represents roads in a planar format, belonging to three-dimensional road data. Each lane-level road segment in this data can be a collection of vehicle-road segments, thus displayed as a planar shape on an electronic map. A lane can be divided into multiple segments according to a preset step size, each segment being called a vehicle-road segment. The preset step size can be set according to the actual road conditions. Topological relationships can exist between lane-level road segments; for example, lane-level road segments can be connected, such as two lane-level road segments belonging to the same road segment. Similarly, topological relationships can also exist between vehicle-road segments; for example, two vehicle-road segments can be connected, such as two lanes within the same lane-level road segment. It should be noted that standard-definition (SD) road data belongs to standard-definition (SD) data, while lane-level road data belongs to high-definition (HD) data, meaning that lane-level road data has higher precision than standard-definition (SD) road data.

[0066] like Figure 3As shown in Figure (b), the lane-level road data includes four lane-level road segments (LaneGroups): LaneGroup0, LaneGroup1, LaneGroup2, and LaneGroup3. Each lane-level road segment can contain at least one lane. For example, LaneGroup0 contains two lanes (Lane0 and Lane1), LaneGroup1 contains three lanes (Lane2, Lane3, and Lane4), LaneGroup2 contains one lane (Lane5), and LaneGroup3 contains two lanes (Lane6 and Lane7). "Standard precision" refers to a level of accuracy lower than the preset precision, while "high precision" refers to a level of accuracy higher than the preset precision.

[0067] Furthermore, the aforementioned topological relationship can refer to the direct connection between road segments that satisfy the principles of geometric topology, such as lateral and longitudinal connections. If two road segments are not connected, it means that there is no topological relationship between them. For example, this topological relationship can indicate whether road segments within the same lane-level road segment are connected, such as Lane1 and Lane0 in LaneGroup0 being connected to each other; in addition, this topological relationship can also indicate whether road segments within different lane-level road segments are connected, such as Lane1 and Lane0 in LaneGroup0 being connected to Lane4 and Lane3 in LaneGroup1, respectively; while Lane1 and Lane0 in LaneGroup0 are not connected to Lane7 and Lane6 in LaneGroup3.

[0068] Lane line information refers to the specific details of the lane lines between different road segments, such as whether the lane lines between two road segments are solid white lines, dashed white lines, or solid yellow lines. Therefore, this lane line information can be used to determine whether a lane change is permitted between two road segments. For example, this lane line information can be used to determine whether a target vehicle can change lanes from road segment a to the adjacent road segment b.

[0069] In one embodiment, after obtaining the standard road data, the terminal can obtain the corresponding road mapping table based on the index of the standard road data. The road mapping table records the lane mapping relationship (i.e., SD-HD mapping relationship). Based on the lane mapping relationship, the standard road data obtained during driving can be converted into lane-level road data.

[0070] The index can be the identifier of linear roads in the refined road data. Based on this index, the corresponding road mapping table can be found, such as obtaining the corresponding road mapping table based on the name of a linear road. This road mapping table records the lane mapping relationship between the linear road segment and lane-level road segments, as shown in Table 1. The refined road data is then converted into lane-level road data based on the lane mapping relationship in Table 1.

[0071] Table 1 Road Mapping Table

[0072]

[0073]

[0074] S204, during the display of the lane-level navigation page, determines candidate road segments.

[0075] The candidate road segment includes a road segment with at least one lane, which is used by the target vehicle to reach the target location. Therefore, the candidate road segment can refer to a drivable road segment (i.e., a passable road segment) leading to the target location. In one embodiment, the terminal can determine the candidate road segment from the lane-level road data during the process from entering to displaying the lane-level navigation page.

[0076] Specifically, during the process of displaying the lane-level navigation page, the terminal determines the lanes that the target vehicle needs to pass through when traveling to the target location from the lane-level road data; and determines candidate road segments from the lanes that need to be passed through.

[0077] The lanes that need to be traversed can refer to the lanes that the target vehicle needs to traverse from its current driving position (which can be called the driving position or the location) to the target position. (See reference...) Figure 4 In Figure (a), when the target vehicle is on Lane 1, calculate the number of lanes it needs to travel from Lane 1 to Lane 5 where the target location is located. The lanes it needs to travel through are the lanes where Lane 0 is located, the lane where Lane 1 is located, and the three lanes where Lane 2 is located.

[0078] In one embodiment, the terminal determines all feasible lane paths from the target vehicle's current location to the target location within the required lanes, and then calculates the union of the lane segments along these lane paths; this union is the candidate lane segment. For example... Figure 4As shown in Figure (a), within the lane containing Lane 0, the lane paths from the target vehicle's travel position to the target position include path1 and path2. Specifically, path1: Lane1→Lane4→Lane3→Lane2→Lane5; path2: Lane0→Lane3→Lane2→Lane5. Calculating the union of path1 and path2 yields six lane segments: Lane0, Lane1, Lane2, Lane3, Lane4, and Lane5. These six lane segments are selected as candidate lane segments.

[0079] In one embodiment, during the display of the lane-level navigation page, candidate road segments leading to the target location are determined from the lane-level road data based on topological relationships and lane line information. Specifically, the terminal determines the topological relationships and lane line information between each road segment in the lane-level road data; and determines candidate road segments leading to the target location from the lane-level road data based on the topological relationships and lane line information.

[0080] The target location can be the destination that the traveler wants to reach; in addition, the target location can also be a location on a road segment leading to the destination at a fixed distance (such as one kilometer ahead) in front of the traveler. For example, if the target vehicle is traveling on a lane-level road segment LaneGroup0, the target location can be a location on a lane-level road segment LaneGroup1 or a lane-level road segment LaneGroup2 leading to the destination.

[0081] Candidate road segments can refer to all drivable road segments leading to the target location, also known as the drivable lane coverage area. It should be noted that these candidate road segments may not include emergency lanes. When there are multiple lane-level roads leading to the target location, such as Route 1, lane-level road a → lane-level road b1 → lane-level road c; Route 2, lane-level road a → lane-level road b2 → lane-level road c, then candidate road segments leading to the target location can be determined from the lane-level road data based on the traveler's default (or selected) route.

[0082] In one embodiment, if the lane-level road where the target vehicle is located is different from the lane-level road leading to the target location (hereinafter referred to as the forward lane-level road), a lane change is required on the lane-level road where the target vehicle is located in order to enter the forward lane-level road at the forward intersection. Therefore, the terminal determines the lane-level road segment where the target vehicle is currently located and the road segment leading to the target location in the lane-level road data; then, in the lane-level road segment where the target vehicle is currently located, the terminal determines the road segments that can lead to the target location based on the topology and lane line information; the determined road segments and the road segments in the forward lane-level road are used as candidate road segments. Here, "forward" can refer to the direction in which the target vehicle is traveling (hereinafter referred to as the driving direction), or the front of the target vehicle.

[0083] For example, such as Figure 4 As shown in Figure (a), if the target vehicle is currently located in Lane Group 0, and the target location is the destination in the direction of Lane Group 2, then when determining the candidate road segments leading to the target location, the current lane-level road of the target vehicle can be determined from the lane-level road data. Then, a lane-level road segment that can enter Lane Group 2 can be selected from this lane-level road, thus obtaining Lane Group 0 and Lane Group 1. Since the lane lines between the road segments in Lane Group 0 and Lane Group 1 are dashed lines, indicating that the road segments in Lane Group 0 and Lane Group 1 are reversible road segments, the road segments in Lane Group 0 and Lane Group 1, along with the road segments in Lane Group 2, can be used as candidate road segments. That is, Lane 0, Lane 1, Lane 2, Lane 3, Lane 4, and Lane 5 are used as candidate road segments. (Refer to...) Figure 4 The gray area in Figure (a).

[0084] For example, such as Figure 4 As shown in Figure (b), since the lane lines between lane segments in LaneGroup0 are dashed, it indicates that lane segments in LaneGroup0 are reversible lane segments; while the lane lines between lane segments in LaneGroup1 are solid, it indicates that lane segments in LaneGroup1 are non-reversible lane segments. Therefore, lane segments in LaneGroup0, Lane2 and Lane3 in LaneGroup1, and lane segments in LaneGroup1 can be considered as candidate lane segments, that is, Lane0, Lane1, Lane2, Lane3, and Lane5 can be considered as candidate lane segments. (Refer to...) Figure 4 The gray area in Figure (b).

[0085] In one embodiment, if the lane-level road where the target vehicle is located is also a lane-level road leading to the target location, meaning the target vehicle can reach the target location (i.e., the destination) directly without using its current lane-level road, then each lane segment on the lane-level road where the target vehicle is located is a candidate lane segment, such as... Figure 5 The lane is shown at the middle diagonal line.

[0086] S206 displays candidate road segments on the lane-level navigation page of the electronic map.

[0087] In one embodiment, S206 may specifically include: the terminal prominently displaying candidate planar road segments on the lane-level navigation page of the electronic map.

[0088] Highlighting methods can refer to displaying candidate road segments in a different style than other road segments, thereby distinguishing them from other road segments. For example, if other road segments display the original road color (such as gray), then the candidate road segment is displayed in a different color; or, a semi-transparent white overlay can be displayed on the candidate road segment to differentiate it from other road segments. In addition, other display methods are also possible, such as... Figure 5 As shown.

[0089] In one embodiment, the terminal acquires a mask to cover the candidate road segment; places the mask on the candidate road segment, and displays the candidate road segment covered by the mask on the lane-level navigation page of the electronic map.

[0090] The mask can be a mask with transparency that meets the transparency requirements, such as a semi-transparent white mask or other colored masks. (See reference...) Figure 4 The transparency condition refers to a transparency level greater than a preset threshold. Assuming 0 represents opaque and 1 represents completely transparent, then satisfying the transparency condition can be understood as a transparency level between 0.3 and 0.6. This mask can be a colored mask, such as a white mask or a gray mask.

[0091] In one embodiment, the terminal determines the size of the area to be covered in the candidate road segment; adjusts the size of the mask according to the area size to obtain a target mask that matches the area size; and places the target mask in the area to be covered in the candidate road segment.

[0092] The area to be covered can be a region on the candidate road segment, and the size of the area to be covered can be less than or equal to the size of the candidate road segment. When the target mask covers the area to be covered that is the same size as the candidate road segment, the entire candidate road segment is covered, such as... Figure 5As shown. Furthermore, when the target mask covers an area to be covered that is inconsistent in size with the candidate road segment, it indicates that the size of the target mask is smaller than the size of the candidate road segment, and therefore the candidate road segment is not completely covered, as shown. Figure 6 As shown in Figures (a) and (b).

[0093] For example, the terminal obtains a semi-transparent gray mask, then adjusts the size of the gray mask according to the area size of the area to be covered in the candidate road segment to obtain a gray mask that matches the area to be covered in the candidate road segment, and then places the obtained gray mask on the area to be covered in the candidate road segment for display.

[0094] S208: When driving to a position in the candidate vehicle road segment that meets the lane change conditions, lane-level lane change guidance is displayed on the candidate vehicle road segment.

[0095] The lane-change conditions can refer to the following: the distance between the target vehicle's current position and the intersection of the preceding road is no greater than a preset distance, and also no less than a preset minimum distance. If the distance between the target vehicle's current position and the intersection of the preceding road is less than the minimum distance, the road segment may be a solid line, preventing lane changing and causing the lane change to fail. This preset distance can be set according to the actual road conditions, for example, it can be 50 to 1000 meters. Additionally, it can refer to the target vehicle's current position at the time the lane-change request is initiated, i.e., the vehicle's location when the lane-change request is initiated. It should be noted that the location at the time of initiating the lane-change request must be no less than the minimum distance from the intersection of the preceding road.

[0096] For example, when the target vehicle is within 500 meters of the intersection of the road ahead, it indicates that the vehicle's current position meets the conditions for changing lanes, and a lane change can begin. Furthermore, when the target vehicle is 200 meters from the intersection of the road ahead, and the traveler activates their turn signal, indicating an intention to merge into the road ahead, the target vehicle's current position meets the conditions for changing lanes, and a lane change can begin. The "road ahead" can refer to the intersection in front of the target vehicle; this intersection can be a side road (i.e., a branch road) or a main road intersecting with the lane-level road where the target vehicle is located.

[0097] Lane-level lane change guidance refers to signage indicating a change of lane from one lane segment to another, thus guiding travelers to change their vehicle to the other lane segment. This lane-level lane change guidance can be called HD lane change guidance.

[0098] In one embodiment, S208 may specifically include: when the terminal is driving on the candidate road segment, when the target vehicle is driving to a position no more than a preset distance from the intersection of the road where the target location is located, or when the target vehicle is driving at the position where the lane change request was initiated, the terminal determines the guidance display position on the candidate road segment based on the position; and displays lane-level lane change guidance at the guidance display position on the candidate road segment.

[0099] The target location can refer to a forward intersection. The guidance display location is the position in front of the target vehicle used to display lane-level lane change guidance. This guidance display location can be a distance value in front of the target vehicle, such as 100-200 (or greater than 200) meters in front of the target vehicle, so that the traveler has sufficient reaction time to merge according to the lane-level lane-changing guidance. It should be noted that the above distance value can be set according to the road type. For example, the distance value set for highways is greater than the distance value set for conventional roads (such as general national highways, provincial highways, and urban traffic roads).

[0100] In one embodiment, when the vehicle reaches a position within a candidate road segment that meets the lane-changing conditions, the terminal displays lane-level lane-changing guidance at a fixed length ahead of the target vehicle. This instructs the traveler to change lanes between their current location and the fixed length ahead, allowing the target vehicle to enter the preceding intersection. For example, if there is an intersection 500 meters ahead of the target vehicle, to remind the traveler to change lanes in advance, lane-level lane-changing guidance can be displayed 200 meters ahead of the target vehicle. Figure 6 Figure (a)

[0101] Before displaying lane-level lane change guidance, the terminal can first determine the current road segment where the target vehicle is located, and then display lane-level lane change guidance at a fixed length in front of the current road segment where the target vehicle is located.

[0102] In one embodiment, after determining the current road segment where the target vehicle is located, if the forward intersection is to the right of the target vehicle, the road segment to the left of the target vehicle can be removed from the candidate road segments. The removed road segment is then highlighted, meaning it is displayed in the normal manner. Then, within the removed road segment, lane-level lane change guidance is displayed at a fixed length in front of the target vehicle, as shown in Figure 6(b).

[0103] In addition to displaying lane-level lane change guidance, it can also display directional signs at the intersection of forward intersections, or at the intersection of forward intersections and the target location of forward intersections, such as... Figure 7As shown in Figures (a) and (b), this provides a more intuitive indication to travelers that they need to enter the forward intersection from their current lane-level road segment. The target location can be a specified distance from the intersection, such as displaying a sign 500 meters from the intersection within the forward intersection.

[0104] In the above embodiments, when lane-level navigation is required, the lane-level navigation page is entered. During the process of entering the lane-level navigation page, candidate road segments for reaching the target location are determined. Then, the candidate road segments are displayed on the lane-level navigation page of the electronic map, thereby accurately showing the traveler the range of all drivable lanes. All drivable road segments that can lead to the target location can be seen visually and intuitively. Moreover, when the traveler reaches a position in the candidate road segment that meets the lane-changing conditions, lane-level lane-changing guidance is displayed on the candidate road segment, which can remind the traveler to change lanes in advance. Thus, when using electronic map navigation, the target vehicle controlled by the traveler can be accurately moved to the target lane, greatly improving the accuracy of lane changing.

[0105] In one embodiment, such as Figure 8 As shown, the method may further include:

[0106] S802 acquires precise road data in the direction the target vehicle is traveling during operation.

[0107] The target vehicle can be the vehicle driven by the traveler, and this target vehicle can be driven by the traveler or autonomously driven through a driverless program. This high-precision road data is two-dimensional road data, and road hierarchy can be represented using relative overlay relationships, such as one lane-level road being above or below another lane-level road.

[0108] In one embodiment, the terminal can acquire high-precision road data in front of the target vehicle and within its field of view; or, the terminal can acquire high-precision road data within a preset range in front of the target vehicle's location.

[0109] S804 determines the elevation values ​​of each road segment in the standard road data.

[0110] The elevation value represents the height difference between a ground point and each road segment. In practical applications, this height difference can be the actual height difference between the ground point and each road segment, or a value set based on the actual height difference. The road segments in the standard road data are linear road segments.

[0111] S806 converts standard road data into lane-level road data with elevation values.

[0112] In one embodiment, S806 may specifically include: the terminal acquiring lane mapping relationships; determining lane segments that match the standard road data based on the lane mapping relationships; combining lane segments with elevation values ​​to obtain lane-level road data; and determining the elevation values ​​of each road segment in the lane-level road data based on the elevation values ​​of each road segment in the standard road data to obtain lane-level road data with elevation values.

[0113] The lane mapping relationship can be found in Table 1 above.

[0114] After obtaining the standard road data, the terminal can first obtain a road mapping table based on the standard road data, read the lane mapping relationship from the road mapping table, and then convert the standard road data into lane-level road data based on the lane mapping relationship. The lane-level road data contains the vehicle and road segments that match the standard road data.

[0115] After determining the elevation values ​​of each road segment in the standard road data, the elevation values ​​of each road segment in the standard road data are used as the elevation values ​​of each road segment in the lane-level road data.

[0116] In the above embodiments, after obtaining the standard road data, the elevation values ​​of each road segment in the standard road data are determined, and then the standard road data is converted into lane-level road data with elevation values, so as to better display the hierarchical relationship between each road and avoid the road hierarchical relationship being disordered, which would affect traffic safety.

[0117] In one embodiment, such as Figure 9 As shown, S804 may specifically include:

[0118] S902 converts the refined road data into a directed graph based on the connection relationships between the vertices of each road segment in the refined road data.

[0119] After transforming the directed graph, upward search network, and downward search network, the road segments in this refined road data can correspond to arc segments in the directed graph, upward search network, and downward search network, and can be represented by Link. A vertex refers to a point on a road segment (such as a midpoint or endpoint), which can be a point on an arc segment in the directed graph, upward search network, and downward search network.

[0120] A directed graph is a directed linear road network map, which is a linear road network map containing vertices and arcs, formed by the spatial location of the road data and the connection relationships between the roads.

[0121] In addition, during the conversion process, the terminal can merge vertices whose spatial distance is less than a preset distance threshold based on a preset distance threshold. That is, vertices with the same spatial location but different numbers are merged into the same vertex, which can effectively avoid the phenomenon of road network discontinuity or dead-end roads caused by problems with the standard road data.

[0122] S904, based on the directed graph, sequentially constructs the upward search network and the downward search network.

[0123] The up-seeking network represents the road overlay relationship where the current road segment is covered by other road segments. It is a graph network constructed from the relative overlay relationships of roads, used to find which roads are located above the current road segment. The down-seeking network represents the road overlay relationship where the current road segment covers other road segments. It is a graph network constructed from the relative overlay relationships of roads, used to find which roads are located below the current road segment.

[0124] Road overlay relationship refers to the relative overlay relationship between roads. For example, the 0-1 relationship can be used to represent the height relationship between two roads whose ground projections intersect, where 0 indicates that the road is below and 1 indicates that the road is above.

[0125] For example, if there is a relative overlap relationship between arc segment 1 (Link1) and arc segment 2 (Link2) in the directed graph corresponding to the standard road data, the corresponding vertex and the arc segment connected to that vertex can be added in the upward and downward search networks according to which one is on top of which. At the same time, the number of layer overlap corresponding to the arc segment can also be set, for example, the number of layer overlap can be set to 1.

[0126] S906 detects the building coverage relationship between road segments and buildings in a directed graph.

[0127] Among them, building overlay relationship refers to the spatial overlay relationship between road lines and buildings. That is, when there is a spatial conflict between the road and the building, and the road line and the building have a spatial intersection or inclusion relationship, the terminal can determine that there is a building overlay relationship between the road segment and the building.

[0128] Specifically, the terminal can detect building overlap relationships between road segments and buildings in a directed graph. Building overlap relationship detection is used to detect spatial conflicts between road segments and buildings. Generally, urban roads may have parts located beneath buildings. Therefore, when a road line intersects or contains a building surface in space, the terminal can determine that the building is covered by the road. Since the first and last vertices of a road covered by a building are not necessarily covered by the building itself, overlap relationship detection can be divided into different sub-processes: for example, one case is detecting that the vertices of a road segment are covered by a building in the directed graph; another case is detecting that neither the first nor last vertices of a road segment are covered by a building, but a section of the road in the middle is covered by a building.

[0129] S908, based on the building overlay relationship, performs elevation processing on the vertices of road sections overlaid by buildings.

[0130] Elevation processing refers to assigning elevation values ​​to vertices. The terminal can assign different elevation values ​​to different types of vertices; for example, the terminal can assign negative elevation values ​​to vertices of road sections covered by buildings.

[0131] Specifically, the terminal can perform elevation processing on the vertices of road segments covered by buildings based on building coverage relationships. That is, when a road line intersects or contains a building in spatial position, the terminal can determine that the building is covered by the road. In this case, the terminal can set the elevation value of the corresponding vertex on the road segment to a negative elevation value and adjust the processing status of the vertex on the road segment to a processed state. For example, a negative elevation value can be set to -1. It is understood that in this embodiment, when performing elevation processing on the vertices of road segments covered by buildings, it includes, but is not limited to, setting the elevation value of the vertices of road segments covered by buildings to a negative elevation value, and can also be other preset elevation values.

[0132] S910: In the directed graph, find the vertex that meets the benchmark point condition and use it as the benchmark point. Based on the benchmark surface formed by the benchmark point, the road overlay relationship in the upward search network and the road overlay relationship in the downward search network, assign elevation values ​​to the vertices of the road segments that have not undergone elevation processing.

[0133] In this context, "datum point condition" refers to the pre-set conditions for determining datum points. For example, a datum point condition could be set to a vertex located at a traffic light position in a directed graph. A datum point is a vertex used to generate a datum plane; for instance, a vertex with a datum height of zero could be selected as the datum point. Furthermore, a datum plane is a plane formed with datum points; in this example, the datum plane can be used as the height reference plane.

[0134] Specifically, based on building coverage relationships, the terminal performs elevation processing on the vertices of road segments covered by buildings. Then, the terminal searches the directed graph for vertices that meet the benchmark conditions to serve as benchmark points. Based on the benchmark surface formed by these benchmark points, the road coverage relationships in the upward and downward search networks, the terminal assigns elevation values ​​to the vertices of road segments that have not undergone elevation processing. This allows the recovery of the absolute height of each road in the road network data. The benchmark conditions can be of various types. Whenever the terminal detects a vertex that meets the benchmark conditions, it can use that vertex as a benchmark point and set its elevation value to the benchmark height, indicating a processed state. Furthermore, the terminal can assign elevation values ​​greater than the benchmark height to the vertices of road segments that have not undergone elevation processing, based on the benchmark surface formed by these benchmark points, the road coverage relationships in the upward and downward search networks.

[0135] In the above embodiments, based on the connectivity between vertices of each road segment in the refined road data, the refined road data is converted into a directed graph; an upward search network and a downward search network are constructed sequentially based on the directed graph; the building coverage relationship between each road segment and a building is detected in the directed graph, and the vertices of the road segments covered by buildings are subjected to elevation processing based on the building coverage relationship; vertices that meet the benchmark point conditions are found in the directed graph as benchmark points, and based on the benchmark surface formed by the benchmark points, the road coverage relationships in the upward search network, and the road coverage relationships in the downward search network, elevation values ​​are assigned to the vertices of road segments that have not undergone elevation processing. Because the correct road topology and basic shape are ensured while restoring the road elevation, the efficiency of determining road elevation values ​​is effectively improved.

[0136] In one embodiment, therefore, as Figure 10 As shown, the steps for determining candidate road segments described above may specifically include:

[0137] S1002, based on topological relationships and lane line information, find the set of the first road segments from the starting position to the target position in the lane-level road data.

[0138] The starting point can be the location of the target vehicle or the starting point of the journey; in subsequent embodiments, the location of the target vehicle will be used as an example. The first set of road segments can refer to the set of passable road segments found from the starting point to the target location, and is a set of road segments of multiple lane-level road segments.

[0139] In one embodiment, S1002 may specifically include: the terminal searching for a first subset of road segments at the starting position in lane-level road data; searching for a second subset of road segments that are passable in lane-level road data; the road segments in the second subset of road segments are longitudinally connected to the road segments in the first subset of road segments; searching for road segments in lane-level road data that are laterally connected to the second subset of road segments and whose lane line information meets preset conditions; when the laterally connected road segments are longitudinally connected to the road segments of the forward intersection, the first subset of road segments, the second subset of road segments, the laterally connected road segments, and the road segments of the forward intersection are taken as the first set of road segments from the starting position to the target position.

[0140] The first and second vehicle road segment subsets are sets of vehicle road segments for a single lane-level road segment, and the vehicle road segments in the second subset are longitudinally connected to the vehicle road segment segments in the first subset. Longitudinal connection refers to the direction of travel of the target vehicle, and lateral connection refers to the direction perpendicular to the direction of travel of the target vehicle. It should be noted that when searching for a passable second vehicle road segment subset, shoulders need to be excluded based on lane attributes; that is, the resulting second vehicle road segment subset does not include shoulders.

[0141] For example, such as Figure 11 As shown, at the starting position, the first road segment subset {A1,B1,C1} is searched. Then, road segments B2 and C2 that are longitudinally connected to each road segment in the first road segment subset {A1,B1,C1} and are passable are searched. Since lane A2 is a shoulder and is a non-passable lane, the second road segment subset {B2,C2} can be obtained. Then, road segment D2 that is laterally connected to the second road segment subset and has variable lane line information is searched. The second road segment subset {B2,C2} can be combined with the laterally connected road segment D2 to obtain a new second road segment subset {B2,C2,D2}. Finally, the first road segment subset {A1,B1,C1}, the new second road segment subset {B2,C2,D2}, and the road segments of the forward intersection are combined into the first road segment set {A1,B1,C1,B2,C2,D2,C3}, as follows. Figure 12 As shown in Figure (a).

[0142] S1004, based on topological relationships and lane line information, find the set of second road segments from the target location to the starting location in the lane-level road data.

[0143] The second set of road segments can refer to the set of passable road segments found from the target location to the starting location, which is a set of road segments of multiple lane-level road segments.

[0144] In one embodiment, S1004 may specifically include: the terminal searching for lane segments of forward intersections in lane-level road data based on the target location; searching for lane segments in lane-level road data that are longitudinally connected to the lane segments of forward intersections along the direction from the target location to the starting location, and searching for lane segments that are laterally connected to the lane segments connected to the longitudinally connected lane segments and whose lane line information meets preset conditions, to obtain a third lane segment subset; in lane-level road data, searching for a fourth lane segment subset that is longitudinally connected to the third lane segment subset, and searching for lane segments that are laterally connected to the fourth lane segment subset and whose lane line information meets preset conditions; and using the third lane segment subset, the fourth lane segment subset, the lane segments that meet the preset conditions, and the lane segments of forward intersections as a second lane segment set from the target location to the starting location.

[0145] Among them, the fourth vehicle road segment subset can be combined with the vehicle road segments whose lane line information meets the preset conditions to form a new fourth vehicle road segment subset.

[0146] For example, such as Figure 11 As shown, at the target location, find the road segment C3 of the forward intersection. Along the direction from the target location to the starting point, find the road segment D2 that is longitudinally connected to road segment C3. Then, find the road segment C2 that is laterally connected to road segment D2 and has variable lane information. Combine road segments D2 and C2 to form the third road segment subset {C2, D2}. Next, continue searching for the fourth road segment subset {C1} that is longitudinally connected to the third road segment subset {C2, D2}, and then find the road segment B1 that is laterally connected to the fourth road segment subset {C1} and has variable lane information. Similarly, road segment A1 can be found, thus obtaining a new fourth road segment subset {A1, B1, C1}. Finally, the third road segment subset {C2,D2}, the new fourth road segment subset {A1,B1,C1}, and the road segments of the forward intersection are combined into the second road segment set {A1,B1,C1,C2,D2,C3}, as follows. Figure 12 As shown in Figure (b).

[0147] S1006, based on the first set of road segments and the second set of road segments, determine the lanes that the target vehicle needs to travel to reach the target location.

[0148] In one embodiment, S1006 may specifically include: the terminal determining the intersection between the first set of road segments and the second set of road segments; and determining the lanes that the target vehicle needs to travel when it travels to the target location based on the intersection, so as to determine candidate road segments among the lanes that need to be traveled.

[0149] Alternatively, the intersection can be directly used as candidate road segments leading to the target location. For example, combining... Figure 12 As shown in Figures (a) and (b), calculating the intersection between the first set of road segments {A1,B1,C1,B2,C2,D2,C3} and the second set of road segments {A1,B1,C1,C2,D2,C3} yields the candidate road segments, which are {A1,B1,C1,C2,D2,C3}. Figure 13 As shown.

[0150] In the above embodiments, candidate road segments leading to the target location can be found by using forward and backward topology and lane line information. In this way, all passable road segments that can lead to the target location can be obtained. Travelers can drive according to the candidate road segments, which achieves the purpose of safe traffic prompts and helps to improve traffic driving safety.

[0151] In one embodiment, before reaching a position in the candidate lane segment that meets the lane-changing conditions, the candidate lane path can be deleted. During the deletion process, the following two strategies can be employed, as detailed below:

[0152] Strategy 1: Early lane change strategy.

[0153] In one embodiment, when the vehicle reaches a position where the distance between it and the intersection of the road ahead is no greater than a preset distance, the terminal removes the road segments that are not connected to the road ahead from the candidate road segments to obtain the remaining candidate road segments; and displays lane-level lane change guidance on the remaining candidate road segments.

[0154] Among them, the removed road segments are highlighted in the electronic map.

[0155] Before reaching the forward fork in the road, to alert travelers to change lanes in advance, only lanes with a direct topological relationship to the forward fork are retained within a certain distance. For example... Figure 14 As shown, the candidate road segments from the starting point to the target point consist of LaneGroup1, LaneGroup2, LaneGroup3, and LaneGroup4. The candidate road segment set {L0, L1, L2, L3, L4, L5, L6, L7} is calculated based on the forward and backward topology. Assuming that the early lane-changing strategy is to change lanes to the rightmost lane 500 meters in advance, which covers LaneGroup2 and LaneGroup3, only lanes with a direct topological relationship with the forward branch road are retained in LaneGroup3, that is, lanes L4 and L5 in LaneGroup3 are retained, and lane L6 is removed. The final result is {L0, L1, L2, L3, L4, L5, L7}.

[0156] Strategy 2: Trim shorter branch lane paths.

[0157] In one embodiment, the terminal forms lane paths from the candidate lane segments that belong to the same lane; determines the path length of each lane path; and removes at least one lane path whose path length is not greater than a preset length from the candidate lane segments if there is at least one lane path whose path length is not greater than the preset length.

[0158] The removed road segments are highlighted in the electronic map.

[0159] During the journey, if there are diverging, merging, or unrelated lanes ahead of the target vehicle, these lanes form a separate lane path. This separate lane path is shorter and can be removed from the candidate road segment. For example... Figure 15 As shown, the candidate lane segments from the starting point to the target location consist of LaneGroup1, LaneGroup3, and LaneGroup4. The candidate lane set calculated based on the forward and backward topology is {L1, L2, L3, L4, L5, L6, L7}. Within this candidate lane set {L1, L2, L3, L4, L5, L6, L7}, L1, L4, and L6 can form one lane path, L2, L5, and L7 can form another lane path, and L3 can form a separate lane path. Since lane path L3 has a shorter path length, it can be removed from the candidate lane set {L1, L2, L3, L4, L5, L6, L7}, resulting in the adjusted candidate lane set {L1, L2, L4, L5, L6, L7}.

[0160] In one embodiment, the terminal displays lane-level lane change guidance on the adjusted set of candidate lanes. Alternatively, a guidance display location is determined on the adjusted set of candidate lanes, and lane-level lane change guidance is displayed at that location. Furthermore, to optimize visual appeal, a truncated diagonal line merging into another lane segment can be drawn at the guidance display location. The shorter lane segment truncated by the diagonal line is then highlighted, and lane-level lane change guidance is displayed at the guidance display location, such as... Figure 16 As shown. It should be noted that the cut-off diagonal line and its ends can also be smoothed.

[0161] In the above embodiments, the two lane path removal methods of this application can make the highlighted candidate road segments more accurate, thereby more accurately guiding the target vehicle to the forward intersection when displaying lane-level lane change guidance, which is conducive to improving traffic driving safety.

[0162] As an example, the solution in this application generates planar HD guide lines (i.e., lane-level lane change guidance) based on SD and HD data. Specifically: First, according to the SD-HD mapping relationship, the Link route is converted into a LaneGroup route; second, based on the LaneGroup route and the longitudinal and lateral topologies of the lanes, the passable lane coverage is calculated, where the lateral topology can be represented by lane information, which can be used to determine whether the target vehicle can change lanes; third, redundant lanes are deleted according to the early lane change strategy and pruning strategy of the forward fork; finally, lane change guidance is generated in areas where there are fewer lanes based on lane change information. (Reference) Figure 17 The overall process is as follows:

[0163] (1) Convert the Link route to a LaneGroup route.

[0164] Based on the SD-HD mapping relationship (i.e., one Link corresponds to one or more LaneGroups), the LaneGroup corresponding to each Link on the route is obtained, and the LaneGroups corresponding to each Link are connected in parallel to form a high-precision LaneGroup route. The algorithm is as follows:

[0165] a) Traverse all Links along the route;

[0166] b) Obtain the LaneGroup corresponding to each Link based on the mapping relationship;

[0167] c) Sort the LaneGroups topologically, ensuring that the order of the LaneGroups is sequential from front to back along the route;

[0168] d) Combine the resulting LaneGroups to form a LaneGroup route.

[0169] like Figure 3 As shown in Figure (a), assuming the SD routes are Link0, Link1, and Link3, the corresponding HD routes are LaneGroup0, LaneGroup1, and LaneGroup2 according to the mapping relationship in Table 1.

[0170] (2) Calculate the lane coverage area.

[0171] Lane coverage is primarily calculated based on forward and backward topology. First, using the forward topology, the lane set from the starting LaneGroup to the ending LaneGroup is calculated. Then, using the backward topology, the lane set from the ending LaneGroup to the starting LaneGroup is calculated. Finally, the intersection of the lane sets obtained from the forward and backward topologies is taken; this intersection represents the desired lane coverage, i.e., all drivable road segments leading to the target location. The forward and backward topologies are mainly based on the longitudinal and lateral topologies of the lanes. For the specific process of forward lane topology calculation, please refer to [link / reference needed]. Figure 18 :

[0172] The backward topology method follows the same calculation process as the forward topology method, calculating based on vertical and horizontal topological relationships. The difference is that the backward topology method traverses from back to front. It first initializes the set of passable lanes for the last LaneGroup, and then traverses from the second-to-last LaneGroup backward. During the vertical topology calculation, it calculates the set of lanes that have a direct topological relationship with the lane set of the next LaneGroup. After the forward and backward topology calculations are completed, the intersection of the forward and backward lane sets for each LaneGroup is calculated, which is the final set of passable lanes for that LaneGroup.

[0173] like Figure 11 As shown, from the starting point to the destination, the LaneGroup route consists of LaneGroup1, LaneGroup2, and LaneGroup5, as follows: Figure 12 As shown in Figure (a), the forward topology lane sets are: LaneGroup1→A1,B1,C1; LaneGroup2→B2,C2,D2; LaneGroup5→C3. Figure 12 As shown in Figure (b), the backward topology lane sets are: LaneGroup 1→A1,B1,C1; LaneGroup 2→C2,D2; LaneGroup 5→C3. Therefore, the intersection of the above forward and backward topology lane sets is LaneGroup 1→A1,B1,C1; LaneGroup 2→C2,D2; LaneGroup5→C3, as follows. Figure 13 As shown.

[0174] (3) Lane cutting.

[0175] Lane trimming is mainly based on the following two strategies: one is the early lane-changing strategy, which retains only lanes with a direct topological relationship to the lanes of the preceding branch road at a certain distance in advance; the other is trimming short branch lane paths, which will be explained in detail below:

[0176] S1, lane cutting for early lane change strategy.

[0177] Before a fork in the road, to alert pedestrians to change lanes in advance, only lanes with a direct topological relationship to the fork are retained within a certain distance from the fork. For example... Figure 14 As shown, the LaneGroup route from the starting point to the target location consists of LaneGroup1, LaneGroup2, LaneGroup3, and LaneGroup4. The lane sets calculated based on the forward and backward topology are: LaneGroup1→L1,L0; LaneGroup2→L3,L2; LaneGroup3→L6,L5,L4; LaneGroup4→L7. Assuming the lane-changing strategy is to change lanes to the rightmost lane 500 meters in advance, which covers LaneGroup2 and LaneGroup3, only lanes with a direct topological relationship to the forward branching road are retained in LaneGroup3, i.e., lanes L4 and L5 are retained, and lane L6 is removed. The final result is: LaneGroup1→L1,L0; LaneGroup2→L3,L2; LaneGroup3→L5,L4; LaneGroup4→L7.

[0178] S2, shortened branch lane path.

[0179] During the journey, if there are separate, merging, or unrelated lanes ahead of the target vehicle, a separate lane path is formed. Finally, shorter, non-unique lane paths are deleted. For example... Figure 15 As shown, the LaneGroup route from the starting point to the target location consists of LaneGroup1, LaneGroup3, and LaneGroup4. The lane sets calculated based on the forward and backward topology are LaneGroup1→L2,L1; LaneGroup3→L5,L4,L3; LaneGroup4→L7,L6, which are abstracted into LanePath, where Lane Path0→L2,L5,L7; Lane Path1→L1,L4,L6; and Lane Path2→L3. Since LanePath2 is relatively short, it is deleted.

[0180] (4) Generate HD lane change instructions.

[0181] The lane coverage area is calculated based on forward and backward topology, and an unreasonable lane set is obtained after deleting lanes. Based on this lane set, lane-changing guidance is generated in areas where lanes decrease, prompting travelers to change lanes in advance. For example... Figure 16As shown, the final calculated lane sets are LaneGroup 1→L1,L0; LaneGroup 2→L2; LaneGroup 3→L5,L4; LaneGroup 4→L7. Within this lane set, from LaneGroup 1 to LaneGroup 2, two lanes become one lane, i.e., L1,L0→L2. At this time, HD guide lines will be generated at the diagonal line in L1. From LaneGroup 3 to LaneGroup 4, two lanes become one lane, i.e., L5,L4→L7. At this time, HD lane change guidance will be generated at the diagonal line in L5.

[0182] The solution proposed in this application can provide lane-level lane-changing guidance for travelers, with the following specific technical effects:

[0183] 1) Based on HD data, the coverage area of ​​passable lanes can be calculated, providing precise lane-level lane-changing guidance for travelers;

[0184] 2) Lane-level lane change prompts can be generated based on extracted lane change strategies at highway exits or lane change locations, providing more accurate lane-level lane change guidance.

[0185] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0186] Based on the same inventive concept, this application also provides a road data processing apparatus for implementing the road data processing method described above. The solution provided by this apparatus is similar to the implementation described in the above method; therefore, the specific limitations in one or more road data processing apparatus embodiments provided below can be found in the limitations of the road data processing method described above, and will not be repeated here.

[0187] In one embodiment, such as Figure 19 As shown, a road data processing device is provided, comprising: a first display module 1902, a determination module 1904, a second display module 1906, and a third display module 1908, wherein:

[0188] The first display module 1902 is used to display a lane-level navigation page in response to a lane-level navigation operation triggered on an electronic map;

[0189] The determination module 1904 is used to determine candidate road segments during the display of the lane-level navigation page; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by the target vehicle to reach the target location;

[0190] The second display module 1906 is used to display candidate road segments in the lane-level navigation page of the electronic map;

[0191] The third display module 1908 is used to display lane-level lane change guidance on the candidate vehicle road segment when the vehicle reaches a position in the candidate vehicle road segment that meets the lane change conditions.

[0192] In one embodiment, the determining module 1904 is further configured to, during the process of displaying the lane-level navigation page, determine the lanes that the target vehicle needs to travel through in the lane-level road data when it travels to the target location; and determine candidate road segments in the lanes that need to be traveled through.

[0193] In one embodiment, the third display module 1908 is further configured to determine the guidance display position on the candidate vehicle road segment based on the position when the target vehicle travels to a position no more than a preset distance from the intersection of the road where the target position is located, or when the target vehicle is at the position where the lane change request was initiated, during the process of driving on the candidate vehicle road segment; and display lane-level lane change guidance at the guidance display position of the candidate vehicle road segment.

[0194] In one embodiment, such as Figure 20 As shown, the device also includes:

[0195] The conversion module 1910 is used to convert the standard road data obtained during driving into lane-level road data;

[0196] The determination module 1904 is also used to determine the topological relationship and lane line information between each vehicle road segment in the lane-level road data; and to determine candidate vehicle road segments in the lane-level road data based on the topological relationship and lane line information.

[0197] In the above embodiments, when lane-level navigation is required, the lane-level navigation page is entered. During the process of entering the lane-level navigation page, candidate road segments for reaching the target location are determined. Then, the candidate road segments are displayed on the lane-level navigation page of the electronic map, thereby accurately showing the traveler the range of all drivable lanes. All drivable road segments that can lead to the target location can be seen visually and intuitively. Moreover, when the traveler reaches a position in the candidate road segment that meets the lane-changing conditions, lane-level lane-changing guidance is displayed on the candidate road segment, which can remind the traveler to change lanes in advance. Thus, when using electronic map navigation, the target vehicle controlled by the traveler can be accurately moved to the target lane, greatly improving the accuracy of lane changing.

[0198] In one embodiment, the conversion module 1910 is further configured to acquire, during driving, the standard road data in the direction of the target vehicle; determine the elevation value of each road segment in the standard road data; and convert the standard road data into lane-level road data with elevation values.

[0199] In the above embodiments, after obtaining the standard road data, the elevation values ​​of each road segment in the standard road data are determined, and then the standard road data is converted into lane-level road data with elevation values, so as to better display the hierarchical relationship between each road and avoid the road hierarchical relationship being disordered, which would affect traffic safety.

[0200] In one embodiment, the conversion module 1910 is further configured to convert the refined road data into a directed graph based on the connection relationships between the vertices of each road segment in the refined road data; construct an upward search network and a downward search network sequentially based on the directed graph; the upward search network is used to represent the road coverage relationship where the current road segment is covered by other road segments, and the downward search network is used to represent the road coverage relationship where the current road segment covers other road segments; detect the building coverage relationship between each road segment and a building in the directed graph; perform elevation processing on the vertices of the road segments covered by buildings based on the building coverage relationship; find vertices in the directed graph that meet the benchmark point conditions as benchmark points, and assign elevation values ​​to the vertices of road segments that have not undergone elevation processing based on the benchmark surface formed by the benchmark points, the road coverage relationships in the upward search network, and the road coverage relationships in the downward search network.

[0201] In one embodiment, the conversion module 1910 is further configured to obtain lane mapping relationships; determine lane segments that match the standard road data based on the lane mapping relationships; combine lane segments with elevation values ​​to obtain lane-level road data; and determine the elevation values ​​of each road segment in the lane-level road data based on the elevation values ​​of each road segment in the standard road data to obtain lane-level road data with elevation values.

[0202] In the above embodiments, based on the connectivity between vertices of each road segment in the refined road data, the refined road data is converted into a directed graph; an upward search network and a downward search network are constructed sequentially based on the directed graph; the building coverage relationship between each road segment and a building is detected in the directed graph, and the vertices of the road segments covered by buildings are subjected to elevation processing based on the building coverage relationship; vertices that meet the benchmark point conditions are found in the directed graph as benchmark points, and based on the benchmark surface formed by the benchmark points, the road coverage relationships in the upward search network, and the road coverage relationships in the downward search network, elevation values ​​are assigned to the vertices of road segments that have not undergone elevation processing. Because the correct road topology and basic shape are ensured while restoring the road elevation, the efficiency of determining road elevation values ​​is effectively improved.

[0203] In one embodiment, the determining module 1904 is further configured to: search for a first set of road segments from the starting position to the target position in the lane-level road data based on topological relationships and lane line information; and search for a second set of road segments from the target position to the starting position in the lane-level road data; and determine the lanes that the target vehicle needs to travel through when it travels to the target position based on the first set of road segments and the second set of road segments.

[0204] In one embodiment, the determining module 1904 is further configured to: search for a first subset of road segments at the starting position in the lane-level road data; search for a second subset of road segments that are passable in the lane-level road data; the road segments in the second subset of road segments are longitudinally connected to the road segments in the first subset of road segments; search for road segments in the lane-level road data that are laterally connected to the second subset of road segments and whose lane line information meets preset conditions; when the laterally connected road segments are longitudinally connected to the road segments of the forward intersection, the first subset of road segments, the second subset of road segments, the laterally connected road segments, and the road segments of the forward intersection are used as the first set of road segments from the starting position to the target position.

[0205] In one embodiment, the determining module 1904 is further configured to: locate the road segments of the forward intersection in the lane-level road data based on the target location; locate the road segments in the lane-level road data that are longitudinally connected to the road segments of the forward intersection along the direction from the target location to the starting location; locate the road segments that are laterally connected to the road segments connected to the longitudinal intersection and whose lane line information meets preset conditions, thereby obtaining a third road segment subset; locate the fourth road segment subset in the lane-level road data that is longitudinally connected to the third road segment subset; locate the road segments that are laterally connected to the fourth road segment subset and whose lane line information meets preset conditions; and use the third road segment subset, the fourth road segment subset, the road segments that meet the preset conditions, and the road segments of the forward intersection as a second road segment set from the target location to the starting location.

[0206] In one embodiment, the determining module 1904 is further configured to determine the intersection between the first set of road segments and the second set of road segments; and determine the lanes that the target vehicle needs to travel to reach the target location based on the intersection.

[0207] The second display module 1906 is also used to acquire a mask for covering the candidate road segment; place the mask on the candidate road segment, and display the candidate road segment covering the mask in the lane-level navigation page of the electronic map.

[0208] In one embodiment, the second display module 1906 is further configured to determine the area size corresponding to the area to be covered in the candidate road segment; adjust the size of the mask according to the area size to obtain a target mask that matches the area size; and place the target mask in the area to be covered in the candidate road segment.

[0209] In the above embodiments, candidate road segments leading to the target location can be found by using forward and backward topology and lane line information. In this way, all passable road segments that can lead to the target location can be obtained. Travelers can drive according to the candidate road segments, which achieves the purpose of safe traffic prompts and helps to improve traffic driving safety.

[0210] In one embodiment, such as Figure 20 As shown, the device may further include:

[0211] The combination module 1912 is used to combine lane segments belonging to the same lane in the candidate lane segments into lane paths;

[0212] The third determining module 1914 is used to determine the path length of each lane;

[0213] The removal module 1916 is used to remove at least one lane path with a path length not greater than a preset length from the candidate road segment if there exists at least one lane path with a path length not greater than a preset length.

[0214] In one embodiment, the third display module 1908 is further configured to remove road segments not connected to the forward intersection from the candidate road segments when the vehicle reaches a position where the distance between the vehicle and the intersection is not greater than a preset distance, thereby obtaining the remaining candidate road segments; wherein the removed road segments are de-highlighted in the electronic map; and lane-level lane change guidance is displayed on the remaining candidate road segments.

[0215] In the above embodiments, the two lane path removal methods of this application can make the highlighted candidate road segments more accurate, thereby more accurately guiding the target vehicle to the forward intersection when displaying lane-level lane change guidance, which is conducive to improving traffic driving safety.

[0216] Each module in the aforementioned road data processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0217] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 21 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for processing road data. The display unit of the computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0218] Those skilled in the art will understand that Figure 21 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0219] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0220] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0221] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0222] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0223] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0224] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0225] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of processing road data, characterized by, The method includes: In response to a lane-level navigation action triggered on the electronic map, display the lane-level navigation page; During the display of the lane-level navigation page, the topological relationships between each road segment and lane line information in the lane-level road data are determined; Based on the topology and lane information, a first set of road segments from the starting point to the target point is searched in the lane-level road data; and a second set of road segments from the target point to the starting point is searched in the lane-level road data. Based on the first set of road segments and the second set of road segments, the lanes that the target vehicle needs to travel to the target location are determined, and candidate road segments are determined from the lanes that need to be traveled; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by the target vehicle to travel to the target location; The candidate road segments are displayed on the lane-level navigation page of the electronic map; When the vehicle reaches a position in the candidate road segment that meets the lane change conditions, lane-level lane change guidance is displayed on the candidate road segment.

2. The method of claim 1, wherein, The step of displaying lane-level lane change guidance on the candidate road segment when the vehicle reaches a position that meets the lane change conditions includes: During the journey of the candidate vehicle on the road segment, when the target vehicle reaches a position no greater than a preset distance from the intersection of the road where the target location is located, or when the target vehicle's position is the position at which the lane change request was initiated, then The guidance display location is determined on the candidate road segment based on the location; Lane-level lane change guidance is displayed at the guidance display location of the candidate road segment.

3. The method of claim 1, wherein, Before determining the candidate road segment, the method further includes: The high-precision road data obtained during the driving process is converted into lane-level road data.

4. The method of claim 3, wherein, The process of converting the high-precision road data obtained during driving into lane-level road data includes: During the driving process, the target vehicle's forward-oriented precise road data is acquired; Determine the elevation values ​​of each road segment in the refined road data; The standard road data is converted into lane-level road data with the elevation values.

5. The method of claim 4, wherein, Determining the elevation value of each road segment in the refined road data includes: Based on the connection relationships between the vertices of each road segment in the refined road data, the refined road data is converted into a directed graph; Based on the directed graph, an upward search network and a downward search network are constructed sequentially; the upward search network is used to represent the road coverage relationship where the current road segment is covered by other road segments, and the downward search network is used to represent the road coverage relationship where the current road segment covers other road segments. The building coverage relationship between each road segment and building is detected in the directed graph; Based on the building coverage relationship, the elevation of the vertices of the road segments covered by the buildings is processed; In the directed graph, a vertex that meets the criteria for a reference point is found and used as a reference point. Based on the reference surface formed by the reference point, the road overlap relationship in the upward search network, and the road overlap relationship in the downward search network, an elevation value is assigned to the vertices of the road segment that has not undergone elevation processing.

6. The method of claim 4, wherein, The process of converting the standard road data into lane-level road data with the elevation value includes: Obtain lane mapping relationships; Based on the lane mapping relationship, determine the vehicle and road segments that match the standard road data; The road segments with the aforementioned elevation values ​​are combined to obtain lane-level road data. Based on the elevation values ​​of each road segment in the standard road data, the elevation values ​​of each road segment in the lane-level road data are determined to obtain lane-level road data with the elevation values.

7. The method according to claim 3, characterized in that, The process of converting the high-precision road data obtained during driving into lane-level road data includes: After obtaining the calibrated road data during the driving process, the corresponding road mapping table is obtained based on the index of the calibrated road data. The road mapping table records the lane mapping relationship. Based on the lane mapping relationship, the standard road data is converted into lane-level road data.

8. The method according to claim 1, characterized in that, The step of searching for the first set of road segments from the starting point to the target point in the lane-level road data based on the topological relationship and the lane line information includes: In the lane-level road data, find the first vehicle road segment subset at the starting position; Find a second subset of passable lane segments in the lane-level road data; the lane segments in the second subset of lane segments are longitudinally connected to the lane segments in the first subset of lane segments. In the lane-level road data, find the road segment that is laterally connected to the second road segment subset and whose lane line information meets the preset conditions; When the laterally connected road segments are longitudinally connected to the road segments of the forward intersection, the first road segment subset, the second road segment subset, the laterally connected road segments, and the road segments of the forward intersection are taken as the first road segment set from the starting position to the target position.

9. The method according to claim 1, characterized in that, The step of searching the set of second road segments in the lane-level road data that lead from the target location to the starting location includes: Based on the target location, locate the lane segment of the forward intersection in the lane-level road data; Along the direction from the target location to the starting location, find the lane-level road data that is longitudinally connected to the lane segment of the forward intersection, and find the lane segment that is laterally connected to the lane segment that is longitudinally connected and whose lane line information meets the preset conditions, to obtain a third lane segment subset. In the lane-level road data, find the fourth vehicle road segment subset that is longitudinally connected to the third vehicle road segment subset, and find the vehicle road segment that is laterally connected to the fourth vehicle road segment subset and whose lane line information meets the preset conditions. The three-vehicle road segment subset, the fourth-vehicle road segment subset, the road segments that meet the preset conditions, and the road segments of the forward intersection are taken as the second set of road segments from the target position to the starting position.

10. The method according to claim 1, characterized in that, The determination of the lanes that the target vehicle needs to traverse to reach the target location based on the first set of road segments and the second set of road segments includes: Determine the intersection between the first set of road segments and the second set of road segments; The intersection is used to determine the lanes that the target vehicle needs to travel to reach the target location.

11. The method according to claim 1, characterized in that, The display of the candidate road segments in the lane-level navigation page of the electronic map includes: Obtain a mask to cover the candidate road segment; The mask is placed on the candidate road segment, and the candidate road segment covering the mask is displayed on the lane-level navigation page of the electronic map.

12. The method according to claim 11, characterized in that, Placing the mask on the candidate road segment includes: Determine the area size corresponding to the area to be covered in the candidate road segment; The size of the mask is adjusted according to the size of the region to obtain a target mask that matches the size of the region. The target mask is placed in the area to be masked in the candidate road segment.

13. The method according to any one of claims 1 to 12, characterized in that, Before displaying the candidate road segment on the lane-level navigation page of the electronic map, the method further includes: The candidate road segments that belong to the same lane are combined to form a lane path; Determine the path length of each lane path; If at least one lane path has a path length not greater than a preset length, then at least one lane path with a path length not greater than the preset length will be removed from the candidate lane segment.

14. The method according to any one of claims 1 to 12, characterized in that, The step of displaying lane-level lane change guidance on the candidate road segment when the vehicle reaches a position that meets the lane change conditions includes: When the vehicle reaches a position where the distance between it and the intersection of the road ahead is no greater than a preset distance, the road segment that is not connected to the intersection of the road ahead is removed from the candidate road segments, and the remaining candidate road segments are obtained. Display lane-level lane change guidance on the remaining candidate road segments.

15. A road data processing device, characterized in that, The device includes: The first display module is used to display the lane-level navigation page in response to a lane-level navigation operation triggered on the electronic map; A determination module is configured to, during the display of the lane-level navigation page, determine the topological relationships and lane line information between road segments in the lane-level road data; based on the topological relationships and lane line information, search the lane-level road data for a first set of road segments from the starting point to the target location; and search the lane-level road data for a second set of road segments from the target location to the starting point; based on the first set of road segments and the second set of road segments, determine the lanes that the target vehicle needs to traverse when traveling to the target location, and determine candidate road segments from the lanes that need to traverse; the candidate road segments include road segments with at least one lane, and the candidate road segments are used by the target vehicle to travel to the target location; The second display module is used to display the candidate road segment in the lane-level navigation page of the electronic map; The third display module is used to display lane-level lane change guidance on the candidate road segment when the vehicle reaches a position that meets the lane change conditions.

16. The apparatus according to claim 15, characterized in that, The third display module is further configured to, during the process of the target vehicle traveling on the candidate road segment, when the target vehicle travels to a position no greater than a preset distance from the intersection of the road where the target position is located, or when the target vehicle is traveling at the position where the lane change request was initiated, determine the guidance display position on the candidate road segment based on the position; and display lane-level lane change guidance at the guidance display position on the candidate road segment.

17. The apparatus according to claim 15, characterized in that, The device further includes: The conversion module is used to convert the standard road data obtained during driving into lane-level road data.

18. The apparatus according to claim 17, characterized in that, The conversion module is also used to acquire, during driving, the standard road data in the direction of the target vehicle; determine the elevation value of each road segment in the standard road data; and convert the standard road data into lane-level road data with the elevation value.

19. The apparatus according to claim 18, characterized in that, The conversion module is further configured to convert the refined road data into a directed graph based on the connection relationship between the vertices of each road segment in the refined road data; and to construct an upward search network and a downward search network based on the directed graph in sequence; the upward search network is used to represent the road overlay relationship where the current road segment is overlaid by other road segments, and the downward search network is used to represent the road overlay relationship where the current road segment overlays other road segments; The building coverage relationship between each road segment and building is detected in the directed graph; based on the building coverage relationship, the vertices of the road segments covered by the buildings are processed for elevation. In the directed graph, a vertex that meets the criteria for a reference point is found and used as a reference point. Based on the reference surface formed by the reference point, the road overlap relationship in the upward search network, and the road overlap relationship in the downward search network, an elevation value is assigned to the vertices of the road segment that has not undergone elevation processing.

20. The apparatus according to claim 18, characterized in that, The conversion module is further configured to: acquire lane mapping relationships; determine road segments that match the standard road data based on the lane mapping relationships; combine road segments with the elevation values ​​to obtain lane-level road data; and determine the elevation values ​​of each road segment in the lane-level road data based on the elevation values ​​of each road segment in the standard road data to obtain lane-level road data with the elevation values.

21. The apparatus according to claim 17, characterized in that, The conversion module is further configured to, after obtaining the standard road data during driving, retrieve the corresponding road mapping table based on the index of the standard road data, wherein the road mapping table records the lane mapping relationship; and convert the standard road data into lane-level road data based on the lane mapping relationship.

22. The apparatus according to claim 15, characterized in that, The determining module is further configured to: search for a first subset of road segments at the starting point in the lane-level road data; and search for a second subset of road segments that are passable in the lane-level road data. The road segments in the second road segment subset are longitudinally connected to the road segments in the first road segment subset; in the lane-level road data, a road segment that is laterally connected to the second road segment subset and whose lane line information meets preset conditions is found; when the laterally connected road segment is longitudinally connected to the road segment of the forward intersection, the first road segment subset, the second road segment subset, the laterally connected road segment, and the road segment of the forward intersection are taken as the first road segment set from the starting position to the target position.

23. The apparatus according to claim 15, characterized in that, The determining module is further configured to locate the road segment of the forward intersection in the lane-level road data according to the target location; locate the road segment in the lane-level road data that is longitudinally connected to the road segment of the forward intersection along the direction from the target location to the starting location; and locate the road segment that is laterally connected to the road segment connected to the longitudinal intersection and whose lane line information meets the preset conditions, thereby obtaining a third road segment subset. In the lane-level road data, find the fourth vehicle road segment subset that is longitudinally connected to the third vehicle road segment subset, and find the vehicle road segment that is laterally connected to the fourth vehicle road segment subset and whose lane line information meets the preset conditions. The three-vehicle road segment subset, the fourth-vehicle road segment subset, the road segments that meet the preset conditions, and the road segments of the forward intersection are taken as the second set of road segments from the target position to the starting position.

24. The apparatus according to claim 15, characterized in that, The determining module is further configured to determine the intersection between the first set of road segments and the second set of road segments; and to determine the lanes that the target vehicle needs to travel to reach the target location based on the intersection.

25. The apparatus according to claim 15, characterized in that, The second display module is also used to acquire a mask for covering the candidate road segment; The mask is placed on the candidate road segment, and the candidate road segment covering the mask is displayed on the lane-level navigation page of the electronic map.

26. The apparatus according to claim 25, characterized in that, The second display module is further configured to determine the area size corresponding to the area to be covered in the candidate road segment; adjust the size of the mask according to the area size to obtain a target mask that is consistent with the area size; and place the target mask in the area to be covered in the candidate road segment.

27. The apparatus according to any one of claims 15 to 26, characterized in that, The device further includes: The combination module is used to combine lane segments belonging to the same lane in the candidate lane segments into lane paths; The third determining module is used to determine the path length of each lane path; The removal module is used to remove at least one lane path whose path length is not greater than a preset length from the candidate lane segment if there is at least one lane path whose path length is not greater than a preset length.

28. The apparatus according to any one of claims 15 to 26, characterized in that, The third display module is also used to remove road segments that are not connected to the forward intersection from the candidate road segments when the vehicle reaches a position where the distance between the vehicle and the intersection is not greater than a preset distance, so as to obtain the remaining candidate road segments; and to display lane-level lane change guidance on the remaining candidate road segments.

29. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 14.

30. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 14.

31. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 14.

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