Map construction method and device, computer device and storage medium

Abstract

The application relates to a map construction method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring map data comprising all road data and all intersection data in a target area; dividing all intersection data to obtain a preset number of intersection groups; traversing all road data, if two end intersections of a current road represented by current road data exist in a same intersection group, dividing the current road data into the same intersection group, if the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, dividing the current road data into any one of the two intersection groups, if the two end intersections exist in the two intersection groups respectively again, dividing the current road data into another intersection group of the two intersection groups, and until all road data is divided into corresponding intersection groups to obtain target data groups and map construction is performed. The method can be used for map construction in a large-scale map construction area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, in particular to a map construction method and device, computer equipment and storage medium. BACKGROUND

[0002] With the continuous innovation of intelligent transportation technology, the map construction as the foundation of intelligent transportation is also developing. At present, the map construction is realized by single-thread traffic system simulation software, which can only simulate street-level roads and a large number of vehicles, and it is difficult to cope with larger-scale simulation.

[0003] In the traditional technology, the map construction cannot divide the map construction area, resulting in the limitation of the map construction area. SUMMARY

[0004] Therefore, it is necessary to provide a map construction method, device, computer equipment and storage medium capable of large-scale map construction area.

[0005] In a first aspect, the present application provides a map construction method, comprising:

[0006] obtaining map data of a target area, the map data comprising all road data and all intersection data in the target area;

[0007] dividing all intersection data to obtain a preset number of intersection groups;

[0008] traversing all road data, in the case that the two end intersections of the current road represented by the current road data exist in the same intersection group, dividing the current road data to the same intersection group;

[0009] in the case that the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, dividing the current road data to any intersection group of the two intersection groups, and continuing to traverse, in the case that the two end intersections of the current road represented by the current road data exist in the two intersection groups again, dividing the current road data to the other intersection group of the two intersection groups;

[0010] repeating the above traversal and division process until all road data is divided into the corresponding intersection group to obtain a target data group, the target data group comprising intersection data and road data;

[0011] based on the target data group, constructing a map.

[0012] In one of the embodiments, the dividing all intersection data to obtain a preset number of intersection groups comprises:

[0013] obtaining a preset group number, intersection coordinates in each intersection data, and a long side in the target area;

[0014] in a case where the preset group number is a prime number, sorting the intersection coordinates along a direction of the long side, and dividing all intersection data according to the sorting direction to obtain intersection groups of the preset group number, wherein a total number difference of intersection data in each intersection group is minimum;

[0015] in a case where the preset group number is not a prime number, obtaining two factors obtained after factorization of the preset group number, a product of the two factors being the preset group number, and the two factors having a minimum difference among all factor pairs obtained after factorization of the preset group number;

[0016] taking a larger value of the two factors as a first division group number along a direction of the long side, sorting the intersection coordinates along the direction of the long side, and dividing all intersection data according to the current sorting direction and the first division group number to obtain initial intersection groups;

[0017] taking a smaller value of the two factors as a second division group number along a direction perpendicular to the direction of the long side, sorting all intersection coordinates in the initial intersection groups along the perpendicular direction, and dividing the initial intersection groups according to the current sorting direction and the second division group number to obtain intersection groups of the preset group number, wherein a total number difference of intersection data in each intersection group is minimum.

[0018] In one embodiment, the method further comprises:

[0019] after map construction, determining boundary intersections existing in all intersection groups, wherein the boundary intersection is an intersection passed when moving from one intersection group to another intersection group;

[0020] determining a boundary point on the boundary intersection.

[0021] In one embodiment, the road data includes all lanes located on corresponding roads; the method further comprises:

[0022] obtaining a starting position and a target position of a target vehicle on the map, and determining a driving path direction of the target vehicle from the starting position to the target position;

[0023] during driving of the target vehicle from the starting position to the target position, obtaining a current position of the target vehicle;

[0024] In a case that the current position is on a road, a lane in which the target vehicle is located is determined, and vehicle conditions on the lane and lanes adjacent to the lane are acquired;

[0025] Based on the vehicle conditions, a target speed and a target lane of the target vehicle are determined;

[0026] The target vehicle is controlled to travel along the travel path direction at the target speed and in the target lane.

[0027] In one of the embodiments, the method further comprises:

[0028] In a case that the current position is the boundary point, a nearest adjacent vehicle of a lane in which the target vehicle is located along the travel path direction is determined;

[0029] A speed of the adjacent vehicle and a distance between the target vehicle and the adjacent vehicle along the lane direction are acquired;

[0030] Based on the distance and the speed, it is determined whether the target vehicle continues to travel.

[0031] In one of the embodiments, the acquiring of the map data of the target region comprises:

[0032] Acquiring initial map data of the target region, converting a format of the initial map data into a binary structure to obtain the map data of the target region.

[0033] In a second aspect, the application further provides a map construction device, comprising:

[0034] A data acquisition module is configured to acquire map data of a target region, the map data comprising all road data and all intersection data in the target region;

[0035] An intersection division module is configured to divide all intersection data to obtain a preset number of intersection groups;

[0036] A first road division module is configured to traverse all road data, and in a case that two end intersections of a current road represented by current road data exist in a same intersection group, divide the current road data to the same intersection group;

[0037] A second road division module is configured to, in a case that the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, divide the current road data to any one of the two intersection groups, continue to traverse, and in a case that the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively again, divide the current road data to the other one of the two intersection groups.

[0038] a data set obtaining module configured to repeat the above-mentioned traversing and dividing processes until all road data is divided into corresponding intersection groups, to obtain a target data set, wherein the target data set comprises intersection data and road data;

[0039] a map construction module configured to construct a map based on the target data set.

[0040] In a third aspect, the present application also provides a computer device. The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above-mentioned methods.

[0041] In a fourth aspect, the present application also provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of any of the above-mentioned methods.

[0042] In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program, and the computer program is executed by a processor to implement the steps of any of the above-mentioned methods.

[0043] The above-mentioned map construction method, device, computer device and storage medium, by obtaining map data comprising all road data and all intersection data in a target region, dividing all intersection data to obtain a preset number of intersection groups, traversing all road data, in a case where two end intersections of a current road represented by current road data exist in a same intersection group, dividing the current road data into the same intersection group, in a case where the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, dividing the current road data into any one of the two intersection groups, continuing the traversing, in a case where the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively again, dividing the current road data into another one of the two intersection groups, repeating the above-mentioned traversing and dividing processes until all road data is divided into corresponding intersection groups, to obtain a target data set, and constructing a map. Compared with the map construction region limitation problem existing in the prior art, by dividing all roads and all intersections in a target region, each road and each intersection has a unique target data set, the target data set is used for map construction, each target data set runs independently, the target region can be split, the range of the target region is larger, and the map construction can be performed for a large-scale target region. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0045] Figure 1 The flowchart of the map construction method provided in the embodiments of the present application;

[0046] Figure 2 The schematic diagram of the target area provided in an embodiment;

[0047] Figure 3 The flowchart of the intersection group with a preset number of groups obtained in an embodiment;

[0048] Figure 4 The schematic diagram of the intersection coordinates sorted along the direction of the long side in an embodiment;

[0049] Figure 5 The schematic diagram of the target area provided in an embodiment;

[0050] Figure 6 The flowchart of the boundary point determined in an embodiment;

[0051] Figure 7 The actual expansion schematic diagram of the boundary intersection provided in an embodiment;

[0052] Figure 8 The flowchart of the target vehicle driving control in an embodiment;

[0053] Figure 9 The structural block diagram of a map construction device provided in the embodiments of the present application;

[0054] Figure 10 The internal structure diagram of a computer device provided in the embodiments of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present application more clear, the following will further describe the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0056] In this embodiment, a map construction method is provided. This embodiment uses the application of the method to a computer device as an example for illustration. It can be understood that the method can also be applied to a server, and can also be applied to a system including a computer device and a server, and can be implemented through the interaction between the computer device and the server.

[0057] Figure 1 This is a flowchart illustrating the map construction method provided in this application embodiment. The method is applied in a computer device. In one embodiment, such as... Figure 1 As shown, it includes the following steps:

[0058] S101, Obtain map data for the target area. The map data includes all road data and all intersection data within the target area.

[0059] The target area is the region where a map will be built. Map data reflects the locations of buildings, roads, and intersections within the target area. Road data includes the locations of roads within the target area. Intersection data includes the locations of intersections within the target area.

[0060] For example, a schematic diagram of the target area is provided, such as Figure 2 As shown. Figure 2 In the diagram, A, B, C, and D represent intersections, E, F, and G represent roads, and the small houses represent residences. Figure 2 Only some roads are marked in the image, and Figure 2 This is just an example; the actual number of roads and intersections will vary depending on the specific circumstances.

[0061] S102, divide all intersection data into a preset number of intersection groups.

[0062] In some embodiments, the data of all intersections can be divided according to their location in the target area, grouping adjacent intersections together, or the target area can be divided according to a preset number of groups, and intersections belonging to the same target area can be grouped together.

[0063] S103: Traverse all road data. If the intersections at both ends of the current road represented by the current road data exist in the same intersection group, classify the current road data into the same intersection group.

[0064] For example, such as Figure 2 As shown, if intersection A and intersection B belong to the same intersection group, then road E between intersection A and intersection B is assigned to the intersection group to which intersection A belongs.

[0065] S104. When it is found that the two ends of the current road represented by the current road data exist in two intersection groups respectively, the current road data is assigned to either intersection group of the two intersection groups. Continue to traverse. When it is found again that the two ends of the current road represented by the current road data exist in two intersection groups respectively, the current road data is assigned to the other intersection group of the two intersection groups.

[0066] It should be understood that the purpose of step S104 is to evenly distribute all roads that exist in the two intersection groups at both ends of the intersection, so that each road has a unique corresponding intersection group, and to ensure that the road data included in each intersection group is as even as possible.

[0067] For example, such as Figure 2 As shown, if intersection A and intersection B belong to one intersection group, and intersection C and intersection D belong to another intersection group, if road F between intersection A and intersection C is assigned to the intersection group to which intersection A belongs, then road G between intersection B and intersection D is assigned to the intersection group to which intersection D belongs. If the traversal continues and there are still roads between the intersection groups to which intersection A belongs and the intersection group to which intersection D belongs, then the roads are alternately assigned to the intersection groups to which intersection A belongs and the intersection group to which intersection D belongs.

[0068] S105, repeat the above traversal and division process until all road data are divided into the corresponding intersection groups to obtain the target data group, which includes intersection data and road data.

[0069] S106, Map construction based on target data set.

[0070] The map construction method provided in the embodiment comprises the following steps: obtaining map data comprising all road data and all intersection data in a target region, dividing all intersection data to obtain a preset number of intersection groups, traversing all road data, and dividing the current road data into the same intersection group in the case that the two end intersections of the current road represented by the current road data exist in the same intersection group, dividing the current road data into any intersection group of the two intersection groups in the case that the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively, continuing to traverse, and dividing the current road data into the other intersection group of the two intersection groups in the case that the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively. The above traversing and dividing process is repeated until all road data are divided into the corresponding intersection groups to obtain target data groups, and map construction is performed. Compared with the region limitation problem existing in the traditional map construction technology, all roads and all intersections in the target region are divided in the embodiment, each road and each intersection has a unique target data group, the target data group is used for map construction, each target data group independently runs, the target region can be split, the range of the target region is larger, and map construction can be performed on a large-scale target region.

[0071] In one embodiment, the flowchart of dividing all intersection data to obtain a preset number of intersection groups is shown in FIG. 3, which comprises the following contents. Figure 3

[0072] S301, obtaining a preset number, intersection point coordinates in each intersection data and a long side in a target region.

[0073] The preset number is the number of groups obtained by dividing all intersection data. The preset number can be set. The intersection data comprises all data of the intersection region. The intersection point coordinates can be the coordinates of the center point of the intersection region, or the coordinates of the point marked by a person in the intersection region. The target region is usually a rectangle, and the long side in the target region is the longer side in the rectangle. The long side in the target region can also be set by a person according to the actual situation.

[0074] S302, in the case that the preset number is a prime number, sorting the intersection point coordinates along the direction of the long side, dividing all intersection data according to the sorting direction to obtain a preset number of intersection groups, wherein the total number of intersection data in each intersection group is the smallest.

[0075] For example, the preset number is 3 groups, and the intersection data has 22 groups. The schematic diagram of sorting the intersection point coordinates along the direction of the long side is shown in FIG. 3. Figure 4 Figure 4 ​​The X direction in the diagram is along the longer side. Figure 4 This is just an example to demonstrate the sorting method. After sorting the 22 intersection data, the intersections are divided into 3 groups along the X direction from near to far. The 3 groups contain 7, 7, and 8 intersections respectively. Any intersection group can contain 8 intersections.

[0076] S303, if the preset number of groups is not a prime number, obtain the two factors obtained after factoring the preset number of groups. The product of the two factors is the preset number of groups. The two factors have the smallest difference among all factor pairs obtained by factoring the preset number of groups.

[0077] For example, the preset number of groups is 24. After factoring the preset number of groups, the product of the two factors is 24. The two factors can be 1 and 24, 2 and 12, 3 and 8, 4 and 6, for a total of 4 factor pairs. The two factors with the smallest difference among all the factor pairs obtained by factoring the preset number of groups should be 4 and 6.

[0078] S304: Take the larger of the two factors as the first division group number along the long side, sort the intersection coordinates along the long side, and divide all intersection data according to the current sorting direction and the first division group number to obtain the initial intersection group.

[0079] Among them, the difference in the total number of intersection data in each initial intersection group is the smallest.

[0080] S305, take the smaller of the two factors as the second division group number along the direction perpendicular to the long side, sort the coordinates of all intersection points in the initial intersection group along the vertical direction, divide the initial intersection group according to the current sorting direction and the second division group number, and obtain the intersection group of the preset number of groups, wherein the total number of intersection data in each intersection group has the smallest difference.

[0081] For example, the preset number of groups is 4, with two factors of 2 and 2, meaning the first division has 2 groups and the second division has 2 groups. Here, a schematic diagram of dividing a target area into intersection groups is provided, such as... Figure 5 As shown. Figure 5 In this diagram, direction M represents the long side of the target area, and direction N represents the direction perpendicular to the long side of the target area. First, the coordinates of the intersection points within the target area are sorted along the long side, and then divided into two initial intersection groups from near to far along the long side. Next, the coordinates of the intersection points in each initial intersection group are sorted along the perpendicular direction, and then divided into four intersection groups from near to far along the perpendicular direction.

[0082] In this embodiment, the data of all intersections is divided according to different preset number of groups, which can improve the efficiency and accuracy of intersection group division.

[0083] In one embodiment, the map building method further includes determining boundary points. A flowchart illustrating the process of determining boundary points is shown below. Figure 6 As shown, it includes the following:

[0084] S601, after map construction, determine the boundary intersections that exist in all intersection groups, where a boundary intersection is an intersection that one would pass through when moving from one intersection group to another.

[0085] by Figure 2 For example, if intersection A and road F belong to one intersection group, and intersection C belongs to another intersection group, then intersection C is a boundary intersection. A schematic diagram of the actual development of a boundary intersection is shown below. Figure 7 As shown.

[0086] S602, Determine the boundary points at the boundary intersection.

[0087] For example, a boundary intersection such as Figure 7 As shown, the boundary points are located within the solid line box.

[0088] It should be understood that the data in each intersection group operates independently, but the data transmission between two intersection groups is triggered by boundary points.

[0089] In this embodiment, by determining boundary points and establishing data transmission between intersection groups, the map data can still function normally even when the target area is large.

[0090] In one embodiment, road data includes all lanes located on the corresponding road; the map building method also includes controlling the movement of the target vehicle. A flowchart illustrating the process of controlling the movement of the target vehicle is shown below. Figure 8 As shown, it includes the following:

[0091] S801, obtain the starting position and target position of the target vehicle on the map, and determine the driving path direction of the target vehicle from the starting position to the target position.

[0092] Here, the target vehicle is the vehicle that initiates the navigation request within the target area. The starting position is the initial position of the target vehicle when it initiated the navigation request. The target position is the position that the target vehicle is expected to reach.

[0093] In some embodiments, the direction of the travel path of the target vehicle from the starting position to the target position is determined by a navigation system, thereby determining a unique travel path direction.

[0094] S802, acquire a current position of the target vehicle in a process that the target vehicle travels from a starting position to a target position.

[0095] S803, in a case that the current position is on a road, determine a lane where the target vehicle is located, and acquire vehicle conditions on the lane and lanes adjacent to the lane.

[0096] The vehicle conditions include whether a vehicle exists, a distance between the vehicle and the target vehicle, and a speed of the vehicle.

[0097] Specifically, a main chain is established on each lane, and the main chain links all vehicles on the lane from a head to a tail.

[0098] The lane where the target vehicle is located is determined, a first main chain corresponding to the lane is acquired, vehicle conditions on the lane are acquired through the first main chain, a second main chain corresponding to a lane adjacent to the lane is acquired, and vehicle conditions on the lane adjacent to the lane are acquired through the second main chain. The number of the second main chain is at least one.

[0099] S804, determine a target speed and a target lane of the target vehicle based on the vehicle conditions.

[0100] In some embodiments, in a case that no vehicle collision occurs and a time length used by the target vehicle to reach the target position is the shortest, an optimal speed is determined as the target speed, and an optimal lane is determined as the target lane.

[0101] S805, control the target vehicle to travel along a travel path direction at the target speed and in the target lane.

[0102] In the embodiment, target vehicle navigation is achieved through map construction, vehicle conditions of a lane where the target vehicle is located and adjacent lanes can be acquired, and the speed and the lane of the target vehicle are adjusted, so that the target vehicle navigation effect is better.

[0103] In one embodiment, the map construction method further includes:

[0104] In a case that the current position is a boundary point, a nearest adjacent vehicle of the lane where the target vehicle is located along the travel path direction is determined;

[0105] A speed of the adjacent vehicle and a distance between the adjacent vehicle and the target vehicle along a direction of the lane where the target vehicle is located are acquired.

[0106] Whether the target vehicle continues to travel is determined based on the distance and the speed.

[0107] In some embodiments, whether the target vehicle continues to travel is determined based on the distance and the speed, including:

[0108] In a case where the distance between the adjacent vehicle and the target vehicle in the lane direction is less than a first preset distance, the target vehicle is controlled to stop until the distance between the adjacent vehicle and the target vehicle in the lane direction is greater than a second preset distance, and the target vehicle is controlled to continue driving; in a case where the distance between the adjacent vehicle and the target vehicle in the lane direction is not less than the first preset distance and not greater than the second preset distance, and the speed of the adjacent vehicle is greater than a preset speed, the target vehicle is controlled to continue driving; wherein the first preset distance and the second preset distance can be the same or different, and the preset speed is not less than the current speed of the target vehicle.

[0109] In one embodiment, the map data of the target area is acquired, including:

[0110] The initial map data of the target area is acquired, and the format of the initial map data is converted into a binary structure to obtain the map data of the target area.

[0111] Generally, the initial map data is in JSON format.

[0112] In this embodiment, the format of the initial map data is converted into a binary structure, which can improve the data processing speed and make the map construction more efficient.

[0113] Based on the description of the above method embodiments, a map construction system is provided, which can be run by the Tiangong-3. The map construction system includes:

[0114] The first module acquires the map data of the target area and the vehicle data of the target vehicle in the target area;

[0115] Specifically, the initial map data of the target area is acquired, the format of the initial map data is converted into a binary structure to obtain the map data of the target area, and the map data includes all road data and all intersection data in the target area; the vehicle data includes the starting position, the target position, the current position and the current speed of the target vehicle.

[0116] The second module divides all road data and all intersection data in the target area into corresponding target data groups, and each target data group corresponds to a node.

[0117] The preset group number, intersection coordinates in each intersection data, and a long side in the target area are obtained; in a case where the preset group number is a prime number, the intersection coordinates are sorted along the direction of the long side, all intersection data is divided according to the sorting direction, and intersection groups of the preset group number are obtained, wherein the total number of intersection data in each intersection group is the smallest; in a case where the preset group number is not a prime number, two factors obtained after factor decomposition of the preset group number are obtained, the product of the two factors is the preset group number, the two factors are the smallest in all factor pairs obtained after factor decomposition of the preset group number, the larger value of the two factors is used as a first division group number for division along the direction of the long side, the intersection coordinates are sorted along the direction of the long side, all intersection data is divided according to the current sorting direction and the first division group number, and initial intersection groups are obtained; the smaller value of the two factors is used as a second division group number for division along a direction perpendicular to the direction of the long side, all intersection coordinates in the initial intersection groups are sorted along the perpendicular direction, and the initial intersection groups are divided according to the current sorting direction and the second division group number, and intersection groups of the preset group number are obtained, wherein the total number of intersection data in each intersection group is the smallest; all road data is traversed, in a case where two end intersections of a current road represented by current road data exist in a same intersection group, the current road data is divided into the same intersection group; in a case where the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, the current road data is divided into any one of the two intersection groups, and the traversal is continued, in a case where the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively again, the current road data is divided into the other one of the two intersection groups; the above traversal and division process is repeated until all road data is divided into corresponding intersection groups, and a target data group is obtained, the target data group including intersection data and road data.

[0118] The third module determines the boundary point for data transmission between nodes and nodes.

[0119] The boundary intersection existing in all intersection groups is determined, wherein the boundary intersection is an intersection that is passed when moving from one intersection group to another intersection group, and the boundary point is determined on the boundary intersection.

[0120] The fourth module performs target vehicle navigation based on the map including the nodes and the boundary points.

[0121] The driving path direction of the target vehicle from a starting position to a target position is determined, the lane where the target vehicle is located is determined when the current position of the target vehicle is on a road, the vehicle conditions on the lane and the lanes adjacent to the lane are acquired, the target vehicle speed and the target lane of the target vehicle are determined based on the vehicle conditions, and the target vehicle is controlled to drive along the driving path direction at the target vehicle speed and in the target lane; the nearest adjacent vehicle to the lane where the target vehicle is located along the driving path direction is determined when the current position of the target vehicle is a boundary point, the speed of the adjacent vehicle and the distance between the target vehicle and the adjacent vehicle along the lane direction are acquired, and whether the target vehicle continues to drive is determined based on the distance and the speed.

[0122] The map construction system provided by the embodiment divides all road data and all intersection data in a target region into corresponding target data groups through a second module, each target data group corresponds to a node, and the load of each node is as same as possible, the communication overhead between nodes can be balanced, the vehicle data of the target vehicle in the navigation process of the fourth module can be calculated in parallel by using the OpenMP framework, the vehicle state is calculated in parallel, the overall calculation performance is improved, the data transmission between nodes of the third module is realized through the boundary point and the MPI parallel computing framework, the data transmission amount between nodes is greatly reduced, and the map construction system also uses the Tianhe-3, so that the calculation performance of the Tianhe-3 accelerator can be fully utilized, and the execution efficiency is improved.

[0123] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0124] Based on the same inventive concept, the embodiment of the present application also provides a map construction device for implementing the above-mentioned map construction method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more map construction device embodiments provided below can refer to the limitations of the map construction method described above, which will not be repeated here.

[0125] Referring to Figure 9 ,Figure 9 A structural block diagram of a map construction device provided in an embodiment of the present application is shown in FIG. 9. The device 900 includes a data acquisition module 901, an intersection division module 902, a first road division module 903, a second road division module 904, a data group obtaining module 905, and a map construction module 906, wherein:

[0126] The data acquisition module 901 is configured to acquire map data of a target region, the map data including all road data and all intersection data in the target region.

[0127] The intersection division module 902 is configured to divide all intersection data to obtain a preset number of intersection groups.

[0128] The first road division module 903 is configured to traverse all road data, and in a case where two end intersections of a current road represented by current road data exist in a same intersection group, divide the current road data to the same intersection group.

[0129] The second road division module 904 is configured to, in a case where the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, divide the current road data to any one of the two intersection groups, continue the traversal, and in a case where the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively again, divide the current road data to the other one of the two intersection groups.

[0130] The data group obtaining module 905 is configured to repeat the above-mentioned traversal and division process until all road data are divided to corresponding intersection groups, to obtain a target data group, the target data group including intersection data and road data.

[0131] The map construction module 906 is configured to perform map construction based on the target data group.

[0132] The map construction device provided in the embodiment comprises: a map data acquisition module, configured to acquire map data comprising all road data and all intersection data in a target region; an intersection division module, configured to divide the all intersection data to obtain intersection groups of a preset group number; a road data traversal module, configured to traverse the all road data; a first intersection division unit, configured to, in a case where two end intersections of a current road represented by current road data exist in a same intersection group during the traversal, divide the current road data to the same intersection group; in a case where the two end intersections of the current road represented by the current road data exist in two intersection groups respectively during the traversal, divide the current road data to any one of the two intersection groups; continue the traversal; in a case where the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively during the re-traversal, divide the current road data to the other one of the two intersection groups; repeat the above traversal and division processes until all the road data are divided to corresponding intersection groups to obtain target data groups, and perform map construction. Compared with the map construction region limitation problem existing in the prior art, all roads and all intersections in the target region are divided in the embodiment, each road and each intersection has a unique target data group, the target data group is used for map construction, each target data group is independently operated, the target region can be split, the range of the target region is larger, and map construction can be performed on a large-scale target region.

[0133] Optionally, the intersection division module 902 comprises:

[0134] a group number acquisition unit, configured to acquire a preset group number, intersection point coordinates in each intersection data, and a long side in the target region;

[0135] a first intersection division unit, configured to, in a case where the preset group number is a prime number, sort the intersection point coordinates along the direction of the long side, divide all the intersection data according to the sorting direction to obtain intersection groups of the preset group number, wherein the total number of intersection data in each intersection group is the smallest;

[0136] a factor acquisition unit, configured to, in a case where the preset group number is not a prime number, acquire two factors obtained by factorizing the preset group number, the product of the two factors being the preset group number, and the two factors being the smallest in all factor pairs obtained by factorizing the preset group number;

[0137] an initial division unit, configured to take a larger value of the two factors as a first division group number for division along the direction of the long side, sort the intersection point coordinates along the direction of the long side, and divide all the intersection data according to the current sorting direction and the first division group number to obtain initial intersection groups;

[0138] The second intersection division unit is configured to divide the smaller value of the two factors as a second division group number along a direction perpendicular to the long side direction, sort all intersection coordinates in the initial intersection group along the perpendicular direction, divide the initial intersection group according to the current sorting direction and the second division group number, and obtain intersection groups of a preset group number, wherein the total number of intersection data in each intersection group is the smallest.

[0139] Optionally, the device 900 further comprises:

[0140] The boundary intersection determination module is configured to determine a boundary intersection existing in all intersection groups after the map is constructed, wherein the boundary intersection is an intersection that is passed when moving from one intersection group to another intersection group.

[0141] The boundary point determination module is configured to determine a boundary point on the boundary intersection.

[0142] Optionally, the road data comprises all lanes located on the corresponding road; and the device 900 further comprises:

[0143] The path direction determination module is configured to obtain a starting position and a target position of the target vehicle on the map, and determine a driving path direction of the target vehicle from the starting position to the target position.

[0144] The position acquisition module is configured to acquire a current position of the target vehicle in the process of driving from the starting position to the target position.

[0145] The vehicle condition acquisition module is configured to determine a lane in which the target vehicle is located in the case that the current position is on the road, and acquire a vehicle condition on the lane and on a lane adjacent to the lane.

[0146] The target determination module is configured to determine a target speed and a target lane of the target vehicle based on the vehicle condition.

[0147] The driving control module is configured to control the target vehicle to drive along the driving path direction at the target speed and in the target lane.

[0148] Optionally, the device 900 further comprises:

[0149] The proximal vehicle determination module is configured to determine a proximal vehicle closest to the target vehicle in the distance along the driving path direction in the case that the current position is the boundary point.

[0150] The distance acquisition module is configured to acquire a speed of the proximal vehicle and a distance between the target vehicle and the proximal vehicle along the lane direction.

[0151] The driving determination module is configured to determine whether the target vehicle continues to drive based on the distance and the speed.

[0152] Optionally, the data acquisition module 901 includes:

[0153] The map data acquisition unit is used to acquire the initial map data of the target area, convert the format of the initial map data into a binary structure, and obtain the map data of the target area.

[0154] Each module in the aforementioned map building 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.

[0155] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces 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 interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media 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 media. The input / output interfaces are 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 map-building method. The display unit is used to form a visually visible image and 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.

[0156] Those skilled in the art will understand that Figure 10 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.

[0157] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the map construction method provided by the above embodiment when executing the computer program.

[0158] obtaining map data of the target area, the map data comprising all road data and all intersection data in the target area;

[0159] dividing the all intersection data to obtain a preset number of intersection groups;

[0160] traversing the all road data, in a case where two end intersections of a current road represented by the current road data exist in a same intersection group, dividing the current road data to the same intersection group;

[0161] in a case where the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, dividing the current road data to any one of the two intersection groups, and continuing the traversal, in a case where the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively again, dividing the current road data to the other one of the two intersection groups;

[0162] repeating the above traversal and division until all road data are divided into corresponding intersection groups, to obtain a target data group, the target data group comprising intersection data and road data;

[0163] constructing a map based on the target data group.

[0164] In one embodiment, the processor further implements the following steps when executing the computer program:

[0165] obtaining a preset number, intersection coordinates in each intersection data, and a long side in the target area;

[0166] in a case where the preset number is a prime number, sorting the intersection coordinates along the direction of the long side, dividing all intersection data according to the sorting direction to obtain a preset number of intersection groups, wherein the total number of intersection data in each intersection group is the least different;

[0167] in a case where the preset number is not a prime number, obtaining two factors obtained by factorizing the preset number, the product of the two factors being the preset number, and the two factors being the least different among all factor pairs obtained by factorizing the preset number;

[0168] The larger value of the two factors is taken as a first division group number along the long side direction, the intersection coordinates are sorted along the long side direction, and all intersection data are divided according to the current sorting direction and the first division group number to obtain an initial intersection group;

[0169] The smaller value of the two factors is taken as a second division group number along a direction perpendicular to the long side direction, all intersection coordinates in the initial intersection group are sorted along the perpendicular direction, and the initial intersection group is divided according to the current sorting direction and the second division group number to obtain intersection groups of a preset group number, wherein the total number of intersection data in each intersection group is the smallest.

[0170] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0171] After the map is constructed, a boundary intersection existing in all intersection groups is determined, wherein the boundary intersection is an intersection that is passed through when moving from one intersection group to another intersection group;

[0172] A boundary point is determined on the boundary intersection.

[0173] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0174] The road data includes all lanes located on the corresponding road;

[0175] An initial position and a target position of a target vehicle on the map are obtained, and a driving path direction of the target vehicle from the initial position to the target position is determined;

[0176] A current position of the target vehicle is obtained during the driving of the target vehicle from the initial position to the target position;

[0177] In a case where the current position is on a road, a lane in which the target vehicle is located is determined, and a vehicle situation on the lane and on a lane adjacent to the lane is obtained;

[0178] Based on the vehicle situation, a target speed and a target lane of the target vehicle are determined;

[0179] The target vehicle is controlled to drive along the driving path direction at the target speed and in the target lane.

[0180] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0181] In a case where the current position is a boundary point, a nearest adjacent vehicle of the target vehicle along the driving path direction is determined;

[0182] A speed of the adjacent vehicle and a distance between the target vehicle and the adjacent vehicle along a direction of the lane in which the target vehicle is located are obtained.

[0183] Based on the distance and the vehicle speed, it is determined whether the target vehicle continues to travel.

[0184] In one embodiment, the processor, when executing the computer program, also implements the following steps:

[0185] Obtaining initial map data of the target area, converting the format of the initial map data into a binary structure, and obtaining the map data of the target area.

[0186] The implementation principle and technical effects of the above embodiments are similar to those of the above method embodiments, and will not be repeated here.

[0187] In one embodiment, a computer-readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the map construction method provided by the above embodiments:

[0188] Obtaining map data of the target area, the map data including all road data and all intersection data in the target area;

[0189] Dividing all intersection data to obtain a preset number of intersection groups;

[0190] Traversing all road data, in a case where the two end intersections of a current road represented by current road data exist in a same intersection group, dividing the current road data into the same intersection group;

[0191] In a case where the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, dividing the current road data into any one of the two intersection groups, and continuing the traversal, in a case where the two end intersections of the current road represented by the current road data exist in the two intersection groups respectively again, dividing the current road data into the other intersection group of the two intersection groups;

[0192] Repeating the above traversal and division process until all road data are divided into corresponding intersection groups, obtaining a target data group, the target data group including intersection data and road data;

[0193] Based on the target data group, constructing a map.

[0194] In one embodiment, the computer program, when executed by the processor, also implements the following steps:

[0195] Obtaining a preset number, intersection point coordinates in each intersection data, and a long side in the target area;

[0196] In the case that the preset group number is a prime number, the intersection coordinates along the direction of the long side are sorted, and all intersection data are divided according to the sorting direction, so that intersection groups of the preset group number are obtained, wherein the total number of intersection data in each intersection group is the smallest.

[0197] In the case that the preset group number is not a prime number, two factors obtained by factorizing the preset group number are acquired, the product of the two factors is the preset group number, and the two factors are the smallest in all factor pairs obtained by factorizing the preset group number;

[0198] The larger value of the two factors is taken as a first division group number along the direction of the long side, the intersection coordinates along the direction of the long side are sorted, and all intersection data are divided according to the current sorting direction and the first division group number, so that initial intersection groups are obtained;

[0199] The smaller value of the two factors is taken as a second division group number along the direction perpendicular to the direction of the long side, all intersection coordinates in the initial intersection groups are sorted along the perpendicular direction, and the initial intersection groups are divided according to the current sorting direction and the second division group number, so that intersection groups of the preset group number are obtained, wherein the total number of intersection data in each intersection group is the smallest.

[0200] In one embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0201] After the map is constructed, boundary intersections existing in all intersection groups are determined, wherein the boundary intersection is an intersection that is passed when moving from one intersection group to another intersection group;

[0202] Boundary points are determined on the boundary intersections.

[0203] In one embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0204] The road data includes all lanes located on the corresponding road;

[0205] The starting position and the target position of the target vehicle on the map are acquired, and the driving path direction of the target vehicle from the starting position to the target position is determined;

[0206] In the process of driving of the target vehicle from the starting position to the target position, the current position of the target vehicle is acquired;

[0207] In the case that the current position is on the road, the lane in which the target vehicle is located is determined, and the vehicle situation on the lane and the lanes adjacent to the lane is acquired;

[0208] Based on the vehicle situation, the target speed and the target lane of the target vehicle are determined;

[0209] The target vehicle is controlled to travel along the driving path direction according to the target speed and the target lane.

[0210] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0211] In the case that the current position is a boundary point, a nearest adjacent vehicle to the target vehicle along the driving path direction in the lane where the target vehicle is located is determined;

[0212] The speed of the adjacent vehicle and the distance between the target vehicle and the adjacent vehicle along the lane direction are obtained;

[0213] Based on the distance and the speed, it is determined whether the target vehicle continues to travel.

[0214] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0215] Obtaining initial map data of the target area, and converting the format of the initial map data into a binary structure to obtain the map data of the target area.

[0216] The implementation principles and technical effects of the above embodiments are similar to those of the above method embodiments, and will not be described here.

[0217] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the map construction method provided by the above embodiments:

[0218] Obtaining map data of the target area, the map data comprising all road data and all intersection data in the target area;

[0219] Dividing all intersection data to obtain a preset number of intersection groups;

[0220] Iterating all road data, in the case that the two end intersections of a current road represented by the current road data exist in the same intersection group, dividing the current road data into the same intersection group;

[0221] In the case that the two end intersections of a current road represented by the current road data exist in two intersection groups respectively, dividing the current road data into any one of the two intersection groups, and continuing iteration, in the case that the two end intersections of a current road represented by the current road data exist in the two intersection groups respectively again, dividing the current road data into the other intersection group of the two intersection groups;

[0222] Repeating the above iteration and division process until all road data are divided into corresponding intersection groups to obtain a target data group, the target data group comprising intersection data and road data;

[0223] Based on the target data set, a map is constructed.

[0224] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0225] A preset group number, intersection coordinates in each intersection data, and a long side in the target area are obtained;

[0226] In a case where the preset group number is a prime number, the intersection coordinates are sorted along the direction of the long side, all intersection data are divided according to the sorting direction, and intersection groups of the preset group number are obtained, wherein the total number of intersection data in each intersection group is the smallest.

[0227] In a case where the preset group number is not a prime number, two factors obtained after factorizing the preset group number are obtained, the product of the two factors is the preset group number, and the two factors have the smallest difference among all factor pairs obtained after factorizing the preset group number;

[0228] The larger value of the two factors is taken as a first division group number along the direction of the long side, the intersection coordinates are sorted along the direction of the long side, all intersection data are divided according to the current sorting direction and the first division group number, and initial intersection groups are obtained.

[0229] The smaller value of the two factors is taken as a second division group number along a direction perpendicular to the direction of the long side, all intersection coordinates in the initial intersection groups are sorted along the perpendicular direction, and the initial intersection groups are divided according to the current sorting direction and the second division group number, and intersection groups of the preset group number are obtained, wherein the total number of intersection data in each intersection group is the smallest.

[0230] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0231] After the map is constructed, boundary intersections existing in all intersection groups are determined, wherein the boundary intersection is an intersection that is passed through when moving from one intersection group to another intersection group.

[0232] Boundary points are determined on the boundary intersections.

[0233] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0234] The road data includes all lanes located on the corresponding road;

[0235] The starting position and the target position of the target vehicle on the map are obtained, and the driving path direction of the target vehicle from the starting position to the target position is determined.

[0236] In the process that the target vehicle travels from the starting position to the target position, the current position of the target vehicle is acquired;

[0237] In the case that the current position is on the road, the lane where the target vehicle is located is determined, and the vehicle situation on the lane and the lanes adjacent to the lane is acquired;

[0238] Based on the vehicle situation, the target speed and the target lane of the target vehicle are determined;

[0239] The target vehicle is controlled to travel along the travel path direction according to the target speed and the target lane.

[0240] In an embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0241] In the case that the current position is the boundary point, the nearest adjacent vehicle of the lane where the target vehicle is located along the travel path direction is determined;

[0242] The speed of the adjacent vehicle and the distance between the target vehicle and the adjacent vehicle along the direction of the lane where the target vehicle is located are acquired;

[0243] Based on the distance and the speed, it is determined whether the target vehicle continues to travel.

[0244] In an embodiment, the computer program is further implemented when executed by the processor to implement the following steps:

[0245] The initial map data of the target area is acquired, the format of the initial map data is converted into a binary structure, and the map data of the target area is obtained.

[0246] The implementation principle and technical effects of the above embodiments are similar to those of the above method embodiments, and will not be repeated here.

[0247] It should be noted that the data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application is data that has been fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant regulations.

[0248] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present 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 storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0249] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0250] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A map construction method characterized by comprising: The method comprises: acquiring map data of a target area, the map data comprising all road data and all intersection data in the target area; acquiring a preset group number, intersection coordinates in each intersection data, and a long side in the target area; in a case where the preset group number is a prime number, sorting the intersection coordinates along a direction of the long side, dividing all intersection data according to the sorting direction to obtain intersection groups of the preset group number, wherein a total number difference of intersection data in each intersection group is minimum; in a case where the preset group number is not a prime number, acquiring two factors obtained by factorizing the preset group number, a product of the two factors being the preset group number, and the two factors having a minimum difference among all factor pairs obtained by factorizing the preset group number; taking a larger value of the two factors as a first division group number along a direction of dividing, sorting the intersection coordinates along the direction of the long side, and dividing all intersection data according to the current sorting direction and the first division group number to obtain initial intersection groups; taking a smaller value of the two factors as a second division group number along a direction perpendicular to the direction of the long side, sorting all intersection coordinates in the initial intersection groups along the perpendicular direction, and dividing the initial intersection groups according to the current sorting direction and the second division group number to obtain intersection groups of the preset group number, wherein a total number difference of intersection data in each intersection group is minimum; traversing all road data, in a case where two end intersections of a current road represented by current road data exist in a same intersection group, dividing the current road data to the same intersection group; in a case where the two end intersections of the current road represented by the current road data exist in two intersection groups respectively, dividing the current road data to any one of the two intersection groups, and continuing to traverse, in a case where the two end intersections of the current road represented by the current road data exist in the two intersection groups again, dividing the current road data to the other one of the two intersection groups; repeating the above traversing and dividing process until all road data are divided to corresponding intersection groups to obtain a target data group, the target data group comprising intersection data and road data; based on the target data group, performing map construction.

2. The method of claim 1, wherein, The method further comprises: after the map construction, determining boundary intersections existing in all intersection groups, wherein the boundary intersection is an intersection that is passed when moving from one intersection group to another intersection group; determining a boundary point on the boundary intersection.

3. The method of claim 2, wherein, The road data comprises all lanes located on corresponding roads; the method further comprises: acquiring a starting position and a target position of a target vehicle on the map, and determining a driving path direction of the target vehicle from the starting position to the target position; in a process in which the target vehicle drives from the starting position to the target position, acquiring a current position of the target vehicle; In a case that the current position is on a road, a lane in which the target vehicle is located is determined, and vehicle conditions on the lane and lanes adjacent to the lane are acquired; Based on the vehicle conditions, a target speed and a target lane of the target vehicle are determined; The target vehicle is controlled to travel along the travel path direction at the target speed and in the target lane.

4. The method of claim 3, wherein, The method further comprises: In a case that the current position is the boundary point, a nearest adjacent vehicle of a lane in which the target vehicle is located along the travel path direction is determined; A speed of the adjacent vehicle and a distance between the target vehicle and the adjacent vehicle along the lane direction are acquired; Based on the distance and the speed, it is determined whether the target vehicle continues to travel.

5. The method of claim 1, wherein, The map data of the target region comprises: Initial map data of the target region is acquired, and a format of the initial map data is converted into a binary structure to obtain the map data of the target region.

6. A map construction apparatus characterized by comprising: The device comprises: A data acquisition module is configured to acquire map data of a target region, the map data comprising all road data and all intersection data in the target region; An intersection division module is configured to acquire a preset group number, intersection coordinates in each intersection data, and a long side in the target region; In a case that the preset group number is a prime number, the intersection coordinates are sorted along the direction of the long side, all intersection data are divided according to the sorting direction, and intersection groups of the preset group number are obtained, wherein a total number difference of intersection data in each intersection group is minimum; In a case that the preset group number is not a prime number, two factors obtained by factorizing the preset group number are acquired, a product of the two factors is the preset group number, and the two factors have a minimum difference among all factor pairs obtained by factorizing the preset group number; A larger value of the two factors is taken as a first division group number along the direction of the long side, the intersection coordinates are sorted along the direction of the long side, and all intersection data are divided according to the current sorting direction and the first division group number to obtain initial intersection groups; A smaller value of the two factors is taken as a second division group number along a direction perpendicular to the direction of the long side, all intersection coordinates in the initial intersection groups are sorted along the perpendicular direction, and the initial intersection groups are divided according to the current sorting direction and the second division group number to obtain intersection groups of the preset group number, wherein a total number difference of intersection data in each intersection group is minimum; A first road division module is configured to traverse all road data, and in a case that two end intersections of a current road represented by current road data exist in a same intersection group, the current road data is divided into the same intersection group. a second road division module, configured to, in a case where the two end crossroads of the current road represented by the current road data are respectively present in two crossroad groups, divide the current road data into any one of the two crossroad groups, continue the traversal, and in a case where the two end crossroads of the current road represented by the current road data are again respectively present in the two crossroad groups, divide the current road data into the other one of the two crossroad groups; a data group obtaining module, configured to repeat the above traversal and division processes until all road data are divided into corresponding crossroad groups, to obtain a target data group, the target data group including crossroad data and road data; a map construction module, configured to perform map construction based on the target data group. 7.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-6 when the computer program is executed by the processor. The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 5.

9. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 5.

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