Method, electronic device, program product and medium for generating right-of-way structure

Abstract

The present invention provides a method, electronic device, program product and medium for generating a road right structure, and the present invention relates to the field of artificial intelligence technology. The present invention aims to solve the problem of complex and time-consuming manual production of road rights. The method comprises: collecting and processing data related to the center line of each road; determining the intersecting line segments of the center lines of multiple roads intersecting at the same intersection based on the processed data; using closed curves to enclose at least a portion of each of the intersecting line segments; sequentially assigning road rights to the roads corresponding to each of the intersecting line segments enclosed by the closed curves and defining the roads as road right roads, and defining the roads corresponding to other intersecting line segments in the intersecting line segments enclosed by the closed curves as avoidance roads; and generating a road right structure. The method can efficiently and accurately generate the road right structure of a mining area, improve the efficiency of making high-precision maps of the mining area, and meet the needs of rapid updating of mining area maps.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a method, electronic equipment, program product and medium for generating a road right structure. Background Art

[0002] The right of way is the right of traffic participants. More specifically, it is the right of traffic participants to carry out road traffic activities on the road within a certain space and time in accordance with the provisions of traffic laws and regulations. The right of way mainly exists at the intersection of multiple roads. It is not a real physical element, but a virtual map element.

[0003] In a mining area, when different vehicles are traveling toward the intersection of different intersecting roads at the same time and there is no traffic light at the intersection, the driver of one or more vehicles or the dispatcher in the control room far away from the site may make a wrong judgment on whether the vehicles will collide due to geographical environment, weather conditions, psychological factors, etc., resulting in an accident. This urgently requires pre-determining the right of way of intersecting roads in the map, so as to determine the order in which vehicles pass through the intersection of the roads, so as to avoid traffic accidents to the greatest extent and protect the lives and property safety of traffic participants.

[0004] However, in the process of making a high-precision map of a mining area, according to the existing method, it is necessary to make the right of way through manual production through manual visual judgment, especially when multiple roads intersect, which is a relatively complicated and time-consuming task. The method, electronic device, program product and medium for generating a right of way structure provided by the present invention can efficiently and accurately generate the right of way structure of a mining area, improve the efficiency of making high-precision maps of a mining area, and meet the demand for rapid updating of mining area maps. Summary of the invention

[0005] The invention provides a method, electronic device, program product and medium for generating a road right structure.

[0006] According to one aspect of the present invention, a method for generating a right-of-way structure is provided, comprising: a collection step of collecting data related to the center line of each road; a processing step of processing the collected data; a determination step of determining, based on the processed data, the intersecting line segments of the center lines of multiple roads intersecting at the same intersection; an enclosing step of enclosing at least a portion of each of the intersecting line segments using a closed curve; and a limiting step of sequentially granting right of way to the roads corresponding to each of the intersecting line segments enclosed by the closed curve to limit the roads as right-of-way roads, and limiting the roads corresponding to other intersecting line segments of the intersecting line segments enclosed by the closed curve to avoidance roads; and a generating step of generating the right-of-way structure.

[0007] According to one aspect of the present invention, the method further includes, after the limiting step: a judging step: obtaining a unique identifier of the starting point of each intersecting line segment to determine whether there are multiple intersecting line segments having the same unique identifier of the starting point: if it is determined that there are no multiple intersecting line segments having the same unique identifier of the starting point, executing the generating step; and if it is determined that there are multiple intersecting line segments having the same unique identifier of the starting point, executing the deleting step; a deleting step: deleting a redundant right-of-way structure from the right-of-way structure defined by the limiting step, in which a road corresponding to one of the multiple intersecting line segments is used as a right-of-way road and a road corresponding to another of the multiple intersecting line segments is used as an avoidance road, and then executing the generating step.

[0008] According to one aspect of the present invention, the enclosing step includes: an identification step: obtaining a unique identification of each intersecting line segment; a boundary step: obtaining the coordinates of the boundary defined by the closed curve; a quantification step: obtaining the number of points of each intersecting line segment with coordinates located within the boundary based on the unique identification of each intersecting line segment; a ratio step: calculating the ratio of the number of points to the number of all points on the intersecting line segment where the points are located, if the ratio is greater than or equal to a set value, then it is judged that at least a part of the intersecting line segment and the road corresponding to the intersecting line segment are included in the closed curve, if the ratio is less than the set value, then it is judged that at least a part of the intersecting line segment and the road corresponding to the intersecting line segment are not included in the closed curve; and an execution step: if at least two roads are included in the closed curve, it is necessary to execute the definition step for the at least two roads enclosed by the closed curve.

[0009] According to one aspect of the present invention, the processing steps include: a thinning step: performing thinning processing on the collected data to simplify the data; a smoothing step: performing smoothing processing on the simplified data to remove noise in the simplified data while keeping the geometric features of the simplified data unchanged; and a classification step: classifying the smoothed data according to the geometric features of the smoothed data.

[0010] According to an aspect of the present invention, each of the intersecting line segments comprises: a first end, an intersection point and a second end.

[0011] According to one aspect of the present invention, the intersection coincides with any one of the first end and the second end, and the distance between the first end and the second end of each two intersecting line segments that does not coincide with the intersection is the minimum safety distance.

[0012] According to one aspect of the present invention, a distance between the first ends and a distance between the second ends of every two intersecting line segments are a minimum safety distance.

[0013] According to one aspect of the present invention, the minimum safety distance between every two intersecting line segments is the same or different.

[0014] According to one aspect of the present invention, the right-of-way structure includes: a right-of-way structure in which one right-of-way road corresponds to one avoidance road; and / or a right-of-way structure in which one right-of-way road corresponds to multiple avoidance roads.

[0015] According to one aspect of the present invention, the classification includes one or more of the following: road, retaining wall, slope, unloading area surface, blasting area surface.

[0016] According to another aspect of the present invention, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor executes a method according to any one of the above aspects.

[0017] According to another aspect of the present invention, a computer program product is provided, comprising: a computer program, wherein when the computer program is executed by a processor, the method according to any one of the above aspects is implemented.

[0018] According to another aspect of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to any one of the above aspects is implemented.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Embodiments of the invention will now be described in detail, by way of example only, with reference to the following drawings.

[0021] Figure 1 is an exemplary system architecture that can execute the method for generating a right-of-way structure according to an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram showing an intersecting line segment of center lines of two intersecting roads according to a first embodiment of the present invention;

[0023] Figure 3is a schematic diagram showing an intersecting line segment of center lines of two intersecting roads according to a second embodiment of the present invention;

[0024] Figure 4 is a schematic diagram showing intersecting line segments of center lines of three intersecting roads according to a third embodiment of the present invention;

[0025] Figure 5 is a flow chart of a method for generating a road right structure according to an embodiment of the present invention;

[0026] Figure 6 is a flow chart of processing steps in a method for generating a right-of-way structure according to an embodiment of the present invention;

[0027] Figure 7 is a flow chart of an enclosing step in a method for generating a right-of-way structure according to an embodiment of the present invention; and

[0028] Figure 8 The present invention is a block diagram of an electronic device for implementing the method for generating a road right structure according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall concept of the present invention and should not be construed as a limitation of the present invention.

[0030] In addition, in the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the disclosed embodiments. However, it is apparent that one or more embodiments may be implemented without these specific details. In other cases, known structures and devices are embodied in a schematic manner to simplify the accompanying drawings.

[0031] Figure 1 Detailed description is an exemplary system architecture that can execute the method 50 for generating a right-of-way structure according to an embodiment of the present invention.

[0032] It should be noted that Figure 1 The example shown is only an example of a system architecture to which the method 50 of an embodiment of the present invention can be applied, to help those skilled in the art understand the technical content of the present invention, but it does not mean that the embodiment of the present invention cannot be used in other devices, systems, environments or scenarios.

[0033] like Figure 1As shown, the system architecture 10 according to this embodiment may include sensors 11, 12, 13, a network 14 and a server 15. The network 14 is used to provide a medium for communication links between the sensors 11, 12, 13 and the server 15. The network 14 may include various connection types, such as wired and / or wireless communication links, etc.

[0034] The sensors 11 , 12 , 13 may interact with a server 15 via a network 14 to receive or send messages, etc.

[0035] The sensors 11 , 12 , 13 may be functional elements integrated on the vehicle 16 , such as infrared sensors, ultrasonic sensors, millimeter wave radars, information collection devices, etc. The sensors 11 , 12 , 13 may be used to collect point cloud data of the center line of the road around the vehicle 16 .

[0036] The server 15 may also be integrated in the vehicle 16, but is not limited thereto, and may also be arranged at a remote end capable of establishing communication with the vehicle-mounted terminal, and may be specifically implemented as a distributed server cluster consisting of multiple servers, or may be implemented as a single server.

[0037] The server 15 may be a server that provides various services. For example, a map making application platform may be installed on the server 15. Take the server 15 running the information processing application as an example: the point cloud data of the center line of the road (for example, the roads 100, 200; 300, 400; 500, 600, 700 described below) transmitted from the sensors 11, 12, and 13 is received through the network 14. Based on the point cloud data, a road right structure is generated.

[0038] It should be noted that the method 50 for generating a road right structure provided in the embodiment of the present invention can generally be executed by the server 15. However, it is not limited to this. The method 50 for generating a road right structure provided in the embodiment of the present invention can also be generally executed by the vehicle 16. Accordingly, the map making application platform for generating a road right structure provided in the embodiment of the present invention can also be set in the vehicle 16. Although the embodiments of the present invention are described in a mining environment, those skilled in the art should understand that the present invention is not limited to this, and the embodiments of the present invention can also be used in other application scenarios, including but not limited to: urban roads, rural roads, mountain roads, hilly roads, etc.

[0039] It should be understood that Figure 1 The number of sensors, networks and servers in the embodiment is only for illustration. Any number of sensors, networks and servers may be provided according to the implementation requirements.

[0040] It should be noted that the sequence numbers of the operations in the following method are only used as representations of the operations for the purpose of description, and should not be regarded as representing the execution order of the operations. Unless explicitly stated, the method does not need to be executed completely in the order shown.

[0041] The following will describe the embodiments of the surrounding roads 100, 200; 300, 400; 500, 600, 700 collected by the vehicle 16 in turn in an illustrative but not exhaustive manner, and then describe the method for generating the road right structure for this embodiment, so that those skilled in the art can more accurately understand the method for generating the road right structure of the embodiment of the present invention. Among them, roads 100 and 200 are the first group of intersecting roads, roads 300 and 400 are the second group of intersecting roads, and roads 500, 600, 700 are the third group of intersecting roads. In the embodiment of the present invention, for the sake of ease of description, it is assumed that the width of each road 100, 200; 300, 400; 500, 600, 700 can only accommodate one vehicle, and two or more vehicles are not allowed to travel side by side.

[0042] Figure 2 1 is a schematic diagram showing the intersecting line segments 101 and 201 of the center lines of two intersecting roads 100 and 200 according to the first embodiment of the present invention. The roads 100 and 200 extend in different directions after intersecting at the intersection O1. Figure 2 In the figure, the line segment 101 of the center line of the road 100 includes: a first end 1011, an intersection point O1 intersecting with the line segment 201 of the center line of the road 200, and a second end 1012. The line segment 201 of the center line of the road 200 includes: a first end 2011, an intersection point O1 intersecting with the line segment 101 of the center line of the road 100, and a second end 2012. The intersection point O1 is located between the first end 1011, 2011 and the second end 1012, 2012 and does not coincide with the first end 1011, 2011 or the second end 1012, 2012. It should be understood by those skilled in the art that the selection of the first end 1011, 2011 and the second end 1012, 2012 of the line segment 101, 201 or the length of the line segment 101, 201 can be set as needed.

[0043] A first vehicle (not shown) is traveling on the road 100 in the direction indicated by the arrow (eg Figure 2 While the second vehicle (not shown) is traveling from the upper right to the lower left, the second vehicle (not shown) is traveling along the direction indicated by the arrow (as shown in FIG. Figure 2As shown in FIG. 1 , the first vehicle and the second vehicle are driven from the lower right to the upper left. Since the first vehicle and the second vehicle have a certain width, when the first vehicle and the second vehicle are driven toward the intersection O1 at the same time on the right side of the intersection O1, the first vehicle and the second vehicle may collide before reaching the intersection O1. Therefore, it is necessary to set the minimum safety distance to prevent the first vehicle and the second vehicle from colliding for different types of roads (here, roads 100 and 200) in the map. In this embodiment, the distance between the two first ends 1011 and 2011 in the vertical direction is set as the minimum safety distance D11. In this way, the vehicle driving on one of the roads 100 and 200 has priority to pass through the intersection O1. The road where the vehicle that has priority to pass through the intersection O1 is located is called the "right-of-way road", and the vehicle is called the "right-of-way vehicle". The right-of-way vehicle has the right of way; while the vehicle driving on the other road of the roads 100 and 200 passes through the intersection O1 later. The road where the vehicle that passes through the intersection O1 later is located is called the "avoidance road", and the vehicle is called the "avoidance vehicle". The avoidance vehicle has no right of way. When the distance between the right-of-way vehicle and the avoiding vehicle reaches the minimum safety distance D11, the avoiding vehicle stops driving and the right-of-way vehicle continues driving. After the right-of-way vehicle continues to drive through the intersection O1, the avoiding vehicle then drives through the intersection O1. Those skilled in the art should understand that the two points on roads 100 and 200 that define the minimum safety distance D11 can be selected and are not necessarily defined by the distance between the first ends 1011 and 2011. The value of the minimum safety distance D11 can also be selected. This needs to consider factors such as vehicle type, geographical environment, and weather conditions, which will not be described in detail here. This combination of modes of setting roads 100 and 200 as right-of-way roads and avoidance roads respectively to grant vehicles traveling on roads 100 and 200 the right of way is called a "right-of-way structure."

[0044] Similarly, the first vehicle and the second vehicle are respectively along Figure 2 When the vehicle is traveling toward the intersection O1 in the opposite direction to the direction indicated by the arrow in FIG. 1 and the vehicle is traveling toward the intersection O1 at the same time, the minimum safety distance D12 needs to be set on the left side of the intersection O1. For example, in this embodiment, the distance between the two second ends 1012 and 2012 in the vertical direction is set as the minimum safety distance D12. Similar to the minimum safety distance D11, the two points on the roads 100 and 200 that define the minimum safety distance D12 are not necessarily the second ends 1012 and 2012. The values ​​of these two points and the minimum safety distance D11 can also be selected as needed. That is, the minimum safety distance D12 can be the same as or different from the minimum safety distance D11.

[0045] Figure 32 is a schematic diagram showing the intersection line segments 301 and 401 of the center lines of two intersecting roads 300 and 400 according to the second embodiment of the present invention. Different from the roads 100 and 200, the roads 300 and 400 extend in the same direction after intersecting at the intersection O2 to merge into the same road 400. Figure 3 , the line segment 301 of the center line of the road 300 includes: a first end 3011, an intersection point O2 intersecting with the line segment 401 of the center line of the road 400, and a second end 3012. The line segment 401 of the center line of the road 400 includes: a first end 4011, an intersection point O2 intersecting with the line segment 301 of the center line of the road 300, and a second end 4012. The intersection point O2 coincides with the first ends 3011 and 4011. Those skilled in the art should understand that the selection of the first ends 3011 and 4011 and the second ends 3012 and 4012 of the line segments 301 and 401 or the lengths of the line segments 301 and 401 can be set as needed.

[0046] A third vehicle (not shown) is moving along the road 300 in the direction indicated by the arrow (eg Figure 3 While the fourth vehicle (not shown) is traveling from the lower left to the upper right along the curved line segment 301, a fourth vehicle (not shown) is traveling along the road 400 in the direction indicated by the arrow (as shown in FIG. Figure 3 As shown in FIG. 1 , the third vehicle and the fourth vehicle are traveling from below to above. Since the third vehicle and the fourth vehicle have a certain width, when the third vehicle and the fourth vehicle are traveling from below the intersection O2 to the intersection O2 at the same time, the third vehicle and the fourth vehicle may collide before reaching the intersection O2. Therefore, it is necessary to set a minimum safety distance for preventing the third vehicle and the fourth vehicle from colliding with each other for roads 300 and 400 in the map. In this embodiment, Figure 3The distance between the second ends 3012 and 4012 in the horizontal direction is set as the minimum safety distance D22. Those skilled in the art should understand that, similar to the minimum safety distance D11, the two points on the roads 300 and 400 that define the minimum safety distance D22 can be selected, and are not necessarily defined by the distance between the second ends 3012 and 4012. The value of the minimum safety distance D22 can also be selected, which requires consideration of factors such as vehicle type, geographical environment, and weather conditions, which will not be described in detail here. In this way, a vehicle traveling on one of the roads 300 and 400 has priority to pass through the intersection O2. The road where the vehicle that has priority to pass through the intersection O2 is located is called a "right-of-way road", and the vehicle is called a "right-of-way vehicle". The right-of-way vehicle has the right of way; and a vehicle traveling on another road of the roads 300 and 400 subsequently passes through the intersection O2. The road where the vehicle that subsequently passes through the intersection O2 is located is called an "avoidance road", and the vehicle is called an "avoidance vehicle". The avoidance vehicle does not have the right of way. When the distance between the right-of-way vehicle and the avoiding vehicle reaches the minimum safe distance D22, the avoiding vehicle stops driving and the right-of-way vehicle continues driving. After the right-of-way vehicle continues to drive through the intersection O2, the avoiding vehicle then drives through the intersection O2. This combination of setting roads 300 and 400 as right-of-way roads and avoidance roads respectively to give vehicles driving on roads 300 and 400 the right of way is called a "right-of-way structure."

[0047] Different from roads 100 and 200, the third vehicle and the fourth vehicle are respectively along Figure 3 When the three vehicles are traveling in directions opposite to those indicated by the arrows in FIG, 4 and 5 at the same time toward the intersection O2, there is no need to set the right of way for the third vehicle and the fourth vehicle on the upper side of the intersection O2 because the roads 300 and 400 are merged into one road 400 on the upper side of the intersection O2. In the present invention, the right of way is defined for different vehicles traveling on different roads, and there is no need to set the right of way for different vehicles traveling on the same road.

[0048] Figure 4 Schematic diagram showing the intersection line segments 501, 601, 701 of the center lines of three intersecting roads 500, 600, 700 according to the third embodiment of the present invention. Different from the roads 100, 200; 300, 400, the roads 500, 600, 700 intersect at the intersection point O3, which is the end point of the road 500 and the starting point of the roads 600, 700. Figure 4, line segment 501 of the center line of road 500 includes: a first end 5011, an intersection point O3 intersecting with line segments 601, 701 of the center lines of roads 600, 700, and a second end 5012. Line segment 601 of the center line of road 600 includes: a first end 6011, an intersection point O3 intersecting with line segments 501, 701 of the center lines of roads 500, 700, and a second end 6012. Line segment 701 of the center line of road 700 includes: a first end 7011, an intersection point O3 intersecting with line segments 501, 601 of the center lines of roads 500, 600, and a second end 7012. Intersection point O3 coincides with first ends 5011, 6011, 7011. For clarity, Figure 4 The minimum safety distance between roads 500 , 600 , 700 is not shown.

[0049] A fifth vehicle (not shown) is moving along the road 500 in the direction indicated by the arrow (eg Figure 4 While the sixth vehicle (not shown) is traveling from the upper right to the lower left, the sixth vehicle (not shown) is traveling along the direction indicated by the arrow (as shown in FIG. Figure 4 As shown in the figure) travels from the lower left to the upper right, and a seventh vehicle (not shown) travels along the direction indicated by the arrow on the road 700 (as shown in the figure) Figure 4 In the embodiment of the present invention, for the sake of convenience of description, the right-of-way structure between roads 500, 600, and 700 may be considered in pairs. In this embodiment, the right-of-way structure between road 600 and road 700 having the same starting point is not considered. This is because, in the case where the starting sections between road 600 and road 700 are relatively close to each other or partially overlap (see Figure 4 ), the driver or dispatcher of the corresponding vehicle will naturally think that due to the special geographical environment restrictions (i.e., the starting sections are at a small distance from each other or partially overlap), one of the sixth and seventh vehicles will drive first and the other of the sixth and seventh vehicles will drive later to avoid the sixth and seventh vehicles from colliding with each other, otherwise the sixth and seventh vehicles will simultaneously drive away from the starting sections of road 600 and road 700 that are at a small distance from each other or partially overlap, which will definitely cause the sixth and seventh vehicles to collide with each other. In the case where the starting sections between road 600 and road 700 are at a large distance from each other (not shown in the figure, for example, the starting sections between road 600 and road 700 are at an angle of 180° to each other), any of the sixth and seventh vehicles can drive away from the starting point at any time without colliding with each other. However, those skilled in the art should understand that this is not restrictive, and the right-of-way structure between road 600 and road 700 with the same starting point can also be set as needed.

[0050] Figure 5is a flow chart of a method for generating a road right structure according to an embodiment of the present invention.

[0051] like Figure 5 As shown, the method 50 for generating a road right structure may include steps S51 to S58.

[0052] At the collection step S51, data related to the center line of each road 100, 200; 300, 400; 500, 600, 700 is collected. The data includes point cloud data of a set of vectors in a three-dimensional coordinate system. The point cloud data is recorded in the form of points, and each point contains information of three-dimensional coordinates. For the convenience of processing data, in the embodiment of the present invention, the center line is used to represent the road 100, 200; 300, 400; 500, 600, 700, that is, the data related to the center line is collected to reduce the amount of data to be processed. However, the present invention is not limited to this, and the sideline of the road 100, 200; 300, 400; 500, 600, 700 can also be used to represent the road 100, 200; 300, 400; 500, 600, 700, that is, the data related to the sideline is collected.

[0053] At processing step S52, the collected data is processed. The collected data of the center lines of roads 100, 200; 300, 400; 500, 600, 700 are input into the map making application platform of the server 15 or the vehicle 16 for processing. The steps S521 to S523 of processing the collected data will be described in detail below.

[0054] At the determination step S53, the intersecting line segments 101, 201, 301, 401, 501, 601, 701 of the center lines of the plurality of roads 100, 200, 300, 400, 500, 600, 700 intersecting at the same intersection O1, O2, O3 are determined based on the processed data. As described above, the two endpoints or the length of the line segments 101, 201, 301, 401, 501, 601, 701 can be set as needed.

[0055] In the enclosing step S54, closed curves C1, C2, C3 are used to enclose at least a portion of each of the intersecting line segments 101, 201, 301, 401, 501, 601, 701. That is, Figures 2 to 4 As shown, the closed curve C1 surrounds at least a portion of the intersecting line segments 101 and 201 , the closed curve C2 surrounds at least a portion of the intersecting line segments 301 and 401 , and the closed curve C3 surrounds at least a portion of the intersecting line segments 501 , 601 , and 701 .

[0056] In the map making application platform, the closed curves C1, C2, and C3 can be drawn using a mouse or a touch screen. The shapes of the closed curves C1, C2, and C3 can be rectangles or any other suitable shapes. At least a portion of each of the intersecting line segments 101, 201; 301, 401; 501, 601, 701 surrounded by the closed curves C1, C2, C3 can be quantitatively limited. Only when the at least a portion reaches a set value (for example, 70%~90%, such as 80%), the corresponding road 100, 200; 300, 400; 500, 600, 700 is considered to be included in the corresponding closed curves C1, C2, C3, and the limitation step S55 and the generation step S56 can be performed on the corresponding road 100, 200; 300, 400; 500, 600, 700, as will be described in detail below.

[0057] At the definition step S55, taking the first group of intersecting roads 100, 200 as an example, the roads 100, 200 corresponding to each of the intersecting line segments 101, 201 surrounded by the closed curve C1 are sequentially given road rights and the roads 100, 200 are defined as road rights roads, and the roads 100, 200 corresponding to other intersecting line segments 101, 201 surrounded by the closed curve C1 are defined as avoidance roads. At the generation step S56, the road rights structure is generated, as shown in Table 1 below.

[0058] By using the method for generating a road right structure provided by the present invention, the road right structure of a mining area can be generated efficiently and accurately, thereby improving the efficiency of producing high-precision maps of the mining area and meeting the demand for rapid updating of mining area maps.

[0059] Table 1. Generated by generating step S56 Figure 2 The right-of-way structure of roads 100 and 200 is shown

[0060]

[0061] The first group of right-of-way structures in Table 1 includes: one right-of-way road 100 corresponds to one avoidance road 200. The second group of right-of-way structures in Table 1 includes: one right-of-way road 200 corresponds to one avoidance road 100.

[0062] In Table 1, the first group of right-of-way structures indicates that a first vehicle (not shown in the figure) traveling on road 100 and a second vehicle (not shown in the figure) traveling on road 200 are both traveling towards the intersection of road 100 and road 200 (see Figure 2For the sake of convenience, the intersection O1 of the centerline segments 101 and 201 of the two intersecting roads 100 and 200 can be simply used to represent the first vehicle. The first vehicle has the priority to pass through the intersection O1. At this time, the second vehicle needs to be at least the minimum safety distance D11 from the first vehicle (along the intersection with Figure 2 When driving in the direction opposite to the direction indicated by the arrow in FIG. 2 , the minimum safe distance is D12) and the vehicle must wait at the position where the first vehicle passes through the intersection O1 before it can pass through the intersection O1.

[0063] Accordingly, in Table 1, the second group of right-of-way structure indicates that when the first vehicle and the second vehicle are driving towards the intersection O1 of road 100 and road 200 at the same time, the second vehicle has the priority to drive through the intersection O1. At this time, the first vehicle needs to be at least the minimum safety distance D11 (on the road with Figure 2 When driving in the direction opposite to the direction indicated by the arrow in FIG. 1 , the minimum safe distance is D12) and the vehicle must wait at the position where the second vehicle passes through the intersection O1 before it can pass through the intersection O1.

[0064] Further, at the definition step S55, taking the second group of intersecting roads 300, 400 as an example, the roads 300, 400 corresponding to each of the intersecting line segments 301, 401 surrounded by the closed curve C2 are sequentially given road rights and the roads 300, 400 are defined as road rights roads, and the roads 300, 400 corresponding to other intersecting line segments 301, 401 surrounded by the closed curve C2 are defined as avoidance roads. At the generation step S56, the road rights structure is generated, as shown in Table 2 below.

[0065] Table 2. Generated by generating step S56 Figure 3 The right-of-way structure of roads 300 and 400 is shown

[0066]

[0067] The first group of right-of-way structures in Table 2 includes: one right-of-way road 300 corresponds to one avoidance road 400. The second group of right-of-way structures in Table 2 includes: one right-of-way road 400 corresponds to one avoidance road 300.

[0068] In Table 2, the first group of right-of-way structures indicates that a third vehicle (not shown in the figure) traveling on road 300 and a fourth vehicle (not shown in the figure) traveling on road 400 are both traveling towards the intersection of road 300 and road 400 (see Figure 3For the sake of ease of description, the intersection O2 of the intersecting line segments 301 and 401 of the center lines of the two intersecting roads 300 and 400 can be simply represented), the third vehicle has the right to pass through the intersection O2 first. At this time, the fourth vehicle needs to wait at a position greater than or equal to the minimum safety distance D22 from the third vehicle for the third vehicle to pass through the intersection O2 before it can pass through the intersection O2.

[0069] Correspondingly, in Table 2, the second group of road right structure indicates that when the third vehicle and the fourth vehicle are driving towards the intersection O2 of road 300 and road 400 at the same time, the fourth vehicle has the right to pass through the intersection O2 first. At this time, the third vehicle needs to wait for the fourth vehicle to pass through the intersection O2 at a position greater than or equal to the minimum safety distance D22 from the fourth vehicle before it can pass through the intersection O2.

[0070] Furthermore, at the definition step S55, taking the third group of intersecting roads 500, 600, 700 as an example, the roads 500, 600, 700 corresponding to each of the intersecting line segments 501, 601, 701 surrounded by the closed curve C3 are sequentially given road rights and the roads 500, 600, 700 are defined as road rights roads, and the roads 500, 600, 700 corresponding to other intersecting line segments 501, 601, 701 surrounded by the closed curve C3 are defined as avoidance roads. At the generation step S56, the road rights structure is generated as shown in Table 3 below.

[0071] Table 3. Generated by generating step S56 Figure 4 The right-of-way structure of roads 500, 600, and 700 is shown

[0072]

[0073] In Table 3, the first group of right-of-way structures indicates that a fifth vehicle (not shown) traveling on road 500 is traveling toward the intersection of roads 500, 600, and 700 (see Figure 4 , for the sake of convenience of description, the intersection O3 of the intersection line segments 501, 601, 701 of the center lines of the three intersecting roads 500, 600, 700 can be simply represented. As mentioned above, the intersection O3 is also the end point of the road 500). When the sixth vehicle (not shown in the figure) traveling on the road 600 has already traveled away from the intersection O3 (not shown in the figure, as mentioned above, the intersection O3 is also the starting point of the road 600), the fifth vehicle has the right to travel to the intersection O3 first. At this time, the sixth vehicle needs to be at a distance greater than or equal to the minimum safety distance from the fifth vehicle (for the sake of clarity, Figure 4The vehicle can then continue to travel away from the intersection O3 after the fifth vehicle passes the sixth vehicle (not shown).

[0074] Correspondingly, in Table 3, the second group of road right structure indicates that when the sixth vehicle leaves the intersection O3, the fifth vehicle drives towards the intersection O3, and the sixth vehicle has the right to leave the intersection O3 first. At this time, the fifth vehicle needs to wait at a position where the distance from the sixth vehicle is greater than or equal to the minimum safety distance until the sixth vehicle passes the fifth vehicle before it can continue to drive to the intersection O3.

[0075] In Table 3, the third group of road right structures are similar to the first group of road right structures, and the fourth group of road right structures are similar to the second group of road right structures. For the sake of brevity, the third group of road right structures and the fourth group of road right structures are not described in detail here.

[0076] In Table 3, the fifth group of right-of-way structure indicates that when the sixth vehicle and the seventh vehicle are about to leave the intersection O3, the sixth vehicle has the priority right to leave the intersection O3 (for the sake of ease of description, it is assumed here that the sixth vehicle and the seventh vehicle can be placed at the intersection O3 at the same time, and the width of the intersection between the road 600 and the road 700 is narrow, and the sixth vehicle and the seventh vehicle are not allowed to travel side by side at the same time), and the seventh vehicle waits at the intersection O3 until the distance between it and the sixth vehicle is greater than or equal to the minimum safety distance before leaving the intersection O3.

[0077] Similarly, the sixth group of right-of-way structure indicates that when the sixth vehicle and the seventh vehicle are about to leave the intersection O3, the seventh vehicle has the priority right to leave the intersection O3, and the sixth vehicle waits at the intersection O3 until the distance between it and the seventh vehicle is greater than or equal to the minimum safety distance, and then leaves the intersection O3.

[0078] As described above, in the embodiment of the present invention, it is not necessary to consider the right-of-way structure between the road 600 and the road 700 having the same starting point, so the method 50 further includes a determination step S57 and a deletion step S58 after the limiting step S55.

[0079] In judgment step S57, the unique identifier of the starting point 5011, 6011, 7011 of each intersecting line segment 501, 601, 701 is obtained to determine whether there are multiple intersecting line segments with the same unique identifier of the starting point: if it is determined that there are no multiple intersecting line segments with the same unique identifier of the starting point, execute the generation step S56; and if it is determined that there are multiple intersecting line segments 601, 701 with the same unique identifier of the starting point 6011, 7011, execute the deletion step 58.

[0080] In the deleting step S58, the redundant right-of-way structure in which the road 600, 700 corresponding to one of the multiple intersecting line segments 601, 701 is used as a right-of-way road and the road 600, 700 corresponding to another of the multiple intersecting line segments 601, 701 is used as an avoidance road is deleted from the right-of-way structure defined in the defining step S55 (i.e., the right-of-way structure shown in Table 3), and then the generating step S56 is executed. The generated right-of-way structure is shown in Table 4.

[0081] Table 4. Generated by the generation step S56 after the determination step S57 and the deletion step S58 Figure 4 The right-of-way structure of roads 500, 600, and 700 is shown

[0082]

[0083] The structures with the same road rights are merged to obtain the road right structure shown in Table 5.

[0084] Table 5. The right-of-way structure of the merged roads 500, 600, and 700

[0085]

[0086] In Table 5, the first group of right-of-way structures includes: one right-of-way road 500 corresponds to multiple avoidance roads 600, 700. The second group of right-of-way structures includes: one right-of-way road 600 corresponds to one avoidance road 500. The third group of right-of-way structures includes: one right-of-way road 700 corresponds to one avoidance road 500.

[0087] It can be seen that steps S51 to S58 can be performed for all the intersecting roads 100, 200; 300, 400; 500, 600, 700 of the embodiments. In the case where the right-of-way structure between the road 600 and the road 700 having the same starting point needs to be set, only steps S51 to S56 can be performed.

[0088] Processing step S52 is described in further detail below.

[0089] See also Figure 6 , processing step S52 may include steps S521~S523.

[0090] In the thinning step S521, the collected data is thinned to simplify the data. The points of the collected point cloud data are unevenly distributed, and some points are too dense, resulting in a large amount of data to be processed and high processing complexity. Therefore, it is necessary to thin out the overly dense points in the point cloud data to simplify the point cloud data and obtain the thinned point cloud data.

[0091] In the smoothing step S522, the simplified data is smoothed to remove the noise in the simplified data while keeping the geometric features of the simplified data unchanged. The simplified point cloud data still has irregular distribution, and there are a large number of scattered, isolated, uneven points and discrete points caused by the low precision of the acquisition device, that is, the simplified point cloud data still has a lot of noise, which seriously reduces the accuracy of the drawn roads 100, 200; 300, 400; 500, 600, 700 and their line segments 101, 201; 301, 401; 501, 601, 701, so it is necessary to denoise the point cloud data to make the overall outline of the point cloud data smoother and keep the original topological structure and geometric features of the collected point cloud data unchanged.

[0092] At classification step S523, the smoothed data is classified according to the geometric features of the smoothed data. The denoised point cloud data is classified according to the topological structure and geometric features of the denoised point cloud data. That is, the points in the point cloud data are classified according to the objects or regions to which they belong, and the points of the same type with similar or identical features constitute a set of the same points. In order to facilitate the representation of the types of objects in the mining area, the point cloud data is classified into point cloud data for representing roads, retaining walls, slopes, unloading areas, blasting areas, etc., that is, the classification includes one or more of the following items: roads, retaining walls, slopes, unloading areas, blasting areas.

[0093] The enclosing step S54 is described in further detail below.

[0094] See also Figure 7 , surrounding step S54 may include steps S541~S545.

[0095] In the identification step S541 , a unique identification of each intersecting line segment 101 , 201 ; 301 , 401 ; 501 , 601 , 701 is obtained.

[0096] At the boundary step S542 , the coordinates of the boundary defined by the closed curves C1 , C2 , and C3 are obtained.

[0097] At the quantification step S543 , the number of points having coordinates within the boundary of each intersecting line segment 101 , 201 ; 301 , 401 ; 501 , 601 , 701 is obtained based on the unique identifier.

[0098] At the ratio step S544, the ratio of the number of the points to the number of all points on the intersecting line segment 101, 201; 301, 401; 501, 601, 701 where the points are located is calculated. If the ratio is greater than or equal to a set value (e.g., 80% as described above), it is determined that at least a portion of the intersecting line segment 101, 201; 301, 401; 501, 601, 701 and the road 100, 200; 300, 400; 500, 600, 700 are included in the closed curves C1, C2, C3. If the ratio is less than the set value, it is judged that at least a part of the intersecting line segments 101, 201; 301, 401; 501, 601, 701 and the roads 100, 200; 300, 400; 500, 600, 700 corresponding to the intersecting line segments 101, 201; 301, 401; 501, 601, 701 are not included in the closed curves C1, C2, C3.

[0099] At step S545, if at least two roads 100, 200; 300, 400; 500, 600, 700 are included in the closed curves C1, C2, C3, it is necessary to perform the limiting step S55 for the at least two roads 100, 200; 300, 400; 500, 600, 700 surrounded by the closed curves C1, C2, C3. If only one road 100, 200; 300, 400; 500, 600, 700 is included in the closed curves C1, C2, C3, it is not necessary to perform the limiting step S55.

[0100] Figure 8 A schematic block diagram of an example electronic device 80 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0101] like Figure 8As shown, the electronic device 80 includes a computing unit 81, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 82 or a computer program loaded from a storage unit 88 into a random access memory (RAM) 83. In the RAM 83, various programs and data required for the operation of the electronic device 80 can also be stored. The computing unit 81, the ROM 82, and the RAM 83 are connected to each other via a bus 84. An input / output (I / O) interface 85 is also connected to the bus 84.

[0102] A number of components in the electronic device 80 are connected to the I / O interface 85, including: an input unit 86, such as a keyboard, a mouse, etc.; an output unit 87, such as various types of displays, speakers, etc.; a storage unit 88, such as a disk, an optical disk, etc.; and a communication unit 89, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 89 allows the electronic device 80 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0103] The computing unit 81 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 81 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 81 performs the various methods and processes described above, such as executing the method 50 for generating a road right structure. For example, in some embodiments, the method 50 for generating a road right structure may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 88. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 80 via the ROM 82 and / or the communication unit 89. When the computer program is loaded into the RAM 83 and executed by the computing unit 81, one or more steps of the method 50 for generating a road right structure described above may be performed. Optionally, in other embodiments, the computing unit 81 may be configured to execute the method 50 for generating a road right structure in any other appropriate manner (e.g., by means of firmware).

[0104] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0105] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0110] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0111] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0112] Those skilled in the art can understand that the embodiments described above are exemplary and can be improved by those skilled in the art. The structures described in various embodiments can be freely combined without causing conflicts in structure or principle.

[0113] After describing the preferred embodiments of the present invention in detail, those skilled in the art can clearly understand that various changes and modifications can be made without departing from the scope and spirit of the present invention, and the present invention is not limited to the implementation methods of the exemplary embodiments given in the specification.

Claims

1. A method for generating a road right structure, characterized in that: The method for generating a road right structure comprises: Collection steps: Collect data related to the center line of each road; Processing step: Process the collected data; Determining step: determining intersecting line segments of center lines of a plurality of roads intersecting at the same intersection based on the processed data; Enclosing step: enclosing at least a portion of each of the intersecting line segments using a closed curve; A definition step: sequentially granting the right of way to each road corresponding to the intersecting line segments surrounded by the closed curve to define the road as a right-of-way road, and defining the roads corresponding to other intersecting line segments surrounded by the closed curve as avoidance roads, so that vehicles traveling on the right-of-way road are granted the right of way and have priority over vehicles traveling on the avoidance roads to pass through the intersection; and Generation step: generating the road right structure, After the limiting step, the method further includes: a judging step and a deleting step, wherein: Judgment step: obtaining the unique identifier of the starting point of each intersecting line segment to determine whether there are multiple intersecting line segments having the same unique identifier of the starting point: If it is determined that there are no said plurality of intersecting line segments having said unique identifier of the same said starting point, then executing said generating step; and If it is determined that there are the plurality of intersecting line segments having the unique identifier of the same starting point, executing the deleting step; Deletion step: deleting a redundant right-of-way structure in which a road corresponding to one of the multiple intersecting line segments is used as a right-of-way road and a road corresponding to another of the multiple intersecting line segments is used as an avoidance road from the right-of-way structure defined in the definition step, and then executing the generation step.

2. The method according to claim 1, characterized in that The encircling step comprises: Identification step: obtain the unique identification of each intersecting line segment; Boundary step: obtain the coordinates of the boundary defined by the closed curve; A quantitative step: obtaining the number of points of each intersecting line segment having coordinates located within the boundary based on the unique identifier of each intersecting line segment; a ratio step: calculating the ratio of the number of the points to the number of all points on the intersecting line segment where the points are located, and if the ratio is greater than or equal to a set value, determining that at least a portion of the intersecting line segment and a road corresponding to the intersecting line segment are included in the closed curve, and if the ratio is less than the set value, determining that at least a portion of the intersecting line segment and a road corresponding to the intersecting line segment are not included in the closed curve; and Execution step: If at least two roads are contained in the closed curve, it is necessary to execute the definition step for the at least two roads enclosed by the closed curve.

3. The method according to claim 2, characterized in that The processing steps include: Thinning step: thinning the collected data to simplify the data; Smoothing step: smoothing the simplified data to remove noise in the simplified data while keeping the geometric features of the simplified data unchanged; and Classification step: classify the smoothed data according to the geometric features of the smoothed data.

4. The method according to any one of claims 1 and 3, characterized in that Each of the intersecting line segments includes: a first end, an intersection point and a second end.

5. The method according to claim 4, characterized in that The intersection point coincides with any one of the first end and the second end, and the distance between the first end and the second end of each two intersecting line segments that does not coincide with the intersection point is the minimum safety distance.

6. The method according to claim 4, characterized in that The distance between the first ends and the distance between the second ends of each two intersecting line segments are the minimum safety distances.

7. The method according to claim 5 or 6, characterized in that: The minimum safe distance between every two intersecting line segments is the same or different.

8. The method according to any one of claims 1, 3, 5 and 6, characterized in that The right-of-way structure includes: A right-of-way structure with one right-of-way road corresponding to one yield road; and / or A right-of-way structure in which one right-of-way road corresponds to multiple avoidance roads.

9. The method according to claim 3, characterized in that: The categories include one or more of the following: Roads, retaining walls, slopes, unloading areas, and blasting areas.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 9.

11. A computer program product, characterized in that The computer program product comprises: A computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 9.

12. A computer-readable medium, characterized in that The computer readable medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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