Point planning method for sensing front-end equipment and related equipment

Abstract

The present application relates to a point planning method for a perception front-end device and related equipment. The method includes: obtaining road network data and installation parameters of the perception front-end device, the road network data including location information of roads and road intersections, and information on the driving direction of the road; splitting the two-way roads in the road into one-way roads according to the driving direction; dividing the one-way roads according to the road intersections to obtain one-way sections; dividing the one-way sections into one or more one-way section segments according to the specified distance; generating an association binding relationship between the target perception front-end device and the one-way section segment according to the installation parameters of the perception front-end device and the location information of the one-way section segment. Through the present application, the problem of low perception probability of perception objects on the road in the related technology is solved, the rationality of the point planning of the perception front-end device is improved, and the perception probability of perception objects on the road is improved.

Description

Technical Field

[0001] The present application relates to the field of road traffic technology, and in particular to a point planning method for a perception front-end device and related equipment. Background Art

[0002] In the field of road traffic, perception front-end devices are used to perceive the movement of objects on the road. The layout positions (i.e., points) of the perception front-end devices need to be reasonably distributed on the road and its surroundings. In the related technology, the road intersections are taken as points, and the road sections between the road intersections are taken as edges. The road network is abstracted into a graph, and then the point planning of the perception front-end devices is performed based on the graph to ensure the perception probability of the perception front-end devices for the perception objects on the road. However, in reality, the perception objects will not only move from one road intersection to another, but there are also many perception objects that will enter or leave the road section at other entrances and exits (such as entrances and exits of communities, shopping malls, etc.) of the road section between two road intersections. The point planning of the perception front-end devices based on the related technology cannot guarantee the perception probability of the perception objects entering and exiting from other entrances and exits. Summary of the invention

[0003] The point planning method of the perception front-end device and its related equipment provided in the embodiment of the present application at least solve the problem of low perception probability of perception objects on the road in the related technology.

[0004] A point planning method for a perception front-end device comprises: obtaining road network data and installation parameters of the perception front-end device, the road network data comprising location information of roads and road intersections, and information on the driving direction of the roads; splitting two-way roads in the road into one-way roads according to the driving direction; splitting the one-way roads according to the road intersections to obtain one-way road sections; splitting the one-way road sections into one or more one-way road section segments according to specified distances; and generating an association binding relationship between a target perception front-end device and the one-way road section segment according to the installation parameters of the perception front-end device and the location information of the one-way road section segment.

[0005] In some of the embodiments, segmenting the one-way road according to the road intersections to obtain the one-way road sections further includes: determining the driving direction of the one-way road section according to the angle between the direction from the starting point to the end point of the one-way road section and the north direction.

[0006] In some of the embodiments, dividing a one-way road section into one or more one-way road section segments according to a specified distance includes: calculating the ratio of the one-way road section segment to the total length of the one-way road section and the number of one-way road section segments divided from the one-way road section according to the specified distance and the total length of the one-way road section; and dividing the one-way road section along the driving direction of the one-way road section according to the ratio and the number of segments to obtain one or more one-way road section segments.

[0007] In some of the embodiments, the target perception front-end device includes at least one of the following: a perception front-end device whose distance from the one-way road segment is not greater than a specified distance threshold; a perception front-end device whose effective field of view can cover any part of the one-way road segment.

[0008] In some of the embodiments, the method also includes: visualizing road network data to obtain a road network map; and color rendering the one-way road segment in the road network map according to the number of perception front-end devices that have an associated binding relationship with the one-way road segment, wherein the color is the color corresponding to the specified numerical range within which the number falls.

[0009] In some of the embodiments, the road network data also includes administrative division information where the road is located, and the method also includes: obtaining a specified administrative division; marking the administrative division in a road network map, generating and visualizing a point planning report of a perception front-end device within the administrative division, the point planning report including at least one of the following: the number of roads and road sections within the administrative division, the number of one-way road section segments of each color, and the number of perception front-end devices having an associated binding relationship with the one-way road section segments within the administrative division.

[0010] A point planning system for a perception front-end device comprises: a data interface for acquiring road network data and installation parameters of the perception front-end device, the road network data comprising location information of roads and road intersections, and information on the driving direction of the roads; a processing device for splitting a two-way road in a road into one-way roads according to the driving direction; splitting the one-way road according to the road intersection to obtain one-way road sections; splitting the one-way road sections into one or more one-way road section segments according to a specified distance; and generating an association binding relationship between a target perception front-end device and the one-way road section segment according to the installation parameters of the perception front-end device and the location information of the one-way road section segment.

[0011] In some of the embodiments, the system also includes: a graphical user interface for visualizing road network data to obtain a road network map; a processing device, further for color rendering of the one-way road segment in the road network map according to the number of perception front-end devices that have an associated binding relationship with the one-way road segment, wherein the color is the color corresponding to the specified numerical range within which the number falls.

[0012] In some of the embodiments, the data interface is also used to obtain a specified administrative division; the processing device is also used to generate a point planning report of the perception front-end device within the administrative division, and the point planning report includes at least one of the following: the number of roads and road sections, the number of one-way road section segments of each color, and the number of perception front-end devices that have an associated binding relationship with the one-way road section segments within the administrative division; the graphical user interface is also used to mark the administrative divisions in the road network map and visualize the point planning report of the perception front-end device within the administrative division.

[0013] An electronic device includes: a processor and a memory storing a program, wherein the program includes instructions, and when the instructions are executed by the processor, the processor executes the above method.

[0014] The point planning method of the perception front-end device provided in the embodiment of the present application and its related equipment adopt the method of acquiring road network data and installation parameters of the perception front-end device, the road network data includes location information of roads and road intersections, and information on the driving direction of the road; splitting the two-way roads in the road into one-way roads according to the driving direction; dividing the one-way roads according to the road intersections to obtain one-way sections; dividing the one-way sections into one or more one-way section segments according to the specified distance; generating an associated binding relationship between the target perception front-end device and the one-way section segment according to the installation parameters of the perception front-end device and the location information of the one-way section segment, which solves the problem of low perception probability of perception objects on the road in related technologies, improves the rationality of point planning of the perception front-end device, and improves the perception probability of perception objects on the road. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a flow chart of a point planning method of a perception front-end device in an embodiment of the present application.

[0017] Figure 2 It is a preferred flow chart of the point planning method of the perception front-end device of the embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of a road network map of an embodiment of the present application.

[0019] Figure 4 It is a structural diagram of a point planning system of a perception front-end device in an embodiment of the present application.

[0020] Figure 5 It is a schematic diagram of the structure of the electronic device of the present application. DETAILED DESCRIPTION

[0021] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0022] Figure 1 1 is a flow chart of a method for planning the location of a sensing front-end device according to an embodiment of the present application. Figure 1 As shown, the process includes the following steps:

[0023] Step S101, obtaining road network data and installation parameters of the sensing front-end device, the road network data including location information of roads and road intersections, and information on the driving direction of the roads.

[0024] In this embodiment, geographic data can be obtained from a third-party platform (such as a map service provider) through a data interface, and road network data can be filtered out from the geographic data. The road network data includes basic attribute data of roads and geographic line (surface) data.

[0025] Among them, the basic attribute data includes various attributes related to the road itself, which help understand and analyze the function, usage restrictions, maintenance requirements, etc. of the road. The basic attribute data of this embodiment includes but is not limited to at least one of the following: Road identification: such as road name, number or code. Road type: such as expressway, expressway, main road, secondary road, general road, branch road, national highway, provincial highway, street, etc. Road length: the total length of the road section. Road function: connecting major areas, internal traffic in urban areas, etc. Traffic rules: speed limit, single and double lanes, driving direction (one-way or two-way). Traffic flow: average daily traffic volume (ADT), peak hour traffic volume (PHF), etc. Administrative division: the administrative division to which the road belongs, including the administrative division name, administrative division code, parent administrative division name and code, etc. Accident record: historical traffic accident data. Geographic code: such as a unique identifier for a road segment.

[0026] Among them, geographic line (surface) data includes but is not limited to at least one of the following: Line data: represents the direction of the road, composed of a series of coordinate points, used to depict the actual path of the road. Node data: the location of road intersections, junctions, end points or starting points, which can be intersections in a complex transportation network. Surface data: may be used to represent the area around the road, such as the boundary of road land, the coverage of road ancillary facilities, etc. Direction information: the directionality of the road, such as one-way or two-way travel. Connectivity information: the connection relationship between the road and other roads.

[0027] Among them, the installation parameters of the perception front-end equipment refer to the specific location information and related parameters of the installed perception equipment. These devices are usually used to collect real-time data in various scenarios such as environment, safety, transportation, and building management. The installation parameters of the perception front-end equipment mainly include but are not limited to at least one of the following: geographic coordinates: longitude and latitude, used to accurately locate the location of the equipment; it can also include altitude. Equipment type: such as camera (such as high-definition camera, fully structured camera, high-altitude monitoring ball camera, etc.); environmental monitoring sensor (temperature, humidity, air quality, light, etc.); traffic flow detector; alarm detector. Equipment parameters: such as resolution; viewing angle or field of view; monitoring accuracy; working mode (such as day and night switching, infrared night vision, etc.); communication method (such as wired or wireless transmission). Installation information: such as installation height; installation angle; fixing method (such as wall mounting, hoisting, pole mounting, etc.); installation date and maintenance records. Network configuration: such as IP address; port number; network protocol. Status information: such as device online status; fault alarm information; the time of the last data update.

[0028] Among them, the "road intersection" in the above step S101 specifically refers to a fork that has a connection relationship with a one-way road, and the road intersection is relative to the one-way road. That is to say, even if the position of the fork represented in the road network data is located on a one-way road, but the one-way road has no connection relationship with the fork, then the fork does not belong to the road intersection of the one-way road in this embodiment. A typical case is that on a two-way road with two-way isolation (for example, isolation by a green belt) on an urban expressway or highway, the left road has no fork, and the right road has a fork to form a fork, then this fork does not belong to the "road intersection" of the left road, but belongs to the "road intersection" of the right road. Another typical case is that on a two-way road with unisolated roads in the city, the left road has no fork, and the right road has a fork to form a fork, and the vehicles or pedestrians on the left road can cross the road horizontally and move to the fork of the right road, then this fork belongs to both the "road intersection" of the left road and the "road intersection" of the right road.

[0029] In order to facilitate those skilled in the art to better understand the present invention, some terms that appear are explained:

[0030] Geographic line (surface) data: line (surface) data in wkt format, composed of a number of longitude and latitude coordinate points, used to describe the spatial characteristics of spatial collection objects, hereinafter referred to as line (surface) data.

[0031] Geographic information computing: With the help of geographic information technology, spatial data access and construction, spatial analysis (such as length, area) and spatial operations (such as merging and differencing) are performed, as well as spatial relationship calculations between spatial objects (such as distance and whether they intersect).

[0032] Road section: refers to the part between adjacent intersections on a road. It can be divided into one-way sections and two-way sections according to directionality. A one-way section refers to a section that represents one direction of travel, and a two-way section refers to a section that represents two opposite directions of travel.

[0033] Road segment: refers to the shorter sub-segments formed by dividing the road segment according to the specified distance.

[0034] Perception object: refers to the person or object that needs to be perceived. The perception objects on the road mainly refer to vehicles and pedestrians.

[0035] An important indicator for the point planning of perception front-end devices is the coverage of the perception front-end devices in the area to be perceived. The coverage can usually be measured by the number of perception front-end devices that have an associated binding relationship with the area to be perceived. For example, in some scenarios, it is required to deploy at least one perception front-end device that can cover every 500-meter road segment. Therefore, the key to the point planning of perception front-end devices is to reasonably establish an associated binding relationship between roads and perception front-end devices. In this embodiment, in order to improve the perception probability of perception front-end devices for perception objects on the road, a point planning method for perception front-end devices is provided. This method can rely on electronic equipment to achieve automated point planning.

[0036] In some cases, the above-mentioned isolation includes physical isolation (such as isolation by railings or green belts), and may also include or exclude isolation based on road traffic safety regulations (such as isolation using yellow solid lines). Whether to include isolation based on road traffic safety regulations depends on the user's choice based on actual needs and is not limited in this application.

[0037] Step S102, splitting a two-way road into one-way roads according to the driving direction; dividing the one-way road according to the road intersection to obtain one-way road sections; dividing the one-way road section into one or more one-way road section segments according to the specified distance.

[0038] Since in geographic information, two-way roads are represented by geographic line data or geographic surface data just like one-way roads, the difference lies in the different driving directions. In step S102, the two-way road in the road is split into one-way roads, aiming to split the two-way road into two one-way roads for separate processing and display. Therefore, the driving direction can be a relative driving direction or an absolute driving direction, as long as the two-way road can be distinguished as two one-way roads with different driving directions. The above-mentioned relative driving direction refers to the opposite driving direction, and the real direction of the driving direction in the physical world is not concerned. The above-mentioned absolute driving direction refers to the direction of driving direction relative to a target direction in the physical world, usually the target direction is due north or due south.

[0039] When splitting a two-way road, the right-hand traffic splitting method is used according to custom, that is, another road with the opposite driving direction is split on the left side of a road with one driving direction, and the center line between the two one-way roads obtained by splitting completely coincides with the center line of the two-way road before splitting, so as to avoid the geographical location of the road from being offset. In addition, the width of the one-way road obtained after splitting varies according to the level of the road; the higher the level of the two-way road, the wider the road width of the one-way road obtained by splitting.

[0040] In some of the embodiments, two one-way roads running in opposite directions are generated based on the geographic line data (road network data) of the two-way road by copying the basic attributes of the two-way road such as the road name, length, and grade, and then copying the latitude and longitude coordinate points of the two-way road and arranging them in reverse order to generate reversed two-way road line data.

[0041] Although it is not necessary to obtain the absolute driving direction of the road when splitting the road, it may be necessary to know the absolute driving direction of the road or road section in road traffic safety or urban road planning. To this end, in some embodiments, the one-way road is divided according to the road intersection, and the one-way section is obtained, which also includes: determining the driving direction of the one-way section according to the angle between the direction from the starting point to the end point of the one-way section and the true north direction. Among them, the angle between the direction from the starting point to the end point and the true north direction is also called the "northward angle". According to the northward angle, the real driving direction of the one-way section in the physical world can be determined, such as the true north direction, the true south direction, the direction of 20° north by east, the direction of 30° south by west, etc. In the above embodiments, the direction from the starting point to the key point of the section is used to determine the driving direction of the section, that is, the section is treated as a section close to a straight line, which simplifies the identification of the driving direction.

[0042] In geographic information calculation, geometric and geographic spatial functions can be used to process the segmentation of linear features (such as roads). When using the PostGIS extension, the functions commonly used to segment line segments are ST_LineInterpolatePoint or ST_LineLocatePoint functions, which support segmenting line segments according to specific proportions. To this end, in some embodiments, a one-way road segment is divided into one-way road segment segments by proportional segmentation: according to the specified distance and the total length of the one-way road segment, the proportion of the one-way road segment segment to the total length of the one-way road segment and the number of one-way road segment segments divided from the one-way road segment are calculated; according to the proportion and the number of segments, the one-way road segment is segmented along the driving direction of the one-way road segment to obtain one or more one-way road segment segments.

[0043] Specifically, for any road segment , calculate the proportion of each segment to the total length of the road segment based on the specified distance .in, To specify the distance, For road section Length. Based on road segment The split ratio Known number of segments .

[0044] With the help of geographic information computing methods, taking the function of PostGIS extension of PostGreSql database as an example, the complete road segment line data is divided into several segments according to the road segment segmentation ratio. No. Line data of the segment The calculation method is:

[0045] ;

[0046] in, For road section Line data.

[0047] In the above embodiment, the specified distance can be any specified distance, such as 200 meters, 300 meters, 400 meters, 500 meters or other values, and the specified distance can be selected according to actual needs. For example, assuming that a certain construction standard requires that the point construction of the sensing front-end device reaches at least 4 points in every 500-meter section, the specified distance can be set to 500 meters to meet the requirements of the construction standard.

[0048] Step S103, generating an association binding relationship between the target perception front-end device and the one-way road segment according to the installation parameters of the perception front-end device and the location information of the one-way road segment segment.

[0049] After obtaining the installation parameters of the perception front-end device and the location information of the one-way road segment cut, an associated binding relationship between the target perception front-end device and the one-way road segment cut can be generated, thereby determining the perception front-end device bound to each one-way road segment cut.

[0050] In some of the embodiments, the target perception front-end device includes at least one of the following: a perception front-end device whose distance from the one-way road segment is not greater than a specified distance threshold; a perception front-end device whose effective field of view can cover any part of the one-way road segment.

[0051] Especially for perception front-end devices whose field of view covers a 360° range, there is a specified distance threshold, within which the perception front-end device can perceive the perception object of at least a part of the area on the one-way road segment. Therefore, the above-mentioned target perception front-end device can be a perception front-end device whose distance from the one-way road segment is not greater than the specified distance threshold. Specifically, by calculating the minimum distance between the point coordinates of the perception front-end device and the line data of the one-way road segment, it can be determined whether the minimum distance is not greater than the specified distance threshold, and an association binding relationship can be established between the one-way road segment whose minimum distance is not greater than the specified distance threshold and the point of the perception front-end device.

[0052] In other embodiments, the field of view of the perception front-end device is considered. For a perception front-end device whose field of view cannot cover a 360° range, for example, a perception front-end device whose field of view is only 120° but faces away from a one-way section segment, even if the distance between the perception front-end device and the one-way section segment is very close, the perception front-end device cannot perceive the perception object on the one-way section segment. Therefore, in this embodiment, the target perception front-end device refers to a perception front-end device whose effective field of view can cover any part of the one-way section segment. The effective field of view can be obtained according to the installation parameters of the perception front-end device. When the effective field of view of the perception front-end device and the line data of the one-way section segment have an intersection, it is considered that the effective field of view of the perception front-end device can cover any part of the one-way section segment. By binding the perception front-end device and the one-way section segment in this way, a more reliable association binding relationship can be obtained, which avoids the perception front-end device that cannot perceive the one-way section segment from being incorrectly bound, and also avoids the partial perception front-end devices from being missed due to the one-size-fits-all approach to the perception front-end devices using a specified distance threshold.

[0053] In order to present the point planning of the perception front-end device more intuitively, in some embodiments, the point planning information can also be displayed in the form of a road network map, and a graphical user interface can further be provided to obtain the point planning report.

[0054] Figure 2is a preferred flow chart of the point location planning method of the perception front-end device of the embodiment of the present application, such as Figure 2 As shown, in addition to the above-mentioned steps S101 to S103, the process also includes: visualizing the road network data to obtain a road network map; counting the number of perception front-end devices that have an associated binding relationship with each one-way road segment; and color rendering the one-way road segment in the road network map according to the number of perception front-end devices that have an associated binding relationship with the one-way road segment, wherein the color is the color corresponding to the specified numerical range that the number falls into.

[0055] Specifically, according to the established association and binding relationship between the one-way road segment segments and the points of the perception front-end device, the number of points associated with the j-th segment of road segment i is recorded as Determine the mapping relationship between the segment rendering color and the number of associated points, and determine the rendering color of the jth segment of road segment i based on the above mapping relationship for:

[0056] ;

[0057] in, and The boundary value of the interval mapping between rendering color and associated point quantity. , , Represents three colors respectively. Figure 3 is a schematic diagram of a road network map of an embodiment of the present application, Figure 3 The text and information in the table are simulated data for illustration only. Except for the information specially emphasized, Figure 3 The information in this field has no specific meaning. Figure 3 The one-way road segment is rendered in red, yellow and green. Red means that the number of points associated with the segment is insufficient and needs to be supplemented urgently; yellow means that the number of points associated with the segment is small and can be considered for supplementation; green means that the number of points associated with the segment is sufficient and does not need to be supplemented.

[0058] Through the above method, the one-way road sections that need attention are divided and marked with different colors, which improves the experience of point planning.

[0059] Continue to refer Figure 2In some of the embodiments, the road network data also includes the administrative division information of the road, and the point planning method also includes: obtaining the specified administrative division; marking the administrative division in the road network map, generating and visualizing the point planning report of the perception front-end device in the administrative division, the point planning report includes at least one of the following: the number of roads and the number of road sections in the administrative division, the number of one-way road section segments of each color, and the number of perception front-end devices having an associated binding relationship with the one-way road section segments in the administrative division.

[0060] Continue to refer Figure 3 ,exist Figure 3 The left side of the diagram shows the administrative division information. After selecting an administrative division on the left, the road network map in the middle will show the panoramic view of the administrative division. Figure 3 The right side shows the point planning report corresponding to the administrative division.

[0061] In this embodiment, a point planning system for sensing front-end equipment is also provided. Figure 4 is a schematic diagram of the structure of the point planning system of the perception front-end device of the embodiment of the present application, such as Figure 4 As shown, the system includes: a data interface 41, which is used to obtain road network data and installation parameters of the perception front-end device, the road network data includes location information of roads and road intersections, and information on the driving direction of the road; a processing device 42, which is used to split the two-way roads in the road into one-way roads according to the driving direction; divide the one-way roads according to the road intersections to obtain one-way sections; divide the one-way sections into one or more one-way section segments according to the specified distance; generate an association binding relationship between the target perception front-end device and the one-way section segment according to the installation parameters of the perception front-end device and the location information of the one-way section segment.

[0062] In some of the embodiments, the processing device 42 is further used to determine the driving direction of the one-way section according to the angle between the direction from the starting point to the end point of the one-way section and the true north direction.

[0063] In some of the embodiments, the processing device 42 is used to calculate the ratio of the one-way road segment to the total length of the one-way road segment and the number of one-way road segment segments divided from the one-way road segment based on the specified distance and the total length of the one-way road segment; based on the ratio and the number of segments, the one-way road segment is divided along the driving direction of the one-way road segment to obtain one or more one-way road segment segments.

[0064] In some of the embodiments, the target perception front-end device includes at least one of the following: a perception front-end device whose distance from the one-way road segment is not greater than a specified distance threshold; a perception front-end device whose effective field of view can cover any part of the one-way road segment.

[0065] In some of the embodiments, the system also includes: a graphical user interface 43, used to visualize road network data and obtain a road network map; a processing device 42, also used to render the one-way road segment in the road network map according to the number of perception front-end devices that have an associated binding relationship with the one-way road segment, wherein the color is the color corresponding to the specified numerical range within which the number falls.

[0066] In some of the embodiments, the data interface 41 is also used to obtain a specified administrative division; the processing device 42 is also used to generate a point planning report of the perception front-end device within the administrative division, and the point planning report includes at least one of the following: the number of roads and road sections, the number of one-way road section segments of each color, and the number of perception front-end devices that have an associated binding relationship with the one-way road section segments within the administrative division; the graphical user interface 43 is also used to mark the administrative divisions in the road network map and visualize the point planning report of the perception front-end device within the administrative division.

[0067] The above-mentioned embodiments use geographic information calculation methods to divide the road network data into more fine-grained one-way road segments according to the specified distance. Using the segments as analysis units can more carefully analyze and evaluate the construction and distribution of the road front-end points in the entire region, and can provide more accurate guidance reference for the subsequent supplementation and optimization of the points. The above-mentioned embodiments use graphical means to convert the number of road section-related points into different colors for display on the map, which can intuitively show the number and distribution of road-related points in the region, and can derive the point planning report of the perception front-end equipment of each administrative division, providing a basis for viewing, analyzing and planning the construction of regional road points. The above-mentioned embodiments can intuitively display and analyze the point construction of the perception front-end equipment of regional roads, support the export of regional analysis reports, provide analysis data for the continued construction of road front-ends in the entire region, and assist in construction decisions, and also provide information support means for the scientific and reasonable promotion of video point construction in the entire region.

[0068] An embodiment of the present application further provides a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method of the embodiment of the present application.

[0069] An embodiment of the present application further provides a computer program product, including a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method of the embodiment of the present application.

[0070] The embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program executable by the at least one processor, and the computer program is used to enable the electronic device to perform the method of the embodiment of the present application when executed by the at least one processor.

[0071] refer to Figure 5 , the structural block diagram of the electronic device that can be used as the server or client of the embodiment of the present application will now be described, which is an example of the hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, 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 only examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0072] like Figure 5 As shown, the electronic device includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 to a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0073] Multiple components in the electronic device are connected to the I / O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 can be any type of device that can input information to the electronic device, and the input unit 506 can receive input digital or character information, and generate key signal input related to user settings and / or function control of the electronic device. The output unit 507 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 508 can include but is not limited to a disk, an optical disk. The communication unit 509 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, and / or a wireless communication transceiver, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0074] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a CPU, a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present application may be implemented as a computer program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via a ROM 502 and / or a communication unit 509. In some embodiments, the computing unit 501 may be configured to perform the above-described method in any other appropriate manner (e.g., by means of firmware).

[0075] The computer program for implementing the method of the embodiment of the present application can be written in any combination of one or more programming languages. These computer programs 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 when the computer program is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program 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.

[0076] In the context of the embodiments of the present application, 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 apparatus. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, or infrared system, device, or device, 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.

[0077] It should be noted that the term "including" and its variations used in the embodiments of the present application are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present application are illustrative and not restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0078] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0079] The various steps described in the method implementation scheme provided by the embodiments of the present application can be performed in different orders and / or performed in parallel. In addition, the method implementation scheme may include additional steps and / or omit the steps shown. The scope of protection of the present application is not limited in this respect.

[0080] The term "embodiment" in this specification refers to specific features, structures or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. The various embodiments in this specification are described in a related manner, and the same or similar parts between the various embodiments refer to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts refer to the partial description of the method embodiment.

[0081] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of protection. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A method for planning the location of a sensing front-end device, characterized in that include: Acquire road network data and perception front-end device installation parameters, wherein the road network data includes location information of roads and road intersections, and information on the driving direction of the roads; Splitting the two-way road in the road into one-way roads according to the driving direction; splitting the one-way road according to the road intersection to obtain one-way road sections; and splitting the one-way road section into one or more one-way road section segments according to a specified distance; Generate an association binding relationship between the target perception front-end device and the one-way road segment according to the installation parameters of the perception front-end device and the position information of the one-way road segment segment; Visualizing the road network data to obtain a road network map; According to the number of perception front-end devices having an associated binding relationship with the one-way road segment segment, color rendering is performed on the one-way road segment segment in the road network map, wherein the color is a color corresponding to a specified numerical range within which the number falls; The road intersection refers to a fork that is connected to a one-way road, and the road intersection is relative to the one-way road.

2. The method according to claim 1, characterized in that: Segmenting the one-way road according to the road intersection to obtain the one-way road section further comprises: The driving direction of the one-way section is determined according to the angle between the direction from the starting point to the end point of the one-way section and the true north direction.

3. The method according to claim 1, characterized in that: Dividing the one-way road segment into one or more one-way road segment segments according to the specified distance includes: Calculate the ratio of the one-way road segment to the total length of the one-way road segment and the number of one-way road segment segments divided from the one-way road segment according to the designated distance and the total length of the one-way road segment; According to the ratio and the number of segments, the one-way road segment is divided along the driving direction of the one-way road segment to obtain one or more one-way road segment segments.

4. The method according to claim 1, characterized in that The target perception front-end device includes at least one of the following: A sensing front-end device whose distance from the one-way road segment is not greater than a specified distance threshold; The effective field of view can cover the perception front-end device of any part of the one-way road segment.

5. The method according to claim 1, characterized in that: The road network data also includes administrative division information where the road is located, and the method further includes: Get the specified administrative division; The administrative division is marked in the road network map, and a point planning report of the perception front-end device within the administrative division is generated and visualized, wherein the point planning report includes at least one of the following: the number of roads and road sections within the administrative division, the number of one-way road section segments of each color, and the number of perception front-end devices having an associated binding relationship with the one-way road section segments within the administrative division.

6. A point planning system for sensing front-end equipment, characterized in that include: A data interface, used to obtain road network data and perceive installation parameters of front-end equipment, wherein the road network data includes location information of roads and road intersections, and information on the driving direction of the road; A processing device, for splitting a two-way road in the road into a one-way road according to the driving direction; dividing the one-way road according to the road intersection to obtain a one-way road section; dividing the one-way road section into one or more one-way road section segments according to a specified distance; generating an association binding relationship between the target perception front-end device and the one-way road section segment according to the installation parameters of the perception front-end device and the position information of the one-way road section segment; A graphical user interface, used to visualize the road network data to obtain a road network map; The processing device is further used to render the one-way road segment in the road network map in color according to the number of perception front-end devices having an associated binding relationship with the one-way road segment, wherein the color is a color corresponding to a specified numerical range within which the number falls; The road intersection refers to a fork that is connected to a one-way road, and the road intersection is relative to the one-way road.

7. The system according to claim 6, characterized in that The data interface is also used to obtain the specified administrative division; The processing device is further used to generate a point planning report of the perception front-end device in the administrative division, and the point planning report includes at least one of the following: the number of roads and road sections in the administrative division, the number of one-way road section segments of each color, and the number of perception front-end devices having an associated binding relationship with the one-way road section segments in the administrative division; The graphical user interface is also used to mark the administrative division in the road network map and visualize the point planning report of the perception front-end device within the administrative division.

8. An electronic device comprising: A processor and a memory storing a program, wherein the program comprises instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 5.

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