Map data determination method, storage medium, electronic device, and program product

Abstract

The present disclosure relates to a kind of map data determination method, storage medium, electronic equipment and program product, it relates to data processing technical field, the method comprises: obtaining the road section data corresponding to target road section;The target road section includes at least one lane;According to the road section data, determine the target element point corresponding to the target road section;According to the road section data, determine the element attribute corresponding to the target element point;The element attribute is associated with the target element point, and according to the target element point after association, determine the map data corresponding to the target road section.This way, detailed road section data is stored to target element point in the form of element attribute by the way of association, so that the expression of map data is more concise, data volume is smaller, can greatly reduce the mapping cost of map.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of data processing, in particular to a map data determination method, a storage medium, an electronic device and a program product. BACKGROUND

[0002] At present, the expression of high-precision maps contains almost all road elements and road objects, and the high-precision maps are very complex in expression. Very fine visual expression is required for all elements, which results in large engineering quantity and high cost of mapping. SUMMARY

[0003] To solve the above technical problems, the present disclosure provides a map data determination method, a storage medium, an electronic device and a program product,

[0004] According to a first aspect of an embodiment of the present disclosure, a map data determination method is provided, the method comprising:

[0005] obtaining road section data corresponding to a target road section; the target road section comprising at least one lane, and the road section data being used to represent data corresponding to road elements on the target road section;

[0006] determining target element points corresponding to the target road section according to the road section data;

[0007] determining element attributes corresponding to the target element points according to the road section data;

[0008] associating the element attributes with the target element points, and determining map data corresponding to the target road section according to the associated target element points.

[0009] Optionally, the road section data comprises lane line data corresponding to at least one lane, and the target element points comprise lane key points. The determining of the target element points corresponding to the target road section according to the road section data comprises:

[0010] determining a lane center line corresponding to the target road section according to the lane line data;

[0011] determining the lane key points according to the lane center line.

[0012] Optionally, the determining of the lane center line corresponding to the target road section according to the lane line data comprises:

[0013] determining a traffic direction corresponding to the target road section according to the lane line data;

[0014] determining a plurality of lane lines corresponding to the at least one lane;

[0015] determine, based on the traffic direction, a leftmost lane line and a rightmost lane line corresponding to the plurality of lane lines;

[0016] determine the lane center line according to the leftmost lane line and the rightmost lane line.

[0017] Optionally, the determining the lane key point according to the lane center line comprises:

[0018] determine, based on the traffic direction, a starting point corresponding to the lane center line;

[0019] take the starting point corresponding to the lane center line as the lane key point.

[0020] Optionally, the determining the element attribute corresponding to the target element point according to the road segment data comprises:

[0021] take the lane line data and the lane center line as the element attribute corresponding to the lane key point.

[0022] Optionally, the road segment data further comprises road segment boundary line data, and the taking the lane line data and the lane center line as the element attribute corresponding to the lane key point comprises:

[0023] take the road segment boundary line data, the lane line data and the lane center line as the element attribute corresponding to the lane key point.

[0024] Optionally, the road segment data further comprises stop line data, the target element point comprises a stop line point, and the determining the target element point corresponding to the target road segment according to the road segment data comprises:

[0025] determine a target stop line corresponding to the target road segment according to the stop line data;

[0026] determine the stop line point according to the target stop line and the lane center line.

[0027] Optionally, the determining the stop line point according to the target stop line and the lane center line comprises:

[0028] determine an intersection of the target stop line and the lane center line according to a first coordinate position corresponding to the target stop line and a second coordinate position corresponding to the lane center line;

[0029] take the intersection as the stop line point.

[0030] Optionally, the determining the element attribute corresponding to the target element point according to the road segment data comprises:

[0031] The stop line data is taken as an element attribute corresponding to the stop line point.

[0032] Optionally, the road section data comprises road surface marking data, and the target element point comprises a road surface marking point, and the determining of the target element point corresponding to the target road section according to the road section data comprises:

[0033] determining road surface markings contained in the target road section according to the road surface marking data;

[0034] determining the road surface marking point according to the road surface marking.

[0035] Optionally, the determining of the road surface marking point according to the road surface marking comprises:

[0036] determining a center point corresponding to a minimum polygon where the road surface marking is located;

[0037] determining the road surface marking point according to the center point.

[0038] Optionally, the determining of the target element point corresponding to the target road section according to the road section data comprises:

[0039] the road surface marking data is taken as an element attribute corresponding to the road surface marking point.

[0040] Optionally, the target road section is obtained by:

[0041] obtaining road data corresponding to a target road;

[0042] determining at least one division position corresponding to the target road according to the road data and a preset division condition;

[0043] dividing the target road into at least one sub-road section according to the at least one division position;

[0044] taking any one of the at least one sub-road section as the target road section.

[0045] Optionally, the preset division condition comprises one or more of the following: a lane line attribute changes; a road attribute changes; a diverging intersection exists; a traffic restriction marking exists.

[0046] Optionally, the method further comprises:

[0047] determining a neighboring road section adjacent to the target road section from the at least one sub-road section;

[0048] determining neighboring road section data corresponding to the neighboring road section according to the road data;

[0049] The determining, according to the road segment data, of the element attribute corresponding to the target element point comprises:

[0050] The determining, according to the adjacent road segment data and the road segment data, of the element attribute corresponding to the target element point.

[0051] Optionally, the determining, according to the adjacent road segment data and the road segment data, of the element attribute corresponding to the target element point comprises:

[0052] The determining, according to the adjacent road segment data and the road segment data, of a lane topology relationship between the target road segment and the adjacent road segment.

[0053] The lane topology relationship is taken as the element attribute corresponding to the target element point.

[0054] Optionally, the method further comprises:

[0055] The determining of a road segment scene corresponding to the target road segment.

[0056] In a case where the road segment scene is determined to include a target scene, the determining, according to the road segment data, of map data corresponding to the target road segment.

[0057] Optionally, the determining, according to the road segment data, of a target element point corresponding to the target road segment comprises:

[0058] In a case where the road segment scene is determined not to include a target scene, the determining, according to the road segment data, of a target element point corresponding to the target road segment.

[0059] According to a second aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the method for determining map data provided by the first aspect of the present disclosure.

[0060] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device comprising: a memory having a computer program stored thereon; and a processor configured to execute the computer program in the memory to implement the steps of the method for determining map data provided by the first aspect of the present disclosure.

[0061] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer program product comprising a computer program, the computer program being executed by a processor to implement the steps of the method for determining map data provided by the first aspect of the present disclosure.

[0062] The disclosure first acquires road section data corresponding to a target road section; the target road section includes at least one lane, and the road section data is used to represent data corresponding to road elements on the target road section; secondly, according to the road section data, a target element point corresponding to the target road section is determined; then, according to the road section data, an element attribute corresponding to the target element point is determined; finally, the element attribute is associated with the target element point, and according to the associated target element point, map data corresponding to the target road section is determined. Through the above technical solution, the representative target element point in the target road section can be determined according to the road section data, and the element attribute corresponding to the target element point is determined. Then, the element attribute is associated with the target element point. In this way, the map data used to generate the map only contains the associated target element point, and the detailed road section data does not need to be directly displayed on the map, but the detailed road section data is stored in the form of element attribute through the association. The expression of the map data is more concise, the data amount is smaller, and the mapping cost of the map can be greatly reduced.

[0063] Other features and advantages of the present disclosure will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0064] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following specific embodiments to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

[0065] Figure 1 is a flowchart of a map data determination method according to an exemplary embodiment;

[0066] Figure 2 is a schematic diagram of a road scene according to an exemplary embodiment;

[0067] Figure 3 is a flowchart of another map data determination method according to an exemplary embodiment;

[0068] Figure 4 is another schematic diagram of a road scene according to an exemplary embodiment;

[0069] Figure 5 is another schematic diagram of a road scene according to an exemplary embodiment;

[0070] Figure 6 is another schematic diagram of a road scene according to an exemplary embodiment;

[0071] Figure 7 is a flowchart of another map data determination method according to an exemplary embodiment;

[0072] Figure 8 is another schematic diagram of a road scene according to an example embodiment;

[0073] Figure 9 is a flowchart of another method of determining map data according to an example embodiment;

[0074] Figure 10 is another schematic diagram of a road scene according to an example embodiment;

[0075] Figure 11 is another schematic diagram of a road scene according to an example embodiment;

[0076] Figure 12 is another schematic diagram of a road scene according to an example embodiment;

[0077] Figure 13 is another schematic diagram of a road scene according to an example embodiment;

[0078] Figure 14 is another schematic diagram of a road scene according to an example embodiment;

[0079] Figure 15 is a flowchart of another method of determining map data according to an example embodiment;

[0080] Figure 16 is a block diagram of an apparatus for determining map data according to an example embodiment;

[0081] Figure 17 is a block diagram of another apparatus for determining map data according to an example embodiment;

[0082] Figure 18 is a block diagram of another apparatus for determining map data according to an example embodiment;

[0083] Figure 19 is a block diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0084] The specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings, but the present disclosure can be realized by other specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present disclosure and are not intended to limit the present disclosure. The present disclosure is not limited to the specific embodiments described herein, but can be realized in various other forms. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0085] The terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily understood as specific order or sequence. In addition, in the description with reference to the drawings, the same reference signs indicate the same elements in different drawings.

[0086] As used herein, the term "includes" and its variants are open-ended, meaning that "includes but is 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 additional embodiment." The term "some embodiments" means "at least some embodiments." Related terms have similar meanings.

[0087] In the description of the present disclosure, unless otherwise specified, "multiple" refers to two or more than two, and other quantifiers are similar; "at least one", "one or more" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one a can represent any number of a; for another example, one or more of a, b and c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple; "and / or" is a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " represents an "or" relationship between the associated objects.

[0088] In the embodiments of the present disclosure, although the operations or steps are described in a specific order in the accompanying drawings, it should not be understood as requiring the operations or steps to be performed in the specific order or serial order shown, or requiring all the operations or steps to be performed to obtain the desired results. In the embodiments of the present disclosure, the operations or steps can be performed in series; the operations or steps can also be performed in parallel; or a part of the operations or steps can be performed.

[0089] Before introducing the map data determination method, storage medium, electronic device and program product provided by the present disclosure, first introduce the application scenarios involved in each embodiment of the present disclosure. In the early stage of the development of automatic driving technology, due to the limited perception range and computing power of the perception algorithm of the automatic driving vehicle, it is impossible to give accurate and rich road network scene information on the road, and the high-precision map often contains detailed road model, lane model, road component, road attribute and other information. With the help of high-precision map, the decision planning algorithm in automatic driving can more completely understand the surrounding environmental information, and mainly focus on dealing with the surrounding traffic and pedestrian flow, and make more reasonable and safe decisions after mastering more information, so in the early stage of the development of automatic driving technology, high-precision map is indispensable in automatic driving, forming a driving scheme of emphasizing map and de-emphasizing perception.

[0090] The expression of the high-precision map contains almost all road elements and road objects, and is very complex in expression. Very fine visualization expression is required for all elements, and the engineering quantity of mapping is large, and the cost of mapping is high. With the development of automatic driving technology, the perception algorithm of the automatic driving vehicle has been relatively mature, and a driving scheme of heavy perception and light map has been gradually formed, that is, the dependence of the automatic driving vehicle on the map is lower and lower. Based on the above background, the inventors found that using the expression method of the high-precision map in the above background would have the following problems:

[0091] Firstly, the map element data of the high-precision map is relatively complex. The entire road network needs very fine expression whether it is a simple road section road structure or a complex intersection road structure, and the workload is large and the mapping cost is high.

[0092] Secondly, the map element is redundant. With the enhancement of the ability of the vehicle sensor and the enhancement of the perception algorithm, the positioning ability of the vehicle is also improving, and the demand for various elements in the high-precision map is lower and lower. The excessive rich element data displayed in the high-precision map causes data redundancy to a certain extent.

[0093] Thirdly, due to the characteristics of high precision and high richness of elements of the high-precision map, fine expression is required for all elements. In the case of needing to update the data, there is a problem of difficulty in updating.

[0094] In order to solve the above technical problems, the present application provides a map data determination method, a storage medium, an electronic device and a program product, which can determine a target element point with representativeness in a target road section according to road section data, and then determine an element attribute corresponding to the target element point. Then, the element attribute is associated with the target element point. In this way, the map data used to generate the map only contains the associated target element point, and the detailed road section data does not need to be directly displayed on the map, but is stored in the form of element attribute through the association mode. The expression of the map data is more concise, the data quantity is smaller, and the mapping cost of the map can be greatly reduced.

[0095] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0096] Figure 1 is a flowchart of a map data determination method according to an example embodiment, as Figure 1 shown, the method can include the following steps:

[0097] In step S101, the road section data corresponding to the target road section is obtained.

[0098] The target road segment includes at least one lane, and the road segment data is used to characterize the data corresponding to road elements on the target road segment. For example, the road segment data may include, but is not limited to, lane line data corresponding to lane lines, road segment boundary line data corresponding to road segment boundary lines, stop line data corresponding to stop lines, and road marking data corresponding to road markings, etc.

[0099] In some embodiments, the target road segment can be obtained in the following ways:

[0100] S1, obtain the road data corresponding to the target road.

[0101] The target road can be a road within the target area that travels in the same direction, and the road data can be the data corresponding to the road elements on the target road.

[0102] S2, Based on the road data and preset division conditions, determine at least one division position corresponding to the target road.

[0103] The preset division conditions may include one or more of the following: a change in lane line attributes; a change in road attributes; the existence of a forking intersection; or the presence of traffic restriction signs. For example, a change in lane line attributes may include changes in lane line pattern, lane line color, or lane type. A change in road attributes may include a change from a main road to a secondary road, or from a regular road to a highway. Traffic restriction signs may include stop lines, speed limit signs, and no-entry signs. Forking intersections may include crossroads, forks in the road, or T-junctions.

[0104] In this step, based on the road data, it can be determined whether there are road locations on the target road that meet the preset division conditions, and the road locations that meet the preset division conditions are used as the division locations (also known as break locations).

[0105] S3, based on the at least one division location, divide the target road into at least one sub-segment.

[0106] For example, with Figure 2 For example, among which, Figure 2 In (a), the lane markings of the lane containing point m have changed from dashed lines to solid lines. This means that... Figure 2 (a) The point where the lane alignment changes is used as the dividing point. Figure 2 (a) The target road is divided into sub-segment A1 and sub-segment B1. Figure 2 In (b), the number of lanes on the lane line where point n is located has changed from two to one. This can be... Figure 2 (b) The point where the number of lanes changes is used as the dividing point. Figure 2The target road in (a) is divided to obtain sub-road section A2 and sub-road section B2.

[0107] S4, any one of the at least one sub-road section is taken as the target road section.

[0108] For example, sub-road section A1 in (a) can be taken as the target road section, and sub-road section B1 can also be taken as the target road section. Figure 2

[0109] In step S102, according to the road section data, a target element point corresponding to the target road section is determined.

[0110] The target element point may, for example, include a lane point, a stop line point, and a polygon point.

[0111] In this step, according to the road section data, representative lane points, stop line points, and polygon points and other target element points on the target road section are determined to replace the complex element information in the high-definition map through the target element points.

[0112] In step S103, according to the road section data, an element attribute corresponding to the target element point is determined.

[0113] For example, if the target element point includes a lane point, the element attribute may include lane line type, lane number, lane type, total number of lanes, lane width, lane direction, lane state, and current lane turning information and other attribute information related to the lane line. If the target element point includes a stop line point, the element attribute may include stop line coordinates, stop line type, stop line style and other attribute information related to the stop line. If the target element point includes a polygon point, the element attribute may include polygon coordinates, polygon type (such as pedestrian crossing type and ground arrow type), and polygon style and other attribute information related to the polygon.

[0114] In step S104, the element attribute is associated with the target element point, and according to the associated target element point, map data corresponding to the target road section is determined.

[0115] In this step, in order to facilitate data storage and reduce data storage pressure, the element attribute can be represented by a specific code and mapped with the target element point, so that the element attribute is associated with the target element point. After the element attribute is associated with the target element point, the map data corresponding to the target road section can be determined according to the associated target element point.

[0116] ​For example, in a case where the target element points include lane key points, stop line points, and road surface marking points, the element attribute corresponding to the lane key points can be mapped to the lane key points, the element attribute corresponding to the stop line points can be mapped to the stop line points, and the element attribute corresponding to the road surface marking points can be mapped to the road surface marking points.

[0117] In actual application, the corresponding map can be obtained by rendering according to the map data. In this way, only the target element points are contained in the map rendered according to the associated target element points, and specific road segment data is not rendered, which greatly reduces the drawing cost. Meanwhile, the element data related to the target element points in the road segment data and the element attribute are stored in the form of element attribute and are not visually expressed, which is more concise in expression and smaller in data amount. Moreover, when map updating is needed in the future, only the element attribute associated with the target element points needs to be modified, which greatly improves the updating efficiency.

[0118] By using the above method, the representative target element points in the target road segment can be determined according to the road segment data, and the element attribute corresponding to the target element points can be determined. Then, the element attribute is associated with the target element points. In this way, the map data used to generate the map only contains the associated target element points, and the detailed road segment data does not need to be directly displayed on the map, but is stored in the form of element attribute through association. This makes the expression of the map data more concise, the data amount smaller, and the drawing cost of the map greatly reduced.

[0119] The above step S102 will be described in detail below.

[0120] In a possible implementation, the road segment data includes lane line data corresponding to at least one lane, and the target element points include lane key points. Correspondingly, as shown in Figure 3 The step S102 of determining the target element points corresponding to the target road segment according to the road segment data can include the following steps.

[0121] In step S1021, the lane center line corresponding to the target road segment is determined according to the lane line data.

[0122] The lane line data may, for example, include lane line type, lane number, lane type, total number of lanes, lane width, lane direction, lane state, and current lane turning information.

[0123] In this step, firstly, the traffic direction corresponding to the target road segment can be determined based on the lane line data. Then, multiple lane lines corresponding to the at least one lane are determined. Next, based on the traffic direction, the leftmost and rightmost lane lines corresponding to these multiple lane lines are determined. Finally, the lane centerline is determined based on the leftmost and rightmost lane lines.

[0124] Specifically, shape points (points representing changes in curvature on the leftmost and rightmost lane lines) can be determined separately. For the leftmost lane line, these shape points are projected onto the rightmost lane line to obtain projection points. Then, the midpoints of the lines connecting each shape point on the leftmost lane line to its corresponding projection point on the rightmost lane line are connected to obtain the first centerline. Similarly, for the rightmost lane line, these shape points are projected onto the leftmost lane line to obtain projection points. Then, the midpoints of the lines connecting each shape point on the rightmost lane line to its corresponding projection point on the leftmost lane line are connected to obtain the second centerline. Finally, the first and second centerlines are fitted to obtain the lane centerline. This lane centerline can also be referred to as the road link.

[0125] For example, with Figure 4 For example, by projecting the shape points on the leftmost and rightmost lane lines respectively, we obtain their projection points on the other lane line. Then, by determining the midpoint of the line connecting the shape point and the projection point, and connecting multiple midpoints, we obtain their corresponding centerlines. After fitting the two centerlines, we can obtain the corresponding lane centerline. For example, Figure 4 The center line of the lane corresponding to sub-segment A1 is lane center line 2, and the center line of the lane corresponding to sub-segment B1 is lane center line 1.

[0126] In step S1022, the key points of the lane are determined based on the lane centerline.

[0127] In this step, firstly, based on the direction of traffic, the starting point corresponding to the center line of the lane can be determined. Then, the starting point corresponding to the center line of the lane can be used as the key point of the lane.

[0128] For example, with Figure 4 For example, the lane key point corresponding to sub-segment A1 is lane key point 2, and the lane key point corresponding to sub-segment B1 is lane key point 1.

[0129] Accordingly, in step S103 above, determining the element attributes corresponding to the target element point based on the road segment data may include: using the lane line data and the lane centerline as the element attributes corresponding to the lane key point.

[0130] For example, in this step, the lane center line can also be used as an element attribute of lane key points and mapped. For example, Figure 4 Lane centerline 2 is an element attribute of lane key point 2, and lane centerline 1 is an element attribute of lane key point 1.

[0131] Since the lane centerline is determined based on the lane lines of the target road segment, it reflects the changing trend of the lane lines on that segment. Considering that lane line changes are also information of great interest to users in practical applications, in some embodiments, to more clearly display lane line changes, the aforementioned determination of the map data corresponding to the target road segment based on the associated target element points may include: determining the map data corresponding to the target road segment based on the associated target element points and the lane centerline. In other words, when generating the map, the lane centerline can be used as map data, meaning it is also rendered, thus more clearly and intuitively displaying the lane line changes of the current target road segment, making it easier for users to observe.

[0132] To facilitate the display of lane center lines, in this embodiment, the relevant data corresponding to the lane center lines can also be stored separately and associated with the lane center lines. As shown in Table 1, the lane center line code (Link_id) and the coordinates of the lane center lines (Link_Geom) can be stored separately.

[0133] Name Code Value Range and Description Lane Centerline Encoding Link_id Primary Key Lane Centerline Geometry Link_Geom Longitude and Latitude Coordinates

[0134] Table 1

[0135] by Figure 5 For example, existing high-precision maps represent road models in great detail. For instance, taking lane group GroupA as an example, GroupA includes lane line geometry and complete lane attribute information. For example, in GroupA, lane line types are solid, dashed, dashed, solid; lane numbers from left to right are lane1, lane2, lane3; and lane types are ordinary lane, ordinary lane, ordinary lane, etc., all of which are directly drawn on the map in a visual manner. However, using the method provided in this disclosure, it is not necessary to draw all the lane line geometry. It is only necessary to store all lane line information, such as lane line type, lane number, lane type, number of lanes, and lane width, in the lane key points on the generated lane centerline.

[0136] In some embodiments, the road segment data further includes road segment boundary line data. Accordingly, the above-mentioned use of the lane line data and the lane center line as element attributes corresponding to the lane key point may include: using the road segment boundary line data, the lane line data, and the lane center line as element attributes corresponding to the lane key point.

[0137] It is considered that there are some road section boundary lines, such as guardrails, road edges, geographical boundaries, virtual geographical boundaries, etc. on the actual road, which are also important elements to be concerned during the driving of the vehicle. As shown in Figure 6 The road section boundary line is often outside the lane line, such as the road edge, the guardrail, etc., which can be attributed to the element attribute corresponding to the lane key point. Therefore, in the embodiment, the road section boundary line data corresponding to the road section boundary line can also be used as the element attribute corresponding to the lane key point. The road section boundary line data may, for example, include boundary line coordinates, boundary type, etc.

[0138] For example, Table 2 below is a specification table of the road section boundary line data. As shown in Table 2, different names are used to represent different road section boundary line data, wherein Boundary_id is used to represent the road section boundary line code, Lane_section_id is used to represent the target road section code associated with the road section boundary line, Boundary_Geom is used to represent the geometric coordinates of the road section boundary line, and Boundary_Type is used to represent the boundary type of the road section boundary line.

[0139] For example, Boundary_Type = 1 can represent a guardrail, Boundary_Type = 2 can represent a road edge, Boundary_Type = 3 can represent a geographical boundary, and Boundary_Type = 4 can represent a virtual geographical boundary.

[0140]

[0141] Table 2

[0142] It should be noted that the above examples are only illustrative, and the present disclosure is not limited thereto. The corresponding representation method can also be set according to actual needs.

[0143] In another possible implementation, the road section data further includes: stop line data corresponding to a stop line on the target road section, the target element point includes a stop line point, and accordingly, as shown in Figure 7 The step S102 of determining the target element point corresponding to the target road section according to the road section data can include the following steps:

[0144] In step S1023, the target stop line corresponding to the target road section is determined according to the stop line data.

[0145] The stop line data may, for example, include stop line coordinates, stop line types (such as stop lines, stop and yield lines, slow and yield lines, virtual stop lines, etc.), stop line styles (such as double solid lines, double dashed lines, single dashed lines, single solid lines, virtual lines, etc.), etc.

[0146] In this step, the target stop line on the target road segment can be determined based on the stop line coordinates in the stop line data.

[0147] In step S1024, the stop line point is determined based on the target stop line and the lane center line.

[0148] In this step, the intersection of the target stop line and the lane center line can be determined based on the first coordinate position corresponding to the target stop line and the second coordinate position corresponding to the lane center line, and this intersection point can be used as the stop line point.

[0149] For ease of understanding, Figure 8 The diagram shows a method for determining the stop line point, such as... Figure 8 As shown, this includes eight lane center lines: lane center line 1, lane center line 2, lane center line 3, lane center line 4, lane center line 5, lane center line 6, lane center line 7, and lane center line 8, and four stop lines (i.e., the stop line geometry shown in the figure). [The text abruptly ends here.] Figure 8 It can be seen that the target road segments containing lane center lines 1, 3, 6, and 7 intersect with the stop line. Therefore, Figure 8 The stop line point 1 corresponding to lane center line 1, the stop line point 2 corresponding to lane center line 3, the stop line point 3 corresponding to lane center line 6, and the stop line point 4 corresponding to lane center line 7 can be obtained respectively.

[0150] Accordingly, in step S103 above, determining the element attribute corresponding to the target element point based on the road segment data may include: using the stop line data as the element attribute corresponding to the stop line point.

[0151] In some embodiments, stop line data can be stored as element attributes corresponding to stop line points on the stop line points. In this way, complex and redundant stop line data can be expressed in a concise way through the form of stop line points.

[0152] For example, the following Table 3 is a specification table corresponding to the stop line data, as shown in Table 3, different names are used to represent different stop line data, wherein Stopline_id is used to represent the stop line code, Lane_id is used to represent the associated lane code associated with the stop line, Stopline_Geom is used to represent the geometric coordinates of the stop line, Stopline_Type is used to represent the type of stop line. For example, Stopline_Type = 1 represents a stop line, Stopline_Type = 2 represents a stop and yield line, Stopline_Type = 3 represents a slow and yield line, and Stopline_Type = 4 represents a virtual stop line. Stopline_Shape is used to represent the stop line style. For example, Stopline_Shape = 1 represents a double solid line, Stopline_Shape = 2 represents a double dashed line, Stopline_Shape = 3 represents a single dashed line, Stopline_Shape = 4 represents a single solid line, and Stopline_Shape = 5 represents a virtual line.

[0153]

[0154] Table 3

[0155] It should be noted that the above examples are only exemplary, and the present disclosure is not limited thereto, and the corresponding representation method can also be set according to the actual needs.

[0156] In another possible implementation, the road segment data includes road surface marking data corresponding to road surface markings on the target road segment, and the target element point includes a road surface marking point. Accordingly, as shown in Figure 9 The step S102 of determining the target element point corresponding to the target road segment according to the road segment data can include the following steps:

[0157] In step S1025, the road surface markings contained in the target road segment are determined according to the road surface marking data.

[0158] The road surface marking data can include road surface marking coordinates, road surface marking types (pedestrian crossings, ground arrows, etc.), road surface marking subtypes (such as straight, straight or left turn, left turn, right turn, straight or right turn, U-turn, straight or U-turn, left turn or U-turn, left and right turn, left turn or left merge, straight or left turn or right turn, etc.), etc.

[0159] In this step, the road surface markings contained in the target road segment can be determined according to the road surface marking coordinates in the road surface marking data.

[0160] In step S1026, the road surface mark point is determined according to the road surface mark.

[0161] In this step, first, the center point corresponding to the minimum polygonal face where the road surface mark is located can be determined. Then, the road surface mark point can be determined according to the center point.

[0162] The center point can be obtained by obtaining the vertex coordinates corresponding to each vertex of the minimum polygonal face where the road surface mark is located, and taking the average of all vertex coordinates as the coordinate position of the center point. For example, the x coordinate of the center point can be obtained by adding the x values of all vertex coordinates and dividing by the number of vertices. Similarly, the y coordinate of the center point can be obtained by adding the y values of all vertex coordinates and dividing by the number of vertices, thus obtaining the center point position (x, y).

[0163] Specifically, determining the road surface mark point according to the center point can include the following two ways.

[0164] Way one, taking the center point as the road surface mark point.

[0165] Way two, first, determining a projection line that is perpendicular to the passing direction of the target road section corresponding to the center point. Then, obtaining the lane center line corresponding to the target road section, determining the intersection position of the projection line and the lane center line, and taking the point corresponding to the intersection position as the road surface mark point.

[0166] For ease of understanding, the following illustrates the above two ways.

[0167] First, for way one, Figure 10 a schematic diagram of road surface mark point determination is shown, as Figure 10 shown, which contains eight lane center lines, namely lane center line 1, lane center line 2, lane center line 3, lane center line 4, lane center line 5, lane center line 6, lane center line 7 and lane center line 8, and includes four directional pedestrian crossings. First, the minimum polygonal face where each pedestrian crossing is located is determined, and then the center point corresponding to each minimum polygonal face is determined, so that the corresponding road surface mark point is obtained. As Figure 10 shown, it includes four road surface mark points, namely road surface mark point 1, road surface mark point 2, road surface mark point 3 and road surface mark point 4.

[0168] Second, for way two, Figure 11 another schematic diagram of road surface mark point determination is shown in Figure 11As shown, this includes eight lane center lines: lane center line 1, lane center line 2, lane center line 3, lane center line 4, lane center line 5, lane center line 6, lane center line 7, and lane center line 8. The sub-segment corresponding to lane center line 1 includes four ground arrows, the sub-segment corresponding to lane center line 3 includes three ground arrows, the sub-segment corresponding to lane center line 6 includes three ground arrows, and the sub-segment corresponding to lane center line 7 includes two ground arrows. Taking the sub-segment corresponding to lane center line 3 as an example, firstly, the center point of the rectangle containing the ground arrow can be determined, and then the projection line corresponding to that center point (i.e.,...) can be determined. Figure 11 The dotted line passing through the center point (in the diagram). The intersection of this projection line and lane center line 3 is taken as the road marking point corresponding to the target road segment, thus obtaining road marking point 2 corresponding to lane center line 3. Based on the same method, road marking point 1 corresponding to lane center line 1, road marking point 3 corresponding to lane center line 6, and road marking point 4 corresponding to lane center line 7 can be obtained.

[0169] In addition, in some embodiments, the road marking points can be given corresponding names (IDs) according to different types of road markings. For example, the road marking point corresponding to a pedestrian crossing can be called a Grosswalkpoint, and the road marking point corresponding to a ground arrow can be called an Arrowpoint. Of course, the above is only an illustrative example, and this disclosure is not limited thereto; it can also be set according to actual needs.

[0170] Accordingly, in step S103 above, determining the element attribute corresponding to the target element point based on the road segment data may include: using the road surface identification data as the element attribute corresponding to the road surface identification point.

[0171] In some embodiments, road marking data can be stored as element attributes corresponding to road marking points on the road marking points. In this way, complex and redundant road data can be expressed in a concise way through road marking points.

[0172] For example, the following Table 4 is a specification table corresponding to the road marking data, as shown in Table 4, different names are used to represent different road marking data, wherein RoadMarking pg id is used to represent road marking encoding, Lane section id is used to represent target lane section encoding associated with the road marking, Lane id is used to represent associated lane encoding associated with the road marking, RoadMarking pg Geom is used to represent the geometric coordinates of the road marking, RoadMarking pg Type is used to represent the type of road marking. For example, RoadMarking pg Type = 1 means that the road marking is a pedestrian crossing, RoadMarking pg Type = 2 means that the road marking is a ground arrow. RoadMarking pg Subtype is used to represent the road marking subtype (hereinafter referred to as Subtype). For example, Subtype = 201 means that the ground arrow is straight, Subtype = 202 means that the ground arrow is straight or left turn, Subtype = 203 means that the ground arrow is left turn, Subtype = 204 means that the ground arrow is right turn, Subtype = 205 means that the ground arrow is straight or right turn, Subtype = 206 means that the ground arrow is U-turn, Subtype = 207 means that the ground arrow is straight or U-turn, Subtype = 208 means that the ground arrow is left turn or U-turn, Subtype = 209 means that the ground arrow is left and right turn, Subtype = 210 means that the ground arrow is left turn or left merge, Subtype = 211 means that the ground arrow is straight or left turn or right turn.

[0173]

[0174] Table 4

[0175] It should be noted that the above examples are only exemplary, and the present disclosure is not limited thereto, and the corresponding representation method can also be set according to actual needs.

[0176] It should be noted that the above examples are only exemplary, and the present disclosure is not limited thereto, and the corresponding representation method can also be set according to actual needs.

[0176] It should be noted that the above examples are only exemplary, and the present disclosure is not limited thereto, and the corresponding representation method can also be set according to actual needs.

[0176] It should be noted that the above examples are only exemplary, and the present disclosure is not limited thereto, and the corresponding representation method can also be set according to actual needs.

[0177] For example, the lane topological relationship between the target road segment and the adjacent road segment can be determined according to the adjacent road segment data and the road segment data. Then, the lane topological relationship is taken as the element attribute corresponding to the target element point. Specifically, for each lane key point, the lane topological relationship between the target road segment and the adjacent road segment can be determined according to the lane key points corresponding to the adjacent road segment. The lane topological relationship is used to express the lane connectivity relationship, record the entering lane information and the exiting lane information, and the type of the lane connectivity relationship. The lane connectivity relationship may include, for example, lane continuity (the lane continuity means that the lane line is continuous, and there is no cross-line merging), lane merging (the lane merging means that when the number of lanes is not equal, the expanded or narrowed lane is expressed as lane merging, and the lane merging is divided into lane left merging and lane right merging, for example, the lane left merging in (b)), lane separation (the lane separation means that the lane changes from one lane to multiple lanes), lane combination (the lane combination means that the lane changes from multiple lanes to one lane), lane interruption (the lane interruption means that the lane is interrupted in the real ground, and there is no subsequent lane for the lane stub), and virtual connection at an intersection. Figure 2

[0178] It should be noted that the lane topological relationship expresses the connectivity relationship between adjacent sub-road segments, and the topological relationship does not need to be established between non-adjacent sub-road segments. The adjacent road segment can refer to directly connected adjacent road segments, and can also refer to virtually connected adjacent road segments.

[0179] The following will illustrate the two types of adjacent road segments.

[0180] As shown in FIG. 6, the target road segment and the adjacent road segment 1 and the adjacent road segment 2 in FIG. 6 belong to directly connected adjacent road segments, and the adjacent road segment 1 is the predecessor road segment of the target road segment, and the adjacent road segment 2 is the successor road segment of the target road segment. As shown in FIG. 7, the sub-road segment where the target element point 1 is located and the sub-road segment where the target element point 2 is located, the sub-road segment where the target element point 4 is located, and the sub-road segment where the target element point 8 is located belong to virtually connected adjacent road segments. Figure 12 Figure 12 Figure 13 Figure 13 The following will illustrate the way of determining the lane topological relationship for the two types of adjacent road segments.

[0181] For directly connected adjacent road segments, as shown in FIG. 6, the lane topological relationship between the target road segment and the adjacent road segment 1 can be determined according to the lane key points of the adjacent road segment 1. The lane topological relationship between the target road segment and the adjacent road segment 2 can be determined according to the lane key points of the adjacent road segment 2.

[0182] For directly connected adjacent road segments, as shown in FIG. 6, the lane topological relationship between the target road segment and the adjacent road segment 1 can be determined according to the lane key points of the adjacent road segment 1. The lane topological relationship between the target road segment and the adjacent road segment 2 can be determined according to the lane key points of the adjacent road segment 2. Figure 14 Figure 14 ​​​​​The target element point includes target element point 1, target element point 2, target element point 3, and target element point 4. For target element point 1, its corresponding lane topology can be established as shown in Table 5. The entry lane numbers corresponding to the target road segment where target element point 1 is located include lane A1, lane A2, and lane A3. When the entry lane number corresponding to the target road segment where target element point 1 is located includes lane A1, the corresponding exit target element point is target element point 2, the corresponding exit lane number is lane B1, and the corresponding lane connectivity is continuous. When the entry lane number corresponding to the target road segment where target element point 1 is located includes lane A2, the corresponding exit target element point is target element point 2, the corresponding exit lane number is lane B2, and the corresponding lane connectivity is continuous. When the entry lane number corresponding to the target road segment where target element point 1 is located includes lane A3, a fork in the road occurs. The corresponding exit target element points are target element point 2 and target element point 3. The exit lane number corresponding to target element point 2 is lane B3, and the corresponding lane connectivity is continuous. The exit lane number corresponding to target element point 3 is lane D, and the corresponding lane connectivity is separated.

[0183]

[0184] Table 5

[0185] For adjacent road segments of virtual connections, such as Figure 13 As shown, Figure 13 Target element points 1, 3, 6, and 7 all belong to the lane end point (Lane_End_Point), while target element points 2, 4, 5, and 8 all belong to the lane start point (Lane_Start_Point). For... Figure 13The corresponding lane topology relationship of each target element point can be established as shown in Table 6. Taking target element point 1 as an example, the corresponding entering lane sequence numbers of the sub-road segment where the target element point 1 is located include 1, 2, 3 and 4. Among them, when the corresponding entering lane sequence number of the sub-road segment where the target element point 1 is located includes 1, the corresponding exiting target element point is target element point 4, the corresponding exiting lane sequence numbers are respectively the lanes with lane sequence numbers 1, 2 and 3 in the sub-road segment where the target element point 4 is located, and the corresponding inter-lane connectivity relationship is virtual connection at the intersection. When the corresponding entering lane sequence number of the sub-road segment where the target element point 1 is located includes 2, the corresponding exiting target element point is target element point 2, the corresponding exiting lane sequence numbers are respectively the lanes with lane sequence numbers 1 and 2 in the sub-road segment where the target element point 2 is located, and the corresponding inter-lane connectivity relationship is virtual connection at the intersection. When the corresponding entering lane sequence number of the target road segment where the target element point 1 is located includes 3, the corresponding exiting target element point is target element point 2, the corresponding exiting lane sequence number is the lane with lane sequence number 3 in the sub-road segment where the target element point 2 is located, and the corresponding inter-lane connectivity relationship is virtual connection at the intersection. When the corresponding entering lane sequence number of the sub-road segment where the target element point 1 is located includes 4, the corresponding exiting target element point is target element point 8, the corresponding exiting lane sequence numbers are respectively the lanes with lane sequence numbers 1 and 2 in the sub-road segment where the target element point 8 is located, and the corresponding inter-lane connectivity relationship is virtual connection at the intersection. The corresponding entering lane sequence number, exiting target element point, exiting lane sequence number and inter-lane connectivity relationship of the remaining target element points in Table 6 can be referred to in the following table, which will not be described one by one here.

[0186]

[0187]

[0188] Table 6

[0189] Figure 15 is a flowchart of another method for determining map data according to an exemplary embodiment, as shown in Figure 15 The method can further include the following steps:

[0190] In step S105, the road segment scene corresponding to the target road segment is determined.

[0191] In step S106, in the case where it is determined that the road segment scene includes a target scene, the map data corresponding to the target road segment is determined according to the road segment data.

[0192] The target scene can be a pre-set complex scene, for example, various types of intersections, divergent intersections, etc. For the target road section in such a scene, the initial road section data can be used as the map data corresponding to the target road section. In other words, for this part of the target road section, the complete road section data can be retained for visual display, and no target element point is generated in the target road section, i.e., the target road section is expressed in detail.

[0193] For example, as shown in FIG. 7, for the virtual guide line in the intersection, the detailed display can be in the form of Figure 13 , and for the part other than the intersection, the display can be in the form of the target element point. Figure 13

[0194] Correspondingly, the step S102 of determining the target element point corresponding to the target road section according to the road section data can include: in a case where it is determined that the road section scene does not include the target scene, determining the target element point corresponding to the target road section according to the road section data.

[0195] For ease of understanding, the following illustrates the step S104 of associating the element attribute with the target element point. The association between the element attribute and the target element point can be achieved by mapping, for example, the element attribute can be mapped by the following table.

[0196] As shown in Table 7, different names represent different element attributes, for example, which can include target element point encoding, target element point coordinates, associated lane center line encoding, target element point type, target element point subtype, lane line type, lane type, lane number, total number of lanes, lane width, lane direction, lane state, current turning information, stop line style, road boundary line, ground arrow subtype, and the number of ground arrows in the target road section.

[0197] ​If the line types contained in the target road section are solid line, dashed line, dashed line, and solid line in turn, the line type information of the target road section can be mapped into the target element point 1 (Point1) by Point1.Line_type=1, Point1.Line_type=2, Point1.Line_type=2, Point1.Line_type=1. If the road boundary line data corresponding to the target element point 1 is Boundary_Type=2 (i.e., indicating that the road boundary line corresponding to the target element 1 is a curb) according to the specification table shown in Table 2, Boundary_Type=2 can be mapped into Point1.Boundary_type=2, i.e., the curb contained in the target road section can be mapped into the target element point 1 (Point1). If the stop line data corresponding to the target element point 1 is Stopline_Type=2 (i.e., indicating that the target element point 1 is a stop line, and the type of the corresponding stop line is a stop-and-yield line) according to the specification table shown in Table 3, Stopline_Type=2 can be mapped into Point1.Point_type=2, Point1.Point_subtype=201, i.e., the stop-and-yield line contained in the target road section can be mapped into the target element point 1 (Point1). The remaining contents in Table 7 can be obtained with reference to the above description, which will not be enumerated and described one by one here.

[0198]

[0199]

[0200]

[0201]

[0202] Table 7

[0203] In order to reduce the data storage pressure, different road segment information can be stored in separate tables and associated with the target element points in Table 7. As shown in Table 8, a lane topology relationship mapping mode is shown, and different names represent different information in the lane topology relationship, for example, the lane topology code can be represented by Topology_id. If the entering direction road segment target element point number is 2, the information can be stored by In_point_id = 2. If the entering lane sequence number is 1, the information can be stored by In_lane_seq = 1. If the exiting direction road segment target element point number is 3, the information can be stored by Out_point_id = 3. If the exiting lane sequence number is 1, the information can be stored by Out_lane_seq = 1. If the lane connection relationship type is lane continuity, the information can be stored by Topology_type = 1.

[0204]

[0205] Table 8

[0206] As shown in Table 9, a ground arrow information mapping mode is shown, and different names represent different information in the ground arrow information, for example, the ground arrow code can be represented by Arrow_point_Rel_id, the ground arrow Arrow_Point point code can be represented by Point_id, and the ground arrow associated lane code can be represented by Lane_number.

[0207]

[0208] Table 9

[0209] It should be noted that the above examples are only illustrative, and the present disclosure is not limited thereto. The mapping mode can also be set according to actual needs.

[0210] By the method provided by the present disclosure, the number of elements in the map is less, and the main premise is to provide necessary lane information, appropriately reduce the element precision and the number of elements, and not express unnecessary information, so that the element order is lighter. For simple road segment road structure, no detailed vector expression is made, but the element attributes of the target element points are stored, the expression mode is more concise, the data amount is smaller, and only in complex scenes such as intersections and bifurcations is the expression detailed, which can greatly reduce the mapping cost.

[0211] By using the above method, the representative target element point in the target road section can be determined according to the road section data, and the element attribute corresponding to the target element point is determined. Then, the element attribute is associated with the target element point. In this way, the map data used for generating the map only contains the associated target element point, and the detailed road section data does not need to be directly displayed on the map, but is stored in the form of element attribute through the association manner. Therefore, the expression of the map data is more concise, the data amount is smaller, and the mapping cost of the map can be greatly reduced.

[0212] Figure 16 is a block diagram of a map data determination apparatus according to an example embodiment, as shown in Figure 16 The apparatus 200 includes:

[0213] The acquisition module 201 is configured to acquire road section data corresponding to a target road section; the target road section includes at least one lane, and the road section data is used to represent data corresponding to road elements on the target road section.

[0214] The first determination module 202 is configured to determine a target element point corresponding to the target road section according to the road section data.

[0215] The second determination module 203 is configured to determine an element attribute corresponding to the target element point according to the road section data.

[0216] The third determination module 204 is configured to associate the element attribute with the target element point, and determine map data corresponding to the target road section according to the associated target element point.

[0217] Optionally, the road section data includes lane line data corresponding to at least one lane, and the target element point includes a lane key point. The first determination module 202 is configured to determine a lane center line corresponding to the target road section according to the lane line data, and determine the lane key point according to the lane center line.

[0218] Optionally, the first determination module 202 is configured to determine a traffic direction corresponding to the target road section according to the lane line data, determine a plurality of lane lines corresponding to the at least one lane, determine a leftmost lane line and a rightmost lane line corresponding to the plurality of lane lines based on the traffic direction, and determine the lane center line according to the leftmost lane line and the rightmost lane line.

[0219] Optionally, the first determination module 202 is configured to determine a starting point corresponding to the lane center line based on the traffic direction, and take the starting point corresponding to the lane center line as the lane key point.

[0220] Optionally, the second determination module 203 is configured to take the lane line data and the lane center line as the element attribute corresponding to the lane key point.

[0221] Optionally, the road segment data further comprises road boundary line data, and the second determining module 203 is configured to take the road boundary line data, the lane line data and the lane center line as element attributes corresponding to the lane key points.

[0222] Optionally, the road segment data further comprises stop line data, and the target element point comprises a stop line point, and the first determining module 202 is configured to determine a target stop line corresponding to the target road segment according to the stop line data, and determine the stop line point according to the target stop line and the lane center line.

[0223] Optionally, the first determining module 202 is configured to determine an intersection of the target stop line and the lane center line according to a first coordinate position corresponding to the target stop line and a second coordinate position corresponding to the lane center line, and take the intersection as the stop line point.

[0224] Optionally, the second determining module 203 is configured to take the stop line data as element attributes corresponding to the stop line point.

[0225] Optionally, the road segment data comprises road surface identification data, and the target element point comprises a road surface identification point, and the first determining module 202 is configured to determine a road surface identification contained in the target road segment according to the road surface identification data, and determine the road surface identification point according to the road surface identification.

[0226] Optionally, the first determining module 202 is configured to determine a center point corresponding to a minimum polygon where the road surface identification is located, and determine the road surface identification point according to the center point.

[0227] Optionally, the second determining module 203 is configured to take the road surface identification data as element attributes corresponding to the road surface identification point.

[0228] Optionally, the target road segment is obtained in the following manner:

[0229] obtaining road data corresponding to a target road;

[0230] determining at least one division position corresponding to the target road according to the road data and a preset division condition;

[0231] dividing the target road into at least one sub-road segment according to the at least one division position;

[0232] taking any one of the at least one sub-road segment as the target road segment.

[0233] Optionally, the preset division condition comprises one or more of the following: a lane line attribute changes; a road attribute changes; a diverging intersection exists; a traffic restriction identification exists.

[0234] Optionally, as shown in Figure 17 the apparatus 200 further includes:

[0235] a fourth determining module 205, configured to determine, from the at least one sub-road segment, an adjacent road segment adjacent to the target road segment;

[0236] a fifth determining module 206, configured to determine, according to the road data, adjacent road segment data corresponding to the adjacent road segment;

[0237] the second determining module 203 is configured to determine, according to the adjacent road segment data and the road data, an element attribute corresponding to the target element point.

[0238] Optionally, the second determining module 203 is configured to determine, according to the adjacent road segment data and the road data, a lane topological relationship between the target road segment and the adjacent road segment; and take the lane topological relationship as the element attribute corresponding to the target element point.

[0239] Optionally, as shown in Figure 18 the apparatus 200 further includes:

[0240] a sixth determining module 207, configured to determine a road segment scene corresponding to the target road segment;

[0241] a seventh determining module 208, further configured to, in a case where the road segment scene includes a target scene, determine, according to the road data, map data corresponding to the target road segment.

[0242] Optionally, the first determining module 202 is configured to, in a case where the road segment scene does not include the target scene, determine, according to the road data, a target element point corresponding to the target road segment.

[0243] By using the above apparatus, a representative target element point in a target road segment can be determined according to road data, and an element attribute corresponding to the target element point can be determined. Then, the element attribute is associated with the target element point. In this way, map data used to generate a map only contains the associated target element point, and detailed road data does not need to be directly displayed on the map, but is stored in the form of an element attribute through association. This makes the expression of the map data more concise, the data volume smaller, and the cartography cost of the map greatly reduced.

[0244] Figure 19 is a block diagram of an electronic device 300 according to an example embodiment. As shown in Figure 19 the electronic device 300 can include a processor 301 and a memory 302. The electronic device 300 can further include one or more of a multimedia component 303, an input / output (I / O) interface 304, and a communication component 305.

[0245] The processor 301 is configured to control overall operations of the electronic device 300 to complete all or part of the steps in the above-described method of determining map data. The memory 302 is configured to store various types of data to support operations of the electronic device 300, which can include, for example, instructions for any application or method operating on the electronic device 300, and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk. The multimedia component 303 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 302 or transmitted through the communication component 305. The audio component further includes at least one speaker configured to output audio signals. The I / O interface 304 provides an interface between the processor 301 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 305 is configured to perform wired or wireless communication between the electronic device 300 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so the corresponding communication component 305 can include a Wi-Fi module, a Bluetooth module, and an NFC module.

[0246] In an exemplary embodiment, the electronic device 300 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the above-described method of determining map data.

[0247] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the above-described method of determining map data. For example, the computer-readable storage medium can be the above-described memory 302 including program instructions, which can be executed by the processor 301 of the electronic device 300 to complete the above-described method of determining map data.

[0248] In another exemplary embodiment, a computer program product including a computer program is also provided, which, when executed by a processor, implement the steps of the above-described method of determining map data.

[0249] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above-described embodiments. Various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0250] In addition, it should be noted that each specific technical feature described in the above-described specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present disclosure will not describe each possible combination manner.

[0251] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as disclosed by the present disclosure.

Claims

1. A method of determining map data, characterized by, The method comprises: obtaining road section data corresponding to a target road section; the target road section comprises at least one lane, and the road section data is used to represent data corresponding to road elements on the target road section; determining target element points corresponding to the target road section according to the road section data; wherein, in the case that the target element points comprise lane key points, the lane key points are starting points of a lane center line corresponding to the target road section; in the case that the target element points comprise stop line points, the stop line points are intersection points of a corresponding target stop line and the lane center line on the target road section; in the case that the target element points comprise road surface marking points, the road surface marking points are center points of a minimum polygon face on which a road surface marking included in the target road section is located; determining element attributes corresponding to the target element points according to the road section data; wherein, in the case that the target element points comprise lane key points, the element attributes comprise attribute information related to lane lines; in the case that the target element points comprise stop line points, the element attributes comprise attribute information related to stop lines; in the case that the target element points comprise road surface marking points, the element attributes comprise attribute information related to road surface markings; associating the element attributes with the target element points, and determining map data corresponding to the target road section according to the associated target element points; the association of the element attributes with the target element points comprises: in the case that the target element points comprise lane key points, mapping the element attributes corresponding to the lane key points to the lane key points; in the case that the target element points comprise stop line points, mapping the element attributes corresponding to the stop line points to the stop line points; in the case that the target element points comprise road surface marking points, mapping the element attributes corresponding to the road surface marking points to the road surface marking points.

2. The method of claim 1, wherein, The road section data comprises lane line data corresponding to at least one lane, and the target element points comprise lane key points, and the determination of the target element points corresponding to the target road section according to the road section data comprises: determining a lane center line corresponding to the target road section according to the lane line data; determining the lane key points according to the lane center line.

3. The method of claim 2, wherein, The determination of the lane center line corresponding to the target road section according to the lane line data comprises: determining a traffic direction corresponding to the target road section according to the lane line data; determining a plurality of lane lines corresponding to the at least one lane; determining a leftmost lane line and a rightmost lane line corresponding to the plurality of lane lines based on the traffic direction; determining the lane center line according to the leftmost lane line and the rightmost lane line.

4. The method of claim 3, wherein, The determination of the lane key points according to the lane center line comprises: determining a starting point corresponding to the lane center line based on the traffic direction; taking the starting point corresponding to the lane center line as the lane key point.

5. The method of claim 2, wherein, The determination of the element attributes corresponding to the target element points according to the road section data comprises: taking the lane line data and the lane center line as the element attributes corresponding to the lane key points.

6. The method of claim 5, wherein, The road segment data further comprises road segment boundary line data, and the lane line data and the lane center line are included as element attributes corresponding to the lane key points. The road segment boundary line data, the lane line data and the lane center line are included as element attributes corresponding to the lane key points.

7. The method of claim 2, wherein, The road segment data further comprises stop line data, the target element point comprises a stop line point, and the target element point corresponding to the target road segment is determined according to the road segment data. A target stop line corresponding to the target road segment is determined according to the stop line data. The stop line point is determined according to the target stop line and the lane center line.

8. The method of claim 7, wherein, The stop line point is determined according to the target stop line and the lane center line, comprising: An intersection of the target stop line and the lane center line is determined according to a first coordinate position corresponding to the target stop line and a second coordinate position corresponding to the lane center line. The intersection is included as the stop line point.

9. The method of claim 7, wherein, The element attribute corresponding to the target element point is determined according to the road segment data, comprising: The stop line data is included as the element attribute corresponding to the stop line point.

10. The method of claim 1, wherein, The road segment data comprises road surface identification data, the target element point comprises a road surface identification point, and the target element point corresponding to the target road segment is determined according to the road segment data. A road surface identification contained in the target road segment is determined according to the road surface identification data. The road surface identification point is determined according to the road surface identification.

11. The method of claim 10, wherein, The road surface identification point is determined according to the road surface identification, comprising: A center point corresponding to a minimum polygon face where the road surface identification is located is determined. The road surface identification point is determined according to the center point.

12. The method of claim 10, wherein, The element attribute corresponding to the target element point is determined according to the road segment data, comprising: The road surface identification data is included as the element attribute corresponding to the road surface identification point.

13. The method of claim 1, wherein, The target road segment is obtained by: Obtaining road data corresponding to a target road; Determining at least one division position corresponding to the target road according to the road data and a preset division condition; Dividing the target road into at least one sub-road segment according to the at least one division position; Any one of the at least one sub-road segment is taken as the target road segment.

14. The method of claim 13, wherein, The preset division condition comprises one or more of: A lane line attribute changes; A road attribute changes; A divergent intersection exists; A traffic restriction identification exists.

15. The method of claim 13, wherein, The method further comprises: Determining a neighboring road segment adjacent to the target road segment from the at least one sub-road segment; Determining neighboring road segment data corresponding to the neighboring road segment according to the road data; The element attribute corresponding to the target element point is determined according to the road segment data and the neighboring road segment data, comprising: A lane topology relationship between the target road segment and the neighboring road segment is determined according to the road segment data and the neighboring road segment data.

16. The method of claim 15, wherein, ​ ​ The lane topology relationship is taken as an element attribute corresponding to the target element point.

17. The method of any one of claims 1 to 16, wherein, The method further comprises: determining a road segment scenario corresponding to the target road segment; in a case where it is determined that the road segment scenario comprises a target scenario, determining, according to the road segment data, map data corresponding to the target road segment.

18. The method of claim 17, wherein, The determining, according to the road segment data, of the target element point corresponding to the target road segment comprises: in a case where it is determined that the road segment scenario does not comprise a target scenario, determining, according to the road segment data, a target element point corresponding to the target road segment.

19. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 18.

20. An electronic device, comprising: comprises: a memory having stored thereon a computer program; a processor configured to execute the computer program in the memory to implement the steps of the method of any one of claims 1 to 18.

21. A computer program product, characterised in that, The computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 18. comprises a computer program which, when executed by a processor, implements the steps of the method of any one of claims 1 to 18.

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