Lane speed limit determination method, device, equipment, medium and program product

Abstract

The embodiments of the present application provide a lane speed limit determination method, device, equipment, medium and program product, which can be used in the field of high-precision map technology. In this method, after determining the speed limit value of a target lane segment among multiple lane segments by acquiring target speed limit object information, speed limit release object information and lane information, for the remaining lane segments, the speed limit values ​​of the remaining lane segments are determined according to the speed limit value of the target lane segment and the lane information. This solution determines the speed limit value of a lane segment through target speed limit object information, speed limit release object information and lane information, without the need for manual determination, and effectively improves the efficiency of determining the speed limit value.

Description

Technical Field

[0001] The present application relates to the field of high-precision map technology, and in particular to a lane speed limit determination method, device, equipment, medium and program product. Background Art

[0002] With the development of technology, more and more vehicles are equipped with intelligent driving functions. Vehicles can control their driving speed according to the lane speed limit in the high-precision map to ensure driving safety. Therefore, in the process of building a high-precision map, it is necessary to determine the lane speed limit.

[0003] In the prior art, lanes in high-precision maps have been preliminarily divided into multiple lane segments based on lane attributes and statutory speed limits. Different lane segments have different lane attributes and / or different statutory speed limits. The specific speed limit for each lane segment needs to be determined, which is usually determined manually based on the information in the high-precision map.

[0004] In summary, the existing technology uses a manual method to determine the lane speed limit, resulting in low efficiency in speed limit determination. Summary of the invention

[0005] The embodiments of the present application provide a lane speed limit determination method, apparatus, device, medium and program product to solve the problem of low efficiency of speed limit determination caused by manually determining lane speed limits in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a method for determining a lane speed limit, including:

[0007] Determine a speed limit value of a target lane segment among the multiple lane segments according to the acquired target speed limit object information, speed limit release object information and lane information;

[0008] For each lane segment among the multiple lane segments except the target lane segment, determining a speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information;

[0009] The target speed limit object information includes the position, object attributes and lane segment to which each target speed limit object belongs, the lane information includes the lane attributes and lane category of each lane segment, and the speed limit release object information includes the position of at least one speed limit release object and the lane to which each speed limit release object belongs.

[0010] In a possible implementation manner, determining the speed limit value of the target lane segment among the multiple lane segments according to the acquired target speed limit object information, the speed limit release object information and the lane information includes:

[0011] For each target speed limit object, taking the position of the target speed limit object as the starting point, searching for an end point along the driving direction according to the speed limit release object information and the lane information;

[0012] Taking a lane segment that intersects with the lane range from the starting point to the end point as a target lane segment;

[0013] The speed limit value of the target speed limit object is used as the speed limit value of the target lane segment.

[0014] In a possible implementation manner, the object type of each target speed limit object is a maximum speed limit type or a minimum speed limit type, and taking the position of the target speed limit object as a starting point and searching for an end point along the driving direction according to the speed limit release object information and the lane information includes:

[0015] taking the position of the next target speed limit object of the same object type as the target speed limit object in the driving direction as the first candidate point;

[0016] Taking the position of the target speed limit object as the starting point, searching for the speed limit release object along the driving direction until the speed limit release object is found for the first time, and taking the position of the found speed limit release object as the second candidate point;

[0017] Taking the position of the target speed limit object as the starting point, searching along the driving direction for a lane segment whose lane type is different from the lane segment to which the target speed limit object belongs and whose lane type is not an intersection lane until the lane segment is found for the first time, and taking the starting point of the found lane segment as the third candidate point;

[0018] The point among the first candidate point, the second candidate point and the second candidate point closest to the starting point is taken as the end point.

[0019] In a possible implementation manner, determining the speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information includes:

[0020] Determining whether a speed limit value has been determined for a lane segment adjacent to the lane segment;

[0021] If a speed limit value has been determined for a lane segment adjacent to the lane segment, determining the speed limit value of the lane segment according to the speed limit value of the adjacent lane segment;

[0022] If the speed limit values ​​of adjacent lane segments of the lane segment are not determined, the speed limit value of the lane segment is determined according to the lane type of the lane segment and the first preset speed limit value.

[0023] In a possible implementation manner, determining the speed limit value of the lane segment according to the lane type of the lane segment and the first preset speed limit value includes:

[0024] If the lane type of the lane segment is a special lane, the speed limit value of the lane segment is determined to be 0;

[0025] If the lane type of the lane segment is not a special lane, the speed limit value of the lane segment is determined as the first preset speed limit value.

[0026] In a possible implementation, the speed limit value of each lane segment includes a maximum speed limit value and a minimum speed limit value, and the method further includes:

[0027] For each lane segment, if the lane type of the lane segment is an intersection lane, updating the speed limit value of the lane segment to a second preset speed limit value;

[0028] For each lane segment, the maximum speed limit value among the maximum speed limit values ​​of the lane segment is used as the first speed limit value, and the minimum speed limit value among the minimum speed limit values ​​of the lane segment is used as the second speed limit value;

[0029] Determining whether the first speed limit value is greater than the second speed limit value;

[0030] If the first speed limit value is greater than the second speed limit value, updating the speed limit value of the lane segment to the first speed limit value and the second speed limit value;

[0031] If the first speed limit value is less than or equal to the second speed limit value, the speed limit value of the lane segment is updated according to whether the lane segment is a target lane segment, the first speed limit value, and the second speed limit value.

[0032] In a possible implementation, the method further includes:

[0033] For the same group of lane segments, with the driving direction as the positive direction, for each lane segment from left to right, if there is a lane segment on the left side of the lane segment, the speed limit value of the lane segment is updated according to the speed limit value of the lane segment on the left side of the lane segment. The projection positions of the same group of lane segments in the driving direction are the same.

[0034] In a possible implementation, the method further includes:

[0035] For each lane segment, if the length of the next lane segment of the lane segment is less than the preset first distance, determine whether the speed limit values ​​of the lane segment and the next two lane segments of the lane segment along the driving direction meet an increasing relationship or a decreasing relationship;

[0036] If the speed limit values ​​of the lane segment and the next two lane segments of the lane segment along the driving direction do not satisfy an increasing relationship and a decreasing relationship, the speed limit value of the next lane segment of the lane segment is updated to the speed limit value of the lane segment.

[0037] In a possible implementation, the method further includes:

[0038] For the same group of lane segments, the speed limit value of the road segment is determined according to the speed limit values ​​of the group of lane segments, and the projection positions of the same group of lane segments in the driving direction are the same.

[0039] In a possible implementation manner, before determining the speed limit value of the target lane segment among the multiple lane segments according to the acquired target speed limit object information, the speed limit release object information and the lane information, the method further includes:

[0040] Acquire initial speed limit object information, the speed limit release object information and the lane information, wherein the initial speed limit object information includes positions and object attributes of multiple initial speed limit objects, and the lane segment to which each initial speed limit object belongs;

[0041] Filtering the initial speed limit object according to the initial speed limit object information, the speed limit release object information and the lane information to obtain a first speed limit object;

[0042] Generate a new speed limit object according to the lane information, and the position and object attributes of each first speed limit object;

[0043] Each first speed limit object and each newly added speed limit object are used as the target speed limit object.

[0044] In a possible implementation manner, the screening the initial speed limit object according to the initial speed limit object information, the speed limit release object information and the lane information to obtain the first speed limit object includes:

[0045] For each lane segment, determining an upper speed limit screening threshold and a lower speed limit screening threshold of the lane segment according to the lane attribute of the lane segment;

[0046] For each lane segment, the initial speed limit object in the lane segment is screened according to the upper speed limit screening threshold and the lower speed limit screening threshold of the lane segment to obtain a second speed limit object;

[0047] The second speed limit objects are screened according to the object attribute of each second speed limit object and the lane attribute of each lane segment to obtain a third speed limit object;

[0048] According to the speed limit release object information, the third speed limit object is screened to obtain a fourth speed limit object;

[0049] For each lane segment, the fourth speed limit objects are screened according to the speed limit value of the fourth speed limit object corresponding to the lane segment to obtain the first speed limit object.

[0050] In a possible implementation, the filtering of the second speed limit objects according to the object attribute of each second speed limit object and the lane attribute of each lane segment to obtain the third speed limit object includes:

[0051] For each second speed limit object, if the object attribute of the second speed limit object is different from the lane attribute of the lane segment to which the second speed limit object belongs, the second speed limit object is taken as the first object to be deleted;

[0052] The first to-be-deleted objects in all the second speed limit objects are deleted to obtain a third speed limit object.

[0053] In a possible implementation manner, the filtering the third speed limit object according to the speed limit object release information to obtain the fourth speed limit object includes:

[0054] For each speed limit release object, starting from the position of the speed limit release object, in the lane to which the speed limit release object belongs, searching for a third speed limit object in the reverse direction of the driving direction until the third speed limit object is found for the first time, if the speed limit value of the found third speed limit object is different from the speed limit value of the speed limit release object, taking the third speed limit object as the second object to be deleted;

[0055] The second objects to be deleted in all the third speed limit objects are deleted to obtain a fourth speed limit object.

[0056] In a possible implementation manner, the object type of each initial speed limit object is a maximum speed limit type or a minimum speed limit type, and the fourth speed limit object is screened according to the speed limit value of the fourth speed limit object corresponding to the lane segment to obtain the first speed limit object, including:

[0057] The speed limit object with the largest speed limit value among the fourth speed limit objects of the maximum speed limit type is used as the fifth speed limit object;

[0058] The speed limit object with the smallest speed limit value among the fourth speed limit objects of the lowest speed limit type is used as the sixth speed limit object;

[0059] If the speed limit value of the fifth speed limit object is less than or equal to the speed limit value of the sixth speed limit object, the fourth speed limit object of the object type being the lowest speed limit type is taken as the third object to be deleted;

[0060] The third objects to be deleted in all the fourth speed limit objects are deleted to obtain the first speed limit object.

[0061] In a possible implementation manner, generating a new speed limit object according to the lane information and the position and object attributes of each first speed limit object includes:

[0062] For each first speed limit object, if the object attribute of the first speed limit object belongs to a preset attribute range, a new speed limit object is generated at the starting point of the lane segment to which the first speed limit object belongs, and the new speed limit object is the same as the first speed limit object;

[0063] For each first speed limit object, if the lane segment to which a reference point which is a preset second distance from the position of the first speed limit object along the driving direction belongs has a different lane attribute from the lane segment to which the first speed limit object belongs, a new speed limit object is generated at the starting point of the lane segment to which the reference point belongs, and the new speed limit object is the same as the first speed limit object.

[0064] In a second aspect, an embodiment of the present application provides a lane speed limit determination device, comprising:

[0065] Processing modules for:

[0066] Determine a speed limit value of a target lane segment among the multiple lane segments according to the acquired target speed limit object information, speed limit release object information and lane information;

[0067] For each lane segment among the multiple lane segments except the target lane segment, determining a speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information;

[0068] The target speed limit object information includes the position, object attributes and lane segment to which each target speed limit object belongs, the lane information includes the lane attributes and lane category of each lane segment, and the speed limit release object information includes the position of at least one speed limit release object and the lane to which each speed limit release object belongs.

[0069] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0070] Processor, memory, communication interface;

[0071] The memory is used to store executable instructions of the processor;

[0072] Wherein, the processor is configured to execute the lane speed limit determination method described in any one of the first aspects by executing the executable instructions.

[0073] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the lane speed limit determination method described in any one of the first aspects is implemented.

[0074] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the lane speed limit determination method described in any one of the first aspects.

[0075] The lane speed limit determination method, device, equipment, medium and program product provided in the embodiments of the present application, after determining the speed limit value of the target lane segment among multiple lane segments by acquiring the target speed limit object information, the speed limit release object information and the lane information, for the remaining lane segments, the speed limit values ​​of the remaining lane segments are determined according to the speed limit value of the target lane segment and the lane information. This solution determines the speed limit value of the lane segment by using the target speed limit object information, the speed limit release object information and the lane information, without manual determination, and effectively improves the efficiency of determining the speed limit value. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0077] Figure 1 The lane diagram provided for this application;

[0078] Figure 2 A flow chart of a lane speed limit determination method embodiment 1 provided in the present application;

[0079] Figure 3 A schematic diagram of the first candidate point provided in this application;

[0080] Figure 4 A schematic diagram of the third candidate point provided for this application;

[0081] Figure 5 Schematic diagram of the selected points provided for this application;

[0082] Figure 6 A schematic diagram of adjacent lane segments provided for this application;

[0083] Figure 7 A schematic diagram of the flow chart of Embodiment 2 of the lane speed limit determination method provided in this application;

[0084] Figure 8 Schematic diagram of the same set of lane segments provided for this application;

[0085] Fig. 9 A flowchart of a fourth embodiment of a lane speed limit determination method provided in this application;

[0086] Fig.10 A flowchart of a sixth embodiment of the lane speed limit determination method provided in this application;

[0087] Fig.11Schematic diagram of the newly added speed limit objects provided for this application Figure 1 ;

[0088] Fig.12 Schematic diagram of the newly added speed limit objects provided for this application Figure 2 ;

[0089] Fig.13 A flowchart of Embodiment 7 of the lane speed limit determination method provided in this application;

[0090] Fig.14 A schematic diagram of the structure of an embodiment of a lane speed limit determination device provided by the present application;

[0091] Fig.15 A schematic diagram of the structure of an electronic device provided in this application.

[0092] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0093] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0094] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0095] With the development of technology, more and more vehicles have intelligent driving functions. Vehicles can control their driving speed according to the lane speed limit in the high-precision map to ensure driving safety. Therefore, it is necessary to mark the lane speed limit in the high-precision map.

[0096] In the prior art, lanes in a high-precision map are divided into lane segments, and different lane segments have different lane attributes and / or different legal speed limits.

[0097] For example, Figure 1 The lane diagram provided for this application is as follows: Figure 1 As shown in the figure, the black line represents the lane, and the triangle represents the intersection of the lane segment. There are 3 lanes in the road in the figure, and each lane has 4 lane segments. For the top lane, it is divided into lane segment 1-lane segment 4. Lane segment 1 and lane segment 2 have different lane attributes, lane segment 2 and lane segment 3 have different legal speed limits, and lane segment 3 and lane segment 4 have different lane attributes and legal speed limits.

[0098] The specific speed limit for each lane segment needs to be determined, which is usually determined manually based on the information in the high-precision map. Manual determination will lead to low efficiency in speed limit determination.

[0099] In view of the problems existing in the prior art, the inventors found in the process of studying the lane speed limit determination method that the speed limit value of the target lane segment among multiple lane segments can be determined based on the position of the target speed limit object, the object attributes, and the lane segment to which each target speed limit object belongs, the lane attributes and lane category of each lane segment, the position of at least one speed limit release object, and the lane to which each speed limit release object belongs. Then, for the remaining lane segments, the speed limit is determined based on the speed limit value of the target lane segment and the lane attributes and lane category of each lane segment, which effectively improves efficiency. Based on the above-mentioned inventive concept, the lane speed limit determination scheme in this application is designed.

[0100] The executor of the lane speed limit determination method in the present application may be a server, or a computer, a terminal device, a vehicle, etc. This application does not limit it, and the following description will be made using a server as an example.

[0101] The following is an example of an application scenario of the lane speed limit determination method provided in this application.

[0102] Exemplarily, in this application scenario, part of the data of the high-precision map has been constructed, including initial speed limit object information, speed limit release object information and lane information, and the speed limit of the lane needs to be determined. The initial speed limit object information includes the location, object attributes and lane segment to which each initial speed limit object belongs, the lane information includes the lane attributes and lane category of each lane segment, and the speed limit release object information includes the location of at least one speed limit release object and the lane to which each speed limit release object belongs.

[0103] It should be noted that the initial speed limit object has a maximum speed limit value or a minimum speed limit value. The initial speed limit object is a sign indicating that the vehicle speed on the lane segment to which it belongs does not exceed the maximum speed limit value or is not lower than the minimum speed limit value. The initial speed limit object includes one or any combination of a maximum speed limit sign, a minimum speed limit sign, a maximum ground speed limit sign, a minimum ground speed limit sign, etc.

[0104] The object attribute of each initial speed limit object is used to indicate the type of lane segment to which the initial speed limit object belongs. The object attribute includes one or any combination of ramp, tunnel, acceleration lane, deceleration lane, roundabout lane, etc.

[0105] The lane attributes of each lane segment are used to indicate the type of the lane segment, and the lane attributes include object attributes.

[0106] Lane categories can be obtained by clustering lane attributes, so there is a corresponding relationship between lane attributes and lane categories, and then the corresponding lane categories are determined according to the lane attributes. Lane categories include intersection lanes, special lanes, ramps, main roads, speed change lanes, etc., or any combination thereof. The number of lane categories is less than the number of lane attributes.

[0107] The speed limit lifting object is a sign indicating that the speed limit is lifted for a lane section. The speed limit value lifted by the speed limit lifting object is the speed limit value of the speed limit lifting object. The speed limit lifting object includes one or any combination of speed limit lifting signs, ground speed limit lifting signs, etc.

[0108] The embodiments of the present application do not limit the initial speed limit object, object attributes, lane attributes, lane category, and speed limit release object, which can be determined according to actual conditions.

[0109] The staff uses the terminal device to send the initial speed limit object information, the speed limit release object information and the lane information to the server. The server screens the initial speed limit object according to the initial speed limit object information, the speed limit release object information and the lane information to obtain the first speed limit object.

[0110] The server then generates a new speed limit object according to the position and attributes of each first speed limit object, and then uses the first speed limit object and the new speed limit object as the target speed limit object.

[0111] It should be noted that the target speed limit object has a maximum speed limit value or a minimum speed limit value. The target speed limit object is a sign indicating that the vehicle speed on the lane segment to which it belongs does not exceed the maximum speed limit value or is not lower than the minimum speed limit value. The target speed limit object includes one or any combination of a maximum speed limit sign, a minimum speed limit sign, a maximum ground speed limit sign, a minimum ground speed limit sign, etc.

[0112] The object attribute of each target speed limit object is used to indicate the type of lane segment to which the target speed limit object belongs. The object attribute includes one or any combination of ramp, tunnel, acceleration lane, deceleration lane, roundabout lane, etc.

[0113] The embodiment of the present application does not limit the target speed limit object and object attributes, which can be determined according to actual conditions.

[0114] Then, according to the target speed limit object information, the speed limit release object information and the lane information, a speed limit value of a target lane segment among the multiple lane segments is determined;

[0115] For each lane segment except the target lane segment among the multiple lane segments, that is, for each remaining lane segment, the speed limit value of the lane segment is determined according to the speed limit value of the target lane segment and the lane information.

[0116] The server sends the speed limit value of each lane segment to the terminal device, and the terminal device marks the speed limit value on the center line of the corresponding lane segment.

[0117] It should be noted that the above scenario is only an example of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the actual form of the various devices included in the scenario, nor does it limit the interaction method between the devices. In the specific application of the solution, it can be set according to actual needs.

[0118] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0119] Figure 2 This is a flow chart of the first embodiment of the lane speed limit determination method provided by the present application. The present embodiment of the present application describes the situation in which the server determines the speed limit value of the lane segment according to the target speed limit object information, the speed limit release object information and the lane information. The method in this embodiment can be implemented by software, hardware or a combination of software and hardware. Figure 2 As shown, the lane speed limit determination method specifically includes the following steps:

[0120] S201: Determine a speed limit value of a target lane segment among multiple lane segments according to the acquired target speed limit object information, speed limit release object information and lane information.

[0121] In this step, in order to determine the speed limit value of the exit lane section, it is necessary to obtain the target speed limit object information, the speed limit release object information and the lane information, and then determine the speed limit value of the target lane section among the multiple lane sections based on the target speed limit object information, the speed limit release object information and the lane information.

[0122] The target speed limit object information includes the location, object attributes, and lane segment to which each target speed limit object belongs. The lane information includes the lane attributes and lane category of each lane segment. The speed limit release object information includes the location of at least one speed limit release object and the lane to which each speed limit release object belongs.

[0123] Specifically, for each target speed limit object, the position of the target speed limit object is taken as the starting point, and the end point is searched along the driving direction according to the speed limit release object information and the lane information.

[0124] The object type of each target speed limit object is a maximum speed limit type or a minimum speed limit type. The position of the next target speed limit object of the same object type as the target speed limit object in the driving direction is taken as the first candidate point.

[0125] For example, Figure 3 The schematic diagram of the first candidate point provided in this application is as follows: Figure 3 As shown in the figure, the black line represents the lane, the triangle represents the intersection of the lane segment, the driving direction is from left to right, point A represents the target speed limit object, and the object type of the target speed limit object is the maximum speed limit type. Point B, point C and point D each represent a target speed limit object, the object type of point B is the minimum speed limit type, and the object types of points C and D are the maximum speed limit type. Arranged along the driving direction, they are point A, point B, point C, and point D, so the position of point C is the first candidate point.

[0126] Taking the position of the target speed limit object as the starting point, search for the speed limit release object along the driving direction until the speed limit release object is found for the first time, and use the position of the found speed limit release object as the second candidate point.

[0127] Starting from the position of the target speed limit object, search along the driving direction for a lane segment that is different from the lane segment to which the target speed limit object belongs and whose lane category is not an intersection lane until the first lane segment is found, and use the starting point of the found lane segment as the third candidate point. Since the lane categories of the two lane segments connected to the lane segment with the lane category of the intersection lane are the same, the speed limit values ​​of the two lane segments should be the same, so the search for the end point is not stopped when the lane segment with the lane category of the intersection lane is encountered, and the lane segment with the lane category of the intersection lane is subsequently processed.

[0128] For example, Figure 4 The schematic diagram of the third candidate point provided for this application is as follows: Figure 4As shown in the figure, the black line represents the lane, the triangle represents the intersection of the lane segment, the driving direction is from left to right, the lane is divided into four lane segments, namely lane segment 1 to lane segment 4, point A represents the target speed limit object, and point A is located in lane segment 1. The lane category of lane segment 1 and lane segment 3 is A, the lane category of lane segment 2 is intersection lane, and the lane category of lane segment 4 is B. Therefore, the starting point B of lane segment 4 is the third candidate point.

[0129] The first candidate point, the second candidate point and the point closest to the starting point among the third candidate point are taken as the end point.

[0130] The lane segment that intersects with the lane range from the start point to the end point is taken as the target lane segment;

[0131] For example, Figure 5 The schematic diagram of the selected points provided for this application is as follows: Figure 5 As shown in the figure, the black line represents the lane, the triangle represents the intersection of the lane segment, the driving direction is from left to right, the lane is divided into four lane segments, namely lane segment 1 to lane segment 4, point A represents the target speed limit object, point B represents the first candidate point, point C represents the second candidate point, point D represents the third candidate point, and point B is located in lane segment 3. Since point B is closest to point A, lane segment 1 to lane segment 3 are the target lane segments.

[0132] The speed limit value of the target speed limit object is then used as the speed limit value of the target lane segment.

[0133] It should be noted that if the type of the target speed limit object is the maximum speed limit type, the determined target lane segment is the first target lane segment, and the speed limit value of the first target lane segment is the maximum speed limit value; if the type of the target speed limit object is the minimum speed limit type, the determined target lane segment is the second target lane segment, and the speed limit value of the second target lane segment is the minimum speed limit value. A lane segment can be both the first target lane segment and the second target lane segment.

[0134] S202: For each lane segment among the multiple lane segments except the target lane segment, determine the speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information.

[0135] In this step, after the server determines the speed limit value of the target lane segment, since the target lane segment is divided into a first target lane segment and a second target lane segment, the speed limit value of the lane segment is determined in two sub-steps.

[0136] The first sub-step is: for each lane segment among the multiple lane segments except the first target lane segment, determine the speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information.

[0137] The second sub-step is: for each lane segment among the multiple lane segments except the second target lane segment, determine the speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information.

[0138] The process of determining the speed limit of the target lane segment based on the speed limit and lane information of the lane segment is as follows:

[0139] First, determine whether the speed limit value of the adjacent lane segment of the lane segment has been determined.

[0140] In the first sub-step, it is necessary to determine whether the maximum speed limit value has been determined for the adjacent lane segment of the lane segment; in the second sub-step, it is necessary to determine whether the minimum speed limit value has been determined for the adjacent lane segment of the lane segment.

[0141] Taking the driving direction as the positive direction, the adjacent lane segment includes the left lane segment, the right lane segment, the front lane segment and the rear lane segment of the lane segment. Figure 6 A schematic diagram of adjacent lane sections provided for this application, such as Figure 6 As shown in the figure, the black lines represent lanes, and there are 3 lanes in total. The triangles represent the intersections of lane segments. Each lane is divided into 3 lane segments. From left to right, the first lane is divided into lane segment 1-lane segment 3, the second lane is divided into lane segment 4-lane segment 6, and the third lane is divided into lane segment 7-lane segment 9. The driving direction is from bottom to top. For lane segment 5, lane segment 2 is the left lane segment, lane segment 8 is the right lane segment, lane segment 4 is the front lane segment, and lane segment 6 is the rear lane segment.

[0142] If the speed limit value of the adjacent lane segment of the lane segment has been determined, the speed limit value of the lane segment is determined according to the speed limit value of the adjacent lane segment.

[0143] In one implementation, if only one of the left lane segment and the right lane segment of the lane segment has a determined speed limit, the determined speed limit is used as the speed limit of the adjacent lane segment. If both the left lane segment and the right lane segment of the lane segment have determined speed limits, a speed limit is randomly selected from the two speed limits as the speed limit of the adjacent lane segment.

[0144] In the case that the speed limit value of the left lane segment and the right lane segment of the lane segment has not been determined, if only one of the front lane segment and the rear lane segment of the lane segment has a speed limit value determined, the determined speed limit value shall be used as the speed limit value of the adjacent lane segment. If the speed limit value of both the front lane segment and the rear lane segment of the lane segment has been determined, a speed limit value is randomly selected from the two speed limit values ​​as the speed limit value of the adjacent lane segment.

[0145] In another implementation, if only one of the left lane segment, the right lane segment, the front lane segment, and the rear lane segment of the lane segment has a determined speed limit, then that speed limit is used as the speed limit of the adjacent lane segment. If multiple lane segments of the left lane segment, the right lane segment, the front lane segment, and the rear lane segment of the lane segment have determined speed limits, then a speed limit is randomly selected from them as the speed limit of the adjacent lane segment.

[0146] In another implementation, the lane segments are judged in order of the left lane segment, the right lane segment, the front lane segment and the rear lane segment, whether the speed limit value has been determined, until it is determined that the speed limit value has been determined for the lane segment, and the speed limit value is used as the speed limit value of the adjacent lane segment.

[0147] It should be noted that the embodiment of the present application does not limit the method of determining the speed limit value of the lane segment based on the speed limit value of the adjacent lane segment, and can be determined according to actual conditions.

[0148] If the speed limit values ​​of adjacent lane segments of the lane segment have not been determined, the speed limit value of the lane segment is determined according to the lane type of the lane segment and the first preset speed limit value.

[0149] That is, if the lane type of the lane section is a special lane, the speed limit value of the lane section is determined to be 0; at least one of the bus lane, the emergency lane, and the escape lane is a special lane.

[0150] If the lane type of the lane segment is not a special lane, the speed limit value of the lane segment is determined as the first preset speed limit value.

[0151] In one implementation, if the lane category of the lane section is not a special lane, the first preset speed limit value corresponding to the lane category of the lane section can be determined based on the correspondence between the lane category and the first preset speed limit value, and then the speed limit value of the lane section is determined as the first preset speed limit value.

[0152] In the first sub-step, the first preset speed limit value may be 80km / h, 90km / h, 120km / h, etc. In the second sub-step, the first preset speed limit value may be 5km / h, 10km / h, 15km / h, etc. The embodiment of the present application does not limit the first preset speed limit value, which can be determined according to actual conditions.

[0153] The lane speed limit determination method provided in this embodiment determines the speed limit value of a target lane segment among multiple lane segments by obtaining target speed limit object information, speed limit release object information, and lane information. For the remaining lane segments, the speed limit values ​​of the remaining lane segments are determined according to the speed limit value of the target lane segment and the lane information. This solution determines the speed limit value of a lane segment by using the target speed limit object information, speed limit release object information, and lane information, without manual determination, which effectively improves the efficiency of determining the speed limit value, reduces costs, and improves accuracy.

[0154] Figure 7 This is a flow chart of the second embodiment of the lane speed limit determination method provided by the present application. Based on the above embodiment, the present embodiment of the present application describes the situation where the speed limit value is updated after the speed limit value of the lane segment is determined to improve the accuracy. Figure 7 As shown, the lane speed limit determination method specifically includes the following steps:

[0155] S701: For each lane segment, if the lane type of the lane segment is an intersection lane, the speed limit value of the lane segment is updated to a second preset speed limit value.

[0156] After the server determines the maximum speed limit and the minimum speed limit for each lane segment, the speed limit may be unreasonable, and there may be multiple maximum speed limits and / or multiple minimum speed limits in one road segment, so the speed limit needs to be updated.

[0157] In this step, since in the process of determining the target lane segment, the lane range between the starting point and the third candidate point may include lane segments belonging to the lane category of intersection lanes, and vehicles need to slow down in intersection lanes, the speed limit values ​​of these lane segments need to be updated.

[0158] For each lane segment, if the lane category of the lane segment is an intersection lane, the speed limit value of the lane segment is updated to the second preset speed limit value.

[0159] It should be noted that the second preset speed limit value includes a preset maximum speed limit value and a preset minimum speed limit value, and the preset maximum speed limit value may be 80km / h, 90km / h, 120km / h, etc.; the preset minimum speed limit value may be 5km / h, 10km / h, 15km / h, etc. The embodiment of the present application does not limit the preset maximum speed limit value and the preset minimum speed limit value, and they may be determined according to actual conditions.

[0160] S702: For each lane segment, the maximum speed limit value among the maximum speed limit values ​​is used as the first speed limit value, and the minimum speed limit value among the minimum speed limit values ​​is used as the second speed limit value.

[0161] In this step, since the speed limit value of each lane segment includes a maximum speed limit value and a minimum speed limit value, in order to solve the problem of unreasonable speed limit values ​​and multiple maximum speed limits and / or multiple minimum speed limits in a road segment, the server also needs to use the largest speed limit value among the maximum speed limits as the first speed limit value and the smallest speed limit value among the minimum speed limits as the second speed limit value for each lane segment.

[0162] S703: Determine whether the first speed limit value is greater than the second speed limit value; if the first speed limit value is greater than the second speed limit value, execute step S704; if the first speed limit value is less than or equal to the second speed limit value, execute step S705.

[0163] In this step, after the server determines the first speed limit value and the second speed limit value, in order to determine whether the speed limit value is reasonable, it is necessary to determine whether the first speed limit value is greater than the second speed limit value.

[0164] S704: Update the speed limit value of the lane segment to the first speed limit value and the second speed limit value.

[0165] In this step, if the first speed limit value is greater than the second speed limit value, it means that the speed limit value is reasonable, and the speed limit value of the lane section is updated to the first speed limit value and the second speed limit value.

[0166] In the case where there are multiple maximum speed limit values ​​and / or multiple minimum speed limit values ​​in a road section, only the largest maximum speed limit value and the smallest minimum speed limit value are retained, which meets the lane speed limit requirements.

[0167] In the case where there is a maximum speed limit value and a minimum speed limit value in a road section, the speed limit value of the road section remains unchanged.

[0168] S705: Update the speed limit value of the lane segment according to whether the lane segment is a target lane segment, the first speed limit value, and the second speed limit value.

[0169] In this step, if the first speed limit value is less than or equal to the second speed limit value, it means that the speed limit value is unreasonable. The speed limit value of the lane segment is updated according to whether the lane segment is the target lane segment, the first speed limit value and the second speed limit value.

[0170] In one implementation, it is determined whether the lane segment is the first target lane segment. If the lane segment is the first target lane segment, the first speed limit value is subtracted from the preset difference to obtain a third speed limit value, and the speed limit value of the lane segment is updated to the first speed limit value and the third speed limit value.

[0171] If the lane segment is not the first target lane segment, determine whether the lane segment is the second target lane segment. If the lane segment is the second target lane segment, update the speed limit value of the lane segment to the third preset speed limit value and the second speed limit value.

[0172] If the lane segment is not the second target lane segment, the first speed limit value is subtracted from the preset difference to obtain the third speed limit value, and the speed limit value of the lane segment is updated to the first speed limit value and the third speed limit value.

[0173] It should be noted that the preset difference can be 15, 20, 25, 30, etc. The embodiment of the present application does not limit the preset difference and can be determined according to actual conditions.

[0174] It should be noted that the third preset speed limit value may be 80km / h, 90km / h, 120km / h, etc.; the embodiment of the present application does not limit the third preset speed limit value, which may be determined according to actual conditions.

[0175] In another implementation, it is determined whether the lane segment is the second target lane segment. If the lane segment is the second target lane segment, the second speed limit value is added to the preset difference to obtain the fourth speed limit value, and the speed limit value of the lane segment is updated to the second speed limit value and the fourth speed limit value.

[0176] If the lane segment is not the second target lane segment, determine whether the lane segment is the first target lane segment. If the lane segment is the first target lane segment, update the speed limit value of the lane segment to the fourth preset speed limit value and the first speed limit value.

[0177] If the lane segment is not the first target lane segment, the second speed limit value is added with the preset difference to obtain the fourth speed limit value, and the speed limit value of the lane segment is updated to the second speed limit value and the fourth speed limit value.

[0178] It should be noted that the fourth preset speed limit value may be 5km / h, 10km / h, 15km / h, etc.; the embodiment of the present application does not limit the fourth preset speed limit value, which may be determined according to actual conditions.

[0179] It should be noted that the execution order of step S701 and step S702-step S705 can be: first execute step S701, then execute step S702-step S705; or: first execute step S702-step S705, then execute step S701. The embodiment of the present application does not limit the execution order of step S701 and step S702-step S705, which can be determined according to actual conditions.

[0180] The lane speed limit determination method provided in this embodiment improves the accuracy of the speed limit value of the lane segment by updating the speed limit value of the lane segment whose lane type is an intersection lane, and updating the speed limit value of the lane segment according to the relationship between the maximum maximum speed limit value and the minimum minimum lower speed limit value.

[0181] Based on the second embodiment, the third embodiment provided by the present application is used to illustrate the situation of updating the speed limit values ​​of the same group of lane segments.

[0182] Lane segments can be grouped, and the projection positions of lane segments in the same group in the driving direction are the same.

[0183] For example, Figure 8 The schematic diagram of the same group of lane sections provided for this application is as follows: Figure 8 As shown in the figure, the black lines represent lanes, and there are 4 lanes in total. The triangles represent the intersections of lane segments. Each lane is divided into 3 lane segments. From left to right, the first lane is divided into lane segment 1-lane segment 3, the second lane is divided into lane segment 4-lane segment 6, the third lane is divided into lane segment 7-lane segment 9, and the fourth lane is divided into lane segment 10-lane segment 12. The driving direction is from bottom to top. Lane segment 1, lane segment 4, lane segment 7 and lane segment 10 are a group of lane segments, lane segment 2, lane segment 5, lane segment 8 and lane segment 11 are a group of lane segments, and lane segment 3, lane segment 6, lane segment 9 and lane segment 12 are a group of lane segments.

[0184] After ensuring that a lane segment has a maximum speed limit and a minimum speed limit, according to traffic rules, with the driving direction as the positive direction, the speed limit of the left lane should be greater than or equal to the speed limit of the right lane. Therefore, for the same group of lane segments, with the driving direction as the positive direction, from left to right, for each lane segment in turn, if there is a lane segment on the left side of the lane segment, the speed limit of the lane segment is updated according to the speed limit of the lane segment on the left side of the lane segment.

[0185] That is, when the maximum speed limit value of the left lane section of the lane section is less than the maximum speed limit value of the lane section, the maximum speed limit value of the lane section is updated to the maximum speed limit value of the left lane section of the lane section. When the minimum speed limit value of the left lane section of the lane section is less than the minimum speed limit value of the lane section, the minimum speed limit value of the lane section is updated to the minimum speed limit value of the left lane section of the lane section.

[0186] For example, in Figure 8 Based on the above, the maximum speed limit of lane segment 1 is 120km / h and the minimum speed limit is 110km / h; the maximum speed limit of lane segment 4 is 130km / h and the minimum speed limit is 90km / h; the maximum speed limit of lane segment 7 is 100km / h and the minimum speed limit is 95km / h; the maximum speed limit of lane segment 10 is 90km / h and the minimum speed limit is 60km / h. Since there is no lane segment on the left side of lane segment 1, the speed limit of lane segment 1 is not updated.

[0187] The maximum speed limit of lane segment 1 is less than the maximum speed limit of lane segment 4, and the minimum speed limit of lane segment 1 is greater than the minimum speed limit of lane segment 4, so the maximum speed limit of lane segment 4 is updated to 120km / h, and the minimum speed limit of lane segment 4 is not updated.

[0188] The updated maximum speed limit value of lane segment 4 is greater than the maximum speed limit value of lane segment 7, and the minimum speed limit value of lane segment 4 is less than the minimum speed limit value of lane segment 7, so the minimum speed limit value of lane segment 7 is updated to 90km / h, and the maximum speed limit value of lane segment 7 is not updated.

[0189] The maximum speed limit value of lane segment 7 is greater than the maximum speed limit value of lane segment 10, and the updated minimum speed limit value of lane segment 7 is greater than the minimum speed limit value of lane segment 10, so the maximum speed limit value and the minimum speed limit value of lane segment 10 are not updated.

[0190] The lane speed limit determination method provided in this embodiment improves the accuracy of the speed limit value by updating the speed limit value of the same group of lane segments.

[0191] Fig. 9 This is a flow chart of the fourth embodiment of the lane speed limit determination method provided by the present application. Based on the third embodiment, the present embodiment of the present application describes the situation in which the speed limit value is updated when the speed limit value of a lane segment in the same lane jumps. Fig. 9 As shown, the lane speed limit determination method specifically includes the following steps:

[0192] S901: For each lane segment, if the length of the next lane segment of the lane segment is less than the preset first distance, determine whether the speed limit values ​​of the lane segment and the next two lane segments along the driving direction satisfy an increasing relationship or a decreasing relationship.

[0193] After the speed limit values ​​of the same group of lane sections are updated, the speed limit values ​​of the lane sections of the same lane may jump, so the speed limit values ​​of the lane sections of the same lane need to be updated.

[0194] Jump means that for three consecutive lane segments, the length of the second lane segment is shorter, and the minimum speed limit value or the maximum speed limit value does not satisfy the increasing relationship or decreasing relationship. Increasing relationship means that the speed limit value of the third lane segment is greater than or equal to the speed limit value of the second lane segment, and the speed limit value of the second lane segment is greater than or equal to the speed limit value of the first lane segment. Decreasing relationship means that the speed limit value of the third lane segment is less than or equal to the speed limit value of the second lane segment, and the speed limit value of the second lane segment is less than or equal to the speed limit value of the first lane segment.

[0195] In this step, for each lane segment, it is necessary to determine whether a jump occurs when the lane segment is the first lane segment of three consecutive lane segments. First, it is determined whether the length of the next lane segment of the lane segment is less than the preset first distance.

[0196] If the length of the next lane segment of the lane segment is less than the preset first distance, it is determined whether the speed limit values ​​of the lane segment and the next two lane segments along the driving direction satisfy an increasing relationship or a decreasing relationship.

[0197] It is necessary to determine whether the sum of the maximum speed limits of the lane segment and the next two lane segments along the driving direction satisfies an increasing or decreasing relationship, and to determine whether the minimum speed limits of the lane segment and the next two lane segments along the driving direction satisfy an increasing or decreasing relationship.

[0198] When the maximum speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy an increasing relationship or a decreasing relationship, and / or the minimum speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy an increasing relationship or a decreasing relationship, it is determined that the speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy an increasing relationship or a decreasing relationship.

[0199] When the maximum speed limit values ​​of the lane segment and the next two lane segments along the driving direction satisfy an increasing or decreasing relationship, and the minimum speed limit values ​​of the lane segment and the next two lane segments along the driving direction satisfy an increasing or decreasing relationship, it is determined that the speed limit values ​​of the lane segment and the next two lane segments along the driving direction satisfy an increasing or decreasing relationship.

[0200] It should be noted that the preset first distance can be 200 meters, 300 meters, 500 meters, etc. The embodiment of the present application does not limit the preset first distance and can be determined according to actual conditions.

[0201] It should be noted that if the length of the next lane segment of the lane segment is greater than or equal to the preset first distance, the solution of this embodiment is executed on the next lane segment of the lane segment.

[0202] S902: If the speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy an increasing relationship or a decreasing relationship, the speed limit value of the next lane segment after the lane segment is updated to the speed limit value of the lane segment.

[0203] In this step, if it is determined that the speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy the increasing relationship and the decreasing relationship, indicating that a jump occurs, the speed limit value of the next lane segment of the lane segment is updated to the speed limit value of the lane segment.

[0204] Specifically, if the maximum speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy an increasing or decreasing relationship, the maximum speed limit value of the next lane segment of the lane segment is updated to the maximum speed limit value of the lane segment.

[0205] If the minimum speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy an increasing or decreasing relationship, the minimum speed limit value of the next lane segment after the lane segment is updated to the minimum speed limit value of the lane segment.

[0206] It should be noted that if the speed limit values ​​of the lane segment and the next two lane segments along the driving direction satisfy an increasing relationship and a decreasing relationship, the solution of this embodiment is executed for the next lane segment of the lane segment.

[0207] In one implementation, after determining that the speed limit values ​​of the lane segment and the next two lane segments along the driving direction do not satisfy the increasing relationship and the decreasing relationship, it is also possible to determine whether the lane types of the next two lane segments of the lane segment are the same, so as to improve the accuracy of determining the jump scene. If the lane types of the next two lane segments of the lane segment are different, it means that a jump has occurred, and then the speed limit value of the next lane segment of the lane segment is updated to the speed limit value of the lane segment, thereby improving the accuracy of the speed limit value. If the lane types of the next two lane segments of the lane segment are the same, the solution of this embodiment is executed for the next lane segment of the lane segment.

[0208] The lane speed limit determination method provided in this embodiment improves the accuracy of the speed limit value of the lane section by updating the speed limit value when the speed limit value of the lane section in the lane jumps.

[0209] Based on the above embodiments, the fifth embodiment provided by the present application is used to illustrate the situation of determining the speed limit value of a road segment.

[0210] Lane segments can be grouped. Lane segments in the same group have the same projection position in the driving direction and can constitute a road segment.

[0211] For example, in Figure 8 On the basis of, lane segment 1, lane segment 4, lane segment 7 and lane segment 10 constitute a road segment, lane segment 2, lane segment 5, lane segment 8 and lane segment 11 constitute a road segment, and lane segment 3, lane segment 6, lane segment 9 and lane segment 12 constitute a road segment.

[0212] For standard maps, it is only necessary to determine the speed limit of the road segment. This solution can determine the speed limit of the road segment based on the speed limit of the lane segment. For the same group of lane segments, the speed limit of the road segment is determined based on the speed limit of the group of lane segments.

[0213] That is, the maximum value among the maximum speed limits of the group of lane segments is used as the maximum speed limit of the road segment formed by the group of lane segments, and the minimum value among the minimum speed limits of the group of lane segments is used as the minimum speed limit of the road segment formed by the group of lane segments.

[0214] For example, in Figure 8 On the basis of this, the maximum speed limit of lane section 1 is 120km / h, and the minimum speed limit is 100km / h; the maximum speed limit of lane section 4 is 110km / h, and the minimum speed limit is 90km / h; the maximum speed limit of lane section 7 is 100km / h, and the minimum speed limit is 80km / h; the maximum speed limit of lane section 10 is 90km / h, and the minimum speed limit is 60km / h; so the maximum speed limit of the road section composed of lane section 1, lane section 4, lane section 7 and lane section 10 is 120km / h, and the minimum speed limit is 60km / h.

[0215] It should be noted that if there is a lane segment with both the maximum speed limit and the minimum speed limit of 0 km in the same lane segment group, it means that the lane type of the lane segment is a special lane. The lane segment is deleted from the lane segment group, and the speed limit of the road segment is determined.

[0216] The lane speed limit determination method provided in this embodiment can determine the speed limit value of a road segment based on the speed limit value of the lane segment, without regenerating the speed limit value of the road segment based on map data, thereby improving efficiency and accuracy.

[0217] Fig.10 This is a flow chart of the sixth embodiment of the lane speed limit determination method provided by the present application. Based on the above embodiments, the present embodiment of the present application processes the initial speed limit object obtained before determining the speed limit value of the lane segment to obtain the target speed limit object. Fig.10 As shown, the lane speed limit determination method specifically includes the following steps:

[0218] S1001: Acquire initial speed limit object information, speed limit release object information and lane information.

[0219] In this step, in order to improve the efficiency of subsequently determining the speed limit value of the lane segment, the initial speed limit object information, the speed limit release object information and the lane information can be obtained from the high-precision map.

[0220] The initial speed limit object information includes the locations and object attributes of multiple initial speed limit objects, and the lane segment to which each initial speed limit object belongs.

[0221] It should be noted that the initial speed limit objects include maximum speed limit signs, minimum speed limit signs, maximum ground speed limit signs, minimum ground speed limit signs, etc. The embodiment of the present application does not limit the initial speed limit objects and can be determined according to actual conditions.

[0222] S1002: Screening the initial speed limit object according to the initial speed limit object information, the speed limit release object information and the lane information to obtain a first speed limit object.

[0223] In this step, due to the presence of erroneous data in the high-precision map, some initial speed limit objects are abnormal. Therefore, it is necessary to screen the initial speed limit objects according to the initial speed limit object information, the speed limit release object information and the lane information, and screen out the speed limit objects with abnormal speed limit values, abnormal object attributes and those that do not match the speed limit release objects to obtain the first speed limit object.

[0224] S1003: Generate a new speed limit object according to the lane information, and the position and object attributes of each first speed limit object.

[0225] In this step, after obtaining the first speed limit object, in order to improve the accuracy of the subsequent determination of the speed limit value of the lane segment, it is also necessary to generate a new speed limit object according to the position and attributes of each first speed limit object.

[0226] For each first speed limit object, if the object attribute of the first speed limit object belongs to a preset attribute range, a new speed limit object is generated at the starting point of the lane segment to which the first speed limit object belongs, and the new speed limit object is the same as the first speed limit object.

[0227] The lane section to which the speed limit object of the object attribute within the preset attribute range belongs is relatively special and is equipped with a special speed limit value, so it is necessary to generate a new speed limit object at the starting point. In the subsequent process of determining the target lane section, the starting point is more accurate and the determined target lane section is also more accurate.

[0228] It should be noted that the preset attribute range may include: ramps, tunnels, acceleration lanes, deceleration lanes, roundabout lanes, etc. The embodiment of the present application does not limit the preset attribute range and can be determined according to actual conditions.

[0229] For example, Fig.11 Schematic diagram of the newly added speed limit objects provided for this application Figure 1 ,like Fig.11 As shown in the figure, the black line represents the lane, the triangle represents the intersection of the lane segment, there are 3 lane segments in total, point A of the second lane segment represents the first speed limit object, the object attribute of the first speed limit object belongs to the preset attribute range, and a new speed limit object is generated at the starting point B of the second lane segment.

[0230] Furthermore, in order to further determine a more accurate starting point in the process of determining the target lane segment, for each first speed limit object, if the lane segment to which the reference point which is preset a second distance from the position of the first speed limit object along the driving direction belongs has a different lane attribute from the lane segment to which the first speed limit object belongs, indicating that the first speed limit object is set for the lane segment to which the reference point belongs, a new speed limit object is generated at the starting point of the lane segment to which the reference point belongs, and the new speed limit object is the same as the first speed limit object.

[0231] For example, Fig.12 Schematic diagram of the newly added speed limit objects provided for this application Figure 2 ,like Fig.12 As shown in the figure, the black line represents the lane, the triangle represents the intersection of the lane segment, the driving direction is from left to right, there are 3 lane segments, and point A of the second lane segment represents the first speed limit object. The distance between point A and point C is the preset second distance, and point C is located in the third lane segment. The lane attributes of the second and third lane segments are different. Point C represents the reference point, so a new speed limit object is generated at the starting point B of the third lane segment.

[0232] It should be noted that the preset second distance can be 200 meters, 300 meters, 500 meters, etc. The embodiment of the present application does not limit the preset second distance and can be determined according to actual conditions.

[0233] It should be noted that the lane attributes of the lane segment can also be updated to improve the accuracy of the speed limit value of the lane segment determined subsequently. For each first speed limit object, if the speed limit value of the first speed limit object is less than the preset value, and the lane attribute of the lane segment to which the reference point at a preset third distance from the position of the first speed limit object along the driving direction belongs belongs to the preset special attribute range, then the lane range from the first speed limit object to the reference point is used as the updated lane range, and the lane attributes of the lane segments that intersect with the updated lane range are updated to the lane attributes of the lane segment to which the reference point belongs.

[0234] It should be noted that the preset third distance may be 200 meters, 300 meters, 500 meters, etc.; the preset special attribute range includes construction lanes, ramps, speed change lanes, etc. The present application embodiment does not limit the preset third distance and the preset special attribute range, which can be determined according to actual conditions.

[0235] S1004: Taking each first speed limit object and each newly added speed limit object as a target speed limit object.

[0236] In this step, after the first speed limit object and the newly added speed limit object are determined, the first speed limit object and each newly added speed limit object are used as target speed limit objects.

[0237] The lane speed limit determination method provided in this embodiment processes the acquired initial speed limit object to obtain the target speed limit object before determining the speed limit value of the lane segment, thereby improving the efficiency and accuracy of subsequently obtaining the speed limit value of the lane segment.

[0238] Fig.13 This is a flow chart of the seventh embodiment of the lane speed limit determination method provided by the present application. Based on the above embodiments, the present embodiment of the present application describes the situation where the initial speed limit object is screened to obtain the first speed limit object according to the initial speed limit object information, the speed limit release object information and the lane information. Fig.13 As shown, the lane speed limit determination method specifically includes the following steps:

[0239] S1301: For each lane segment, determine an upper speed limit screening threshold and a lower speed limit screening threshold of the lane segment according to the lane attributes of the lane segment.

[0240] In this step, in order to remove the initial speed limit objects with abnormal speed limit values, the lane attributes of the lane segment are first required to determine the upper speed limit screening threshold and the lower speed limit screening threshold of the lane segment.

[0241] It should be noted that the lane attribute has a corresponding relationship with the upper speed limit screening threshold and the lower speed limit screening threshold, for example, when the lane attribute is a ramp, the corresponding upper speed limit screening threshold is 70km / h, and the corresponding lower speed limit screening threshold is 10km / h; when the lane attribute is a tunnel, the corresponding upper speed limit screening threshold is 100km / h, and the corresponding lower speed limit screening threshold is 15km / h; when the lane attribute is a main road, the corresponding upper speed limit screening threshold is 120km / h, and the corresponding lower speed limit screening threshold is 5km / h. The embodiment of the present application does not limit the corresponding relationship between the lane attribute and the upper speed limit screening threshold and the lower speed limit screening threshold, and can be determined according to actual conditions.

[0242] S1302: For each lane segment, the initial speed limit objects in the lane segment are screened according to the upper speed limit screening threshold and the lower speed limit screening threshold of the lane segment to obtain a second speed limit object.

[0243] In this step, after determining the upper speed limit screening threshold and the lower speed limit screening threshold of the lane segment, for each lane segment, the initial speed limit objects in the lane segment are screened according to the upper speed limit screening threshold and the lower speed limit screening threshold of the lane segment to obtain the second speed limit object.

[0244] That is, when the object type of the initial speed limit object is the maximum speed limit type, if the speed limit value of the initial speed limit object is greater than the upper speed limit screening threshold, it means that the speed limit value is abnormal and it will be deleted. When the object type of the initial speed limit object is the minimum speed limit type, if the speed limit value of the initial speed limit object is less than the lower speed limit screening threshold, it means that the speed limit value is abnormal and it will be deleted.

[0245] S1303: Filter the second speed limit objects according to the object attribute of each second speed limit object and the lane attribute of each lane segment to obtain a third speed limit object.

[0246] In this step, after the second speed limit objects are screened, the speed limit objects with abnormal object attributes need to be removed. According to the object attributes of each second speed limit object and the lane attributes of each lane segment, the second speed limit objects are screened to obtain the third speed limit objects.

[0247] Specifically, for each second speed limit object, if the object attribute of the second speed limit object is different from the lane attribute of the lane segment to which the second speed limit object belongs, indicating that the object attribute is abnormal, the second speed limit object is taken as the first object to be deleted.

[0248] The first to-be-deleted objects in all the second speed limit objects are deleted to obtain a third speed limit object.

[0249] S1304: Filter the third speed limit object according to the speed limit release object information to obtain a fourth speed limit object.

[0250] In this step, after the third speed limit object is screened, the speed limit object that does not match the speed limit release object needs to be removed. According to the speed limit release object information, the third speed limit object is screened to obtain the fourth speed limit object.

[0251] Specifically, for each speed limit release object, taking the position of the speed limit release object as the starting point, in the lane to which the speed limit release object belongs, search for the third speed limit object in the reverse direction of the driving direction until the third speed limit object is found for the first time. If the speed limit value of the found third speed limit object is different from the speed limit value of the speed limit release object, it means that the speed limit value of the third speed limit object does not match the speed limit value of the speed limit release object, and the third speed limit object is used as the second object to be deleted.

[0252] The second objects to be deleted in all the third speed limit objects are deleted to obtain a fourth speed limit object.

[0253] S1305: For each lane segment, the fourth speed limit objects are screened according to the speed limit value of the fourth speed limit object corresponding to the lane segment to obtain the first speed limit object.

[0254] In this step, after the fourth speed limit object is screened, the speed limit objects with abnormal speed limit values ​​in the lane segment need to be removed. For each lane segment, the fourth speed limit objects are screened according to the speed limit value of the fourth speed limit object corresponding to the lane segment to obtain the first speed limit object.

[0255] In one implementation, the speed limit object with the largest speed limit value among the fourth speed limit objects whose object type is the highest speed limit type is used as the fifth speed limit object.

[0256] The speed limit object with the smallest speed limit value among the fourth speed limit objects whose object type is the lowest speed limit type is used as the sixth speed limit object.

[0257] If the speed limit value of the fifth speed limit object is less than or equal to the speed limit value of the sixth speed limit object, it means that the fourth speed limit object with the object type of the minimum speed limit type in the lane segment is abnormal, and the fourth speed limit object with the object type of the minimum speed limit type is taken as the third object to be deleted.

[0258] The third objects to be deleted in all the fourth speed limit objects are deleted to obtain the first speed limit object.

[0259] In another implementation, the speed limit object with the smallest speed limit value among the fourth speed limit objects whose object type is the highest speed limit type is used as the seventh speed limit object.

[0260] Among the fourth speed limit objects of the lowest speed limit type, the speed limit objects whose speed limit values ​​are greater than the speed limit value of the seventh speed limit object are taken as the fourth objects to be deleted.

[0261] The fourth to-be-deleted objects in all fourth speed limit objects are deleted to obtain the first speed limit object.

[0262] In another implementation manner, the speed limit object with the largest speed limit value among the fourth speed limit objects whose object type is the lowest speed limit type is used as the eighth speed limit object.

[0263] Among the fourth speed limit objects whose object type is the maximum speed limit type, the speed limit objects whose speed limit values ​​are smaller than the speed limit value of the eighth speed limit object are taken as the fifth objects to be deleted.

[0264] The fifth to-be-deleted object in all fourth speed limit objects is deleted to obtain the first speed limit object.

[0265] The lane speed limit determination method provided in this embodiment obtains a first speed limit object by screening initial speed limit objects, thereby improving the accuracy of the speed limit value of the lane segment determined subsequently.

[0266] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0267] Fig.14 This is a schematic diagram of the structure of an embodiment of the lane speed limit determination device provided by this application. Fig.14 As shown, the lane speed limit determination device 140 includes:

[0268] The processing module 141 is used to:

[0269] Determine a speed limit value of a target lane segment among the multiple lane segments according to the acquired target speed limit object information, speed limit release object information and lane information;

[0270] For each lane segment among the multiple lane segments except the target lane segment, determining a speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information;

[0271] The target speed limit object information includes the position, object attributes and lane segment to which each target speed limit object belongs, the lane information includes the lane attributes and lane category of each lane segment, and the speed limit release object information includes the position of at least one speed limit release object and the lane to which each speed limit release object belongs.

[0272] Furthermore, the processing module 141 is specifically configured to:

[0273] For each target speed limit object, taking the position of the target speed limit object as the starting point, searching for an end point along the driving direction according to the speed limit release object information and the lane information;

[0274] Taking a lane segment that intersects with the lane range from the starting point to the end point as a target lane segment;

[0275] The speed limit value of the target speed limit object is used as the speed limit value of the target lane segment.

[0276] Furthermore, the object type of each target speed limit object is a maximum speed limit type or a minimum speed limit type, and the processing module 141 is specifically used to:

[0277] taking the position of the next target speed limit object of the same object type as the target speed limit object in the driving direction as the first candidate point;

[0278] Taking the position of the target speed limit object as the starting point, searching for the speed limit release object along the driving direction until the speed limit release object is found for the first time, and taking the position of the found speed limit release object as the second candidate point;

[0279] Taking the position of the target speed limit object as the starting point, searching along the driving direction for a lane segment whose lane type is different from the lane segment to which the target speed limit object belongs and whose lane type is not an intersection lane until the lane segment is found for the first time, and taking the starting point of the found lane segment as the third candidate point;

[0280] The point among the first candidate point, the second candidate point and the second candidate point closest to the starting point is taken as the end point.

[0281] Furthermore, the processing module 141 is specifically configured to:

[0282] Determining whether a speed limit value has been determined for a lane segment adjacent to the lane segment;

[0283] If a speed limit value has been determined for a lane segment adjacent to the lane segment, determining the speed limit value of the lane segment according to the speed limit value of the adjacent lane segment;

[0284] If the speed limit values ​​of adjacent lane segments of the lane segment are not determined, the speed limit value of the lane segment is determined according to the lane type of the lane segment and the first preset speed limit value.

[0285] Furthermore, the processing module 141 is specifically configured to:

[0286] If the lane type of the lane segment is a special lane, the speed limit value of the lane segment is determined to be 0;

[0287] If the lane type of the lane segment is not a special lane, the speed limit value of the lane segment is determined as the first preset speed limit value.

[0288] Furthermore, the processing module 141 is also used for:

[0289] For each lane segment, if the lane type of the lane segment is an intersection lane, updating the speed limit value of the lane segment to a second preset speed limit value;

[0290] For each lane segment, the maximum speed limit value among the maximum speed limit values ​​of the lane segment is used as the first speed limit value, and the minimum speed limit value among the minimum speed limit values ​​of the lane segment is used as the second speed limit value;

[0291] Determining whether the first speed limit value is greater than the second speed limit value;

[0292] If the first speed limit value is greater than the second speed limit value, updating the speed limit value of the lane segment to the first speed limit value and the second speed limit value;

[0293] If the first speed limit value is less than or equal to the second speed limit value, the speed limit value of the lane segment is updated according to whether the lane segment is a target lane segment, the first speed limit value, and the second speed limit value.

[0294] Furthermore, the processing module 141 is also used for:

[0295] For the same group of lane segments, with the driving direction as the positive direction, for each lane segment from left to right, if there is a lane segment on the left side of the lane segment, the speed limit value of the lane segment is updated according to the speed limit value of the lane segment on the left side of the lane segment. The projection positions of the same group of lane segments in the driving direction are the same.

[0296] Furthermore, the processing module 141 is also used for:

[0297] For each lane segment, if the length of the next lane segment of the lane segment is less than the preset first distance, determine whether the speed limit values ​​of the lane segment and the next two lane segments of the lane segment along the driving direction meet an increasing relationship or a decreasing relationship;

[0298] If the speed limit values ​​of the lane segment and the next two lane segments of the lane segment along the driving direction do not satisfy an increasing relationship and a decreasing relationship, the speed limit value of the next lane segment of the lane segment is updated to the speed limit value of the lane segment.

[0299] Furthermore, the processing module 141 is also used for:

[0300] For the same group of lane segments, the speed limit value of the road segment is determined according to the speed limit values ​​of the group of lane segments, and the projection positions of the same group of lane segments in the driving direction are the same.

[0301] An acquisition module 142 is used to acquire initial speed limit object information, the speed limit release object information and the lane information, wherein the initial speed limit object information includes the positions and object attributes of multiple initial speed limit objects and the lane segment to which each initial speed limit object belongs;

[0302] Furthermore, the processing module 141 is also used for:

[0303] Filtering the initial speed limit object according to the initial speed limit object information, the speed limit release object information and the lane information to obtain a first speed limit object;

[0304] Generate a new speed limit object according to the lane information, and the position and object attributes of each first speed limit object;

[0305] Each first speed limit object and each newly added speed limit object are used as the target speed limit object.

[0306] Furthermore, the processing module 141 is specifically configured to:

[0307] For each lane segment, determining an upper speed limit screening threshold and a lower speed limit screening threshold of the lane segment according to the lane attribute of the lane segment;

[0308] For each lane segment, the initial speed limit object in the lane segment is screened according to the upper speed limit screening threshold and the lower speed limit screening threshold of the lane segment to obtain a second speed limit object;

[0309] The second speed limit objects are screened according to the object attribute of each second speed limit object and the lane attribute of each lane segment to obtain a third speed limit object;

[0310] According to the speed limit release object information, the third speed limit object is screened to obtain a fourth speed limit object;

[0311] For each lane segment, the fourth speed limit objects are screened according to the speed limit value of the fourth speed limit object corresponding to the lane segment to obtain the first speed limit object.

[0312] Furthermore, the processing module 141 is specifically configured to:

[0313] For each second speed limit object, if the object attribute of the second speed limit object is different from the lane attribute of the lane segment to which the second speed limit object belongs, the second speed limit object is taken as the first object to be deleted;

[0314] The first to-be-deleted objects in all the second speed limit objects are deleted to obtain a third speed limit object.

[0315] Furthermore, the processing module 141 is specifically configured to:

[0316] For each speed limit release object, starting from the position of the speed limit release object, in the lane to which the speed limit release object belongs, search for a third speed limit object in the reverse direction of the driving direction until the third speed limit object is found for the first time, and if the speed limit value of the found third speed limit object is different from the speed limit value of the speed limit release object, the third speed limit object is used as the second object to be deleted;

[0317] The second objects to be deleted in all the third speed limit objects are deleted to obtain a fourth speed limit object.

[0318] Furthermore, the object type of each initial speed limit object is a maximum speed limit type or a minimum speed limit type, and the processing module 141 is specifically used to:

[0319] The speed limit object with the largest speed limit value among the fourth speed limit objects of the maximum speed limit type is used as the fifth speed limit object;

[0320] The speed limit object with the smallest speed limit value among the fourth speed limit objects of the lowest speed limit type is used as the sixth speed limit object;

[0321] If the speed limit value of the fifth speed limit object is less than or equal to the speed limit value of the sixth speed limit object, the fourth speed limit object of the object type being the lowest speed limit type is taken as the third object to be deleted;

[0322] The third objects to be deleted in all the fourth speed limit objects are deleted to obtain the first speed limit object.

[0323] Furthermore, the processing module 141 is specifically configured to:

[0324] For each first speed limit object, if the object attribute of the first speed limit object belongs to a preset attribute range, a new speed limit object is generated at the starting point of the lane segment to which the first speed limit object belongs, and the new speed limit object is the same as the first speed limit object;

[0325] For each first speed limit object, if the lane segment to which a reference point which is a preset second distance from the position of the first speed limit object along the driving direction belongs has a different lane attribute from the lane segment to which the first speed limit object belongs, a new speed limit object is generated at the starting point of the lane segment to which the reference point belongs, and the new speed limit object is the same as the first speed limit object.

[0326] The lane speed limit determination device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0327] Fig.15 This is a schematic diagram of the structure of an electronic device provided in this application. Fig.15 As shown, the electronic device 150 includes:

[0328] Processor 151, memory 152, and communication interface 153;

[0329] The memory 152 is used to store executable instructions of the processor 151;

[0330] The processor 151 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0331] Optionally, the memory 152 may be independent or integrated with the processor 151 .

[0332] Optionally, when the memory 152 is a device independent of the processor 151, the electronic device 150 may further include:

[0333] The bus 154 , the memory 152 and the communication interface 153 are connected to the processor 151 via the bus 154 and communicate with each other. The communication interface 153 is used to communicate with other devices.

[0334] Optionally, the communication interface 153 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0335] The bus 154 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0336] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0337] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0338] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the technical solution provided in any of the aforementioned embodiments is implemented.

[0339] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0340] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0341] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining a lane speed limit, characterized in that: include: Determine a speed limit value of a target lane segment among the multiple lane segments according to the acquired target speed limit object information, speed limit release object information and lane information; For each lane segment among the multiple lane segments except the target lane segment, determining a speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information; The target speed limit object information includes the position and object attributes of at least one target speed limit object and the lane segment to which each target speed limit object belongs; the lane information includes the lane attributes and lane category of each lane segment; and the speed limit release object information includes the position of at least one speed limit release object and the lane to which each speed limit release object belongs; The speed limit value of each lane segment includes a maximum speed limit value and a minimum speed limit value, and the method further includes: For each lane segment, if the lane type of the lane segment is an intersection lane, updating the speed limit value of the lane segment to a second preset speed limit value; For each lane segment, the maximum speed limit value among the maximum speed limit values ​​of the lane segment is used as the first speed limit value, and the minimum speed limit value among the minimum speed limit values ​​of the lane segment is used as the second speed limit value; Determining whether the first speed limit value is greater than the second speed limit value; If the first speed limit value is greater than the second speed limit value, updating the speed limit value of the lane segment to the first speed limit value and the second speed limit value; If the first speed limit value is less than or equal to the second speed limit value, the first speed limit value or the second speed limit value is updated so that the updated maximum speed limit value is greater than the minimum speed limit value, and the speed limit value of the lane segment is determined according to the updated speed limit value.

2. The method according to claim 1, characterized in that The determining of the speed limit value of the target lane segment among the multiple lane segments according to the acquired target speed limit object information, the speed limit release object information and the lane information includes: For each target speed limit object, taking the position of the target speed limit object as the starting point, searching for an end point along the driving direction according to the speed limit release object information and the lane information; Taking a lane segment that intersects with the lane range from the starting point to the end point as a target lane segment; The speed limit value of the target speed limit object is used as the speed limit value of the target lane segment.

3. The method according to claim 2, characterized in that The object type of each target speed limit object is a maximum speed limit type or a minimum speed limit type, and taking the position of the target speed limit object as a starting point and searching for an end point along a driving direction according to the speed limit release object information and the lane information includes: taking the position of the next target speed limit object of the same object type as the target speed limit object in the driving direction as the first candidate point; Taking the position of the target speed limit object as the starting point, searching for the speed limit release object along the driving direction until the speed limit release object is found for the first time, and taking the position of the found speed limit release object as the second candidate point; Taking the position of the target speed limit object as the starting point, searching along the driving direction for a lane segment whose lane type is different from the lane segment to which the target speed limit object belongs and whose lane type is not an intersection lane until the lane segment is found for the first time, and taking the starting point of the found lane segment as the third candidate point; The point among the first candidate point, the second candidate point and the second candidate point closest to the starting point is taken as the end point.

4. The method according to claim 1, characterized in that: The determining the speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information includes: Determining whether a speed limit value has been determined for a lane segment adjacent to the lane segment; If a speed limit value has been determined for a lane segment adjacent to the lane segment, determining the speed limit value of the lane segment according to the speed limit value of the adjacent lane segment; If the speed limit values ​​of adjacent lane segments of the lane segment are not determined, the speed limit value of the lane segment is determined according to the lane type of the lane segment and the first preset speed limit value.

5. The method according to claim 4, characterized in that The determining the speed limit value of the lane segment according to the lane type of the lane segment and the first preset speed limit value comprises: If the lane type of the lane segment is a special lane, the speed limit value of the lane segment is determined to be 0; If the lane type of the lane segment is not a special lane, the speed limit value of the lane segment is determined as the first preset speed limit value.

6. The method according to claim 1, characterized in that For the same group of lane segments, with the driving direction as the positive direction, for each lane segment from left to right, if there is a lane segment on the left side of the lane segment, the speed limit value of the lane segment is updated according to the speed limit value of the lane segment on the left side of the lane segment, and the projection positions of the same group of lane segments in the driving direction are the same.

7. The method according to claim 6, characterized in that The method further comprises: For each lane segment, if the length of the next lane segment of the lane segment is less than the preset first distance, determine whether the speed limit values ​​of the lane segment and the next two lane segments of the lane segment along the driving direction meet an increasing relationship or a decreasing relationship; If the speed limit values ​​of the lane segment and the next two lane segments of the lane segment along the driving direction do not satisfy an increasing relationship and a decreasing relationship, the speed limit value of the next lane segment of the lane segment is updated to the speed limit value of the lane segment.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: For the same group of lane segments, the speed limit value of the road segment is determined according to the speed limit values ​​of the group of lane segments, and the projection positions of the same group of lane segments in the driving direction are the same.

9. The method according to claim 1, characterized in that: Before determining the speed limit value of a target lane segment among the multiple lane segments according to the acquired target speed limit object information, the speed limit release object information and the lane information, the method further includes: Acquire initial speed limit object information, the speed limit release object information and the lane information, wherein the initial speed limit object information includes positions and object attributes of multiple initial speed limit objects, and the lane segment to which each initial speed limit object belongs; The initial speed limit object is screened according to the initial speed limit object information, the speed limit release object information and the lane information to obtain a first speed limit object; the first speed limit object is obtained by removing the initial speed limit object with an abnormal speed limit value, the initial speed limit object with an abnormal object attribute, and the initial speed limit object that does not match the speed limit release object; For each first speed limit object, if the lane segment to which the first speed limit object belongs has a special speed limit value, a new speed limit object is generated at the starting point of the lane segment to which the first speed limit object belongs; Each first speed limit object and each newly added speed limit object are used as the target speed limit object.

10. The method according to claim 9, characterized in that The screening of the initial speed limit object according to the initial speed limit object information, the speed limit release object information and the lane information to obtain the first speed limit object includes: For each lane segment, determining an upper speed limit screening threshold and a lower speed limit screening threshold of the lane segment according to the lane attribute of the lane segment; For each lane segment, the initial speed limit object in the lane segment is screened according to the upper speed limit screening threshold and the lower speed limit screening threshold of the lane segment to obtain a second speed limit object; The second speed limit objects are screened according to the object attribute of each second speed limit object and the lane attribute of each lane segment to obtain a third speed limit object; For each speed limit release object, taking the position of the speed limit release object as the starting point, in the lane to which the speed limit release object belongs, searching for the third speed limit object in the reverse direction of the driving direction until the third speed limit object is found for the first time, if the speed limit value of the found third speed limit object is different from the speed limit value of the speed limit release object, taking the third speed limit object as the second object to be deleted; deleting the second object to be deleted in the third speed limit object, to obtain a fourth speed limit object; For each lane segment, the fourth speed limit objects are screened according to the speed limit value of the fourth speed limit object corresponding to the lane segment to obtain the first speed limit object; wherein the screening of the fourth speed limit objects includes removing speed limit objects with abnormal speed limit values ​​from the fourth speed limit objects.

11. The method according to claim 10, characterized in that The step of screening the second speed limit objects according to the object attribute of each second speed limit object and the lane attribute of each lane segment to obtain the third speed limit object includes: For each second speed limit object, if the object attribute of the second speed limit object is different from the lane attribute of the lane segment to which the second speed limit object belongs, the second speed limit object is taken as the first object to be deleted; The first to-be-deleted objects in all the second speed limit objects are deleted to obtain a third speed limit object.

12. The method according to claim 10, characterized in that The object type of each initial speed limit object is a maximum speed limit type or a minimum speed limit type, and the fourth speed limit object is screened according to the speed limit value of the fourth speed limit object corresponding to the lane segment to obtain the first speed limit object, including: The speed limit object with the largest speed limit value among the fourth speed limit objects of the maximum speed limit type is used as the fifth speed limit object; The speed limit object with the smallest speed limit value among the fourth speed limit objects of the lowest speed limit type is used as the sixth speed limit object; If the speed limit value of the fifth speed limit object is less than or equal to the speed limit value of the sixth speed limit object, the fourth speed limit object of the object type being the lowest speed limit type is taken as the third object to be deleted; The third objects to be deleted in all the fourth speed limit objects are deleted to obtain the first speed limit object.

13. The method according to claim 9, characterized in that The newly added speed limit object is the same as the first speed limit object.

14. The method according to claim 9, characterized in that The method further comprises: For each first speed limit object, if the lane segment to which a reference point which is a preset second distance from the position of the first speed limit object along the driving direction belongs has a different lane attribute from the lane segment to which the first speed limit object belongs, a new speed limit object is generated at the starting point of the lane segment to which the reference point belongs, and the new speed limit object is the same as the first speed limit object.

15. A lane speed limit determination device, characterized in that: include: Processing modules for: Determine a speed limit value of a target lane segment among the multiple lane segments according to the acquired target speed limit object information, speed limit release object information and lane information; For each lane segment among the multiple lane segments except the target lane segment, determining a speed limit value of the lane segment according to the speed limit value of the target lane segment and the lane information; The target speed limit object information includes the position and object attributes of at least one target speed limit object and the lane segment to which each target speed limit object belongs; the lane information includes the lane attributes and lane category of each lane segment; and the speed limit release object information includes the position of at least one speed limit release object and the lane to which each speed limit release object belongs; The speed limit value of each lane segment includes a maximum speed limit value and a minimum speed limit value. The processing module is further used for updating the speed limit value of each lane segment to a second preset speed limit value if the lane type of the lane segment is an intersection lane; For each lane segment, the maximum speed limit value among the maximum speed limit values ​​of the lane segment is used as the first speed limit value, and the minimum speed limit value among the minimum speed limit values ​​of the lane segment is used as the second speed limit value; Determining whether the first speed limit value is greater than the second speed limit value; If the first speed limit value is greater than the second speed limit value, updating the speed limit value of the lane segment to the first speed limit value and the second speed limit value; If the first speed limit value is less than or equal to the second speed limit value, the first speed limit value or the second speed limit value is updated so that the updated maximum speed limit value is greater than the minimum speed limit value, and the speed limit value of the lane segment is determined according to the updated speed limit value.

16. An electronic device, characterized in that: include: Processor, memory, communication interface; The memory is used to store executable instructions of the processor; Wherein, the processor is configured to execute the lane speed limit determination method according to any one of claims 1 to 14 by executing the executable instructions.

17. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the lane speed limit determination method according to any one of claims 1 to 14 is implemented.

18. A computer program product, characterized in that It comprises a computer program, which is used to implement the lane speed limit determination method according to any one of claims 1 to 14 when executed by a processor.

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