Traffic route segmentation method, device and electronic equipment based on signal machine

Abstract

The present application relates to a traffic route segmentation method, device, electronic device and storage medium based on traffic signal machines, the method comprising: determining a driving route; and performing segmentation operations on each target traffic signal machine that needs to be controlled on the driving route in turn according to the direction of travel of the driving route, wherein the segmentation operation comprises: determining the projection point of the target traffic signal machine on the unsegmented part of the driving route, and segmenting the driving route between the projection point and the previous projection point / starting point to generate a corresponding driving section; wherein the projection point is the point where the target traffic signal machine is the shortest from the unsegmented part of the driving route. The present method solves the problems of inaccurate segmentation of the driving route and time-consuming and labor-intensive configuration of traffic signal machines and other equipment point by point, and can improve the accuracy of driving route segmentation and the efficiency of configuring traffic signal machines and other equipment for sections.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a traffic route segmentation method, device, electronic device and storage medium based on traffic lights. Background Art

[0002] In traffic route security, it is necessary to bind each road section with the corresponding image monitoring equipment and traffic lights in advance, obtain the image collected by the image monitoring equipment of the corresponding road section according to the vehicle position, or control the traffic lights of the corresponding road section.

[0003] However, in the process of configuring the association between road sections and image monitoring equipment and signal equipment, configuring point by point is time-consuming and labor-intensive. Summary of the invention

[0004] Based on this, it is necessary to provide a traffic route segmentation method, device, electronic device and storage medium based on traffic lights to address the above technical problems, which can improve the accuracy of driving route segmentation and improve the efficiency of configuring traffic lights and other equipment for road sections.

[0005] In the first aspect, the present application provides a traffic route segmentation method based on traffic lights, the method comprising: determining a driving route; performing a segmentation operation on each target traffic light that needs to be controlled on the driving route in turn according to the travel direction of the driving route, wherein the segmentation operation comprises: determining a projection point of the target traffic light on the unsegmented part of the driving route, and segmenting the driving route between the projection point and the previous projection point / starting point to generate a corresponding driving section; wherein the projection point is the point where the target traffic light is shortest from the unsegmented part of the driving route.

[0006] In the second aspect, the present application also provides a traffic route segmentation device based on a traffic signal, the device comprising: a route planning module for determining a driving route; a route segmentation module for performing segmentation operations for each target signal that needs to be controlled on the driving route in turn according to the travel direction of the driving route, wherein the segmentation operation comprises: determining the projection point of the target signal on the unsegmented part of the driving route, and segmenting the driving route based on the projection point and the previous projection point / starting point to generate a corresponding driving section; wherein the projection point is the point where the target signal is shortest from the unsegmented part of the driving route.

[0007] In a third aspect, the present application further provides an electronic device, wherein the electronic device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any one of the methods in the first aspect are implemented.

[0008] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

[0009] The above-mentioned traffic route segmentation method, device, electronic device and storage medium based on signal lights determine the driving route and, according to the direction of travel of the driving route, take the point at which the target signal light is shortest from the unsegmented part of the driving route as the projection point of the target signal light on the unsegmented part of the driving route for each target signal light that needs to be controlled on the driving route in turn. Furthermore, the driving route between the projection point and the previous projection point / starting point is segmented to generate corresponding driving sections, thereby improving the accuracy of driving route segmentation. Compared with the time-consuming and labor-intensive problem of configuring signal lights and other equipment for sections point by point, the present application can quickly configure signal lights and other equipment on each section after accurately dividing the driving route into various driving sections, thereby improving the efficiency of equipment configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a first flow chart of a traffic route segmentation method based on a traffic signal in one embodiment;

[0011] Figure 2 A first schematic diagram of a traffic route segmentation method based on a signal machine in one embodiment performing a segmentation operation;

[0012] Figure 3 A second schematic diagram of a traffic route segmentation method based on a signal machine performing a segmentation operation in one embodiment;

[0013] Figure 4 A third schematic diagram of a traffic route segmentation method based on a signal machine in one embodiment performing a segmentation operation;

[0014] Figure 5 It is a second flow chart of a traffic route segmentation method based on a traffic signal in one embodiment;

[0015] Figure 6 A fourth schematic diagram of a traffic route segmentation method based on a signal machine in one embodiment performing a segmentation operation;

[0016] Figure 7 A fifth schematic diagram of a traffic route segmentation method based on a signal machine performing a segmentation operation in one embodiment;

[0017] Figure 8 A sixth schematic diagram of a traffic route segmentation method based on a signal machine in one embodiment performing a segmentation operation;

[0018] Fig. 9 A seventh schematic diagram of a traffic route segmentation method based on a signal machine performing a segmentation operation in one embodiment;

[0019] Fig.10 An eighth schematic diagram of a traffic route segmentation method based on a signal machine performing a segmentation operation in one embodiment;

[0020] Fig.11 A ninth schematic diagram of a traffic route segmentation method based on a signal machine performing a segmentation operation in one embodiment;

[0021] Fig.12 It is a structural block diagram of a traffic route segmentation device based on a signal machine in one embodiment;

[0022] Fig.13 FIG. 4 is a diagram showing the internal structure of an electronic device in one embodiment. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0025] In traffic route security, it is necessary to bind each road section with the corresponding image monitoring equipment and traffic lights in advance, obtain the image collected by the image monitoring equipment of the corresponding road section according to the vehicle position, or control the traffic lights of the corresponding road section.

[0026] However, in the process of configuring the association between road sections and image monitoring equipment and signal equipment, configuring point by point is time-consuming and labor-intensive.

[0027] Based on this, the embodiment of the present application provides a traffic route segmentation method based on traffic lights, which can be used in electronic devices that can quickly and accurately divide the driving route into multiple driving sections. Specifically, the electronic device can determine the driving route through a map, and according to the direction of travel of the driving route, for each target traffic light that needs to be controlled on the driving route, the point where the target traffic light is the shortest from the unsegmented part of the driving route is used as the projection point of the unsegmented part of the target traffic light on the driving route. Further, the driving route between the projection point and the previous projection point / starting point is segmented to generate the corresponding driving section, thereby solving the problems of inaccurate driving section division and time-consuming and labor-intensive point-by-point configuration of traffic lights and other equipment in the related art, and improving the accuracy of driving route segmentation and the efficiency of configuring traffic lights and other equipment for sections. The electronic device may be a server or other device, which may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms, but is not limited to these. Image monitoring equipment may be, but is not limited to, radar equipment, electric police equipment, and traffic cameras. A signal machine is a road traffic signal controller. A signal machine is a device used to control traffic lights, which can control the order of traffic lights and adjust the timing of traffic lights.

[0028] In traffic route security, the route segmentation method of the present application can quickly and accurately bind each driving section to the corresponding image monitoring equipment, traffic lights, etc., so that the traffic control platform can obtain the image collected by the image monitoring equipment of the corresponding driving section according to the vehicle position, or control the traffic lights of the corresponding section to control the traffic lights and ensure that the vehicle passes with the green light.

[0029] The implementation of the traffic signal-based route segmentation method of an embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0030] like Figure 1 As shown in FIG. 1 , a traffic route segmentation method based on a signal machine in this embodiment is shown, and the method specifically includes the following steps:

[0031] Step S101: determine the driving route.

[0032] For example, the driving route can be the shortest driving route planned based on the input starting point and end point according to the shortest path algorithm. According to different application scenarios and map characteristics, the shortest path algorithm can be, but is not limited to, one or more of the Dijkstra algorithm, Bellman-Ford algorithm, Floyd algorithm, SPFA algorithm, etc.

[0033] Step S102, according to the traveling direction of the driving route, perform segmentation operation for each target signal that needs to be controlled on the driving route in turn; wherein the segmentation operation includes: determining the projection point of the target signal on the unsegmented part of the driving route, and segmenting the driving route between the projection point and the previous projection point / starting point to generate a corresponding driving section.

[0034] Exemplarily, the projection point is the point where the distance between the target signal and the unsegmented part of the driving route is the shortest. It should be noted that, under normal circumstances, the projection point is the foot of a perpendicular line drawn from the target signal to the unsegmented part of the driving route. This is because the shortest distance from any point outside the straight line to the straight line is the perpendicular line segment, and the shortest distance is the distance from the target signal to the foot of the perpendicular. However, since the length of the driving route is limited, if the foot of the perpendicular does not fall on the unsegmented part of the driving route, the projection point is not the foot of the perpendicular. At this time, the projection point is usually the starting point of the unsegmented part of the driving route. The projection point can also be obtained by spatially calculating the distance between the longitude and latitude information of the target signal and the unsegmented part of the driving route obtained in advance, and then obtaining the point with the shortest distance through comparative analysis. Among them, spatial calculation refers to spatial data analysis and processing based on a geographic information system, including spatial distance calculation, spatial query, geographic feature extraction, etc.

[0035] For example, the travel direction of the driving route indicates the travel direction from the starting point to the end point of the driving route. According to the travel direction of the driving route, the segmentation operation is performed for each target signal machine passed on the driving route in turn, that is, after the driving section is divided based on the projection point of the current target signal machine, the remaining unsegmented driving route is segmented through the next target signal machine.

[0036] For example, the segment operation is performed when the first target signal is not at the starting point. Figure 2The schematic diagram of the driving route shown in the figure passes through four target signal machines from the starting point to the end point. The projection point of the first target signal machine (target signal machine 1) on the driving route is obtained as the first projection point (projection point A). The driving route is segmented based on the first projection point (projection point A), and the generated driving section is the driving route between the starting point and the first projection point (projection point A). Similarly, the projection point of the second target signal machine (target signal machine 2) on the unsegmented part of the driving route (the section from projection point A to the end point) is obtained as the second projection point (projection point B). The segmentation is performed based on the second projection point (projection point B), and the generated driving section is the driving section between the first projection point (projection point A) and the second projection point (projection point B). Similarly, the projection points of the subsequent target signals in the remaining unsegmented parts are obtained in turn, and the corresponding driving sections are generated in turn. The last driving section is the driving section between the last projection point (projection point D) and the end point. Therefore, the driving sections are: the first driving section: starting point-projection point A, the second driving section: projection point A-projection point B, the third driving section: projection point B-projection point C, the fourth driving section: projection point C-projection point D, and the fifth driving section: projection point D-end point.

[0037] Exemplarily, the segmentation operation is performed by taking the location of the first target signal as the starting point as an example: the projection point of the first target signal on the driving route is obtained as the first projection point, that is, the starting point. The projection point of the second target signal on the driving route is obtained as the second projection point. Segmentation is performed based on the second projection point, and the generated driving section is the driving route between the first projection point (starting point) and the second projection point. Similarly, the projection points of the subsequent target signals on the remaining driving routes are obtained in sequence to generate the corresponding driving sections.

[0038] According to the above description, this embodiment determines the projection point of the target signal on the unsegmented part of the driving route based on the travel direction of the driving route for each target signal passed on the driving route in turn, and segments the driving route between the projection point and the previous projection point / starting point to generate the corresponding driving section. The target signal corresponding to each driving section can be determined quickly and accurately, thereby solving the problems of inaccurate segmentation of driving sections and time-consuming and labor-intensive configuration of equipment such as target signals point by point, and improving the accuracy of segmentation of driving routes and the efficiency of configuring equipment such as target signals for sections.

[0039] In one embodiment, for each driving section, the driving section is associated with the corresponding target signal and image monitoring device respectively to control the target signal and image monitoring device on the driving section. Exemplarily, based on the latitude and longitude calculation of the map on the driving route, each driving section is automatically associated with the corresponding image monitoring device. Therefore, when the vehicle arrives at the driving section, the image monitoring device can be triggered to obtain the video on the driving section to track the real-time road conditions of the vehicle. The green light phase of the traffic light can also be controlled through the command of the target signal to ensure that the vehicle can pass the intersection on the driving section with a green light.

[0040] In one embodiment, according to the traveling direction of the driving route, the segmented operation is performed sequentially for each target signal machine that needs to be controlled on the driving route, including:

[0041] According to the travel direction of the route, determine the target signal that needs to be controlled on the route;

[0042] According to the traveling direction of the driving route, the target signal machines are sequentially numbered to obtain the signal machine number; wherein, for the same target signal machine, a new number is generated each time the target signal machine is passed;

[0043] According to the order of signal numbers, the segment operation is performed for each target signal passed on the driving route.

[0044] For example, the target traffic lights that need to be controlled on the driving route can be obtained through the basic map data, and the order in which each target traffic light passes can be determined according to the direction of travel of the driving route. The target traffic lights are numbered in sequence to obtain the traffic light number.

[0045] For example, for the same target signal, a new number is generated each time the vehicle passes through the target signal. For example, if a vehicle first passes through a target signal N on the driving route, then the vehicle turns around after traveling a certain distance and passes through the target signal again, the target signal is now numbered as target signal N+1.

[0046] This embodiment performs segmentation operations on each target signal passed on the driving route in sequence based on the sequence of the signal numbers, thereby achieving accurate segmentation of the driving route and improving the efficiency of route segmentation.

[0047] In one embodiment, according to the traveling direction of the driving route, the segmentation operation is performed for each target signal machine passed on the driving route in sequence, including:

[0048] According to the traveling direction of the driving route, determine each initial intersection passed on the driving route;

[0049] Determine, from the initial intersection, a target intersection where a target signal light needs to be controlled when passing through the initial intersection;

[0050] According to the traveling direction of the driving route, the target intersections are sequentially numbered to obtain intersection numbers; wherein, for the same target intersection, a new intersection number is generated each time it passes through;

[0051] According to the order of the intersection numbers, the segmentation operation is performed in turn for the target signal corresponding to each target intersection passed on the driving route; wherein, the target signal corresponding to the same target intersection with different intersection numbers is the same.

[0052] Exemplarily, based on the basic map data, each initial intersection passed on the driving route can be obtained.

[0053] For example, among the above-obtained initial intersections, the signal corresponding to some initial intersections may not need to be controlled, so the target intersection that needs to control the target signal when passing through the initial intersection is determined from the initial intersection, and the target intersections are numbered in sequence according to the direction of travel of the driving route to obtain the intersection number. For the same target intersection, a new intersection number is generated each time it passes. For example, in the acquired driving route, when a vehicle turns right at a certain intersection, it can generally pass directly when turning right, so it is not necessary to control the signal corresponding to the intersection, and the signal is not the target signal that needs to be controlled, that is, the intersection is not the target intersection at present, and it is not necessary to number the intersection at present. If the vehicle passes through the intersection again (not turning right), it is necessary to control the signal corresponding to the intersection. At this time, the intersection is the target intersection and needs to be numbered.

[0054] For example, Figure 4 The direction of travel of the driving route is shown as the arrow. It can be seen from the figure that the target intersection 3 and the target intersection 7 are passed twice successively. The target intersection 3 and the target intersection 7 are actually the same intersection. Based on the sequence of intersections on the driving route, the intersection passed for the first time is marked as the target intersection 3, and the intersection passed for the second time is marked as the target intersection 7, so as to distinguish the various intersections on the driving route and provide a basis for the subsequent driving section division.

[0055] In one embodiment, the target traffic lights that need to be controlled can be sequentially numbered according to the traveling direction of the driving route to obtain the traffic light number, and the target intersections can be sequentially numbered to obtain the intersection number. For example, the traffic light numbers of the target traffic lights that the vehicle passes successively on the driving route are marked as target traffic light 1, target traffic light 2... The intersection numbers of the target intersections that the vehicle passes successively on the driving route are marked as target intersection 1, target intersection 2... At the same time, target traffic light 1 corresponds to target intersection 1, target traffic light 2 corresponds to target intersection 2, and so on.

[0056] It should be noted that after a vehicle passes through an intersection (controls the signal corresponding to the intersection once) and continues to move forward, it turns around and passes through the intersection again. If it is necessary to control the signal corresponding to the intersection again, the intersection passed for the first time is marked as target intersection N, and the corresponding signal is marked as target signal N; the intersection passed for the second time is marked as target intersection N+1, and the corresponding signal is marked as target signal N. If a vehicle passes through an intersection (controls the signal corresponding to the intersection once) and continues to move forward, it turns around and passes through the intersection again, but only turns right, and does not need to control the signal corresponding to the intersection again, the intersection passed for the first time is marked as target intersection N, and the corresponding signal is marked as target signal N, and the intersection and signal passed for the second time are not numbered; if a vehicle directly turns around at an intersection and does not need to control the signal at the intersection once or again, the intersection or the signal is not numbered.

[0057] Based on this implementation, by numbering the target traffic lights and target intersections, and segmenting the driving sections according to the projection points of the target traffic lights, and by establishing a mapping relationship between the traffic light numbers and the intersection numbers, the traffic lights and intersections on each driving section can be bound, so as to perform linkage control on the image monitoring equipment and traffic lights at each intersection, and realize real-time tracking of the vehicle.

[0058] In the embodiment of the present application, according to the direction of travel of the driving route, for each target signal passing through the driving route, the projection point of the target signal on the unsegmented part of the driving route is determined in turn, and then the segmentation operation is performed. However, in a complex driving route scene, the projection point of the signal on the unsegmented part may be abnormal, so the corresponding segmentation operation needs to be corrected. In one embodiment, in response to the instruction that the projection distance of the target signal of the Nth target signal / the target signal of the Nth target intersection is greater than the distance threshold, the segmentation operation of the target signal of the Nth target signal / the target signal of the Nth target intersection is corrected; wherein the projection distance is the length of the target signal from the corresponding projection point. Among them, the projection distance can be obtained by spatial calculation based on the latitude and longitude information of the target signal and the latitude and longitude information of the projection point. The distance threshold can be set according to the experience value or the specific application scenario. For example, at a traffic intersection, the maximum distance between the target signal and the intersection should not usually exceed 50 meters, so the distance threshold can be set to 50 meters to ensure that the projection distance meets the requirements of the traffic application scenario.

[0059] by Figure 3Take the example for explanation, and this embodiment takes the signal number as an example. It can be seen from the figure that the driving route passes through the target signal 1 to the target signal 8 in sequence, and the distance threshold is set to 50 meters. On this driving route, the target signal 3 and the target signal 7 that the vehicle passes repeatedly are the same target signal. The projection point A of the target signal 1 and the projection point B of the target signal 2 have generated corresponding driving sections. When the target signal 3 is projected on the unsegmented part of the driving route (projection point B to target signal 8), since the projection point is the shortest point from the target signal to the unsegmented part of the driving route, and the distance from the target signal 3 to the projection point C of the unsegmented part of the driving route is the shortest, the projection point of the target signal 3 is point C, and the generated driving section is the driving section between the projection point B and the projection point C (the red line segment in the figure). However, when the target signal 4 performs a projection operation on the unsegmented portion of the driving route (from projection point C to target signal 8, the black line segment in the figure), the target signal 4 can only be projected to projection point D. At this time, the projection distance from the target signal 4 to projection point D is greater than the distance threshold of 50 meters, and the projection point is abnormal. Therefore, the segmentation operation of the target signal 4 needs to be corrected.

[0060] Taking the intersection number as an example, Figure 4 As shown, the driving route passes through target intersection 1 to target intersection 8 in sequence, and the distance threshold is set to 50 meters. On this driving route, the target intersection 3 and the target intersection 7 that the vehicle passes through correspond to the same target signal. The projection point A of the target signal at target intersection 1 and the projection point B of the target signal at target intersection 2 have generated corresponding driving sections (red segments in the figure). When the target signal at target intersection 3 is projected on the unsegmented part of the driving route (projection point B to target signal 8), projection point C is obtained. When the target signal at target intersection 4 is projected on the unsegmented part (projection point C to target signal 8, black segments in the figure), the target signal at target intersection 4 is projected to projection point D. The projection distance from the target signal at target intersection 4 to projection point D is greater than the distance threshold of 50 meters, and the segmentation operation of the target signal at target intersection 4 needs to be corrected.

[0061] Furthermore, if Figure 5 As shown, the segmented operation of the target signal of the Nth target signal machine / the target signal machine at the Nth target intersection is modified, including:

[0062] Step S501, cancel the segmentation operation of the driving route based on the target signal of the N-1th target signal / the target signal of the N-1th target intersection, and perform the segmentation operation on the target signal of the Nth target signal / the target signal of the Nth target intersection, to generate a target driving section with the projection point corresponding to the target signal of the Nth target signal / the target signal of the Nth target intersection and the projection point / starting point corresponding to the target signal of the N-2th target signal / the target signal of the N-2th target intersection as endpoints.

[0063] Step S502, determine the target projection point of the target signal machine of the N-1th target signal machine / the target signal machine of the N-1th target intersection on the target driving section, and generate a driving section with the target projection point and the projection point corresponding to the target signal machine of the N-2th target signal machine / the target signal machine of the N-2th target intersection / the starting point as the endpoint, and a driving section with the target projection point and the projection point corresponding to the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection as the endpoint.

[0064] For example, based on Figure 3 The driving route shown in FIG. 1 is explained by taking the segmented operation of the target signal 4 as an example. Figure 6 As shown. Cancel the segmentation operation of the target signal 3 on the driving route. The unsegmented part of the driving route is the line segment from projection point B to target signal 8. Perform segmentation operation on target signal 4, project the unsegmented part of target signal 4 on the driving route to obtain projection point D', segment the driving route according to projection point D' and the previous projection point (projection point B), and generate a target driving section with projection point B to projection point D' as endpoints (projection point B to projection point D', blue line segment in the figure). Project target signal 3 on the target driving section, determine the target projection point as projection point C', generate a driving section with projection point C' and projection point B as two endpoints, and a driving section with projection point C' and projection point D' as two endpoints, complete the correction of the segmentation operation of target signal 4, and then perform segmentation operation on subsequent target signals to generate corresponding driving sections.

[0065] For example, based on Figure 4 The driving route shown in FIG. 1 is described by taking the segmented operation of the target signal at the target intersection 4 as an example. Figure 7As shown. Cancel the segmentation operation of the target signal at target intersection 3 on the driving route. The unsegmented part of the driving route is the line segment from projection point B to target intersection 8. Perform segmentation operation on the target signal at target intersection 4, project the target signal at target intersection 4 on the unsegmented part of the driving route to obtain projection point D', segment the driving route according to projection point D' and the previous projection point (projection point B), and generate a target driving section with projection point B to projection point D' as endpoints. Project the target signal at target intersection 3 on the target driving section (projection point B to projection point D', blue line segment in the figure), determine the target projection point as projection point C', generate a driving section with projection point C' and projection point B as the two end points, and a driving section with projection point C' and projection point D' as the two end points, complete the correction of the segmentation operation of the target signal at target intersection 4, and then perform segmentation operation on the subsequent target signal to generate the corresponding driving section.

[0066] In this embodiment, corrections are made by using abnormalities in the projection points of signal lights to obtain the correct driving section, thereby avoiding problems such as signal light projection errors and driving section generation errors in complex traffic route scenes, improving adaptability to complex traffic route scenes, and improving the accuracy of driving section division.

[0067] In the case where the driving route requires a U-turn, if the current intersection allows U-turns, the vehicle can turn around when the light at the intersection is green, and the traffic light only needs to execute a green light control on the traffic light at the intersection once and only pass the intersection once. However, if the current intersection does not allow U-turns, for example, the current road is a one-way street or there is a green belt or solid line in the middle of the road, the vehicle needs to continue forward, drive to a route that allows U-turns, and then turn around and return. In this case, the vehicle needs to pass the same intersection and the same traffic light twice before and after the U-turn, and the traffic light needs to execute a green light control on the traffic light at the intersection twice, which causes the traffic light that passes twice to be repeatedly projected on the driving route and the projection points overlap.

[0068] Therefore, in order to improve the adaptability of the traffic route segmentation method based on signal machines of the present application to complex application scenarios, the present application proposes a correction scheme for route division in the above situation, that is, the traffic route segmentation method based on signal machines also includes: in response to an instruction that the projection point of the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection coincides with the projection point of the target signal machine of the N-1th target signal machine / the target signal machine of the N-1th target intersection, the segmentation operation of the target signal machine of the N-1th target signal machine / the target signal machine of the N-1th target intersection is corrected, and after the correction, the segmentation operation of the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection is re-executed; wherein, the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection and the target signal machine of the N-1th target signal machine / the target signal machine of the N-1th target intersection are the same target signal machine passed twice. In this way, when the projection points of two target traffic lights overlap, it is possible to avoid confusion in the truncated driving section or failure to obtain the corresponding driving section, thereby improving the accuracy of the segmentation of the route.

[0069] In a specific embodiment, the segmentation operation of the target signal of the N-1th target signal machine / the target signal machine at the N-1th target intersection is corrected, including: on the driving route from the first projection point to the end point, selecting a point with a first preset length from the first projection point as the first correction point, and generating a driving section with the first correction point and the projection point / starting point corresponding to the target signal machine of the N-2th target signal machine / the N-2th target intersection as endpoints; wherein the first projection point is the projection point corresponding to the target signal machine of the N-1th target signal machine / the N-1th target intersection, wherein the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the first correction point is greater than the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the second projection point, and the second projection point is the projection point of the unsegmented part of the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection on the driving route.

[0070] In the above, the distance between the Nth target signal machine / the target signal machine at the Nth target intersection and the first correction point is greater than the distance between the Nth target signal machine / the target signal machine at the Nth target intersection and the second projection point, which means that the distance between the Nth target signal machine and the first correction point is greater than the distance between the Nth target signal machine and the second projection point, or the distance between the target signal machine at the Nth target intersection and the first correction point is greater than the distance between the target signal machine at the Nth target intersection and the second projection point. Through this setting, it can be ensured that the projection point of the Nth target signal machine will not overlap with the projection point of the N-1th target signal machine, and the Nth target signal machine will not be projected to the first correction point, or it can be ensured that the projection point of the target signal machine at the Nth target intersection will not overlap with the projection point of the target signal machine at the N-1th target intersection, and the target signal machine at the Nth target intersection will not be projected to the first correction point. Among them, the first preset length is greater than the distance threshold. For example, if the distance threshold is set to 50 meters, the first preset length can be set to 100 meters. It can be set specifically according to the characteristics of the driving route to ensure that the first preset length is greater than the projection distance from the target signal to its projection point, so that subsequent steps can be carried out effectively.

[0071] by Figure 8 As an example, the signal machine number is used as an example for explanation. According to the direction of the driving route, the target signal machine 2 is passed first and then the target signal machine 3 is passed. However, since the target signal machine 2 and the target signal machine 3 correspond to the same target signal machine, the projection points corresponding to the two coincide. As shown in the figure, since the projection point is the point where the target signal machine is the shortest from the unsegmented part on the driving route, the position of the target signal machine 2 is closest to the route below in the figure, and its projection point is the projection point B' in the figure. The segmented operation of the target signal machine 2 is corrected, and the projection point B' of the target signal machine 2 on the driving route is obtained, that is, the first projection point. On the driving route from the projection point B' to the end point, a point with a first preset length L1 from the first projection point (projection point B') is selected as the first correction point, and a driving section with the first correction point and the projection point A corresponding to the target signal machine 1 is generated, and the segmented operation of the target signal machine 2 is corrected. Project the unsegmented portion (from the first correction point to the end point) of the target signal 3 on the driving route to obtain a projection point C', ie, a second projection point, so that the generated driving section is the driving section between the first correction point and the projection point C'.

[0072] by Fig. 9As an example, the embodiment is described in detail, and the intersection number is used as an example. According to the direction of the driving route, the target intersection 2 is passed first and then the target intersection 3 is passed. However, since the target intersection 2 and the target intersection 3 correspond to the same target signal, the projection points corresponding to the two coincide. As shown in the figure, since the projection point is the point where the target signal is the shortest from the unsegmented part on the driving route, the position of the target signal at the target intersection 2 is closest to the route below in the figure, and its projection point is the projection point B' in the figure. The segmented operation of the target signal at the target intersection 2 is corrected, and the projection point B' of the target signal at the target intersection 2 on the driving route is obtained, that is, the first projection point. On the driving route from the projection point B' to the end point, a point with a first preset length L1 from the first projection point (projection point B') is selected as the first correction point, and a driving section corresponding to the projection point A corresponding to the first correction point and the target signal at the target intersection 1 is generated, and the segmented operation of the target signal at the target intersection 2 is corrected. The target signal machine at the target intersection 3 is projected on the unsegmented part of the driving route (from the first correction point to the end point) to obtain a projection point C', i.e., a second projection point. The generated driving section is the driving section between the first correction point and the projection point C', i.e., the driving section obtained by performing a segmentation operation on the target signal machine at the target intersection 3.

[0073] In this way, the situation where the projection points of the target signal overlap due to a vehicle turning around and passing the same target signal or the target signal at the same target intersection is avoided, thereby avoiding the problem of confusion in the truncated driving section or the failure to obtain the corresponding driving section, and improving the accuracy of the obtained driving section.

[0074] In another specific embodiment, the segmented operation of the target signal of the N-1th target signal machine / the target signal machine at the N-1th target intersection is corrected, including: on the driving route from the second projection point to the starting point, selecting a point with a second preset length from the second projection point as the second correction point, and generating a target section with the second correction point and the projection point / starting point corresponding to the target signal machine of the N-2th target signal machine / the target signal machine of the N-2th target intersection as endpoints, determining the projection point of the target signal machine of the N-1th target signal machine / the target signal machine of the N-1th target intersection on the target section as the first projection point, and generating a driving section with the first projection point and the projection point / starting point corresponding to the target signal machine of the N-2th target signal machine / the target signal machine of the N-2th target intersection as endpoints; wherein the second projection point is the projection point corresponding to the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection, and the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the second correction point is greater than the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the first projection point.

[0075] Exemplarily, the second preset length is greater than a preset distance threshold. The distance threshold can be set to 50 meters, and the second preset length can be set to 100 meters. It can be set specifically according to the characteristics of the driving route to ensure that the second preset length is greater than the projection distance from the traffic light to its projection point, so that subsequent steps can be carried out effectively.

[0076] by Fig.10 As an example, the signal number is used as an example for explanation. According to the direction of the driving route, the target signal 2 is passed first and then the target signal 3 is passed. However, since the target signal 2 and the target signal 3 correspond to the same target signal, the corresponding projection points of the two coincide. As shown in the figure, since the projection point is the point where the target signal is the shortest from the unsegmented part on the driving route, the position of the target signal 2 is closest to the upper route in the figure, and its projection point is the projection point C' in the figure. The segmentation operation of the target signal 3 is corrected, and the projection point C' of the target signal 3 on the driving route is obtained, that is, the second projection point. On the driving route from the projection point C' to the starting point, a point with a second preset length L2 from the second projection point (projection point C') is selected as the second correction point, and a driving section with the second correction point and the projection point A corresponding to the target signal 1 as the endpoints is generated as the target section (the red line segment in the figure). The projection point (projection point B') of target signal 2 on the target section is used as the first projection point, and a driving section with the first projection point (projection point B') and the projection point (projection point A) corresponding to target signal 1 as endpoints is generated, completing the correction of the segmentation operation of target signal 2. Further, a driving section with projection point C' and projection point B' of target signal 3 as endpoints is generated, thereby completing the driving section obtained by performing the segmentation operation on target signal 3.

[0077] by Fig.11As an example, the embodiment is described in detail, and the intersection number is used as an example. According to the direction of the driving route, the target intersection 2 is passed first and then the target intersection 3 is passed. However, since the target intersection 2 and the target intersection 3 correspond to the same target signal, the projection points corresponding to the two coincide. As shown in the figure, since the projection point is the point where the target signal is the shortest from the unsegmented part on the driving route, the position of the target signal at the target intersection 2 is closest to the upper route in the figure, and its projection point is the projection point C' in the figure. The segmentation operation of the target signal at the target intersection 3 is corrected, and the projection point C' of the target signal at the target intersection 3 on the driving route is obtained, that is, the second projection point. On the driving route from the projection point C' to the starting point, a point with a second preset length L2 from the second projection point (projection point C') is selected as the second correction point, and a driving section with the second correction point and the projection point A corresponding to the target signal at the target intersection 1 as the endpoints is generated as the target section. The projection point (projection point B') of the target signal at target intersection 2 on the target section is used as the first projection point, and a driving section with the first projection point (projection point B') and the projection point (projection point A) corresponding to the target signal at target intersection 1 as endpoints is generated, completing the correction of the segmentation operation of the target signal at target intersection 2. Further, a driving section with the projection point C' and projection point B' of the target signal at target intersection 3 as endpoints is generated, thereby completing the driving section obtained by performing the segmentation operation on the target signal at target intersection 3.

[0078] In this way, the situation where the projection points of the target signal overlap due to a vehicle turning around and passing the same target signal or the target signal at the same target intersection is avoided, thereby avoiding the problem of confusion in the generated driving section or failure to obtain the corresponding driving section, and improving the accuracy of the obtained driving section.

[0079] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0080] Based on the same inventive concept, the embodiment of the present application also provides a device for implementing the above-mentioned traffic route segmentation method based on a signal. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiment of the traffic route segmentation device based on a signal provided below can refer to the limitations of the traffic route segmentation method based on a signal above, and will not be repeated here.

[0081] In one embodiment, Fig.12 As shown, a traffic route segmentation device based on a signal machine is provided, and the device includes:

[0082] The route planning module 1201 is used to determine the driving route.

[0083] The route segmentation module 1202 is used to perform segmentation operations for each target signal machine that needs to be controlled on the driving route in turn according to the travel direction of the driving route, wherein the segmentation operation includes: determining the projection point of the target signal machine on the unsegmented part of the driving route, and segmenting the driving route between the projection point and the previous projection point / starting point to generate a corresponding driving section; wherein the projection point is the point where the target signal machine is shortest from the unsegmented part of the driving route.

[0084] This embodiment is based on the travel direction of the driving route and determines the projection point of the target signal on the unsegmented part of the driving route for each target signal passed on the driving route in turn, and segments the driving route between the projection point and the previous projection point / starting point to generate corresponding driving sections. The target signal corresponding to each driving section can be determined quickly and accurately, thereby improving the accuracy of driving route segmentation and the efficiency of configuring target signal machines and other equipment for sections.

[0085] In one embodiment, the route segmentation module 1202 is specifically configured to:

[0086] According to the travel direction of the route, determine the target signal that needs to be controlled on the route;

[0087] According to the traveling direction of the driving route, the target signal machines are sequentially numbered to obtain the signal machine number; wherein, for the same target signal machine, a new number is generated each time the target signal machine is passed;

[0088] According to the order of signal numbers, the segment operation is performed for each target signal passed on the driving route.

[0089] In one embodiment, the route segmentation module 1202 is specifically configured to:

[0090] According to the traveling direction of the driving route, determine each initial intersection passed on the driving route;

[0091] Determine, from the initial intersection, a target intersection where a target signal light needs to be controlled when passing through the initial intersection;

[0092] According to the traveling direction of the driving route, the target intersections are sequentially numbered to obtain intersection numbers; wherein, for the same target intersection, a new intersection number is generated each time it passes through;

[0093] According to the order of the intersection numbers, the segmentation operation is performed in turn for the target signal corresponding to each target intersection passed on the driving route; wherein, the target signal corresponding to the same target intersection with different intersection numbers is the same.

[0094] In one embodiment, the route segmentation module 1202 is specifically configured to:

[0095] In response to an instruction that the projection distance of the Nth target signal / the target signal at the Nth target intersection is greater than a distance threshold, the segmented operation of the Nth target signal / the target signal at the Nth target intersection is corrected, wherein the projection distance is the length of the target signal from the corresponding projection point.

[0096] In one embodiment, the route segmentation module 1202 is specifically configured to:

[0097] The segmentation operation of the driving route based on the target signal of the N-1th target signal / the target signal of the N-1th target intersection is canceled, and the segmentation operation is performed on the target signal of the Nth target signal / the target signal of the Nth target intersection to generate a target driving section with the projection point corresponding to the target signal of the Nth target signal / the target signal of the Nth target intersection and the projection point / starting point corresponding to the target signal of the N-2th target signal / the target signal of the N-2th target intersection as endpoints;

[0098] Determine the target projection point of the target signal at the N-1th target signal / the target signal at the N-1th target intersection on the target driving section, and generate a driving section with the target projection point and the projection point corresponding to the target signal at the N-2th target signal / the target signal at the N-2th target intersection / the starting point as endpoints, and a driving section with the target projection point and the projection point corresponding to the target signal at the Nth target signal / the target signal at the Nth target intersection as endpoints.

[0099] In one embodiment, the route segmentation module 1202 is specifically configured to:

[0100] In response to an instruction that the projection point of the target signal of the Nth target signal / the target signal of the Nth target intersection coincides with the projection point of the target signal of the N-1th target signal / the N-1th target intersection, the segmentation operation of the target signal of the N-1th target signal / the N-1th target intersection is corrected, and the segmentation operation of the target signal of the Nth signal / the Nth target intersection is re-executed after the correction; wherein, the target signal of the Nth target signal / the Nth target intersection and the target signal of the N-1th target signal / the N-1th target intersection are the same target signal passed twice.

[0101] In one embodiment, the route segmentation module 1202 is specifically configured to:

[0102] On the driving route from the first projection point to the end point, a point with a first preset length from the first projection point is selected as the first correction point, and a driving section with the first correction point and the projection point corresponding to the N-2th target signal machine / the target signal machine at the N-2th target intersection / the starting point as the end points is generated; wherein, the first projection point is the projection point corresponding to the target signal machine at the N-1th target signal machine / the target signal machine at the N-1th target intersection; the distance between the Nth target signal machine / the target signal machine at the Nth target intersection and the first correction point is greater than the distance between the Nth target signal machine / the target signal machine at the Nth target intersection and the second projection point, wherein the second projection point is the projection point of the Nth target signal machine / the target signal machine at the Nth target intersection in the unsegmented part on the driving route.

[0103] In one embodiment, the route segmentation module 1202 is specifically configured to:

[0104] On the driving route from the second projection point to the starting point, a point with a second preset length from the second projection point is selected as the second correction point, and a target section with the second correction point and the projection point / starting point corresponding to the target signal of the N-2th target signal machine / the target signal machine of the N-2th target intersection as endpoints is generated, the projection point of the target signal machine of the N-1th target signal machine / the target signal machine of the N-1th target intersection on the target section is determined as the first projection point, and a driving section with the first projection point and the projection point / starting point corresponding to the target signal machine of the N-2th target signal machine / the target signal machine of the N-2th target intersection as endpoints is generated; wherein, the second projection point is the projection point corresponding to the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection, and the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the second correction point is greater than the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the first projection point.

[0105] Each module in the above-mentioned signal-based route segmentation device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in an electronic device in the form of hardware, or can be stored in a memory in an electronic device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0106] In one embodiment, an electronic device is also provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program. The electronic device may be a server, and its internal structure diagram may be as follows: Fig.13 As shown. The electronic device includes a processor, a memory and a network interface connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store data. The network interface of the electronic device is used to communicate with an external terminal via a network connection.

[0107] Those skilled in the art will understand that Fig.13 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] In one embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0109] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory, magnetic memory, ferroelectric memory, phase change memory, graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but is not limited thereto.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A traffic route segmentation method based on traffic lights, characterized in that: The method comprises: Determine the driving route; According to the traveling direction of the driving route, a segmentation operation is performed for each target signal machine that needs to be controlled on the driving route in turn, wherein the segmentation operation includes: determining the projection point of the target signal machine on the unsegmented part of the driving route, and segmenting the driving route between the projection point and the previous projection point / starting point to generate a corresponding driving section; wherein the projection point is the point where the target signal machine is shortest from the unsegmented part of the driving route; The method further includes: in response to an instruction that the projection distance of the Nth target signal machine / the target signal machine at the Nth target intersection is greater than a distance threshold, correcting the segmented operation of the Nth target signal machine / the target signal machine at the Nth target intersection, wherein the projection distance is the length of the target signal machine from the corresponding projection point; correcting the segmented operation of the Nth target signal machine / the target signal machine at the Nth target intersection, including: The segmentation operation of the driving route based on the target signal of the N-1th target signal / the target signal of the N-1th target intersection is canceled, and the segmentation operation is performed on the target signal of the Nth target signal / the target signal of the Nth target intersection to generate a target driving section with the projection point corresponding to the target signal of the Nth target signal / the target signal of the Nth target intersection and the projection point / starting point corresponding to the target signal of the N-2th target signal / the target signal of the N-2th target intersection as endpoints; Determine the target projection point of the N-1th target signal machine / the target signal machine of the N-1th target intersection on the target driving section, and generate a driving section with the projection point / starting point corresponding to the target projection point and the target signal machine of the N-2th target signal machine / the target signal machine of the N-2th target intersection as an endpoint, and a driving section with the projection point corresponding to the target projection point and the Nth target signal machine / the target signal machine of the Nth target intersection as an endpoint; or, The method also includes: in response to an instruction that a projection point of the Nth target signal / the target signal at the Nth target intersection coincides with a projection point of the N-1th target signal / the target signal at the N-1th target intersection, correcting the segmentation operation of the target signal at the N-1th target signal / the N-1th target intersection, and re-executing the segmentation operation on the target signal at the Nth signal / the Nth target intersection after the correction; wherein the Nth target signal / the target signal at the Nth target intersection and the N-1th target signal / the target signal at the N-1th target intersection are the same target signal passed twice.

2. The traffic route segmentation method based on traffic lights according to claim 1, characterized in that: The step of performing segmented operations on each target signal machine that needs to be controlled and passes through the driving route in sequence according to the traveling direction of the driving route includes: According to the traveling direction of the driving route, determining the target signal machine that needs to be controlled on the driving route; According to the traveling direction of the driving route, the target signal machines are sequentially numbered to obtain signal machine numbers; wherein, for the same target signal machine, a new signal machine number is generated each time the target signal machine is passed; The segmentation operation is performed sequentially for each of the target signals passed on the travel route in the order of the signal numbers.

3. The traffic route segmentation method based on traffic lights according to claim 1, characterized in that: The step of performing segmentation operations on each of the target signal machines passing through the driving route in sequence according to the traveling direction of the driving route includes: According to the traveling direction of the driving route, determining each initial intersection passed on the driving route; Determine, from the initial intersection, a target intersection where a target signal light needs to be controlled when passing through the initial intersection; According to the traveling direction of the driving route, the target intersections are sequentially numbered to obtain intersection numbers; wherein for the same target intersection, a new intersection number is generated each time it passes through; According to the order of the intersection numbers, segmentation operation is performed on the target traffic lights corresponding to each target intersection passed on the driving route in turn; wherein the target traffic lights corresponding to the same target intersection with different intersection numbers are the same.

4. The traffic route segmentation method based on traffic lights according to any one of claims 1 to 3, characterized in that: The segmented operation of the target signal of the N-1th target intersection / the target signal of the N-1th target intersection is modified, including: On the driving route from the first projection point to the end point, a point with a first preset length from the first projection point is selected as the first correction point, and a driving section with the first correction point and the projection point corresponding to the N-2th target signal machine / the target signal machine at the N-2th target intersection / the starting point as the end points is generated; wherein, the first projection point is the projection point corresponding to the target signal machine at the N-1th target signal machine / the target signal machine at the N-1th target intersection; the distance between the Nth target signal machine / the target signal machine at the Nth target intersection and the first correction point is greater than the distance between the Nth target signal machine / the target signal machine at the Nth target intersection and the second projection point, wherein, the second projection point is the projection point of the unsegmented part of the Nth target signal machine / the target signal machine at the Nth target intersection on the driving route.

5. The traffic route segmentation method based on traffic lights according to any one of claims 1 to 3, characterized in that: The segmented operation of the target signal of the N-1th target intersection / the target signal of the N-1th target intersection is modified, including: On the driving route from the second projection point to the starting point, a point with a second preset length from the second projection point is selected as the second correction point, and a target section with the second correction point and the projection point / starting point corresponding to the target signal of the N-2th target signal machine / the target signal machine of the N-2th target intersection as endpoints is generated, the projection point of the target signal machine of the N-1th target signal machine / the target signal machine of the N-1th target intersection on the target section is determined as the first projection point, and a driving section with the first projection point and the projection point / starting point corresponding to the target signal machine of the N-2th target signal machine / the target signal machine of the N-2th target intersection as endpoints is generated; wherein, the second projection point is the projection point corresponding to the target signal machine of the Nth target signal machine / the target signal machine of the Nth target intersection, and the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the second correction point is greater than the distance between the Nth target signal machine / the target signal machine of the Nth target intersection and the first projection point.

6. A traffic route segmentation device based on a signal machine, characterized in that: The device comprises: Route planning module, used to determine the driving route; A route segmentation module is used to perform segmentation operations for each target signal machine that needs to be controlled on the driving route in turn according to the travel direction of the driving route, wherein the segmentation operation includes: determining the projection point of the target signal machine on the unsegmented part of the driving route, and segmenting the driving route between the projection point and the previous projection point / starting point to generate a corresponding driving section; wherein the projection point is the point where the target signal machine is shortest from the unsegmented part of the driving route; The route segmentation module is further used to correct the segmentation operation of the Nth target signal machine / the target signal machine at the Nth target intersection in response to an instruction that the projection distance of the Nth target signal machine / the target signal machine at the Nth target intersection is greater than a distance threshold, wherein the projection distance is the length of the target signal machine from the corresponding projection point; correcting the segmentation operation of the Nth target signal machine / the target signal machine at the Nth target intersection includes: The segmentation operation of the driving route based on the target signal of the N-1th target signal / the target signal of the N-1th target intersection is canceled, and the segmentation operation is performed on the target signal of the Nth target signal / the target signal of the Nth target intersection to generate a target driving section with the projection point corresponding to the target signal of the Nth target signal / the target signal of the Nth target intersection and the projection point / starting point corresponding to the target signal of the N-2th target signal / the target signal of the N-2th target intersection as endpoints; Determine the target projection point of the N-1th target signal machine / the target signal machine of the N-1th target intersection on the target driving section, and generate a driving section with the projection point / starting point corresponding to the target projection point and the target signal machine of the N-2th target signal machine / the target signal machine of the N-2th target intersection as an endpoint, and a driving section with the projection point corresponding to the target projection point and the Nth target signal machine / the target signal machine of the Nth target intersection as an endpoint; or, The route segmentation module is also used to respond to an instruction that the projection point of the Nth target signal / the target signal at the Nth target intersection coincides with the projection point of the N-1th target signal / the target signal at the N-1th target intersection, to correct the segmentation operation of the target signal at the N-1th target signal / the N-1th target intersection, and to re-execute the segmentation operation on the target signal at the Nth signal / the Nth target intersection after the correction; wherein the Nth target signal / the target signal at the Nth target intersection and the N-1th target signal / the target signal at the N-1th target intersection are the same target signal passed twice.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the traffic route segmentation method based on a traffic signal according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the traffic route segmentation method based on a traffic signal according to any one of claims 1 to 5 are implemented.

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