Road section detection method and related device

Abstract

The embodiment of the invention discloses a road section detection method and a related device, which can be applied to the field of maps. The method comprises the following steps: in road network data, determining a target exit road corresponding to a basic road, and determining an advancing relation between the basic road and the target exit road as a first advancing relation; determining a target entrance road corresponding to the basic road; based on the target entrance road, determining a confused road corresponding to the basic road, and determining a traveling relationship between the target entrance road and the confused road as a second traveling relationship; and under the condition that the second advancing relation is matched with the first advancing relation, determining that a road section consisting of the basic road, the target exit road, the target entrance road and the confusion road is an F-shaped road section. According to the method, the F-type road section can be accurately detected in the road network data.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a road section detection method and related devices. Background Art

[0002] An F-type road section refers to a road section that includes two adjacent intersections with similar exits on the same side of the two intersections. When navigation is broadcast for an F-type road section, it is easy to cause confusion among users and cause them to deviate from the route.

[0003] In order to avoid deviation on F-type sections, F-type sections can be detected and mined in the road network data, so as to provide users with more accurate and detailed navigation broadcast information when the navigation route involves F-type sections. However, how to accurately detect F-type sections in road network data has become a problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a road section detection method and related devices, which can accurately detect F-type road sections in road network data.

[0005] In view of this, the first aspect of the present application provides a road section detection method, the method comprising:

[0006] In the road network data, a target exit road corresponding to a basic road is determined, and a travel relationship between the basic road and the target exit road is determined as a first travel relationship; a travel direction of the target exit road changes relative to a travel direction of the basic road;

[0007] In the road network data, determining a target entrance road corresponding to the basic road;

[0008] Based on the target entrance road, determining a confused road corresponding to the basic road, and determining a travel relationship between the target entrance road and the confused road as a second travel relationship; the travel direction of the confused road changes relative to the travel direction of the target entrance road;

[0009] When the second traveling relationship matches the first traveling relationship, it is determined that the road section consisting of the basic road, the target exit road, the target entrance road and the confusing road is an F-type road section.

[0010] A second aspect of the present application provides a road section detection device, the device comprising:

[0011] An exit road determination module is used to determine a target exit road corresponding to a basic road in the road network data, and determine a travel relationship between the basic road and the target exit road as a first travel relationship; the travel direction of the target exit road changes relative to the travel direction of the basic road;

[0012] An entry road determination module, used to determine a target entry road corresponding to the basic road in the road network data;

[0013] a confused road determination module, configured to determine a confused road corresponding to the basic road based on the target entrance road, and determine a traveling relationship between the target entrance road and the confused road as a second traveling relationship; a traveling direction of the confused road changes relative to a traveling direction of the target entrance road;

[0014] The F-type road section determination module is used to determine that the road section consisting of the basic road, the target exit road, the target entrance road and the confusing road is an F-type road section when the second traveling relationship matches the first traveling relationship.

[0015] A third aspect of the present application provides a computer device, the device comprising a processor and a memory:

[0016] The memory is used to store computer programs;

[0017] The processor is used to execute the steps of the road section detection method as described in the first aspect according to the computer program.

[0018] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the steps of the road segment detection method described in the first aspect above.

[0019] In a fifth aspect, the present application provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of the road segment detection method described in the first aspect above.

[0020] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0021] The embodiment of the present application provides a road section detection method, which innovatively proposes a mechanism for mining F-type road sections in road network data. Specifically, in this method, the target exit road corresponding to the basic road can be determined in the road network data, and the travel relationship between the basic road and the target exit road can be determined as the first travel relationship, where the travel direction of the target exit road changes relative to the travel direction of the basic road; thus, the driving road after the basic road that the navigation route may indicate in the actual application is mined, and the driving road is easily confused by other roads before the basic road. In addition, the target entrance road corresponding to the basic road can also be determined in the road network data; thus, the driving road before the basic road that the navigation route may indicate in the actual application is mined, the driving road leads to the basic road, and the driving direction of the driving road is basically consistent with the driving direction of the basic road. Furthermore, the confusing road corresponding to the basic road is determined based on the target entry road, and the travel relationship between the target entry road and the confusing road is determined as the second travel relationship, where the travel direction of the confusing road changes relative to the travel direction of the target entry road; in this way, a driving road that is easily confused with the target exit road indicated by the navigation route is excavated, and in the process from the target entry road to the basic road, the driving road is easy to cause confusion to the user, causing the user to mistakenly enter the driving road and miss the basic road and target exit road actually indicated by the navigation route. In the case where the above-mentioned second travel relationship matches the first travel relationship, it can be determined that the section composed of the above-mentioned basic road, target exit road, target entry road and confusing road is an F-type section; that is, based on the accurately excavated target exit road, target entry road and confusing road, a relatively accurate and reliable F-type section involved in the basic road is determined, and accordingly, it is beneficial to provide users with accurate and reliable navigation broadcast information based on the excavated F-type section in the navigation stage to avoid user deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of an exemplary F-type road section provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of an application scenario of the road section detection method provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a flow chart of a road section detection method provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of an F-type road section provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of a process for determining a target exit road provided in an embodiment of the present application;

[0027] Figure 6 A schematic diagram of the relationship between a candidate exit road and a basic road provided in an embodiment of the present application;

[0028] Figure 7 A schematic diagram of the relationship between another candidate exit road and a basic road provided in an embodiment of the present application;

[0029] Figure 8 A schematic diagram of a process for determining a target entrance road provided in an embodiment of the present application;

[0030] Fig. 9 A schematic diagram of a process for determining a confusing road provided in an embodiment of the present application;

[0031] Fig.10 A schematic diagram of the application architecture of the road section detection method provided in an embodiment of the present application;

[0032] Fig.11 A schematic diagram of navigation broadcast information corresponding to an F-type road section provided in an embodiment of the present application;

[0033] Fig.12 A schematic diagram of the structure of a road section detection device provided in an embodiment of the present application;

[0034] Fig.13 A schematic diagram of the structure of a terminal device provided in an embodiment of the present application;

[0035] Fig.14 A schematic diagram of the structure of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] 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 interchangeable 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 of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising 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.

[0038] Figure 1 A schematic diagram of an exemplary F-shaped road section provided in an embodiment of the present application, wherein intersection 101 and intersection 102 are two adjacent intersections, there is a right turn exit road 103 at intersection 101, and there is a right front exit road 104 at intersection 102; Figure 1 In the case of roads indicated by solid arrows, if Figure 1 The location indicated by the middle dotted arrow broadcasts navigation information for driving right forward, which may easily confuse the user and make the user mistakenly believe that the user should turn right at the intersection 101, thus deviating from the navigation route.

[0039] In order to avoid the above-mentioned deviation from the F-type road section, the embodiment of the present application provides a road section detection method, which can accurately detect and dig out the F-type road section in the road network data. In this way, when the navigation route selected by the user involves the excavated F-type road section, more accurate and detailed navigation broadcast information can be provided for the F-type road section in the navigation route, thereby avoiding the user from deviating from the F-type road section.

[0040] The road segment detection method provided in the embodiment of the present application can be executed by a computer device with map data processing capability, which can be a terminal device or a server. The terminal device includes but is not limited to a mobile phone, a computer, an intelligent voice interaction device, an intelligent home appliance, a vehicle terminal, an aircraft, etc. The server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server.

[0041] It should be noted that the information (including but not limited to road-related information in road network data, etc.), data (including but not limited to road network data, etc.) and signals involved in the embodiments of the present application are all authorized by the relevant objects or fully authorized by all parties, and the collection, use and processing of relevant data comply with the relevant laws, regulations and standards of relevant countries and regions.

[0042] To facilitate understanding of the road section detection method provided in the embodiment of the present application, the application scenario of the road section detection method is exemplarily introduced below, taking the execution subject of the road section detection method as a server as an example.

[0043] See also Figure 2 , Figure 2 Schematic diagram of application scenarios of the road section detection method provided in the embodiment of the present application. Figure 2 As shown, the application scenario includes a server 210 and a database 220. The server 210 can access the database 220 through a network, or the database 220 can be integrated in the server 210. The server 210 is used to execute the road segment detection method provided in the embodiment of the present application to mine the F-type road segment in the road network data; the database 220 is used to store the road network data.

[0044] In practical applications, the server 210 can obtain road network data from the database 220 to mine F-type road segments in the road network data. The road network data here refers to data that uses point and line information to represent road conditions in the real world. Usually, the lines in the road network data correspond to roads in the real world, and the points in the road network data correspond to intersections or junctions of roads in the real world.

[0045] When the server 210 mines the F-type road section in the road network data, it can first select any road in the road network data as the basic road. Then, in the road network data, determine the target exit road corresponding to the basic road, and determine the travel relationship between the basic road and the target exit road as the first travel relationship; the target exit road here is the road connected to the intersection to which the exit of the basic road belongs, and the travel direction of the target exit road should be different from the travel direction of the basic road. In this way, the driving road after the basic road that may be indicated by the navigation route in actual application is mined, and the driving road is easily confused by other roads before the basic road.

[0046] In addition, the server 210 will also determine the target entrance road corresponding to the basic road in the road network data, and the target entrance road meets the F-type road section entrance road condition corresponding to the basic road. The F-type road section entrance road condition here is a path finding condition for the target entrance road set based on the basic road, and the F-type road section entrance road condition is used to limit the travel direction of the determined target entrance road to be basically consistent with the travel direction of the basic road. In this way, the driving road before the basic road that may be indicated by the navigation route in the actual application is mined, and the driving road leads to the basic road, and the driving direction of the driving road is basically consistent with the driving direction of the basic road.

[0047] On the basis of the target entrance road that has been mined, the server 210 can determine the confusing road corresponding to the basic road based on the target entrance road, and determine the travel relationship between the target entrance road and the confusing road as the second travel relationship; the confusing road here is a road connected to the intersection to which the exit of the target entrance road belongs, and the travel direction of the confusing road should be different from the travel direction of the target entrance road. In this way, a driving road that is easily confused with the target exit road indicated by the navigation route is mined. In the process of going from the target entrance road to the basic road, the driving road is likely to cause confusion to the user, causing the user to mistakenly enter the driving road and miss the basic road and target exit road actually indicated by the navigation route.

[0048] When the above-mentioned second traveling relationship matches the first traveling relationship, the server 210 can determine that the road section composed of the above-mentioned basic road, target exit road, target entrance road and confused road is an F-type road section; that is, based on the accurately mined target exit road, target entrance road and confused road, the more accurate and reliable F-type road section involved in the basic road is determined. Accordingly, it is beneficial to provide users with accurate and reliable navigation broadcast information based on the F-type road section mined in this way during the navigation stage, so as to avoid user deviation.

[0049] Optionally, after the server 210 mines out the F-type road sections in the road network data, it can configure F-type road section identification information for the basic roads, target exit roads, target entrance roads and confused roads involved in the F-type road sections, and write the F-type road section identification information into the database 220 accordingly. This facilitates the detection of whether the navigation route selected by the user involves an F-type road section based on the F-type road section identification information corresponding to the roads in the road network data stored in the database 220 in actual navigation services, and determines whether to configure the navigation playback information corresponding to the F-type road section for the navigation route based on the detection result.

[0050] It should be understood that Figure 2 The application scenarios shown are only examples. In actual applications, the road section detection method provided in the embodiments of the present application can also be applied to other scenarios. No limitation is made to the application scenarios of the road section detection method provided in the embodiments of the present application.

[0051] The road section detection method provided by the present application is introduced in detail below through a method embodiment.

[0052] See also Figure 3 , Figure 3 Schematic diagram of the flow of the road segment detection method provided in the embodiment of the present application. For the convenience of description, the following embodiment is still introduced by taking the execution subject of the road segment detection method as a server as an example. Figure 3 As shown, the road section detection method includes the following steps:

[0053] Step 301: Determine a target exit road corresponding to a basic road in the road network data, and determine a travel relationship between the basic road and the target exit road as a first travel relationship; the travel direction of the target exit road changes relative to the travel direction of the basic road.

[0054] In an embodiment of the present application, the server may select a road in the road network data as a basic road. Furthermore, the server may mine a target exit road corresponding to the basic road in the road network data, and determine a travel relationship between the basic road and the target exit road as a first travel relationship.

[0055] It should be noted that the road network data is data that uses point and line information to represent the road conditions in the real world. Usually, the lines in the road network data correspond to the roads in the real world, and the points in the road network data correspond to the intersections or junctions of the roads in the real world. The basic road in the embodiment of the present application is any road in the road network data, and the basic road can specifically be the basic unit link of the road in the road network data.

[0056] The target exit road corresponding to the basic road refers to the road connected to the intersection to which the exit of the basic road belongs, and the direction of travel of the target exit road changes relative to the direction of travel of the basic road. Here, the direction of travel of the road can be determined according to the direction from the entrance of the road to the exit of the road. The direction of travel of the road can be, for example, from south to north, from north to south, from east to west, from west to east, from northeast to southwest, from southwest to northeast, from southeast to northwest, from northwest to southeast, etc. The direction of travel of the target exit road changes relative to the direction of travel of the basic road. It can be understood that the angle between the target exit road and the basic road exceeds the preset angle threshold, that is, when the angle between the target exit road and the basic road is large, it can be considered that the direction of travel of the target exit road changes relative to the direction of travel of the basic road. The target exit road corresponding to the basic road can be one or more, and this application does not impose any limitation on the number of target exit roads corresponding to the basic road.

[0057] The travel relationship between the basic road and the target exit road is used to indicate the travel mode from the basic road to the target exit road. Exemplarily, when the travel direction of the basic road is from south to north and the travel direction of the target exit road is from west to east, the travel relationship between the basic road and the target exit road is a right turn, that is, it is necessary to turn right at the exit of the basic road to enter the target exit road; when the travel direction of the basic road is from south to north and the travel direction of the target exit road is from east to west, the travel relationship between the basic road and the target exit road is a left turn, that is, it is necessary to turn left at the exit of the basic road to enter the target exit road; in addition, the travel relationship between the basic road and the target exit road can also be right front, left front, U-turn, etc. In the embodiment of the present application, the travel relationship between the basic road and the target exit road is referred to as the first travel relationship.

[0058] It should be understood that when there is only one target exit road, there is only one first traveling relationship determined, and when there are multiple target exit roads, there are multiple first traveling relationships determined, and the multiple first traveling relationships correspond to the multiple target exit roads one by one. This application does not impose any limitation on the number of first traveling relationships.

[0059] Step 302: Determine the target entrance road corresponding to the basic road in the road network data.

[0060] In addition, the server can also set the F-type section entrance road conditions corresponding to the basic road, and then, based on the F-type section entrance road conditions, mine the target entrance road corresponding to the basic road that meets the F-type section entrance road conditions in the road network data.

[0061] It should be noted that the F-type road section entrance road condition corresponding to the basic road is a restriction condition set for the basic road and used to screen the target entrance road corresponding to the basic road. Exemplarily, the F-type road section entrance road condition may include a length threshold and an angle threshold; wherein the length threshold is used to limit the path finding range of the target entrance road corresponding to the basic road, to avoid using a road far away from the basic road as the target entrance road, which affects the accuracy and reliability of the determined F-type road section; the angle threshold is used to limit the direction of travel of the target entrance road to be consistent with the direction of travel of the basic road, so as to ensure that the basic road can be entered directly through the target entrance road.

[0062] The target entrance road corresponding to the basic road refers to a road that is directly or indirectly connected to the intersection to which the entrance of the basic road belongs, and satisfies the F-type road section entrance road conditions corresponding to the basic road. Exemplarily, when the F-type road section entrance road conditions include a length threshold and an angle threshold, the target entrance road refers to a road within the path-finding range indicated by the length threshold, and the angle between the target entrance road and the basic road satisfies the angle threshold, that is, the direction of travel of the target entrance road is substantially consistent with the direction of travel of the basic road. The target entrance road corresponding to the basic road may be one or more, and the present application does not impose any limitation on the number of target entrance roads corresponding to the basic road.

[0063] It should be understood that in actual applications, the server may execute step 301 first and then step 302, or execute step 302 first and then step 301, or execute step 301 and step 302 at the same time. The embodiment of the present application does not impose any limitation on the execution order of step 301 and step 302.

[0064] Step 303: Based on the target entrance road, determine the confused road corresponding to the basic road, and determine the travel relationship between the target entrance road and the confused road as a second travel relationship; the travel direction of the confused road changes relative to the travel direction of the target entrance road.

[0065] After the server mines the target entrance road corresponding to the basic road, it can further mine the confusing road corresponding to the basic road based on the target entrance road, and determine the travel relationship between the target entrance road and the confusing road as the second travel relationship.

[0066] The confusing road corresponding to the basic road refers to a road connected to the intersection to which the exit of a target entry road belongs, and the direction of travel of the confusing road changes relative to the direction of travel of the target entry road. The confusing road corresponding to the basic road can be understood as a road that is easy to cause confusion at the exit of the target entry road. For example, suppose the road indicated by the navigation route is from the target entry road to the basic road, and then from the basic road to the target exit road, but the confusing road at the exit of the target entry road is easy to cause confusion to the user, causing the user to mistakenly enter the confusing road instead of correctly entering the target exit road through the basic road. The confusing road corresponding to the basic road can be one or more, and the present application does not impose any limitation on the number of confusing roads corresponding to the basic road.

[0067] In the embodiment of the present application, the server can determine the confusing road corresponding to the basic road based on the target entrance road with a change in travel direction at the exit; for the target entrance road without a change in travel direction at the exit, the server does not need to determine the confusing road based on the target entrance road. Normally, the server only needs to determine the confusing road corresponding to the basic road based on one target entrance road. In the case that there are multiple exits with target entrance roads with a change in travel direction, the server can determine the confusing road based on each target entrance road in order from near to far from the basic road until a confusing road that meets the relevant requirements is found based on one of the target entrance roads.

[0068] The travel relationship between the target entrance road (i.e., the target entrance road based on which the confused road is determined) and the confused road is used to indicate the travel mode from the target entrance road to the confused road. Exemplarily, when the travel direction of the target entrance road is from south to north and the travel direction of the confused road is from west to east, the travel relationship between the target entrance road and the confused road is a right turn, i.e., it is necessary to turn right at the exit of the target entrance road to enter the confused road; when the travel direction of the target entrance road is from south to north and the travel direction of the confused road is from east to west, the travel relationship between the target entrance road and the confused road is a left turn, i.e., it is necessary to turn left at the exit of the target entrance road to enter the confused road; in addition, the travel relationship between the target entrance road and the confused road can also be right front, left front, U-turn, etc. In the embodiment of the present application, the travel relationship between the target entrance road and the confused road is referred to as the second travel relationship.

[0069] It should be understood that when there is only one confusing road, there is only one second traveling relationship determined, and when there are multiple confusing roads, there are multiple second traveling relationships determined, and the multiple second traveling relationships correspond to the multiple confusing roads one by one. This application does not make any limitation on the number of second traveling relationships.

[0070] Step 304: When the second traveling relationship matches the first traveling relationship, the road section consisting of the basic road, the target exit road, the target entrance road and the confusing road is determined to be an F-type road section.

[0071] When the second traveling relationship matches the first traveling relationship, the server may determine that the road segment consisting of the basic road, the target exit road corresponding to the first traveling relationship, the target entrance road, and the confusing road corresponding to the second traveling relationship is an F-type road segment.

[0072] It should be noted that the second traveling relationship matches the first traveling relationship, which means that the traveling mode indicated by the first traveling relationship is the same as or similar to the traveling mode indicated by the second traveling relationship. For example, the traveling relationship indicating a right turn and the traveling relationship indicating a right turn can be regarded as two matching traveling relationships, the traveling relationship indicating a right turn and the traveling relationship indicating right front can be regarded as two matching traveling relationships, the traveling relationship indicating right front and the traveling relationship indicating right front can be regarded as two matching traveling relationships, the traveling relationship indicating a left turn and the traveling relationship indicating a left turn can be regarded as two matching traveling relationships, the traveling relationship indicating a left turn and the traveling relationship indicating left front can be regarded as two matching traveling relationships, the traveling relationship indicating left front and the traveling relationship indicating left front can be regarded as two matching traveling relationships, and the traveling relationship indicating a U-turn and the traveling relationship indicating a U-turn can be regarded as two matching traveling relationships.

[0073] In the case where the first traveling relationship determined by the server includes only one and the second traveling relationship also includes only one, the server can directly determine whether the first traveling relationship matches the second traveling condition; if so, the basic road, target exit road, target entrance road and confusing road can be used to form an F-type section. In the case where the first traveling relationship determined by the server includes multiple and the second traveling relationship includes only one, the server can determine whether there is a first traveling relationship matching the second traveling condition among the multiple first traveling relationships, and if so, the basic road, the target exit road corresponding to the first traveling relationship, the target entrance road and the confusing road can be used to form an F-type section. In the case where the first traveling relationship determined by the server includes one and the second traveling relationship includes multiple, the server can determine whether there is a second traveling relationship matching the first traveling condition among the multiple second traveling relationships, and if so, the basic road, target exit road, target entrance road and the confusing road corresponding to the second traveling relationship can be used to form an F-type section. When the first traveling relationship determined by the server includes multiple and the second traveling relationship also includes multiple, the server can determine whether there are first traveling relationships and second traveling relationships that match each other. If so, the basic road, the target exit road corresponding to the first traveling relationship, the target entrance road and the confused road corresponding to the second traveling relationship can be used to form an F-type section. In this case, the F-type section can be one or more.

[0074] Figure 4 This is a schematic diagram of an F-type road section provided in an embodiment of the present application. Figure 4As shown, the F-type road segment includes a basic road B, a target exit road A, a target entrance road D and a confusing road C, wherein the target exit road A and the confusing road C need to be on the same side and in the same quadrant. The so-called same quadrant means that the travel relationship of the target exit road A relative to the basic road B matches the travel relationship of the confusing road C relative to the target entrance road D. In addition, Figure 4 In the example, only one target entrance road D is included. In practical applications, Figure 4 Other target entrance roads may be included between the basic road B and the target entrance road D, and other target entrance roads may also be included after the target entrance road D.

[0075] The road segment detection method provided in the embodiment of the present application can determine the target exit road corresponding to the basic road in the road network data, and determine the travel relationship between the basic road and the target exit road as the first travel relationship, where the travel direction of the target exit road changes relative to the travel direction of the basic road; thus, the driving road after the basic road that the navigation route may indicate in the actual application is mined, and the driving road is easily confused by other roads before the basic road. In addition, the target entrance road corresponding to the basic road can also be determined in the road network data; thus, the driving road before the basic road that the navigation route may indicate in the actual application is mined, the driving road leads to the basic road, and the driving direction of the driving road is basically consistent with the driving direction of the basic road. Furthermore, the confusing road corresponding to the basic road is determined based on the target entry road, and the travel relationship between the target entry road and the confusing road is determined as the second travel relationship, where the travel direction of the confusing road changes relative to the travel direction of the target entry road; in this way, a driving road that is easily confused with the target exit road indicated by the navigation route is excavated, and in the process from the target entry road to the basic road, the driving road is easy to cause confusion to the user, causing the user to mistakenly enter the driving road and miss the basic road and target exit road actually indicated by the navigation route. In the case where the above-mentioned second travel relationship matches the first travel relationship, it can be determined that the section composed of the above-mentioned basic road, target exit road, target entry road and confusing road is an F-type section; that is, based on the accurately excavated target exit road, target entry road and confusing road, a relatively accurate and reliable F-type section involved in the basic road is determined, and accordingly, it is beneficial to provide users with accurate and reliable navigation broadcast information based on the excavated F-type section in the navigation stage to avoid user deviation.

[0076] In one possible implementation, the server can Figure 5 The process shown in the figure determines the target exit road corresponding to the basic road in the road network data. Figure 5 A schematic diagram of a process for determining a target exit road provided in an embodiment of the present application. Figure 5As shown, the process includes the following steps:

[0077] Step 501: In the road network data, determine a first intersection to which an exit of the basic road belongs, and determine candidate exit roads based on roads connected to the first intersection.

[0078] In the embodiment of the present application, the server can determine the intersection to which the exit of the basic road belongs in the road network data as the first intersection. Then, each road other than the basic road connected to the first intersection is correspondingly regarded as each candidate exit road; it should be understood that each candidate exit road constitutes a candidate set of the target exit road, and the server can subsequently select the target exit road from each candidate exit road.

[0079] Step 502: For each of the candidate exit roads, determine a travel angle corresponding to the candidate exit road according to the candidate exit road and the basic road; the travel angle is used to characterize the relationship between the travel direction of the candidate exit road and the travel direction of the basic road.

[0080] For each determined candidate exit road, the server can determine the angle between the candidate exit road and the basic road according to the candidate exit road and the basic road as the travel angle corresponding to the candidate exit road. The travel angle of the candidate exit road can correspondingly characterize the relationship between the travel direction of the candidate exit road and the travel direction of the basic road, that is, characterize whether the travel direction of the candidate exit road changes relative to the travel direction of the basic road.

[0081] In a possible implementation, the server may determine the calculation method used when calculating the travel angle corresponding to the candidate exit road based on the distance between the candidate exit road and the forward extension line of the basic road. The forward extension line of the basic road refers to a line extending from the exit of the basic road along the travel direction of the basic road. The distance between the candidate exit road and the forward extension line of the basic road may be determined, for example, in the following manner: sampling multiple points on the candidate exit road (for example, the sampling may be performed at intervals of a preset distance), determining the distances of each of the multiple points to the forward extension line of the basic road, and then calculating the average of the distances of each of the multiple points to the forward extension line as the distance between the candidate exit road and the forward extension line of the basic road.

[0082] If the distance between the candidate exit road and the forward extension line of the basic road is greater than or equal to the preset distance threshold, it means that the distance between the candidate exit road and the basic road is far, and it is not easy to mistakenly identify the direction of travel of the candidate exit road as consistent with the direction of travel of the basic road. Figure 6 A schematic diagram of the relationship between a candidate exit road and a basic road provided in an embodiment of the present application, such as Figure 6 As shown, the distance between the candidate exit road 602 and the basic road 601 is relatively far. In this case, the travel angle corresponding to the candidate exit road can be determined based only on an angle between the candidate exit road and the basic road.

[0083] For example, Figure 6 As shown, the server can determine a first reference point at a first distance α from the exit P of the basic road 601 on the forward extension line of the basic road 601. Then, a vertical line perpendicular to the forward extension line is made based on the first reference point, and the intersection of the vertical line and the candidate exit road 602 is determined as the first vertical line intersection point A. Then, the first vertical line intersection point A and the exit P of the basic road 601 are connected, and the angle Angle (P, Lα) between the thus obtained connecting line AP and the forward extension line is determined as the travel angle corresponding to the candidate exit road.

[0084] If the distance between the candidate exit road and the forward extension line of the basic road is less than the preset distance threshold, it means that the distance between the candidate exit road and the basic road is relatively close. At this time, it is easy to mistakenly identify the traveling direction of the candidate exit road as being consistent with the traveling direction of the basic road. Figure 7 A schematic diagram of the relationship between another candidate exit road and a basic road is provided for an embodiment of the present application, wherein the distance between candidate exit road 702 and basic road 701 is relatively close. At this time, if the travel angle corresponding to the candidate exit road is determined based only on an angle between the candidate exit road and the basic road, misidentification may easily occur, that is, it may be easy to mistakenly believe that the travel direction of candidate exit road 702 is consistent with the travel direction of basic road 701, while the travel direction of candidate exit road 702 is actually inconsistent with the travel direction of basic road 701.

[0085] In this case, the server can determine the travel angle corresponding to the candidate exit road in the following manner: on the forward extension line of the basic road 701, determine a first reference point at a first distance α from the exit P of the basic road, and a second reference point at a second distance β from the exit P of the basic road, wherein the second distance β is greater than the first distance α. Then, draw a vertical line perpendicular to the forward extension line based on the first reference point, and determine the intersection of the vertical line and the candidate exit road 702 as the first vertical line intersection point A; and draw a vertical line perpendicular to the forward extension line based on the second reference point, and determine the intersection of the vertical line and the candidate exit road 702 as the second vertical line intersection point B. Furthermore, the vertical line intersection point A and the exit P of the basic road 701 are connected, and the angle Angle (P, Lα) between the connecting line AP obtained in this way and the forward extension line is determined as the first travel angle corresponding to the candidate exit road 702; and the second vertical line intersection point B and the exit P of the basic road 701 are connected, and the angle Angle (P, Lβ) between the connecting line BP obtained in this way and the forward extension line is determined as the second travel angle corresponding to the candidate exit road 702.

[0086] In this way, by distinguishing the distance between the candidate exit road and the extension line of the basic road through the above method, and adopting different methods to determine the travel angle corresponding to the candidate exit road, it can be ensured that the travel angle corresponding to the candidate exit road suitable for different situations is obtained, that is, in different situations, a travel angle that can more accurately reflect the relationship between the travel direction of the candidate exit road and the travel direction of the basic road can be obtained, which is conducive to accurately determining the target exit road corresponding to the basic road.

[0087] Step 503: If the travel angle corresponding to the candidate exit road satisfies a preset angle condition, the candidate exit road is determined to be the target exit road; the preset angle condition is used to measure whether there is a change in the travel direction of the candidate exit road relative to the travel direction of the basic road.

[0088] If the travel angle corresponding to a candidate exit road satisfies the preset angle condition, the server can determine that the candidate exit road is the target exit road corresponding to the basic road. The preset angle condition here is a condition for measuring whether the travel direction of the candidate exit road changes relative to the travel direction of the basic road, and the preset angle condition can be specifically expressed as an angle threshold.

[0089] In a possible implementation, when the distance between the candidate exit road and the forward extension line of the basic road is greater than or equal to a preset distance threshold, the server may determine only one travel angle as the travel angle of the candidate exit road. Accordingly, when the server detects whether the candidate exit road is the target exit road, it may directly determine whether the travel angle corresponding to the candidate exit road is greater than or equal to the first angle threshold; if so, it means that the travel direction of the candidate exit road has changed relative to the travel direction of the basic road, and the travel relationship between the candidate exit road and the basic road is not straight, at this time, it can be determined that the candidate exit road is the target exit road corresponding to the basic road; if not, it means that the travel direction of the candidate exit road has not changed relative to the travel direction of the basic road, and the travel relationship between the candidate exit road and the basic road is straight, at this time, it can be determined that the candidate exit road is not the target exit road corresponding to the basic road.

[0090] When the distance between the candidate exit road and the forward extension line of the basic road is less than a preset distance threshold, the server can determine the corresponding first travel angle and second travel angle for the candidate exit road. Accordingly, the server can determine whether the candidate exit road is the target exit road corresponding to the basic road based on the two travel angles.

[0091] When determining whether the candidate exit road is the target exit road based on the two travel angles, the server may further include the tortuosity of the front section of the candidate exit road. The front section of the candidate exit road refers to a section of road whose distance from the entrance of the candidate exit road is less than a preset distance threshold, that is, a section of road closer to the entrance of the candidate exit road; the tortuosity of the front section of the candidate exit road refers to the tortuosity of the front section of the candidate exit road, which can reflect the winding and tortuosity of the front section of the candidate exit road.

[0092] When the winding condition of the front section of the candidate exit road does not meet the preset winding condition, if the first travel angle corresponding to the candidate exit road is less than the first angle threshold, and the second travel angle corresponding to the candidate exit road is greater than the second angle threshold, the candidate exit road is determined to be the target exit road corresponding to the basic road.

[0093] The winding condition of the front section of the candidate exit road does not meet the preset winding condition, indicating that the front section of the candidate exit road is a relatively smooth section. At this time, the first travel angle can more accurately reflect the relationship between the travel direction of the front section of the candidate exit road and the travel direction of the basic road.

[0094] In this case, if the first travel angle corresponding to the candidate exit road is less than the first angle threshold, it means that the front section of the candidate exit road is in a straight-ahead relationship with respect to the basic road. However, in order to avoid misjudgment due to the close distance between the candidate exit road and the forward extension line of the basic road, the server can further determine the relationship between the second travel angle corresponding to the candidate exit road and the second angle threshold; if the second travel angle is greater than the second angle threshold, it means that the travel direction of the middle and rear sections of the candidate exit road has changed relative to the travel direction of the basic road, that is, the travel relationship of the candidate exit road with respect to the basic road is not a straight-ahead relationship. At this time, the candidate exit road can be determined to be the target exit road corresponding to the basic road; conversely, if the second travel angle is less than or equal to the second angle threshold, it means that the travel direction of the middle and rear sections of the candidate exit road has not changed relative to the travel direction of the basic road, and the travel relationship of the candidate exit road with respect to the basic road is a straight-ahead relationship. At this time, it can be determined that the candidate exit road is not the target exit road corresponding to the basic road. It should be understood that if the first travel angle corresponding to the candidate exit road is greater than or equal to the first angle threshold, it means that the travel direction of the candidate exit road has changed relative to the travel direction of the basic road, and the candidate exit road can be directly determined as the target exit road corresponding to the basic road.

[0095] When the winding condition of the front section of the candidate exit road meets the preset winding condition and the second travel angle corresponding to the candidate exit road is greater than the second angle threshold, the candidate exit road is determined to be the target exit road corresponding to the basic road.

[0096] The winding condition of the front section of the candidate exit road meets the preset winding condition, indicating that the front section of the candidate exit road is a relatively winding section. At this time, the first travel angle is difficult to accurately reflect the relationship between the travel direction of the front section of the candidate exit road and the travel direction of the basic road. Therefore, when judging whether the candidate exit road is the target exit road, the first travel angle can be ignored and the judgment can be made only based on the second travel angle.

[0097] If the second travel angle corresponding to the candidate exit road is greater than the second angle threshold, it means that the travel direction of the candidate exit road has changed relative to the travel direction of the basic road, and the travel relationship of the candidate exit road relative to the basic road is not a straight-ahead relationship. At this time, it can be determined that the candidate exit road is the target exit road corresponding to the basic road. If the second travel angle corresponding to the candidate exit road is less than or equal to the second angle threshold, it means that the travel direction of the candidate exit road has not changed relative to the travel direction of the basic road, and the travel relationship of the candidate exit road relative to the basic road is a straight-ahead relationship. At this time, it can be determined that the candidate exit road is not the target exit road corresponding to the basic road.

[0098] In this way, by using the above method, the different winding conditions of the front section of the candidate exit road can be distinguished, and different methods can be used to determine whether the candidate exit road is the target exit road according to the travel angle corresponding to the candidate exit road. This can more accurately screen out the target exit road that is not in a straight-line relationship with the basic road, thereby ensuring the accuracy of the determined target exit road.

[0099] pass Figure 5 The process shown in the figure determines the target exit road corresponding to the basic road, and can more efficiently and accurately determine the target exit road whose travel direction changes relative to the travel direction of the basic road, effectively avoiding the occurrence of misidentification and missed identification of the target exit road, and ensuring the accuracy and reliability of the determined target exit road.

[0100] In one possible implementation, the target entrance road corresponding to the basic section can be determined based on the entrance road conditions of the F-section corresponding to the basic road. The F-section entrance road conditions for screening the target entrance road corresponding to the basic road may include a length threshold and an angle threshold set based on the basic road; the length threshold is used to limit the distance between the target entrance road and the basic road, and the angle threshold is used to limit the relationship between the travel direction of the target entrance road and the travel direction of the basic road.

[0101] Exemplarily, the server can set the above-mentioned length threshold according to the road grade or road type of the basic road. For example, the higher the road grade of the basic road, the larger the length threshold corresponding to the basic road. It should be understood that the higher the road grade, the higher the vehicle speed supported by the basic road. At this time, a larger length threshold is set, and the target entrance road corresponding to the basic road can be found in a larger range accordingly to adapt to the relevant requirements of the F-type road section in the high-speed driving scene; conversely, the lower the road grade, the lower the vehicle speed supported by the basic road. At this time, a smaller length threshold is set, and the target entrance road corresponding to the basic road can be found in a smaller range accordingly to avoid wasting unnecessary processing resources and adapt to the relevant requirements of the F-type road section in the low-speed driving scene. Similarly, the server can set the above-mentioned angle threshold according to the road grade or road type of the basic road to adapt to different driving scenarios.

[0102] In this way, through the above method, starting from the relevant information of the basic road itself, the F-type section entrance road conditions based on which the target entrance road corresponding to the basic road is found are set. On the one hand, the path finding can be adapted to the scene to which the basic road belongs, thereby ensuring the rationality of the path finding of the target entrance road and avoiding the waste of related processing resources.

[0103] In a possible implementation, when the entrance road condition of the F-type road section corresponding to the basic road includes the length threshold and the angle threshold, the server can Figure 8 The process shown in the figure determines the target entrance road corresponding to the basic road in the road network data. Figure 8 This is a schematic diagram of a process for determining a target entrance road provided in an embodiment of the present application. Figure 8 As shown, the process includes the following steps:

[0104] Step 801: In the road network data, along the direction opposite to the traveling direction of the basic road, determine each road whose distance from the basic road meets the length threshold as each candidate entrance road.

[0105] In the embodiment of the present application, the server can determine, in the road network data, along the direction opposite to the direction of travel of the basic road, each road whose distance from the basic road meets the above-mentioned length threshold as each candidate entrance road. It should be understood that the distance between the above-mentioned road and the basic road can be, for example, the distance between the exit of the road and the entrance of the basic road, or the distance between the entrance of the road and the entrance of the basic road, or the distance between the midpoint of the road and the entrance of the basic road, etc., which can be determined according to actual application requirements.

[0106] Step 802: For each of the candidate entrance roads, determine the travel angle corresponding to the candidate entrance road based on the candidate entrance road and the basic road; the travel angle is used to characterize the relationship between the travel direction of the basic road and the travel direction of the candidate entrance road.

[0107] For the candidate entrance road, the server can determine the travel angle corresponding to the candidate entrance road based on the candidate entrance road and the basic road. The travel angle corresponding to the candidate entrance road can correspondingly represent the relationship between the travel direction of the basic road and the travel direction of the candidate entrance road, that is, whether the travel direction of the basic road changes relative to the travel direction of the candidate entrance road.

[0108] It should be noted that in actual applications, when the server searches for candidate entrance roads in the opposite direction of the travel direction of the basic road, it can find candidate entrance roads that are directly connected to the entrance of the basic road, or it can find candidate entrance roads that are indirectly connected to the entrance of the basic road. Such candidate entrance roads are usually connected to the entrance of the basic road through other candidate entrance roads; for the above two types of candidate entrance roads (i.e., candidate entrance roads that are directly connected to the basic road, and candidate entrance roads that are indirectly connected to the basic road), corresponding methods can be used to determine their corresponding travel angles.

[0109] When there is no other candidate entrance road between the exit of the candidate entrance road and the entrance of the basic road, the server can determine the travel angle corresponding to the candidate entrance road according to the candidate entrance road and the basic road. That is, when the candidate entrance road is a candidate entrance road directly connected to the basic road, the server can directly determine the travel angle corresponding to the candidate entrance road according to the angle between the candidate entrance road and the basic road.

[0110] When there are other candidate entrance roads between the exit of the candidate entrance road and the entrance of the basic road, the server can determine the travel angle corresponding to the candidate entrance road according to the candidate entrance road, other candidate entrance roads between the exit of the candidate entrance road and the entrance of the basic road, and the basic road. That is, when the candidate entrance road is a candidate entrance road indirectly connected to the basic road, the server can construct a road sequence corresponding to the candidate entrance road according to the connection sequence between the candidate entrance road, other candidate entrance roads between the exit of the candidate entrance road and the entrance of the basic road, and the basic roads; then, according to the angle between every two adjacent roads in the road sequence, determine the travel angle corresponding to the candidate entrance road; for example, the server can use the angle between every two adjacent roads in the road sequence as the travel angle corresponding to the candidate entrance road.

[0111] In this way, by determining the travel angle corresponding to the candidate entrance road in the above manner, it can be ensured that the determined travel angle accurately reflects the relationship between the travel direction of the candidate entrance road and the travel direction of the basic road, that is, it can be ensured that the travel angle accurately reflects whether the travel relationship between the candidate entrance road and the basic road is straight.

[0112] When specifically calculating the travel angle corresponding to each candidate entrance road, the server may use the basic road or other candidate entrance roads connected to the exit of the candidate entrance road as the reference road corresponding to the candidate entrance road. Further, based on the candidate entrance road and its corresponding reference road, the travel angle corresponding to the candidate entrance road is determined.

[0113] In a possible implementation, the server may determine the calculation method used when calculating the travel angle corresponding to the candidate entry road based on the distance between the candidate entry road and the rearward extension line of the corresponding reference road. The rearward extension line of the reference road refers to a line extending from the entrance of the reference road in the opposite direction of the travel direction of the reference road. The distance between the candidate entry road and the rearward extension line of the reference road may be determined, for example, by sampling a plurality of points on the candidate entry road (for example, the sampling may be performed at a preset distance interval), determining the distances of each of the plurality of points to the rearward extension line of the reference road, and then calculating the average of the distances of each of the plurality of points to the rearward extension line as the distance between the candidate entry road and the rearward extension line of the reference road.

[0114] If the distance between the candidate entrance road and the rearward extension of the reference road is greater than or equal to the preset distance threshold, it means that the distance between the candidate entrance road and the reference road is far, and it is not easy to mistakenly identify the direction of travel of the candidate entrance road as being consistent with the direction of travel of the reference road. In this case, the travel angle corresponding to the candidate entrance road can be determined based only on an angle between the candidate entrance road and the reference road.

[0115] Exemplarily, the server may determine a third reference point on the rearward extension line of the reference road that is a third distance away from the entrance of the reference road. Then, a vertical line perpendicular to the rearward extension line is drawn based on the third reference point, and the intersection of the vertical line and the candidate entrance road is determined as the third vertical line intersection point. Furthermore, the third vertical line intersection point and the entrance of the reference road are connected, and the angle between the thus obtained connection line and the rearward extension line is determined as the travel angle corresponding to the candidate entrance road.

[0116] If the distance between the candidate entrance road and the rearward extension of the reference road is less than the preset distance threshold, it means that the distance between the candidate entrance road and the reference road is relatively close, and it is easy to mistakenly identify the direction of travel of the candidate entrance road as being consistent with the direction of travel of the reference road. At this time, if the travel angle corresponding to the candidate entrance road is determined based only on an angle between the candidate entrance road and the reference road, it is easy to make a mistake in identifying that the direction of travel of the candidate entrance road is consistent with the direction of travel of the reference road, but the direction of travel of the candidate entrance road is actually inconsistent with the direction of travel of the reference road.

[0117] In this case, the server can determine the travel angle corresponding to the candidate entrance road in the following manner: on the rearward extension line of the reference road, determine a third reference point at a third distance from the entrance of the reference road, and a fourth reference point at a fourth distance from the entrance of the reference road, wherein the fourth distance is greater than the third distance. Then, based on the third reference point, draw a vertical line perpendicular to the rearward extension line, and determine the intersection of the vertical line and the candidate entrance road as the third vertical line intersection point; and, based on the fourth reference point, draw a vertical line perpendicular to the rearward extension line, and determine the intersection of the vertical line and the candidate entrance road as the fourth vertical line intersection point. Further, connect the three vertical line intersection points and the entrance of the reference road, determine the angle between the thus obtained connection line and the rearward extension line, and determine the angle between the thus obtained connection line and the rearward extension line as the first travel angle corresponding to the candidate entrance road; and, connect the four vertical line intersection points and the entrance of the reference road, determine the angle between the thus obtained connection line and the rearward extension line, and determine the second travel angle corresponding to the candidate entrance road.

[0118] In this way, through the above method, the distance between the candidate entrance road and the rear extension line of its corresponding reference road is distinguished, and the travel angle corresponding to the candidate entrance road is determined in different ways, so that the travel angle corresponding to the candidate entrance road suitable for different situations can be obtained, that is, in different situations, a travel angle can be obtained that can more accurately reflect the relationship between the travel direction of the candidate entrance road and the travel direction of the corresponding reference road, which is conducive to accurately determining the target entrance road corresponding to the basic road.

[0119] Step 803: If the travel angle corresponding to the candidate entrance road satisfies the angle threshold, the candidate entrance road is determined to be the target entrance road.

[0120] If the travel angle corresponding to a candidate entrance road meets the angle threshold corresponding to the basic road, the server can determine that the candidate entrance road is the target entrance road corresponding to the basic road. The angle threshold here is a condition for measuring whether the travel direction of the candidate entrance road changes relative to the travel direction of the basic road. The setting method of the angle threshold has been introduced above.

[0121] It should be noted that, as described above, for a candidate entrance road directly connected to the entrance of a basic road, it is only necessary to determine the travel angle corresponding to the candidate entrance road based on the candidate entrance road and the basic road. If the travel angle corresponding to the candidate entrance road meets the above angle threshold, the candidate entrance road can be determined as the target entrance road. For a candidate entrance road indirectly connected to the entrance of a basic road, it is necessary to determine the travel angle corresponding to the candidate entrance road based on the candidate entrance road, other candidate entrance roads located between the exit of the candidate entrance road and the entrance of the basic road, and the basic road. Specifically, multiple groups of travel angles can be determined (a group of travel angles can be determined based on two adjacent roads in the above roads, and each group of travel angles can specifically include one angle or multiple angles); if these multiple groups of travel angles all meet the angle threshold, the candidate entrance road can be determined as the target entrance road. On the contrary, if any one or more groups of travel angles in these multiple groups of travel angles do not meet the angle threshold, the candidate entrance road can be determined as a non-target entrance road.

[0122] In a possible implementation, when the distance between the candidate entrance road and the rearward extension line of the corresponding reference road is greater than or equal to the preset distance threshold, the server can determine only one travel angle as the travel angle of the candidate entrance road. Accordingly, when the server detects whether the candidate entrance road is the target entrance road, it can directly determine whether the travel angle corresponding to the candidate entrance road is greater than or equal to the third angle threshold; if so, it means that the travel direction of the candidate entrance road has changed relative to the travel direction of the reference road, and the travel relationship between the candidate entrance road and the basic road is not straight, at this time, it can be determined that the candidate entrance road is not the target entrance road corresponding to the basic road; if not, it means that the travel direction of the candidate entrance road has not changed relative to the travel direction of the reference road, and when the reference road and the candidate entrance roads located between the exit of the reference road and the entrance of the basic road are all target entrance roads, it can be determined that the travel relationship between the candidate entrance road and the basic road is straight, at this time, it can be determined that the candidate entrance road is the target entrance road corresponding to the basic road.

[0123] When the distance between the candidate entrance road and the rearward extension line of the corresponding reference road is less than the preset distance threshold, the server can determine the corresponding first travel angle and second travel angle for the candidate entrance road. Accordingly, the server can determine whether the candidate entrance road is the target entrance road corresponding to the base road based on the two travel angles.

[0124] When determining whether the candidate entrance road is the target entrance road based on the two travel angles, the server may further include the tortuosity of the rear section of the candidate entrance road. The rear section of the candidate entrance road refers to a section of road whose distance from the exit of the candidate entrance road is less than a preset distance threshold, that is, a section of road closer to the exit of the candidate entrance road; the tortuosity of the rear section of the candidate entrance road refers to the tortuosity of the rear section of the candidate entrance road, which can reflect the winding and tortuosity of the rear section of the candidate entrance road.

[0125] When the winding condition of the rear section of the candidate entrance road does not meet the preset winding condition, if the first travel angle corresponding to the candidate entrance road is less than the third angle threshold, and the second travel angle corresponding to the candidate entrance road is less than the fourth angle threshold, the target entrance road corresponding to the basic road is determined based on the candidate entrance road.

[0126] The winding condition of the rear section of the candidate entrance road does not meet the preset winding condition, indicating that the rear section of the candidate entrance road is a relatively smooth section. At this time, the first travel angle can more accurately reflect the relationship between the travel direction of the rear section of the candidate entrance road and the travel direction of the reference road.

[0127] In this case, if the first travel angle corresponding to the candidate entrance road is less than the third angle threshold, it means that the front section of the candidate entrance road is in a straight relationship with respect to the reference road. However, in order to avoid misjudgment due to the close distance between the candidate entrance road and the rear extension line of the reference road, the server can further determine the relationship between the second travel angle corresponding to the candidate entrance road and the fourth angle threshold; if the second travel angle is greater than or equal to the fourth angle threshold, it means that the travel direction of the middle and front sections of the candidate entrance road has changed relative to the travel direction of the reference road, that is, the travel relationship of the candidate entrance road with respect to the basic road is not a straight relationship. At this time, it can be determined that the candidate entrance road is not the target entrance road corresponding to the basic road; conversely, if the second travel angle is less than the fourth angle threshold, it means that the travel direction of the middle and front sections of the candidate entrance road has not changed relative to the travel direction of the reference road. When the reference road and the candidate entrance roads located between the exit of the reference road and the entrance of the basic road are all target entrance roads, it can be determined that the travel relationship of the candidate entrance road with respect to the basic road is a straight relationship. At this time, it can be determined that the candidate entrance road is the target exit road corresponding to the basic road. It should be understood that if the first travel angle corresponding to the candidate entrance road is greater than or equal to the third angle threshold, it means that the travel direction of the candidate entrance road has changed relative to the travel direction of the reference road, and it can be directly determined that the candidate entrance road is not the target entrance road corresponding to the basic road.

[0128] When the winding condition of the rear section of the candidate entrance road satisfies the preset winding condition and the second travel angle corresponding to the candidate entrance road is less than the fourth angle threshold, the candidate entrance road is determined to be the target entrance road corresponding to the basic road.

[0129] The winding condition of the rear section of the candidate entrance road meets the preset winding condition, indicating that the rear section of the candidate entrance road is a more winding section. At this time, the first travel angle is difficult to accurately reflect the relationship between the travel direction of the candidate entrance road and the travel direction of the reference road. Therefore, when judging whether the candidate entrance road is the target entrance road, the first travel angle can be ignored and the judgment can be made only based on the second travel angle.

[0130] If the second travel angle corresponding to the candidate entrance road is greater than or equal to the fourth angle threshold, it means that the travel direction of the candidate entrance road has changed relative to the travel direction of the reference road, and the travel relationship of the candidate entrance road to the basic road is not a straight-ahead relationship. In this case, it can be determined that the candidate entrance road is not the target entrance road corresponding to the basic road. If the second travel angle corresponding to the candidate entrance road is less than the fourth angle threshold, it means that the travel direction of the candidate entrance road has not changed relative to the travel direction of the reference road. In the case where the reference road and the candidate entrance roads between the exit of the reference road and the entrance of the basic road are all target entrance roads, it can be determined that the travel relationship of the candidate entrance road to the basic road is a straight-ahead relationship. In this case, it can be determined that the candidate entrance road is the target entrance road corresponding to the basic road.

[0131] In this way, through the above method, the different winding conditions of the rear section of the candidate entrance road can be distinguished, and different methods can be used to determine whether the candidate entrance road is the target entrance road according to the travel angle corresponding to the candidate entrance road. The target entrance road that is in a straight relationship with the basic road can be more accurately screened out, thereby ensuring the accuracy of the determined target entrance road.

[0132] pass Figure 8 The process shown in FIG. 1 determines the target entrance road corresponding to the basic road, and can more efficiently and accurately determine the target entrance road whose travel direction does not change relative to the travel direction of the basic road, effectively avoiding misidentification and missed identification of the target entrance road, and ensuring the accuracy and reliability of the determined target entrance road.

[0133] In one possible implementation, the server can Fig. 9 The process shown in the figure determines the confusing road corresponding to the basic road based on the target entrance road. Fig. 9 A schematic diagram of a process for determining a confusing road provided in an embodiment of the present application. Fig. 9 As shown, the process includes the following steps:

[0134] Step 901: In the road network data, determine a second intersection to which the exit of the target entrance road belongs, and determine each road connected to the second intersection as each candidate confusing road.

[0135] In the embodiment of the present application, the server can determine the intersection to which the exit of a target entrance road belongs as the second intersection for a target entrance road. If the second intersection only connects two roads, and both roads are the target entrance road, or one of the two roads is the target entrance road itself and the other is the basic road, then the server can abandon determining the confusing road based on the target entrance road. If the second intersection connects at least three roads, and the at least three roads include other roads except the target entrance road and the basic road, then the server can use each road except the target entrance road and the basic road in the at least three roads as each candidate confusing road.

[0136] Step 902: For each of the candidate confused roads, determine the travel angle corresponding to the candidate confused road according to the candidate confused road and the target entrance road; the travel angle is used to characterize the relationship between the travel direction of the candidate confused road and the travel direction of the target entrance road.

[0137] For each candidate confused road, the server can determine the travel angle corresponding to the candidate confused road according to the angle between the candidate confused road and the target entrance road. The travel angle corresponding to the candidate confused road here is used to characterize the relationship between the travel direction of the candidate confused road and the travel direction of the target entrance road, that is, to characterize whether the travel direction of the candidate confused road changes relative to the travel direction of the target entrance road.

[0138] It should be noted that the way the server determines the travel angle corresponding to the candidate confused road is similar to the way it determines the travel angle corresponding to the candidate exit road. For details, please refer to the relevant content of determining the travel angle corresponding to the candidate exit road based on the candidate exit road and the basic road introduced above, which will not be repeated here.

[0139] Step 903: If the travel angle corresponding to the candidate confused road satisfies a preset angle condition, the candidate confused road is determined to be the confused road; the preset angle condition is used to measure whether there is a change in the travel direction of the candidate confused road relative to the travel direction of the target entrance road.

[0140] If the travel angle corresponding to a candidate confused road satisfies the preset angle condition, the server can determine that the candidate confused road is a confused road corresponding to the base road. The preset angle condition here is a condition for measuring whether the travel direction of the candidate confused road has changed relative to the travel direction of the target entrance road, and the preset angle condition can be specifically expressed as an angle threshold. This step aims to find a candidate confused road whose travel direction has changed relative to the travel direction of the target entrance road among the candidate confused roads as the confused road corresponding to the base road.

[0141] It should be noted that the way the server determines the confusing road is similar to the way it determines the target exit road. For details, please refer to the above-mentioned content on determining the target exit road based on the travel angle corresponding to the candidate exit road, which will not be repeated here.

[0142] pass Fig. 9 The process shown in the figure determines the confused roads corresponding to the basic roads, and can more efficiently and accurately determine the confused roads whose travel direction changes relative to the travel direction of the target entrance road, effectively avoiding the misidentification and missed identification of the confused roads, and ensuring the accuracy and reliability of the determined confused roads.

[0143] In one possible implementation, after the server determines the target exit road, target entrance road and confused road corresponding to the basic road, it can further determine whether the basic road, target exit road, target entrance road and confused road can form an F-type section based on the basic information corresponding to the basic road, target exit road, target entrance road and confused road respectively; wherein the basic information may include at least one of the following: road grade, road driving rules, road type, reference objects deployed on the road.

[0144] For example, when the entrance of the basic road includes a traffic light, and the basic road includes obvious reference objects such as toll booths or gas stations, users usually will not mistakenly drive into the confusing road corresponding to the basic road. At this time, it can be determined that the above-mentioned basic road, target exit road, target entrance road and confusing road do not constitute an F-type road section. In addition, when the basic road is a road of a triangular island, roundabout, tunnel or other type, the navigation service will configure corresponding playback information for it. Based on such playback information, users usually will not drive into the confusing road corresponding to the basic road. At this time, it can be determined that the above-mentioned basic road, target exit road, target entrance road and confusing road do not constitute an F-type road section.

[0145] For example, when the confused road corresponding to the basic road is an internal road of a community, the user will not drive into the confused road by mistake. In this case, it can be determined that the basic road, target exit road, target entrance road and the confused road do not constitute an F-type road section. Alternatively, the extended road of the confused road can be determined along the direction of travel of the confused road (such as extending the confused road by 200 meters). If the extended road leads to the internal road of the community, it can also be determined that the basic road, target exit road, target entrance road and the confused road do not constitute an F-type road section.

[0146] Exemplarily, the server can extend the target exit road and the confused road separately, that is, extend the target exit road by a specific distance (such as 100 meters) in the direction of travel, and extend the confused road by a specific distance (such as 100 meters) in the direction of travel. If the target exit road and the confused road have an intersection after extension, that is, the target exit road and the confused road can intersect after extension, then it can be considered that the target exit road can also be reached through the confused road, and the user will not pay a higher travel cost. At this time, it can also be determined that the above-mentioned basic road, target exit road, target entrance road and confused road do not constitute an F-type section.

[0147] Of course, in actual applications, the server can also use corresponding methods based on other types of basic information to determine whether an F-type section can be formed based on the basic road, target exit road, target entrance road and confusing road. The embodiment of the present application does not impose any limitations on this.

[0148] In this way, through the above method, based on the basic information corresponding to the basic road, target exit road, target entrance road and confused road, it is further determined whether the above basic road, target exit road, target entrance road and confused road can be used to form an F-type section, which can further improve the accuracy and reliability of the constructed F-type section, thereby avoiding the construction of invalid or unreliable F-type sections and reducing the service quality of related navigation services.

[0149] It should be noted that after the server mines out the F-type road section from the road network data, it can match and store the relevant information of the F-type road section in the road network data. Specifically, for the mined F-type road section, the server can configure relevant identification information for each road involved in the F-type road section in the road network data, such as configuring an F-type road section basic road identification for the basic road in the F-type road section, configuring an F-type road section entrance road identification for the target entrance road in the F-type road section, configuring an F-type road section exit road identification for the target exit road in the F-type road section, and configuring an F-type road section confusing road identification for the confusing road in the F-type road section. In this way, it is convenient to check whether the navigation route includes an F-type road section based on the above identification information during the online navigation stage.

[0150] During the online navigation stage, when the user confirms that the target navigation route to be used includes the basic road, target exit road, and target entrance road in the F section, the server can set the navigation broadcast information corresponding to the F section for the target entrance road and basic road in the target navigation route.

[0151] Fig.10 Schematic diagram of the application architecture of the F-type road section detection method provided in the embodiment of the present application. Fig.10 As shown, the user can input the navigation starting point and the navigation end point through the navigation application running on the terminal device, and the terminal device sends the navigation starting point and the navigation end point to the server accordingly. The server can plan multiple optional navigation routes from the navigation starting point to the navigation end point according to the navigation starting point and the navigation end point, and return the multiple optional navigation routes to the terminal device. The terminal device displays the multiple optional navigation routes accordingly, so that the user can select the target navigation route from them according to his own needs as the basis for his navigation.

[0152] After the server learns the target navigation route selected by the user, it can detect whether the target navigation route passes through the F-type road section based on the F-type road section data previously mined in the road network data. Specifically, the server can detect whether the target navigation route includes a road with an F-type road section entrance road sign, a road with an F-type road section basic road sign, and a road with an F-type road section exit road sign, and detect whether the road with an F-type road section entrance road sign, a road with an F-type road section basic road sign, and a road with an F-type road section exit road sign belong to the same F-type intersection; if the server detects and determines that the target navigation route has a road with an F-type road section entrance road sign, a road with an F-type road section basic road sign, and a road with an F-type road section exit road sign belonging to the same F-type intersection, then it can be determined that the target navigation route passes through the F-type road section.

[0153] In the case where the target navigation route passes through an F-type road section, the server can set the navigation broadcast information corresponding to the F-type road section for the F-type road section that the target navigation route passes through. Specifically, the server can clearly distinguish the target entrance road (a road equipped with an F-type road section entrance road sign) and the basic road (a road equipped with an F-type road section basic road sign) in the F-type road section, and respectively configure fine-grained navigation broadcast information for the target entrance road and the basic road, that is, the navigation broadcast information configured for the target entrance road is used to indicate the way to enter the basic road from the target entrance road, and the navigation broadcast information configured for the basic road is used to indicate the way to enter the target exit road from the basic road. Fig.11 A schematic diagram of navigation broadcast information corresponding to an F-type road section provided in an embodiment of the present application, such as Fig.11 As shown, assuming the navigation route is Fig.11For the road indicated by the solid arrow, when the user is driving on the target entrance road 1101, navigation broadcast information guiding the user to drive straight can be broadcasted; when the user is driving on the basic road 1102, navigation broadcast information guiding the user to drive to the right front can be broadcasted.

[0154] In this way, through the above method, in the online navigation stage, based on the F-type sections that have been mined, matching whether the navigation route includes F-type sections can greatly improve the detection efficiency and accuracy of F-type sections in the navigation route, compared with detecting F-type sections based on road network data and navigation routes in the online navigation stage, which is beneficial to provide users with more accurate navigation broadcast information, avoid users from deviating from F-type sections, and improve users' navigation experience.

[0155] After experimental verification, the F-type road section detection method provided by the embodiment of the present application is put into practical application. In the scenario of high-speed and fast driving of vehicles, the yaw rate of the F-type road section decreases by 13%, and the damage degree per 100 kilometers in driving guidance decreases by 15%. Here, the damage degree per 100 kilometers = (number of first-level problems * 10 + number of second-level problems * 5 + number of third-level problems * 1) / 100 kilometers; wherein, the first-level problem refers to the problem that causes the user to be unable to drive according to the navigation route or unsafe driving, such as impassable, illegal, wrong guidance leading to yaw, etc.; the second-level problem refers to the problem that is harmful to the user experience and can be perceived by the user. Such problems can be automatically corrected or may not necessarily affect the user, such as the car signal at an ordinary intersection; the third-level problem refers to the user experience problem, which may not be perceived by the user and generally will not affect the user's driving, such as unreasonable route planning scheme, missing or wrong road name, etc.

[0156] In addition, based on the navigation solution provided in the embodiment of the present application (i.e., the online navigation solution based on the offline excavated F-type intersection), it is possible to quickly trace back the problem of inaccurate excavation of F-type sections, and timely adjust the inaccurate excavated F-type intersections, thereby facilitating business maintenance.

[0157] With respect to the road section detection method described above, the present application also provides a corresponding road section detection device so that the above-mentioned road section detection method can be applied and implemented in practice.

[0158] See also Fig.12 , Fig.12 It is the same as above Figure 3 The schematic diagram of the structure of the road section detection device 1200 corresponding to the road section detection method shown in FIG. Fig.12 As shown, the road section detection device 1200 includes:

[0159] The exit road determination module 1201 is used to determine a target exit road corresponding to a basic road in the road network data, and determine a travel relationship between the basic road and the target exit road as a first travel relationship; the travel direction of the target exit road changes relative to the travel direction of the basic road;

[0160] An entry road determination module 1202 is used to determine a target entry road corresponding to the basic road in the road network data;

[0161] A confused road determination module 1203 is used to determine a confused road corresponding to the basic road based on the target entrance road, and determine a traveling relationship between the target entrance road and the confused road as a second traveling relationship; the traveling direction of the confused road changes relative to the traveling direction of the target entrance road;

[0162] The F-type road section determination module 1204 is used to determine that a road section consisting of the basic road, the target exit road, the target entrance road and the confusing road is an F-type road section when the second traveling relationship matches the first traveling relationship.

[0163] Optionally, the exit road determination module 1201 is specifically used for:

[0164] In the road network data, a first intersection to which an exit of the basic road belongs is determined, and candidate exit roads are determined based on roads connected to the first intersection;

[0165] For each of the candidate exit roads, determining a travel angle corresponding to the candidate exit road according to the candidate exit road and the basic road; the travel angle is used to characterize the relationship between the travel direction of the candidate exit road and the travel direction of the basic road;

[0166] If the travel angle corresponding to the candidate exit road satisfies a preset angle condition, the candidate exit road is determined to be the target exit road; the preset angle condition is used to measure whether the travel direction of the candidate exit road changes relative to the travel direction of the basic road.

[0167] Optionally, when the distance between the forward extension line of the basic road and the candidate exit road is less than a preset distance threshold, the exit road determination module 1201 is specifically configured to determine the travel angle corresponding to the candidate exit road in the following manner:

[0168] On the forward extension line, determining a first reference point at a first distance from an exit of the basic road and a second reference point at a second distance from the exit of the basic road; the second distance is greater than the first distance;

[0169] On the candidate exit road, determining a first perpendicular line intersection point corresponding to the first reference point and a second perpendicular line intersection point corresponding to the second reference point;

[0170] The first travel angle corresponding to the candidate exit road is determined based on the angle between the line connecting the intersection point of the first vertical line and the exit of the basic road and the forward extension line; and the second travel angle corresponding to the candidate exit road is determined based on the angle between the line connecting the intersection point of the second vertical line and the exit of the basic road and the forward extension line.

[0171] Optionally, the exit road determination module 1201 is specifically configured to determine whether the candidate exit road is the target exit road by:

[0172] When the winding condition of the front section of the candidate exit road does not meet the preset winding condition, if the first travel angle corresponding to the candidate exit road is less than the first angle threshold, and the second travel angle corresponding to the candidate exit road is greater than the second angle threshold, then the candidate exit road is determined to be the target exit road;

[0173] When the winding condition of the front section of the candidate exit road satisfies the preset winding condition, if the second travel angle corresponding to the candidate exit road is greater than the second angle threshold, the candidate exit road is determined to be the target exit road.

[0174] Optionally, the target entrance road meets the F-type road section entrance road condition corresponding to the basic road;

[0175] The F-section entrance road conditions corresponding to the basic road include a length threshold and an angle threshold set based on the basic road; the length threshold is used to limit the distance between the target entrance road and the basic road, and the angle threshold is used to limit the relationship between the travel direction of the target entrance road and the travel direction of the basic road.

[0176] Optionally, the entrance road determination module 1202 is specifically used for:

[0177] In the road network data, along the direction opposite to the traveling direction of the basic road, determine each road whose distance from the basic road satisfies the length threshold as each candidate entrance road;

[0178] For each of the candidate entrance roads, a travel angle corresponding to the candidate entrance road is determined according to the candidate entrance road and the basic road; the travel angle is used to characterize the relationship between the travel direction of the basic road and the travel direction of the candidate entrance road;

[0179] If the travel angle corresponding to the candidate entrance road satisfies the angle threshold, the candidate entrance road is determined to be the target entrance road.

[0180] Optionally, the entrance road determination module 1202 is specifically configured to determine the travel angle corresponding to the candidate entrance road in the following manner:

[0181] When no other candidate entrance roads are included between the exit of the candidate entrance road and the entrance of the basic road, determining a travel angle corresponding to the candidate entrance road according to the candidate entrance road and the basic road;

[0182] When other candidate entrance roads are included between the exit of the candidate entrance road and the entrance of the basic road, the travel angle corresponding to the candidate entrance road is determined based on the candidate entrance road, other candidate entrance roads between the exit of the candidate entrance road and the entrance of the basic road, and the basic road.

[0183] Optionally, the entrance road determination module 1202 is specifically configured to determine the travel angle corresponding to the candidate entrance road in the following manner:

[0184] Determine the base road or other candidate entrance roads connected to the exit of the candidate entrance road as reference roads;

[0185] In the case where the distance between the rearward extension line of the reference road and the candidate entrance road is less than a preset distance threshold, determining a third reference point at a third distance from the entrance of the reference road and a fourth reference point at a fourth distance from the entrance of the reference road on the rearward extension line; the fourth distance is greater than the third distance;

[0186] On the candidate entrance road, determining a third perpendicular line intersection point corresponding to the third reference point and a fourth perpendicular line intersection point corresponding to the fourth reference point;

[0187] The first travel angle corresponding to the candidate entrance road is determined according to the angle between the line connecting the intersection point of the third vertical line and the entrance of the reference road and the rear extension line; and the second travel angle corresponding to the candidate entrance road is determined according to the angle between the line connecting the intersection point of the fourth vertical line and the entrance of the reference road and the rear extension line.

[0188] Optionally, the entrance road determination module 1202 is specifically configured to determine whether the candidate entrance road is the target entrance road by:

[0189] In the case where the winding condition of the rear section of the candidate entrance road does not meet the preset winding condition, if the first travel angle corresponding to the candidate entrance road is less than the third angle threshold, and the second travel angle corresponding to the candidate entrance road is less than the fourth angle threshold, the target entrance road is determined based on the candidate entrance road;

[0190] When the winding condition of the rear section of the candidate entrance road satisfies the preset winding condition, if the second travel angle corresponding to the candidate entrance road is less than the fourth angle threshold, the target entrance road is determined based on the candidate entrance road.

[0191] Optionally, the confusing road determination module 1203 is specifically used for:

[0192] In the road network data, determining a second intersection to which the exit of the target entrance road belongs, and determining each candidate confusing road based on each road connected to the second intersection;

[0193] For each candidate confused road, determining a travel angle corresponding to the candidate confused road according to the candidate confused road and the target entrance road; the travel angle is used to characterize the relationship between the travel direction of the candidate confused road and the travel direction of the target entrance road;

[0194] If the travel angle corresponding to the candidate confused road meets the preset angle condition, the candidate confused road is determined to be the confused road; the preset angle condition is used to measure whether the travel direction of the candidate confused road changes relative to the travel direction of the target entrance road.

[0195] Optionally, the F-type road section determination module 1204 is further configured to:

[0196] Before determining that the road section composed of the basic road, the target exit road, the target entrance road and the confused road is an F-type road section, determining whether the basic road, the target exit road, the target entrance road and the confused road can form the F-type road section based on basic information corresponding to each of the basic road, the target exit road, the target entrance road and the confused road;

[0197] The basic information includes at least one of the following: road grade, road driving rules, road type, and reference objects deployed on the road.

[0198] Optionally, the device further comprises:

[0199] The navigation information setting module is used to set the navigation broadcast information corresponding to the F-type road section for the target entrance road and the basic road in the target navigation route when the target navigation route includes the basic road, the target exit road and the target entrance road in the F-type road section.

[0200] The road section detection device provided in the embodiment of the present application can determine the target exit road corresponding to the basic road in the road network data, and determine the travel relationship between the basic road and the target exit road as the first travel relationship, where the travel direction of the target exit road changes relative to the travel direction of the basic road; thus, the driving road after the basic road that the navigation route may indicate in the actual application is mined, and the driving road is easily confused by other roads before the basic road. In addition, the target entrance road corresponding to the basic road can also be determined in the road network data; thus, the driving road before the basic road that the navigation route may indicate in the actual application is mined, the driving road leads to the basic road, and the driving direction of the driving road is basically consistent with the driving direction of the basic road. Furthermore, the confusing road corresponding to the basic road is determined based on the target entry road, and the travel relationship between the target entry road and the confusing road is determined as the second travel relationship, where the travel direction of the confusing road changes relative to the travel direction of the target entry road; in this way, a driving road that is easily confused with the target exit road indicated by the navigation route is excavated, and in the process from the target entry road to the basic road, the driving road is easy to cause confusion to the user, causing the user to mistakenly enter the driving road and miss the basic road and target exit road actually indicated by the navigation route. In the case where the above-mentioned second travel relationship matches the first travel relationship, it can be determined that the section composed of the above-mentioned basic road, target exit road, target entry road and confusing road is an F-type section; that is, based on the accurately excavated target exit road, target entry road and confusing road, a relatively accurate and reliable F-type section involved in the basic road is determined, and accordingly, it is beneficial to provide users with accurate and reliable navigation broadcast information based on the excavated F-type section in the navigation stage to avoid user deviation.

[0201] The embodiment of the present application also provides a computer device for detecting road sections, which may specifically be a terminal device or a server. The terminal device and server provided in the embodiment of the present application will be introduced below from the perspective of hardware entity.

[0202] See also Fig.13 , Fig.13 Schematic diagram of the structure of the terminal device provided in the embodiment of the present application. Fig.13For the sake of convenience, only the parts related to the embodiments of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiments of the present application. The terminal can be any terminal device including a mobile phone, a tablet computer, a personal digital assistant (PDA), a point of sales (POS), a car computer, etc., taking the terminal as a computer as an example:

[0203] Fig.13 FIG. 1 is a block diagram showing a partial structure of a computer related to a terminal provided in an embodiment of the present application. Fig.13 The computer includes: a radio frequency (RF) circuit 1310, a memory 1320, an input unit 1330 (including a touch panel 1331 and other input devices 1332), a display unit 1340 (including a display panel 1341), a sensor 1350, an audio circuit 1360 (which can be connected to a speaker 1361 and a microphone 1362), a wireless fidelity (WiFi) module 1370, a processor 1380, and a power supply 1390. Those skilled in the art will understand that Fig.13 The computer structure shown in the figure does not constitute a limitation of the computer, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0204] The memory 1320 can be used to store software programs and modules. The processor 1380 executes various functional applications and data processing of the computer by running the software programs and modules stored in the memory 1320. The memory 1320 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the computer (such as audio data, a phone book, etc.), etc. In addition, the memory 1320 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0205] The processor 1380 is the control center of the computer, which uses various interfaces and lines to connect various parts of the entire computer, and executes various functions of the computer and processes data by running or executing software programs and / or modules stored in the memory 1320, and calling data stored in the memory 1320. Optionally, the processor 1380 may include one or more processing units; preferably, the processor 1380 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1380.

[0206] In an embodiment of the present application, the processor 1380 included in the terminal is also used to execute the steps of any implementation method of the road section detection method provided in the embodiment of the present application.

[0207] See also Fig.14 , Fig.14 A schematic diagram of the structure of a server 1400 provided for an embodiment of the present application. The server 1400 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 1422 (for example, one or more processors) and a memory 1432, and one or more storage media 1430 (for example, one or more mass storage devices) storing application programs 1442 or data 1444. Among them, the memory 1432 and the storage medium 1430 may be temporary storage or permanent storage. The program stored in the storage medium 1430 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the server. Furthermore, the central processing unit 1422 may be configured to communicate with the storage medium 1430 to execute a series of instruction operations in the storage medium 1430 on the server 1400.

[0208] The server 1400 may also include one or more power supplies 1426, one or more wired or wireless network interfaces 1450, one or more input and output interfaces 1458, and / or one or more operating systems, such as Windows Server 2003. TM , Mac OS X TM , Unix TM ,Linux TM , FreeBSD TM etc.

[0209] The steps performed by the server in the above embodiment can be based on the Fig.14 The server structure shown.

[0210] Among them, CPU 1422 is used to execute the steps of any implementation method of the road section detection method provided in the embodiments of the present application.

[0211] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program, wherein the computer program is used to execute any one of the implementation methods of a road section detection method described in the aforementioned embodiments.

[0212] The embodiment of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes any one of the implementations of the road segment detection method described in the above embodiments.

[0213] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0214] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0215] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0216] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0217] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store computer programs.

[0218] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0219] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A road section detection method, characterized in that: The method comprises: In the road network data, a target exit road corresponding to a basic road is determined, and a travel relationship between the basic road and the target exit road is determined as a first travel relationship; a travel direction of the target exit road changes relative to a travel direction of the basic road; In the road network data, determining a target entrance road corresponding to the basic road; Based on the target entrance road, determining a confused road corresponding to the basic road, and determining a travel relationship between the target entrance road and the confused road as a second travel relationship; the travel direction of the confused road changes relative to the travel direction of the target entrance road; In a case where the second traveling relationship matches the first traveling relationship, a road section consisting of the basic road, the target exit road, the target entrance road and the confusing road is determined to be an F-type road section.

2. The method according to claim 1, characterized in that Determining the target exit road corresponding to the basic road in the road network data includes: In the road network data, a first intersection to which an exit of the basic road belongs is determined, and candidate exit roads are determined based on roads connected to the first intersection; For each of the candidate exit roads, determining a travel angle corresponding to the candidate exit road according to the candidate exit road and the basic road; the travel angle is used to characterize the relationship between the travel direction of the candidate exit road and the travel direction of the basic road; If the travel angle corresponding to the candidate exit road satisfies a preset angle condition, the candidate exit road is determined to be the target exit road; the preset angle condition is used to measure whether the travel direction of the candidate exit road changes relative to the travel direction of the basic road.

3. The method according to claim 2, characterized in that When the distance between the forward extension line of the basic road and the candidate exit road is less than a preset distance threshold, determining the travel angle corresponding to the candidate exit road according to the candidate exit road and the basic road includes: On the forward extension line, determining a first reference point at a first distance from an exit of the basic road and a second reference point at a second distance from the exit of the basic road; the second distance is greater than the first distance; On the candidate exit road, determining a first perpendicular line intersection point corresponding to the first reference point and a second perpendicular line intersection point corresponding to the second reference point; The first travel angle corresponding to the candidate exit road is determined based on the angle between the line connecting the intersection point of the first vertical line and the exit of the basic road and the forward extension line; and the second travel angle corresponding to the candidate exit road is determined based on the angle between the line connecting the intersection point of the second vertical line and the exit of the basic road and the forward extension line.

4. The method according to claim 3, characterized in that If the travel angle corresponding to the candidate exit road satisfies a preset angle condition, determining the candidate exit road as the target exit road includes: When the winding condition of the front section of the candidate exit road does not meet the preset winding condition, if the first travel angle corresponding to the candidate exit road is less than the first angle threshold, and the second travel angle corresponding to the candidate exit road is greater than the second angle threshold, then the candidate exit road is determined to be the target exit road; When the winding condition of the front section of the candidate exit road satisfies the preset winding condition, if the second travel angle corresponding to the candidate exit road is greater than the second angle threshold, the candidate exit road is determined to be the target exit road.

5. The method according to claim 1, characterized in that The target entrance road meets the F-type road section entrance road condition corresponding to the basic road; The F-section entrance road conditions corresponding to the basic road include a length threshold and an angle threshold set based on the basic road; the length threshold is used to limit the distance between the target entrance road and the basic road, and the angle threshold is used to limit the relationship between the travel direction of the target entrance road and the travel direction of the basic road.

6. The method according to claim 5, characterized in that Determining the target entrance road corresponding to the basic road in the road network data includes: In the road network data, along the direction opposite to the traveling direction of the basic road, determine each road whose distance from the basic road satisfies the length threshold as each candidate entrance road; For each of the candidate entrance roads, a travel angle corresponding to the candidate entrance road is determined according to the candidate entrance road and the basic road; the travel angle is used to characterize the relationship between the travel direction of the basic road and the travel direction of the candidate entrance road; If the travel angle corresponding to the candidate entrance road satisfies the angle threshold, the candidate entrance road is determined to be the target entrance road.

7. The method according to claim 6, characterized in that The determining, according to the candidate entrance road and the basic road, a travel angle corresponding to the candidate entrance road comprises: When no other candidate entrance roads are included between the exit of the candidate entrance road and the entrance of the basic road, determining a travel angle corresponding to the candidate entrance road according to the candidate entrance road and the basic road; When other candidate entrance roads are included between the exit of the candidate entrance road and the entrance of the basic road, the travel angle corresponding to the candidate entrance road is determined based on the candidate entrance road, other candidate entrance roads between the exit of the candidate entrance road and the entrance of the basic road, and the basic road.

8. The method according to claim 6 or 7, characterized in that: The determining, according to the candidate entrance road and the basic road, a travel angle corresponding to the candidate entrance road comprises: Determine the base road or other candidate entrance roads connected to the exit of the candidate entrance road as reference roads; In the case where the distance between the rearward extension line of the reference road and the candidate entrance road is less than a preset distance threshold, determining a third reference point at a third distance from the entrance of the reference road and a fourth reference point at a fourth distance from the entrance of the reference road on the rearward extension line; the fourth distance is greater than the third distance; On the candidate entrance road, determining a third perpendicular line intersection point corresponding to the third reference point and a fourth perpendicular line intersection point corresponding to the fourth reference point; The first travel angle corresponding to the candidate entrance road is determined according to the angle between the line connecting the intersection point of the third vertical line and the entrance of the reference road and the rear extension line; and the second travel angle corresponding to the candidate entrance road is determined according to the angle between the line connecting the intersection point of the fourth vertical line and the entrance of the reference road and the rear extension line.

9. The method according to claim 8, characterized in that If the travel angle corresponding to the candidate entrance road satisfies the angle threshold, determining the candidate entrance road as the target entrance road includes: In the case where the winding condition of the rear section of the candidate entrance road does not meet the preset winding condition, if the first travel angle corresponding to the candidate entrance road is less than the third angle threshold, and the second travel angle corresponding to the candidate entrance road is less than the fourth angle threshold, the target entrance road is determined based on the candidate entrance road; When the winding condition of the rear section of the candidate entrance road satisfies the preset winding condition, if the second travel angle corresponding to the candidate entrance road is less than the fourth angle threshold, the target entrance road is determined based on the candidate entrance road.

10. The method according to claim 1, characterized in that The determining, based on the target entrance road, a confusing road corresponding to the basic road includes: In the road network data, determining a second intersection to which the exit of the target entrance road belongs, and determining each candidate confusing road based on each road connected to the second intersection; For each candidate confused road, determining a travel angle corresponding to the candidate confused road according to the candidate confused road and the target entrance road; the travel angle is used to characterize the relationship between the travel direction of the candidate confused road and the travel direction of the target entrance road; If the travel angle corresponding to the candidate confused road meets the preset angle condition, the candidate confused road is determined to be the confused road; the preset angle condition is used to measure whether the travel direction of the candidate confused road changes relative to the travel direction of the target entrance road.

11. The method according to claim 1, characterized in that Before determining that the road section consisting of the basic road, the target exit road, the target entrance road and the confusing road is an F-type road section, the method further includes: Based on the basic information corresponding to the basic road, the target exit road, the target entrance road and the confusing road, determining whether the basic road, the target exit road, the target entrance road and the confusing road can form the F-type road section; The basic information includes at least one of the following: road grade, road driving rules, road type, and reference objects deployed on the road.

12. The method according to claim 1, characterized in that The method comprises: In the case where the target navigation route includes the basic road, the target exit road, and the target entrance road in the F section, the navigation broadcast information corresponding to the F section is set for the target entrance road and the basic road in the target navigation route.

13. A road section detection device, characterized in that: The device comprises: An exit road determination module is used to determine a target exit road corresponding to a basic road in the road network data, and determine a travel relationship between the basic road and the target exit road as a first travel relationship; the travel direction of the target exit road changes relative to the travel direction of the basic road; An entry road determination module, used to determine a target entry road corresponding to the basic road in the road network data; a confused road determination module, configured to determine a confused road corresponding to the basic road based on the target entrance road, and determine a traveling relationship between the target entrance road and the confused road as a second traveling relationship; a traveling direction of the confused road changes relative to a traveling direction of the target entrance road; The F-type road section determination module is used to determine that the road section consisting of the basic road, the target exit road, the target entrance road and the confusing road is an F-type road section when the second traveling relationship matches the first traveling relationship.

14. A computer device, characterized in that: The device includes a processor and a memory; The memory is used to store computer programs; The processor is configured to execute the road segment detection method according to any one of claims 1 to 12 according to the computer program.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the road segment detection method according to any one of claims 1 to 12.

16. A computer program product, comprising a computer program or instructions, characterized in that: When the computer program or the instruction is executed by a processor, the road section detection method according to any one of claims 1 to 12 is implemented.

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