Speed limit interval generation method and device, storage medium, equipment and vehicle

Abstract

The invention discloses a speed limit interval generation method and device, a storage medium, equipment and a vehicle, relates to the technical field of map processing, and can solve the problem of low efficiency of manually adding a speed limit interval. The method comprises the following steps: determining a default speed limit value corresponding to each road center line in map data; backward traversal is started from the starting point of the center line of the target road, when the speed limit semantic point exists at the current traversal position, the subsequent speed limit value is updated from the default speed limit value to the speed limit value contained in the speed limit semantic point from the current traversal position until the target position is traversed, and the speed limit value is updated from the default speed limit value to the speed limit value contained in the speed limit semantic point. The speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the target position until the next target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the next target position until the map data is traversed, and the updated speed limit interval for the map data is obtained after the map data is traversed.

Description

Technical Field

[0001] The present application relates to the field of map processing technology, and in particular to a method, device, storage medium, equipment and vehicle for generating a speed limit interval. Background Art

[0002] After generating a preliminary electronic map based on the road environment images, radar point clouds, driving trajectories and other information collected by the collection vehicle, it is necessary to add information such as map element associations and lane speed limit information to further improve the electronic map. Among them, when adding lane speed limit information, you can first manually query the actual speed limit information of each road centerline, such as finding out whether there is a speed limit sign near each road centerline, finding the default speed limit of each road centerline, etc., and then calculate the speed limit interval of each road centerline, and add the speed limit interval of each road centerline as the attribute information of each lane centerline contained in the road corresponding to the road centerline to the electronic map. However, manually adding speed limit intervals is inefficient. Summary of the invention

[0003] The present application provides a method, device, storage medium, equipment and vehicle for generating a speed limit interval, which can solve the problem of low efficiency of manually adding speed limit intervals.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for generating a speed limit interval, the method comprising:

[0006] Determine the default speed limit value corresponding to each road centerline in the map data;

[0007] Traversing backward from the starting point of the target road centerline, when there is a speed limit semantic point at the current traversal position, updating the subsequent speed limit value from the default speed limit value to the speed limit value contained in the speed limit semantic point from the current traversal position, until traversing to the target position, updating the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the target position, until traversing to the next target position, updating the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the next target position, until the map data is traversed to complete, and obtaining the updated speed limit interval for the map data;

[0008] Among them, the speed limit semantic point is used to represent that the speed limit value changes from the position where the speed limit semantic point is located, and the speed limit semantic point includes the changed speed limit value specified by other speed limit sources other than the default speed limit. The target position includes any one of the position corresponding to the next speed limit semantic point, the position corresponding to the cancellation of the speed limit semantic point, the position when the road grade changes, the position when turning at the intersection, and the position when turning around. The cancellation of the speed limit semantic point is used to indicate the cancellation of the speed limit value of the speed limit semantic point. The speed limit interval includes the starting position, the end position and the corresponding speed limit value of the center line of a section of road with the same speed limit value.

[0009] It can be seen from the above scheme that after obtaining the map data, the embodiment of the present application can first automatically determine the default speed limit value corresponding to each road center line in the map data, and then update the default speed limit value according to the speed limit semantic point and the target position. Specifically, it can start from the starting point of the target road center line and traverse backward. When there is a speed limit semantic point at the current traversal position, starting from the current traversal position, the subsequent speed limit value is updated from the default speed limit value to the speed limit value contained in the speed limit semantic point, until the target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the target position, until the next target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the next target position, until the map data is traversed, the updated speed limit interval for the map data is obtained. The whole process does not require manual participation and can be performed automatically, thereby improving the efficiency of adding speed limit intervals to map data.

[0010] In a first possible implementation manner of the first aspect, when the target position is a position corresponding to a speed limit cancellation semantic point, and the speed limit cancellation semantic point includes a speed limit cancellation source, updating the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the target position includes:

[0011] In the case where the speed limit cancellation source is manually determined and the target position is outside the toll station, search from the target position in the leading direction. If the target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then from the target position, the speed limit value of the subsequent road centerline is updated from the default speed limit value to the speed limit value included in the adjacent speed limit semantic point before the target speed limit semantic point. If the target speed limit semantic point is not found or there is no adjacent speed limit semantic point before the target speed limit semantic point, then the default speed limit value is restored from the target position, wherein the target speed limit semantic point is the speed limit semantic point that is the same as the speed limit value included in the speed limit cancellation semantic point at the target position and is adjacent to it.

[0012] When the speed limit cancellation source is not manually determined, or the target location is located in a toll booth, the default speed limit value is restored from the target location.

[0013] It can be seen from the above scheme that when the source of speed limit cancellation is manually determined and the current target position is outside the toll station, the embodiment of the present application updates the speed limit value from the current target position to the next target position by searching for the target speed limit semantic point and the speed limit semantic point adjacent to the target speed limit semantic point, so that the speed limit value between the two target positions can be accurately and quickly corrected.

[0014] In a second possible implementation manner of the first aspect, updating the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the target position includes:

[0015] When the target position is a position where the road grade has changed, the subsequent road centerline from the target position uses the default speed limit value corresponding to the changed road grade;

[0016] In the case where the target position is a position at a turn at an intersection, starting from the target position, the subsequent road centerline uses the default speed limit value corresponding to the turn at the intersection;

[0017] In the case where the target position is a position for a U-turn, starting from the target position, the subsequent road center line uses the default speed limit value corresponding to the U-turn.

[0018] In a third possible implementation manner of the first aspect, the method further includes:

[0019] When traversing to a toll station, for the road center line of the electronic toll lane in the toll station, when searching for a preset distance from the starting point of the toll station in the leading direction, if the speed limit cancellation semantic point is first searched or no speed limit semantic point is searched, then if there is a speed limit semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and the first speed limit semantic point on the road center line of the electronic toll lane is the default speed limit value corresponding to the road center line of the electronic toll lane, and if there is no speed limit semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and the end point of the toll station is the default speed limit value corresponding to the road center line of the electronic toll lane, and the default speed limit value corresponding to the road after the end point of the toll station is restored from after the end point of the toll station;

[0020] When searching for a preset distance from the starting point of the toll station in the leading direction, if the speed limit semantic point is first searched, then in the case where there is a target semantic point on the road center line of the electronic toll lane, the speed limit value between the position corresponding to the speed limit semantic point first searched and the target semantic point on the road center line of the electronic toll lane in the toll station is the speed limit value contained in the speed limit semantic point first searched, and the target semantic point is the semantic point that appears for the first time on the road center line of the electronic toll lane, and the semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and in the case where there is no target semantic point on the road center line of the electronic toll lane, the speed limit value from the starting point of the road center line of the electronic toll lane in the toll station to the appearance of a different type of road center line after the end point of the toll station is the speed limit value contained in the speed limit semantic point first searched.

[0021] From the above scheme, it can be seen that by searching for semantic points within a preset distance range in the leading direction of the toll station, and updating the speed limit value of the road center line of the electronic toll channel in the toll station according to the searched semantic points, rather than directly selecting the default speed limit value, the speed limit accuracy of the electronic toll channel in the toll station can be improved.

[0022] In a fourth possible implementation manner of the first aspect, the method further includes:

[0023] When the length of the center line of the road whose speed limit value is the default speed limit value is less than or equal to the preset length threshold, and there is a speed limit semantic point whose source is a speed limit sign after the center line of the road whose speed limit value is the default speed limit value, the speed limit value corresponding to the center line of the road whose speed limit value is the default speed limit value is updated from the default speed limit value to the speed limit value of the speed limit sign.

[0024] From the above scheme, it can be seen that when the length of the center line of the road with the default speed limit value is small, by updating the speed limit value of the center line of this section of road to the speed limit value of the adjacent speed limit sign, the speed limit range can be made smoother, avoiding the risks caused by frequent speed adjustments of vehicles in a short period of time.

[0025] In a fifth possible implementation manner of the first aspect, the method further includes:

[0026] When a plurality of road center lines of the same level merge, the speed limit value of the road center line after the merge is the maximum speed limit value of the plurality of road center lines of the same level before the merge.

[0027] In a second aspect, an embodiment of the present application provides a speed limit interval generation device, the device comprising:

[0028] A determination unit, used to determine a default speed limit value corresponding to each road centerline in the map data;

[0029] an updating unit, configured to traverse backward from the starting point of the target road centerline, and when there is a speed limit semantic point at the current traversal position, update the subsequent speed limit value from the default speed limit value to the speed limit value contained in the speed limit semantic point, starting from the current traversal position, until the target position is traversed, the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the target position, until the next target position is traversed, the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the next target position, until the map data is traversed completely, and the updated speed limit interval for the map data is obtained;

[0030] Among them, the speed limit semantic point is used to represent that the speed limit value changes from the position where the speed limit semantic point is located, and the speed limit semantic point includes the changed speed limit value specified by other speed limit sources other than the default speed limit. The target position includes any one of the position corresponding to the next speed limit semantic point, the position corresponding to the cancellation of the speed limit semantic point, the position when the road grade changes, the position when turning at the intersection, and the position when turning around. The cancellation of the speed limit semantic point is used to indicate the cancellation of the speed limit value of the speed limit semantic point. The speed limit interval includes the starting position, the end position and the corresponding speed limit value of the center line of a section of road with the same speed limit value.

[0031] In a first possible implementation manner of the second aspect, the updating unit includes:

[0032] An updating module, for searching in a leading direction from the target position when the target position is a position corresponding to a speed limit cancellation semantic point and the speed limit cancellation semantic point includes a speed limit cancellation source, when the speed limit cancellation source is manually determined and the target position is outside a toll booth, if the target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then, starting from the target position, updating the speed limit value of the center line of the subsequent road from the default speed limit value to the speed limit value included in the adjacent speed limit semantic point before the target speed limit semantic point, if the target speed limit semantic point is not found or there is no adjacent speed limit semantic point before the target speed limit semantic point, then restoring the default speed limit value from the target position, wherein the target speed limit semantic point is the speed limit semantic point that is the same as the speed limit value included in the speed limit cancellation semantic point at the target position and is adjacent to it;

[0033] The first recovery module is used to restore the default speed limit value from the target location when the speed limit cancellation source is not manually determined or the target location is located in a toll station.

[0034] In a second possible implementation manner of the second aspect, the updating unit includes:

[0035] The second recovery module is used for, when the target position is a position at which the road grade has changed, the subsequent road center line uses the default speed limit value corresponding to the changed road grade from the target position; when the target position is a position at an intersection turn, the subsequent road center line uses the default speed limit value corresponding to the intersection turn from the target position; when the target position is a position for a U-turn, the subsequent road center line uses the default speed limit value corresponding to the U-turn from the target position.

[0036] In a third possible implementation manner of the second aspect, the determining unit is further configured to, when traversing to a toll station, search for a preset distance from a starting point of the toll station in a leading direction for a road center line of the electronic toll passage in the toll station, if the speed limit cancellation semantic point is first searched for or no speed limit semantic point is searched for, then if there is a speed limit semantic point on the road center line of the electronic toll passage, the speed limit value between the starting point of the road center line of the electronic toll passage in the toll station and the first speed limit semantic point on the road center line of the electronic toll passage is the default speed limit value corresponding to the road center line of the electronic toll passage, and if there is no speed limit semantic point on the road center line of the electronic toll passage, the speed limit value between the starting point of the road center line of the electronic toll passage in the toll station and the end point of the toll station is the default speed limit value corresponding to the road center line of the electronic toll passage, and the default speed limit value corresponding to the road after the end point of the toll station is restored from after the end point of the toll station;

[0037] The updating unit is further configured to, when searching for a preset distance from the starting point of the toll station in the leading direction, if the speed limit semantic point is first searched, then in the case where there is a target semantic point on the road center line of the electronic toll lane, the speed limit value between the position corresponding to the speed limit semantic point first searched and the target semantic point on the road center line of the electronic toll lane in the toll station is the speed limit value included in the speed limit semantic point first searched, the target semantic point is the semantic point that appears for the first time on the road center line of the electronic toll lane, the semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and in the case where there is no target semantic point on the road center line of the electronic toll lane, the speed limit value from the starting point of the road center line of the electronic toll lane in the toll station to the appearance of a road center line of a different type after the end point of the toll station is the speed limit value included in the speed limit semantic point first searched.

[0038] In a fourth possible implementation manner of the second aspect, the device further includes:

[0039] When the length of the center line of the road whose speed limit value is the default speed limit value is less than or equal to the preset length threshold, and there is a speed limit semantic point whose source is a speed limit sign after the center line of the road whose speed limit value is the default speed limit value, the speed limit value corresponding to the center line of the road whose speed limit value is the default speed limit value is updated from the default speed limit value to the speed limit value of the speed limit sign.

[0040] In a fifth possible implementation manner of the second aspect, the apparatus further includes:

[0041] When a plurality of road center lines of the same level merge, the speed limit value of the road center line after the merge is the maximum speed limit value of the plurality of road center lines of the same level before the merge.

[0042] It can be seen from the above scheme that after obtaining the map data, the embodiment of the present application can first automatically determine the default speed limit value corresponding to each road center line in the map data, and then update the default speed limit value according to the speed limit semantic point and the target position. Specifically, it can start from the starting point of the target road center line and traverse backward. When there is a speed limit semantic point at the current traversal position, starting from the current traversal position, the subsequent speed limit value is updated from the default speed limit value to the speed limit value contained in the speed limit semantic point, until the target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the target position, until the next target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the next target position, until the map data is traversed, the updated speed limit interval for the map data is obtained. The whole process does not require manual participation and can be performed automatically, thereby improving the efficiency of adding speed limit intervals to map data.

[0043] In a third aspect, an embodiment of the present application provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps of the speed limit interval generation method as described in any possible implementation of the first aspect.

[0044] In a fourth aspect, an embodiment of the present application provides a computer device comprising at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the speed limit interval generation method as described in any possible implementation method of the first aspect are implemented.

[0045] In a fifth aspect, an embodiment of the present application provides a vehicle, the vehicle comprising a device as described in any possible implementation of the second aspect, or comprising an electronic device as described in the fourth aspect.

[0046] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0048] Figure 1 A schematic diagram of a flow chart of a method for generating a speed limit interval provided in an embodiment of the present application;

[0049] Figure 2 An example diagram of a speed limit semantic point and cancellation of speed limit semantics provided in an embodiment of the present application;

[0050] Figure 3 A block diagram of a speed limit interval generating device provided in an embodiment of the present application;

[0051] Figure 4 A schematic diagram of the structure of an electronic device or computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than 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.

[0053] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" in the embodiments of the present application and the accompanying drawings and any variations thereof 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 limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0054] Figure 1The flowchart of a method for generating a speed limit interval is shown in FIG. 1 , which can be applied to electronic devices or computer devices, and can be applied to vehicles or servers. Specifically, the method can include the following steps:

[0055] S110: Determine a default speed limit value corresponding to each road centerline in the map data.

[0056] The default speed limit is the speed limit of the road when there are no special signs such as speed limit signs, construction and other special circumstances. The electronic device or computer device can determine the default speed limit of each road center line based on information such as road grade and number of lanes.

[0057] The method for determining the number of lanes corresponding to each road centerline includes: for multiple road centerlines of the same road grade, all road centerlines are connected one-to-one (excluding intersections) to form a road, and the length of each road centerline in this road and the number of lane centerlines corresponding to it are counted. Each number of lane centerlines corresponds to a cumulative length, and finally the number of lanes of all road centerlines in this road is equal to the number of lane centerlines with the longest mileage. The default speed limit implemented in the intersection is the minimum value of the default speed limit of the preceding road and the subsequent road.

[0058] Road grades include expressways, urban expressways, ordinary roads, underground roads, and ramps, which are ranked in descending order. Ramps include expressway entrance and exit connecting roads, expressway connecting roads, service area connecting roads, underground connecting roads, etc. For example, when the road grade corresponding to the centerline of the road is expressway and the number of lanes is 1, the default speed limit is 70km / h.

[0059] S120: Start traversing backward from the starting point of the target road centerline. When there is a speed limit semantic point at the current traversal position, update the subsequent speed limit value from the current traversal position from the default speed limit value to the speed limit value contained in the speed limit semantic point, until traversing to the target position, update the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the target position, until traversing to the next target position, update the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the next target position, until the map data is traversed and the speed limit range updated for the map data is obtained.

[0060] Among them, the target road centerline can be the road centerline of the entrance boundary in the map data. The speed limit semantic point is used to represent the change of the speed limit value starting from the location of the speed limit semantic point, and the speed limit semantic point includes the changed speed limit value specified by other speed limit sources other than the default speed limit. The target position includes any one of the position corresponding to the next speed limit semantic point, the position corresponding to the cancellation speed limit semantic point, the position when the road grade changes, the position at the intersection, and the position when making a U-turn. The cancellation speed limit semantic point is used to indicate the cancellation of the speed limit value of a speed limit semantic point, and the speed limit range includes the starting position, the end position and the corresponding speed limit value of a section of the center line of the road with the same speed limit value.

[0061] The speed limit sources involved in the speed limit semantic point include speed limit signs, manual judgment, ground speed limit, and third-party input. The speed limit sources involved in the speed limit cancellation semantic point include cancellation of speed limit signs, manual judgment, ground speed limit, and third-party input. Manual judgment includes electronic eye speed limit and temporary speed limit in construction areas. In addition to the speed limit value, the speed limit semantic point also includes the speed limit source, the starting point and the end point of the speed limit. In addition to the speed limit value to be cancelled, the speed limit cancellation semantic point also includes the speed limit cancellation source, the speed limit cancellation starting point and the end point of the speed limit cancellation. The speed limit interval can also include the speed limit source.

[0062] The speed limit semantic point and the speed limit cancellation semantic point may be located on the upper layer of the road centerline without being completely connected to the road centerline.

[0063] The speed limit interval generation method provided in the embodiment of the present application can automatically determine the default speed limit value corresponding to each road center line in the map data after obtaining the map data, and then update the default speed limit value according to the speed limit semantic point and the target position. Specifically, it can start from the starting point of the target road center line and traverse backward. When there is a speed limit semantic point at the current traversal position, starting from the current traversal position, the subsequent speed limit value is updated from the default speed limit value to the speed limit value contained in the speed limit semantic point, until the target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the target position, until the next target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the next target position, until the map data is traversed and the updated speed limit interval for the map data is obtained. The whole process does not require manual participation and can be performed automatically, thereby improving the efficiency of adding speed limit intervals to map data.

[0064] In one implementation, when the target position is a position corresponding to a speed limit cancellation semantic point, and the speed limit cancellation semantic point includes a speed limit cancellation source, a specific implementation method of updating the speed limit value of the subsequent road center line according to the speed limit rule corresponding to the target position may include:

[0065] When the source of speed limit cancellation is manual determination and the target location is outside the toll station, search from the target location in the leading direction. If the target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then from the target location, the speed limit value of the subsequent road centerline is updated from the default speed limit value to the speed limit value contained in the adjacent speed limit semantic point before the target speed limit semantic point. If the target speed limit semantic point is not found or there is no adjacent speed limit semantic point before the target speed limit semantic point, the default speed limit value is restored from the target location, where the target speed limit semantic point is a speed limit semantic point that is the same as the speed limit value contained in the speed limit cancellation semantic point at the target location and is adjacent to it. When the source of speed limit cancellation is not manual determination or the target location is inside the toll station, the default speed limit value is restored from the target location.

[0066] Whether starting from the target position, the speed limit value of the subsequent road centerline is updated from the default speed limit value to the speed limit value contained in the adjacent speed limit semantic point before the target speed limit semantic point, or the default speed limit value is restored from the target position, it is necessary to continue traversing in the backward direction until the next target position is traversed, and the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the next target position. The leading direction is opposite to the driving direction corresponding to the road centerline, and the backward direction is the same as the driving direction corresponding to the road centerline.

[0067] like Figure 2 As shown, if the speed limit semantic point is represented by a white box and the speed limit cancellation semantic point is represented by a black box, then on the center line of a road, point A is the target position, and there is a speed limit cancellation semantic point at this position. The speed limit value to be cancelled contained in the speed limit cancellation semantic point is 40km / h, point B corresponds to the target speed limit semantic point, and the speed limit value contained in the target speed limit semantic point is 40km / h, and point C corresponds to the adjacent speed limit semantic point, and the speed limit value contained in the adjacent speed limit semantic point is 50km / h. Therefore, the speed limit value between CB is 50km / h, the speed limit value between BA is 40km / h, and the speed limit value between A and the next target position is 50km / h.

[0068] It should be added that, when the target position is the position corresponding to the semantic point for canceling the speed limit, and the source of canceling the speed limit is not manually determined, the default speed limit value will be restored from the target position.

[0069] The speed limit interval generation method provided in the embodiment of the present application, when the source of speed limit cancellation is manual determination and the current target position is outside the toll station, updates the speed limit value from the current target position to the next target position by searching the target speed limit semantic point and the speed limit semantic point adjacent to the target speed limit semantic point, and can accurately and quickly correct the speed limit value between the two target positions.

[0070] In one embodiment, when the target position is a position at which the road grade changes, the subsequent road centerline uses the default speed limit value corresponding to the changed road grade from the target position, and continues to traverse in the backward direction until traversing to the next target position, and the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the next target position; when the target position is a position at an intersection, the subsequent road centerline uses the default speed limit value corresponding to the intersection turn from the target position, and continues to traverse in the backward direction until traversing to the next target position, and the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the next target position; when the target position is a position at a U-turn, the subsequent road centerline uses the default speed limit value corresponding to the U-turn from the target position, and continues to traverse in the backward direction until traversing to the next target position, and the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the next target position. For example, the default speed limit value corresponding to the intersection turn can be 40km / h, and the default speed limit value corresponding to the U-turn is also 30km / h.

[0071] In one implementation, since the routes in a toll station are relatively complex, when traversing to a toll station, the following update operations may be performed:

[0072] When traversing to a toll station, for the road centerline of the manual toll channel in the toll station, from the starting point of the toll station to the end point of the toll station, retain the corresponding default speed limit value, such as 20km / h;

[0073] When traversing to a toll station, for the road center line of the electronic toll lane in the toll station, when searching for a preset distance from the starting point of the toll station in the leading direction, if a speed limit cancellation semantic point is first searched or no speed limit semantic point is searched, then if there is a speed limit semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and the first speed limit semantic point on the road center line of the electronic toll lane is the default speed limit value corresponding to the road center line of the electronic toll lane, and if there is no speed limit semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and the end point of the toll station is the default speed limit value corresponding to the road center line of the electronic toll lane, and from after the end point of the toll station, the default speed limit value corresponding to the road after the end point of the toll station is restored;

[0074] When searching for a preset distance from the starting point of the toll station in the leading direction, if a speed limit semantic point is first searched, then if there is a target semantic point on the road center line of the electronic toll lane, the speed limit value from the position corresponding to the speed limit semantic point first searched to the target semantic point on the road center line of the electronic toll lane in the toll station is the speed limit value contained in the speed limit semantic point first searched, the target semantic point is the semantic point that appears for the first time on the road center line of the electronic toll lane, the semantic point that appears for the first time includes a speed limit semantic point or a speed limit cancellation semantic point, and if there is no target semantic point on the road center line of the electronic toll lane, the speed limit value from the starting point of the road center line of the electronic toll lane in the toll station to the center line of different types of roads that appear after the end point of the toll station is the speed limit value contained in the speed limit semantic point first searched.

[0075] The preset distance can be determined according to actual conditions, for example, it can be 100 meters. The end point of the toll station can be the end point of the center line of the electronic toll lane road, or the end point of the center line of the manual toll lane road.

[0076] If a speed limit cancellation semantic point is searched first or no speed limit semantic point is searched, then if there is a speed limit semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and the first speed limit semantic point on the road center line of the electronic toll lane is the default speed limit value corresponding to the road center line of the electronic toll lane, and starting from the first speed limit semantic point on the road center line of the electronic toll lane, the speed limit value contained in the first speed limit semantic point is adopted until the next semantic point on the road center line of the electronic toll lane is reached, and the subsequent speed limit value is determined according to the next semantic point until the end point of the road center line of the electronic toll lane is reached.

[0077] If a speed limit semantic point is searched first, then if there is a target semantic point on the road center line of the electronic toll collection channel, the speed limit value from the position corresponding to the speed limit semantic point searched first to the target semantic point on the road center line of the electronic toll collection channel in the toll station is the speed limit value contained in the speed limit semantic point searched first, and starting from the target semantic point, subsequent speed limit values ​​are determined according to the target semantic point until the next semantic point on the road center line of the electronic toll collection channel, and then subsequent speed limit values ​​are determined according to the next semantic point until the end point of the road center line of the electronic toll collection channel is reached.

[0078] The method provided in the embodiment of the present application can perform a semantic point search within a preset distance range in the leading direction of the toll station, and update the speed limit value of the road center line of the electronic toll channel in the toll station according to the searched semantic points, rather than directly selecting the default speed limit value, thereby improving the speed limit accuracy of the electronic toll channel in the toll station.

[0079] In one embodiment, when the length of the center line of a road with a speed limit value of the default speed limit is less than or equal to a preset length threshold, and there is a speed limit semantic point whose source is a speed limit sign after the center line of the road with a speed limit value of the default speed limit, the speed limit value corresponding to the center line of the road with a speed limit value of the default speed limit is updated from the default speed limit value to the speed limit value of the speed limit sign. However, the speed limit source of the center line of the road with a speed limit value of the default speed limit remains unchanged. The preset length threshold can be determined according to actual conditions, for example, it can be 200 meters.

[0080] When the length of the center line of a road with a default speed limit is small, the speed limit value of the center line of this section of road can be updated to the speed limit value of the adjacent speed limit sign, so as to make the speed limit range smoother and avoid the risk caused by frequent speed adjustments of vehicles in a short period of time.

[0081] In one embodiment, when multiple road centerlines of the same level merge, the speed limit value of the road centerline after the merge is the maximum speed limit value of the multiple road centerlines of the same level before the merge; when multiple road centerlines of different levels merge, the speed limit value of the road centerline after the merge is the maximum speed limit value of the multiple road centerlines of the highest level before the merge.

[0082] Corresponding to the above method embodiment, another embodiment of the present application provides a speed limit interval generating device, such as Figure 3 As shown, the device comprises:

[0083] A determination unit 210, configured to determine a default speed limit value corresponding to each road centerline in the map data;

[0084] The updating unit 220 is used to traverse backward from the starting point of the target road center line, and when there is a speed limit semantic point at the current traversal position, update the subsequent speed limit value from the default speed limit value to the speed limit value contained in the speed limit semantic point from the current traversal position, until the target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the target position, until the next target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the next target position, until the map data is traversed, and the updated speed limit interval for the map data is obtained;

[0085] Among them, the speed limit semantic point is used to represent that the speed limit value changes from the position where the speed limit semantic point is located, and the speed limit semantic point includes the changed speed limit value specified by other speed limit sources other than the default speed limit. The target position includes any one of the position corresponding to the next speed limit semantic point, the position corresponding to the cancellation of the speed limit semantic point, the position when the road grade changes, the position when turning at the intersection, and the position when turning around. The cancellation of the speed limit semantic point is used to indicate the cancellation of the speed limit value of the speed limit semantic point. The speed limit interval includes the starting position, the end position and the corresponding speed limit value of the center line of a section of road with the same speed limit value.

[0086] In a possible implementation, the updating unit 220 includes:

[0087] An updating module, for searching in a leading direction from the target position when the target position is a position corresponding to a speed limit cancellation semantic point and the speed limit cancellation semantic point includes a speed limit cancellation source, when the speed limit cancellation source is manually determined and the target position is outside a toll booth, if the target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then, starting from the target position, updating the speed limit value of the center line of the subsequent road from the default speed limit value to the speed limit value included in the adjacent speed limit semantic point before the target speed limit semantic point, if the target speed limit semantic point is not found or there is no adjacent speed limit semantic point before the target speed limit semantic point, then restoring the default speed limit value from the target position, wherein the target speed limit semantic point is the speed limit semantic point that is the same as the speed limit value included in the speed limit cancellation semantic point at the target position and is adjacent to it;

[0088] The first recovery module is used to restore the default speed limit value from the target location when the speed limit cancellation source is not manually determined or the target location is located in a toll station.

[0089] In a possible implementation, the updating unit 220 includes:

[0090] The second recovery module is used for, when the target position is a position at which the road grade has changed, the subsequent road center line uses the default speed limit value corresponding to the changed road grade from the target position; when the target position is a position at an intersection turn, the subsequent road center line uses the default speed limit value corresponding to the intersection turn from the target position; when the target position is a position for a U-turn, the subsequent road center line uses the default speed limit value corresponding to the U-turn from the target position.

[0091] In a possible implementation, the determining unit 210 is further configured to, when traversing to a toll station, search for a preset distance from the starting point of the toll station in a leading direction for the road center line of the electronic toll channel in the toll station, if the speed limit cancellation semantic point is first searched or no speed limit semantic point is searched, then if there is a speed limit semantic point on the road center line of the electronic toll channel, the speed limit value between the starting point of the road center line of the electronic toll channel in the toll station and the first speed limit semantic point on the road center line of the electronic toll channel is the default speed limit value corresponding to the road center line of the electronic toll channel, and if there is no speed limit semantic point on the road center line of the electronic toll channel, the speed limit value between the starting point of the road center line of the electronic toll channel in the toll station and the end point of the toll station is the default speed limit value corresponding to the road center line of the electronic toll channel, and the default speed limit value corresponding to the road after the end point of the toll station is restored from after the end point of the toll station;

[0092] The updating unit 220 is further configured to, when searching for a preset distance from the starting point of the toll station in the leading direction, if the speed limit semantic point is first searched, then in the case where there is a target semantic point on the road center line of the electronic toll lane, the speed limit value between the position corresponding to the speed limit semantic point first searched and the target semantic point on the road center line of the electronic toll lane in the toll station is the speed limit value included in the speed limit semantic point first searched, the target semantic point is the semantic point that appears for the first time on the road center line of the electronic toll lane, the semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and in the case where there is no target semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and before the center line of a different type of road appears after the end point of the toll station is the speed limit value included in the speed limit semantic point first searched.

[0093] In a possible implementation manner, the device further includes:

[0094] When the length of the center line of the road whose speed limit value is the default speed limit value is less than or equal to the preset length threshold, and there is a speed limit semantic point whose source is a speed limit sign after the center line of the road whose speed limit value is the default speed limit value, the speed limit value corresponding to the center line of the road whose speed limit value is the default speed limit value is updated from the default speed limit value to the speed limit value of the speed limit sign.

[0095] In a possible implementation manner, the device further includes:

[0096] When a plurality of road center lines of the same level merge, the speed limit value of the road center line after the merge is the maximum speed limit value of the plurality of road center lines of the same level before the merge.

[0097] The speed limit interval generating device provided in the embodiment of the present application can automatically determine the default speed limit value corresponding to each road center line in the map data after obtaining the map data, and then update the default speed limit value according to the speed limit semantic point and the target position. Specifically, it can start from the starting point of the target road center line and traverse backward. When there is a speed limit semantic point at the current traversal position, starting from the current traversal position, the subsequent speed limit value is updated from the default speed limit value to the speed limit value contained in the speed limit semantic point, until the target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the target position, until the next target position is traversed, the speed limit value of the subsequent road center line is updated according to the speed limit rule corresponding to the next target position, until the map data is traversed and the updated speed limit interval for the map data is obtained. The whole process does not require human intervention and can be performed automatically, thereby improving the efficiency of adding speed limit intervals to map data.

[0098] Based on the above method embodiments, another embodiment of the present application provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps of the speed limit interval generation method as described in any of the above embodiments.

[0099] Based on the above method embodiment, another embodiment of the present application provides an electronic device or a computer device, such as Figure 4 As shown, including:

[0100] At least one processor 310, the processor 310 is coupled to a memory 320, the memory 320 stores a program or instruction running on the processor 310, and when the program or instruction is executed by the processor 310, the steps of the speed limit interval generation method described in any of the above embodiments are implemented.

[0101] Based on the above method embodiments, another embodiment of the present application provides a vehicle, which includes the device as described in any of the above embodiments, or includes the electronic device as described above.

[0102] The vehicle includes a CPU (Central Processing Unit), a T-Box (Telematics Box) and a data acquisition device. The data acquisition device includes a laser radar, a camera, etc. The laser radar is used to generate a radar point cloud, the camera is used to collect road environment images, and the CPU is used to generate map data based on the data collected by the data acquisition device such as the radar point cloud and the road environment image, and add the speed limit interval of each lane center line to the map data by executing the speed limit interval generation method described in any of the above embodiments. The CPU can also upload the data collected by the data acquisition device to the server through the T-Box, and the server generates map data based on the data collected by the data acquisition device, and add the speed limit interval of each lane center line to the map data by executing the speed limit interval generation method described in any of the above embodiments.

[0103] Based on the above embodiments, another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any of the above embodiments.

[0104] The above device embodiment corresponds to the method embodiment and has the same technical effect as the method embodiment. For specific description, please refer to the method embodiment. The device embodiment is obtained based on the method embodiment. For specific description, please refer to the method embodiment part, which will not be repeated here. It can be understood by those skilled in the art that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0105] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or 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 method for generating a speed limit interval, characterized in that: The method comprises: Determine the default speed limit value corresponding to each road centerline in the map data; Traversing backward from the starting point of the target road centerline, when there is a speed limit semantic point at the current traversal position, updating the subsequent speed limit value from the default speed limit value to the speed limit value contained in the speed limit semantic point from the current traversal position, until traversing to the target position, updating the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the target position, until traversing to the next target position, updating the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the next target position, until the map data is traversed to complete, and obtaining the updated speed limit interval for the map data; Among them, the speed limit semantic point is used to represent that the speed limit value changes from the position where the speed limit semantic point is located, and the speed limit semantic point includes the changed speed limit value specified by other speed limit sources other than the default speed limit. The target position includes any one of the position corresponding to the next speed limit semantic point, the position corresponding to the cancellation of the speed limit semantic point, the position when the road grade changes, the position when turning at the intersection, and the position when turning around. The cancellation of the speed limit semantic point is used to indicate the cancellation of the speed limit value of the speed limit semantic point. The speed limit interval includes the starting position, the end position and the corresponding speed limit value of the center line of a section of road with the same speed limit value.

2. The method according to claim 1, characterized in that When the target position is a position corresponding to a speed limit cancellation semantic point, and the speed limit cancellation semantic point includes a speed limit cancellation source, updating the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the target position includes: In the case where the speed limit cancellation source is manually determined and the target position is outside the toll station, search from the target position in the leading direction. If the target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then from the target position, the speed limit value of the subsequent road centerline is updated from the default speed limit value to the speed limit value included in the adjacent speed limit semantic point before the target speed limit semantic point. If the target speed limit semantic point is not found or there is no adjacent speed limit semantic point before the target speed limit semantic point, then the default speed limit value is restored from the target position, wherein the target speed limit semantic point is the speed limit semantic point that is the same as the speed limit value included in the speed limit cancellation semantic point at the target position and is adjacent to it. When the speed limit cancellation source is not manually determined, or the target location is located in a toll booth, the default speed limit value is restored from the target location.

3. The method according to claim 1, characterized in that The updating of the speed limit value of the subsequent road centerline according to the speed limit rule corresponding to the target position includes: When the target position is a position where the road grade has changed, the subsequent road centerline from the target position uses the default speed limit value corresponding to the changed road grade; In the case where the target position is a position at a turn at an intersection, starting from the target position, the subsequent road centerline uses the default speed limit value corresponding to the turn at the intersection; In the case where the target position is a position for a U-turn, starting from the target position, the subsequent road center line uses the default speed limit value corresponding to the U-turn.

4. The method according to claim 1, characterized in that: The method further comprises: When traversing to a toll station, for the road center line of the electronic toll lane in the toll station, when searching for a preset distance from the starting point of the toll station in the leading direction, if the speed limit cancellation semantic point is first searched or no speed limit semantic point is searched, then if there is a speed limit semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and the first speed limit semantic point on the road center line of the electronic toll lane is the default speed limit value corresponding to the road center line of the electronic toll lane, and if there is no speed limit semantic point on the road center line of the electronic toll lane, the speed limit value between the starting point of the road center line of the electronic toll lane in the toll station and the end point of the toll station is the default speed limit value corresponding to the road center line of the electronic toll lane, and the default speed limit value corresponding to the road after the end point of the toll station is restored from after the end point of the toll station; When searching for a preset distance from the starting point of the toll station in the leading direction, if the speed limit semantic point is first searched, then in the case where there is a target semantic point on the road center line of the electronic toll lane, the speed limit value between the position corresponding to the speed limit semantic point first searched and the target semantic point on the road center line of the electronic toll lane in the toll station is the speed limit value contained in the speed limit semantic point first searched, and the target semantic point is the semantic point that appears for the first time on the road center line of the electronic toll lane, and the semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and in the case where there is no target semantic point on the road center line of the electronic toll lane, the speed limit value from the starting point of the road center line of the electronic toll lane in the toll station to the appearance of a different type of road center line after the end point of the toll station is the speed limit value contained in the speed limit semantic point first searched.

5. The method according to claim 1, characterized in that The method further comprises: When the length of the center line of the road whose speed limit value is the default speed limit value is less than or equal to the preset length threshold, and there is a speed limit semantic point whose source is a speed limit sign after the center line of the road whose speed limit value is the default speed limit value, the speed limit value corresponding to the center line of the road whose speed limit value is the default speed limit value is updated from the default speed limit value to the speed limit value of the speed limit sign.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: When a plurality of road center lines of the same level merge, the speed limit value of the road center line after the merge is the maximum speed limit value of the plurality of road center lines of the same level before the merge.

7. A speed limit section generating device, characterized in that: The device comprises: A determination unit, used to determine a default speed limit value corresponding to each road centerline in the map data; an updating unit, configured to traverse backward from the starting point of the target road centerline, and when there is a speed limit semantic point at the current traversal position, update the subsequent speed limit value from the default speed limit value to the speed limit value contained in the speed limit semantic point, starting from the current traversal position, until the target position is traversed, the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the target position, until the next target position is traversed, the speed limit value of the subsequent road centerline is updated according to the speed limit rule corresponding to the next target position, until the map data is traversed completely, and the updated speed limit interval for the map data is obtained; Among them, the speed limit semantic point is used to represent that the speed limit value changes from the position where the speed limit semantic point is located, and the speed limit semantic point includes the changed speed limit value specified by other speed limit sources other than the default speed limit. The target position includes any one of the position corresponding to the next speed limit semantic point, the position corresponding to the cancellation of the speed limit semantic point, the position when the road grade changes, the position when turning at the intersection, and the position when turning around. The cancellation of the speed limit semantic point is used to indicate the cancellation of the speed limit value of the speed limit semantic point. The speed limit interval includes the starting position, the end position and the corresponding speed limit value of the center line of a section of road with the same speed limit value.

8. The device according to claim 7, characterized in that The updating unit comprises: An updating module, for searching in a leading direction from the target position when the target position is a position corresponding to a speed limit cancellation semantic point and the speed limit cancellation semantic point includes a speed limit cancellation source, when the speed limit cancellation source is manually determined and the target position is outside a toll booth, if the target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then, starting from the target position, updating the speed limit value of the center line of the subsequent road from the default speed limit value to the speed limit value included in the adjacent speed limit semantic point before the target speed limit semantic point, if the target speed limit semantic point is not found or there is no adjacent speed limit semantic point before the target speed limit semantic point, then restoring the default speed limit value from the target position, wherein the target speed limit semantic point is the speed limit semantic point that is the same as the speed limit value included in the speed limit cancellation semantic point at the target position and is adjacent to it; The first recovery module is used to restore the default speed limit value from the target location when the speed limit cancellation source is not manually determined or the target location is located in a toll station.

9. The device according to claim 7, characterized in that The updating unit comprises: The second recovery module is used for, when the target position is a position at which the road grade has changed, the subsequent road center line uses the default speed limit value corresponding to the changed road grade from the target position; when the target position is a position at an intersection turn, the subsequent road center line uses the default speed limit value corresponding to the intersection turn from the target position; when the target position is a position for a U-turn, the subsequent road center line uses the default speed limit value corresponding to the U-turn from the target position.

10. The device according to claim 7, characterized in that The determining unit is further configured to, when traversing to a toll station, search for a preset distance from the starting point of the toll station in a leading direction for the road center line of the electronic toll channel in the toll station, if the speed limit cancellation semantic point is first searched or no speed limit semantic point is searched, then if there is a speed limit semantic point on the road center line of the electronic toll channel, the speed limit value between the starting point of the road center line of the electronic toll channel in the toll station and the first speed limit semantic point on the road center line of the electronic toll channel is the default speed limit value corresponding to the road center line of the electronic toll channel, and if there is no speed limit semantic point on the road center line of the electronic toll channel, the speed limit value between the starting point of the road center line of the electronic toll channel in the toll station and the end point of the toll station is the default speed limit value corresponding to the road center line of the electronic toll channel, and the default speed limit value corresponding to the road after the end point of the toll station is restored from after the end point of the toll station; The updating unit is further configured to, when searching for a preset distance from the starting point of the toll station in the leading direction, if the speed limit semantic point is first searched, then in the case where there is a target semantic point on the road center line of the electronic toll lane, the speed limit value between the position corresponding to the speed limit semantic point first searched and the target semantic point on the road center line of the electronic toll lane in the toll station is the speed limit value included in the speed limit semantic point first searched, the target semantic point is the semantic point that appears for the first time on the road center line of the electronic toll lane, the semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and in the case where there is no target semantic point on the road center line of the electronic toll lane, the speed limit value from the starting point of the road center line of the electronic toll lane in the toll station to the appearance of a road center line of a different type after the end point of the toll station is the speed limit value included in the speed limit semantic point first searched.

11. The device according to claim 7, characterized in that The device also includes: When the length of the center line of the road whose speed limit value is the default speed limit value is less than or equal to the preset length threshold, and there is a speed limit semantic point whose source is a speed limit sign after the center line of the road whose speed limit value is the default speed limit value, the speed limit value corresponding to the center line of the road whose speed limit value is the default speed limit value is updated from the default speed limit value to the speed limit value of the speed limit sign.

12. The device according to any one of claims 7 to 11, characterized in that The device also includes: When a plurality of road center lines of the same level merge, the speed limit value of the road center line after the merge is the maximum speed limit value of the plurality of road center lines of the same level before the merge.

13. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the speed limit interval generation method according to any one of claims 1 to 6 are implemented.

14. A computer device, characterized in that: The method comprises at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the speed limit interval generation method according to any one of claims 1 to 6 are implemented.

15. A vehicle, characterized in that: The vehicle comprises the apparatus as claimed in any one of claims 7 to 12, or comprises the electronic device as claimed in claim 14.

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