Method for generating speed limit information of map area boundary and related device thereof

Abstract

The invention discloses a method for generating speed limit information of a map area boundary and a related device thereof. The method comprises the following steps: acquiring speed limit mapping information for each cell record; searching a target exit identifier from the speed limit mapping information, and searching first target semantic point information corresponding to the target exit identifier; when the first target semantic point information is found, searching semantic points in the first target semantic point information from back to front; when the first key semantic point is a speed limiting semantic point, determining the speed limiting value of the entrance boundary of the current cell as the speed limiting value contained in the first key semantic point; when the first key semantic point is a manually judged cancelled speed limit semantic point, forward searching semantic points contained in the first target semantic point information, and if a target speed limit semantic point is searched and an adjacent speed limit semantic point exists before the target speed limit semantic point, determining the speed limit value of the entrance boundary of the current cell as the speed limit value contained in the adjacent speed limit semantic point; and in other cases, determining the speed limit value of the entrance boundary of the current cell as a default speed limit value corresponding to the entrance boundary of the current cell.

Description

Technical Field

[0001] The present application relates to the field of map processing technology, and in particular to a method for generating speed limit information of a map area boundary and a related device thereof. Background Art

[0002] The process of high-precision map generation is mainly divided into segment tasks, regional tasks, and full tasks. Among them, the scope of the segment task is a cell, which is the smallest unit of road production. When processing the segment task, the speed limit range of each road will be determined and recorded in the cell. After the segment task is completed, the data enters the mother database and the regional task is started, that is, multiple segment tasks are merged. When merging multiple segment tasks, some speed limit ranges will change when crossing cells, so multiple cells can be merged first, and then the merged area is fully calculated again, and the speed limit range in the area is obtained and recorded again. After completing multiple regional tasks, continue to merge multiple regional tasks. When merging multiple regional tasks, first merge multiple areas, and then recalculate the merged city range, and re-obtain and record the speed limit ranges in the city range. Finally, the result data in units of cities and road types is obtained and stored, such as Shanghai urban roads, Hangzhou urban expressways, Suzhou expressways, etc., for downstream use.

[0003] However, this method of recalculating the speed limit zone in full every time a cell is added not only has low production efficiency but is also not conducive to map expansion. Summary of the invention

[0004] The present application provides a method for generating speed limit information at the boundary of a map area and a related device thereof, which can solve the problem that the speed limit interval needs to be fully recalculated every time a cell is added, which not only has low production efficiency but also is not conducive to map expansion.

[0005] The specific technical solutions are as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for generating speed limit information of a map area boundary, the method comprising:

[0007] Obtain speed limit mapping information pre-recorded for each cell, wherein the cell is an area unit of road production, the speed limit mapping information includes at least one mapping relationship, each of the mapping relationships includes an entry identifier, an exit identifier, and semantic point information on a path from an entry boundary corresponding to the entry identifier to an exit boundary corresponding to the exit identifier, the semantic point information includes a speed limit semantic point and / or a speed limit cancellation semantic point, the speed limit semantic point is used to represent that a speed limit value has changed from the location of the speed limit semantic point, and the speed limit semantic point includes a changed speed limit value specified by other speed limit sources other than the default speed limit, and the speed limit cancellation semantic point is used to indicate cancellation of the speed limit value of the speed limit semantic point;

[0008] Searching for a target exit identifier from the speed limit mapping information, and searching for first target semantic point information corresponding to the target exit identifier, wherein the target exit identifier is the exit identifier that is the same as the entrance identifier of the current cell;

[0009] When the first target semantic point information is found, searching for semantic points in the first target semantic point information from back to front;

[0010] In the case where the first key semantic point is the speed limit semantic point, determining the speed limit value of the entrance boundary of the current cell as the speed limit value included in the first key semantic point, wherein the first key semantic point is the first semantic point searched from back to front in the first target semantic point information;

[0011] In the case where the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined, continue to search forward for the semantic points included in the first target semantic point information, if the target speed limit semantic point is searched and there is an adjacent speed limit semantic point before the target speed limit semantic point, then determine the speed limit value of the entrance boundary of the current cell as the speed limit value included in the adjacent speed limit semantic point, 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 first key semantic point and is adjacent to it;

[0012] In other cases, the speed limit value of the entrance boundary of the current cell is determined as a default speed limit value corresponding to the entrance boundary of the current cell.

[0013] It can be seen from the above scheme that the embodiment of the present application can record the speed limit mapping information for each cell in advance. When it is necessary to determine the speed limit value of each cell entrance boundary, each cell can be searched for the exit identifier (i.e., the target exit identifier) ​​that is the same as the current cell entrance identifier from the speed limit mapping information, and the first target semantic point information corresponding to the target exit identifier can be searched. According to the first key semantic point in the first target semantic point information, or the first key semantic point and other semantic point information, the speed limit value of the entrance boundary of the current cell can be determined. It can be seen that the embodiment of the present application can calculate the speed limit value of the entrance boundary for each cell separately without merging multiple cells, so that not only does it not need to calculate the whole amount, but it can also realize parallel calculation of multiple cells, thereby improving map production efficiency. When adding cells, it is only necessary to update the speed limit mapping information related to the newly added cells to realize the separate calculation of the newly added cells, thereby speeding up the expansion of the map.

[0014] In a first possible implementation manner of the first aspect, when the mapping relationship further includes road grades of respective road centerlines, road centerline confluence information, and displacement information of a position bound to a road centerline of each semantic point within a corresponding cell, determining the speed limit value of an entrance boundary of the current cell as the speed limit value included in the first key semantic point includes:

[0015] When the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and it is determined that the first key semantic point is not the semantic point of the confluence based on the road centerline merging information and the displacement information of the first key semantic point in the cell to which it belongs, the speed limit value of the entrance boundary of the current cell is determined to be the speed limit value contained in the first key semantic point.

[0016] It can be seen from the above scheme that when the first key semantic point is the speed limit semantic point, the embodiment of the present application does not directly determine the speed limit value of the entrance boundary of the current cell as the speed limit value contained in the first key semantic point, but rather determines whether the road grade of the center line of the road to which the entrance boundary of the current cell belongs is the same as the road grade of the center line of the road to which the first key semantic point belongs, and determines whether the first key semantic point is a semantic point of confluence. Only when the road grades are the same and the first key semantic point is not a semantic point of confluence, will the speed limit value of the entrance boundary of the current cell be determined as the speed limit value contained in the first key semantic point, thereby improving the accuracy of the entrance boundary speed limit value.

[0017] In a second possible implementation manner of the first aspect, in other cases, determining the speed limit value of the entrance boundary of the current cell as a default speed limit value corresponding to the entrance boundary of the current cell includes:

[0018] When the first key semantic point is the speed limit semantic point and the road grade of the center line of the road to which the entrance boundary of the current cell belongs is different from the road grade of the center line of the road to which the first key semantic point belongs, the speed limit value of the entrance boundary of the current cell is determined as the default speed limit value corresponding to the entrance boundary of the current cell.

[0019] It can be seen from the above scheme that when the first key semantic point is the speed limit semantic point, when the embodiment of the present application determines that the road grade of the road centerline to which the entrance boundary of the current cell belongs is different from the road grade of the road centerline to which the first key semantic point belongs, the entrance boundary of the current cell no longer continues the speed limit value of the first key semantic point, but uses the corresponding default speed limit value, thereby improving the accuracy of the entrance boundary speed limit value.

[0020] In a third possible implementation manner of the first aspect, the method further includes:

[0021] When the first key semantic point is the speed limit semantic point at the confluence, and the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, when the confluence at the first key semantic point is a confluence of multiple road centerlines of the same grade, the speed limit value of the entrance boundary of the current cell is determined as the maximum speed limit value of the multiple road centerlines of the same grade before the confluence, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of different grades, the speed limit value of the entrance boundary of the current cell is determined as the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades.

[0022] It can be seen from the above scheme that when the first key semantic point is the speed limit semantic point, when the embodiment of the present application determines that the first key semantic point is the speed limit semantic point at the confluence, and the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, the speed limit value of the entrance boundary of the current cell is determined according to the speed limit values ​​of the multiple road centerlines before the confluence at the first key semantic point, thereby improving the accuracy of the entrance boundary speed limit value.

[0023] In a fourth possible implementation manner of the first aspect, in other cases, determining the speed limit value of the entrance boundary of the current cell as a default speed limit value corresponding to the entrance boundary of the current cell includes:

[0024] In the case that the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined, if the semantic point included in the first target semantic point information is continued to be searched forward, the target speed limit semantic point is not found, or the target speed limit semantic point is searched but there is no adjacent speed limit semantic point before the target speed limit semantic point, then the speed limit value of the entrance boundary of the current cell is determined as the default speed limit value corresponding to the entrance boundary of the current cell.

[0025] In a fifth possible implementation manner of the first aspect, when the mapping relationship further includes a path from an entrance boundary corresponding to the entrance identifier to an exit boundary corresponding to the exit identifier, a path length, and displacement information of a position bound to a road centerline of each semantic point within a corresponding cell, the method further includes:

[0026] Searching for a target entry identifier from the speed limit mapping information, and searching for second target semantic point information corresponding to the target entry identifier, wherein the target entry identifier is the entry identifier that is the same as the exit identifier of the current cell;

[0027] When the second target semantic point information is found and the second key semantic point is the speed limit semantic point whose source is a speed limit sign, if the speed limit value of the road centerline where the exit boundary of the current cell is located is the default speed limit value, and the speed limit value between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is the default speed limit value, and the sum of the length of the road centerline where the exit boundary of the current cell is located and the length of the road centerline between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is less than or equal to a preset length threshold, then the speed limit value of the exit boundary of the current cell is determined as the speed limit value of the speed limit sign contained in the second key semantic point, wherein the second key semantic point is the first semantic point searched from front to back in the second target semantic point information, the road centerline before the second key semantic point includes the entrance boundary of the cell corresponding to the target entrance identifier, and the length of the road centerline is determined according to the path, the path length and the displacement information.

[0028] It can be seen from the above scheme that in the embodiment of the present application, when the length of the center line of the road with the speed limit value being the default speed limit value is small and the center line of this section of the road is divided into two different cells, by updating the speed limit value of the center line of this section of the road to the speed limit value of the adjacent speed limit sign, the speed limit range across cells can be made smoother, avoiding the risks caused by frequent speed adjustments of the vehicle in a short period of time.

[0029] In a sixth possible implementation manner of the first aspect, when a first distance between an entrance boundary of the current cell and a toll booth in the current cell is within a preset distance range and no semantic point exists between the entrance boundary of the current cell and the toll booth, after searching for semantic points in the first target semantic point information from back to front, the method further includes:

[0030] In the case where the first key semantic point is the speed limit semantic point and the sum of the second distance and the first distance is within the preset distance range, when there is a third key semantic point on the road centerline of the electronic toll collection channel in the toll station, the speed limit value between the entrance boundary of the current cell and the third key semantic point on the road centerline of the electronic toll collection channel in the toll station is the speed limit value included in the first key semantic point; when there is no third key semantic point on the road centerline of the electronic toll collection channel, the speed limit value between the starting point of the road centerline of the electronic toll collection channel in the toll station and the centerline of roads of different grades after the end point of the toll station is the speed limit value included in the first key semantic point; the third key semantic point is the semantic point that appears for the first time on the road centerline of the electronic toll collection channel, and the semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point; and the second distance is the distance between the first key semantic point and the exit boundary corresponding to the target exit identifier;

[0031] When the first key semantic point is the speed limit cancellation semantic point and the sum of the second distance and the first distance is within the preset distance range, or when the sum of the second distance and the first distance is within the preset distance range and no speed limit semantic point is found, when the speed limit semantic point exists on the road centerline of the electronic toll lane, the speed limit value between the starting point of the road centerline of the electronic toll lane in the toll station and the first speed limit semantic point on the road centerline of the electronic toll lane is the default speed limit value corresponding to the road centerline of the electronic toll lane, and when the speed limit semantic point does not exist on the road centerline of the electronic toll lane, the speed limit value between the starting point of the road centerline 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 centerline 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.

[0032] It can be seen from the above scheme that 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 determine the speed limit value of the road center line from the entrance boundary to the electronic toll channel in the toll station based on the searched semantic points, thereby improving the speed limit accuracy of the entrance boundary and the electronic toll channel in the toll station.

[0033] In a second aspect, an embodiment of the present application provides a device for generating speed limit information of a map area boundary, the device comprising:

[0034] an acquisition unit, used for acquiring speed limit mapping information recorded in advance for each cell, wherein the cell is an area unit of road production, the speed limit mapping information includes at least one mapping relationship, each of the mapping relationships includes an entry identifier, an exit identifier, and semantic point information on a path from an entry boundary corresponding to the entry identifier to an exit boundary corresponding to the exit identifier, the semantic point information includes a speed limit semantic point and / or a speed limit cancellation semantic point, the speed limit semantic point is used to indicate that a speed limit value has changed from the location of the speed limit semantic point, and the speed limit semantic point includes a changed speed limit value specified by other speed limit sources other than the default speed limit, and the speed limit cancellation semantic point is used to indicate cancellation of the speed limit value of the speed limit semantic point;

[0035] A search unit, configured to search for a target exit identifier from the speed limit mapping information, and search for first target semantic point information corresponding to the target exit identifier, wherein the target exit identifier is the exit identifier that is the same as the entry identifier of the current cell;

[0036] A searching unit, configured to search for semantic points in the first target semantic point information from back to front when the first target semantic point information is found;

[0037] A first determining unit is configured to determine, when a first key semantic point is the speed limit semantic point, a speed limit value of an entrance boundary of the current cell as a speed limit value included in the first key semantic point, wherein the first key semantic point is a first semantic point searched from back to front in the first target semantic point information;

[0038] The search unit is configured to continue searching forward for semantic points included in the first target semantic point information when the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined;

[0039] A second determining unit is configured to determine the speed limit value of the entrance boundary of the current cell as the speed limit value included in the adjacent speed limit semantic point if a target speed limit semantic point is searched and there is an adjacent speed limit semantic point before the target speed limit semantic point, 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 first key semantic point and is adjacent to the first key semantic point;

[0040] The third determining unit is used to determine, in other cases, the speed limit value of the entrance boundary of the current cell as a default speed limit value corresponding to the entrance boundary of the current cell.

[0041] In a first possible implementation manner of the second aspect, the first determination unit is used to determine the speed limit value of the entrance boundary of the current cell as the speed limit value contained in the first key semantic point, when the mapping relationship also includes the road grade of each road centerline, the road centerline convergence information, and the displacement information of the position bound to the road centerline of each semantic point in the cell to which it belongs, and when the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and when it is determined based on the road centerline convergence information and the displacement information of the first key semantic point in the cell to which it belongs that the first key semantic point is not the semantic point of the convergence.

[0042] In a second possible implementation manner of the second aspect, the third determining unit includes:

[0043] The first determination module is used to determine the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell when the first key semantic point is the speed limit semantic point and the road grade of the road centerline to which the entrance boundary of the current cell belongs is different from the road grade of the road centerline to which the first key semantic point belongs.

[0044] In a third possible implementation manner of the second aspect, the device further includes:

[0045] A fourth determination unit is used for, when the first key semantic point is the speed limit semantic point at a confluence, and the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of the same grade, determining the speed limit value of the entrance boundary of the current cell as the maximum speed limit value of the multiple road centerlines of the same grade before the confluence, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of different grades, determining the speed limit value of the entrance boundary of the current cell as the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades.

[0046] In a fourth possible implementation manner of the second aspect, the third determining unit includes:

[0047] A second determination module is used for determining the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell if the target speed limit semantic point is not found when continuing to search forward for the semantic points included in the first target semantic point information, or if the target speed limit semantic point is found but there is no adjacent speed limit semantic point before the target speed limit semantic point, when the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined.

[0048] In a fifth possible implementation manner of the second aspect, the search unit is further used to search for a target entrance identifier from the speed limit mapping information and search for second target semantic point information corresponding to the target entrance identifier, when the mapping relationship also includes a path from an entrance boundary corresponding to the entrance identifier to an exit boundary corresponding to the exit identifier, a path length, and displacement information of a position bound to a road centerline of each semantic point within the cell to which it belongs, wherein the target entrance identifier is the entrance identifier that is the same as the exit identifier of the current cell;

[0049] The device also includes:

[0050] The fifth determination unit is also used for, when the second target semantic point information is found and the second key semantic point is the speed limit semantic point whose source is a speed limit sign, if the speed limit value of the road centerline where the exit boundary of the current cell is located is a default speed limit value, and the speed limit value between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is the default speed limit value, and the sum of the length of the road centerline where the exit boundary of the current cell is located and the length of the road centerline between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is less than or equal to a preset length threshold, then the speed limit value of the exit boundary of the current cell is determined as the speed limit value of the speed limit sign contained in the second key semantic point, wherein the second key semantic point is the first semantic point searched from front to back in the second target semantic point information, the road centerline before the second key semantic point includes the entrance boundary of the cell corresponding to the target entrance identifier, and the length of the road centerline is determined according to the path, the path length and the displacement information.

[0051] In a sixth possible implementation manner of the second aspect, the apparatus further includes:

[0052] a sixth determining unit, configured to, when a first distance between an entrance boundary of the current cell and a toll station in the current cell is within a preset distance range and there is no semantic point between the entrance boundary of the current cell and the toll station, after searching the semantic points in the first target semantic point information from back to front, when the first key semantic point is the speed limit semantic point and the sum of the second distance and the first distance is within the preset distance range, and when there is a third key semantic point on the road centerline of the electronic toll passage in the toll station, the speed limit value between the entrance boundary of the current cell and the third key semantic point on the road centerline of the electronic toll passage in the toll station is the speed limit value included in the first key semantic point, and when there is no third key semantic point on the road centerline of the electronic toll passage, the speed limit value between the starting point of the road centerline of the electronic toll passage in the toll station and the centerline of roads of different grades after the end point of the toll station is the speed limit value included in the first key semantic point, and the third key semantic point is the semantic point that appears for the first time on the road centerline of the electronic toll passage, The semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and the second distance is the distance between the first key semantic point and the exit boundary corresponding to the target exit identifier; when the first key semantic point is the speed limit cancellation semantic point and the sum of the second distance and the first distance is within the preset distance range, or when the sum of the second distance and the first distance is within the preset distance range, and no speed limit semantic point is searched, when the speed limit semantic point exists 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 when the speed limit semantic point does not exist 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.

[0053] It can be seen from the above scheme that the embodiment of the present application can record the speed limit mapping information for each cell in advance. When it is necessary to determine the speed limit value of each cell entrance boundary, each cell can be searched for the exit identifier (i.e., the target exit identifier) ​​that is the same as the current cell entrance identifier from the speed limit mapping information, and the first target semantic point information corresponding to the target exit identifier can be searched. According to the first key semantic point in the first target semantic point information, or the first key semantic point and other semantic point information, the speed limit value of the entrance boundary of the current cell can be determined. It can be seen that the embodiment of the present application can calculate the speed limit value of the entrance boundary for each cell separately without merging multiple cells, so that not only does it not need to calculate the whole amount, but it can also realize parallel calculation of multiple cells, thereby improving map production efficiency. When adding cells, it is only necessary to update the speed limit mapping information related to the added cells to realize the separate calculation of the newly added cells, thereby speeding up the expansion of the map.

[0054] 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 a method for generating speed limit information at a map area boundary as described in any possible implementation of the first aspect.

[0055] 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 method for generating speed limit information for the boundary of a map area as described in any possible implementation method of the first aspect are implemented.

[0056] 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.

[0057] 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

[0058] 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.

[0059] Figure 1A schematic diagram of a flow chart of a method for generating speed limit information of a map area boundary provided in an embodiment of the present application;

[0060] Figure 2 A block diagram of a device for generating speed limit information at a map area boundary provided in an embodiment of the present application;

[0061] Figure 3 A schematic diagram of the structure of an electronic device or computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] 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.

[0063] 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.

[0064] Figure 1 The present invention is a flowchart of a method for generating speed limit information of a map area boundary. The method 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:

[0065] S110: Obtain speed limit mapping information pre-recorded for each cell.

[0066] Among them, a cell is an area unit of road production, and the speed limit mapping information includes at least one mapping relationship, each mapping relationship includes an entry mark, an exit mark, and semantic point information on the path from the entry boundary corresponding to the entry mark to the exit boundary corresponding to the exit mark. The semantic point information includes a speed limit semantic point and / or a speed limit cancellation semantic point. The speed limit semantic point is used to indicate that the speed limit value has changed 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 speed limit cancellation semantic point is used to indicate the speed limit value of the speed limit cancellation semantic point. The mapping relationship can also include a cell identifier, which is used to uniquely identify a cell.

[0067] 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 speed limit cancellation, 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 canceled, the speed limit cancellation semantic point also includes the speed limit cancellation source, the starting point and the end point of the speed limit cancellation. The speed limit interval can also include the speed limit source. The speed limit semantic point and the speed limit cancellation semantic point can be located above the center line of the road without being completely connected to the center line of the road.

[0068] The paths from the entrance boundary corresponding to the entrance mark to the exit boundary corresponding to the exit mark are all paths along the road driving direction. After extracting the speed limit mapping information from each cell, the speed limit mapping information can be stored in a database so that the speed limit mapping information can be directly queried from the database later.

[0069] When each mapping relationship in the speed limit mapping information includes a cell identifier, an entry identifier, an exit identifier, and semantic point information, the speed limit mapping information may be as shown in Table 1.

[0070] Table 1

[0071]

[0072] S120: Searching for a target exit identifier from the speed limit mapping information, and searching for first target semantic point information corresponding to the target exit identifier.

[0073] Among them, the target exit identifier is the exit identifier that is the same as the entrance identifier of the current cell. When the map data is divided into multiple cells, two boundary lines will be formed at each divided position, namely the entrance boundary of one cell and the exit boundary of another cell, and the identifiers of the pair of entrance boundaries and exit boundaries are the same. Therefore, the speed limit information at the entrance boundary of each cell can be accurately determined in combination with the speed limit information of the road section before the entrance boundary of each cell, that is, the speed limit information at the entrance boundary of each cell can be accurately determined by searching for the cell corresponding to the exit boundary identifier that is the same as the entrance boundary identifier of each cell, and combining the semantic point information of the found cell, that is, the first target semantic point information.

[0074] It should be added that the electronic device or computer device can start multiple processes or threads, execute steps S120-S160 in parallel, and after calculating the speed limit information of the entrance boundaries of multiple cells at the same time, the speed limit information after the entrance boundary of each cell can be calculated in parallel according to the full calculation method. The number of processes or threads can be the same as the number of cells, or less than the number of cells, and multiple cells can be processed in batches in parallel.

[0075] S130: When the first target semantic point information is found, search for semantic points in the first target semantic point information from back to front.

[0076] The semantic point information recorded in the speed limit mapping information is the semantic point information passed successively from the cell entrance boundary to the exit boundary, and the semantic point related to the entrance boundary of the current cell is the semantic point near the exit boundary of the adjacent cell. Therefore, when the first target semantic point information is found, the semantic points in the first target semantic point information are searched from back to front.

[0077] S140: When the first key semantic point is a speed limit semantic point, the speed limit value of the entrance boundary of the current cell is determined as the speed limit value contained in the first key semantic point, and the first key semantic point is the first semantic point searched from back to front in the first target semantic point information.

[0078] In the case where the first key semantic point is a speed limit semantic point, the speed limit value of the entry boundary of the current cell can be determined as the speed limit value contained in the first key semantic point, and from the entry boundary to the target position, the speed limit value contained in the first key semantic point is used. Starting from the first target position of the current cell, 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 current cell is traversed. 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 when turning at the intersection, and the position when turning around.

[0079] In the case where the target position is a position where 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; in the case where the target position is a position when the road turns 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; in the case where the target position is a position when turning around, 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.

[0080] When the target position is the position corresponding to the next speed limit semantic point, the subsequent road center line uses the speed limit value contained in the next speed limit semantic point from the target position, and continues to traverse in the backward direction until it traverses to the next target position, and updates the speed limit value of the subsequent road center line according to the speed limit rule corresponding to the next target position. When the target position is the position corresponding to the speed limit cancellation semantic point, 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 destination speed limit semantic point is found and there is an adjacent speed limit semantic point before the destination speed limit semantic point, then from the target position, the speed limit value of the subsequent road centerline is determined as the speed limit value contained in the adjacent speed limit semantic point before the destination speed limit semantic point. If the destination speed limit semantic point is not found or there is no adjacent speed limit semantic point before the destination speed limit semantic point, the default speed limit value is used from the target position, where the destination 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 position and is adjacent to it. When the speed limit cancellation source is not manually determined, or the target position is inside the toll station, the default speed limit value is used from the target position.

[0081] S150: When the first key semantic point is a speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined, continue to search forward for the semantic points contained in the first target semantic point information. If the target speed limit semantic point is searched and there is an adjacent speed limit semantic point before the target speed limit semantic point, the speed limit value of the entrance boundary of the current cell is determined as the speed limit value contained in the adjacent speed limit semantic point.

[0082] The target speed limit semantic point is a speed limit semantic point that has the same speed limit value as the first key semantic point and is adjacent to the first key semantic point.

[0083] When the first target semantic point information corresponding to the target exit identifier includes semantic points A, B and C from back to front, A is the speed limit cancellation semantic point, which includes a speed limit value of 30km / h, B is the target speed limit semantic point, which includes a speed limit value of 30km / h, and C is the speed limit semantic point, which includes a speed limit value of 40km / h. Then the speed limit value of the entrance boundary of the current cell is 40km / h.

[0084] S160: In other cases, the speed limit value of the entrance boundary of the current cell is determined as a default speed limit value corresponding to the entrance boundary of the current cell.

[0085] Other situations include: (1) the first target semantic point information is not found; (2) the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is not manually determined; (3) the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined, but the target speed limit semantic point is not found; (4) the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined, the target speed limit semantic point is found, but there is no adjacent speed limit semantic point before the target speed limit semantic point.

[0086] 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 centerline based on information such as road grade and number of lanes. For example, when the road grade corresponding to the road centerline is a highway and the number of lanes is 1, the default speed limit is 70km / h.

[0087] Among them, road grades include expressways, urban express roads, ordinary roads, underground roads, and ramps. The grades of these road grades decrease in sequence. Ramps specifically include expressway entrance and exit connecting roads, expressway connecting roads, service area connecting roads, underground connecting roads and other types.

[0088] 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.

[0089] The method for generating speed limit information for the boundary of a map area provided in the embodiment of the present application can record speed limit mapping information for each cell in advance. When it is necessary to determine the speed limit value for the entrance boundary of each cell, the exit identifier (i.e., the target exit identifier) ​​that is the same as the entrance identifier of the current cell can be searched from the speed limit mapping information for each cell respectively, and the first target semantic point information corresponding to the target exit identifier can be searched. According to the first key semantic point in the first target semantic point information, or the first key semantic point and other semantic point information, the speed limit value for the entrance boundary of the current cell can be determined. It can be seen from this that the embodiment of the present application can calculate the speed limit value for the entrance boundary for each cell respectively without merging multiple cells, so that not only does it not require full calculation, but it can also realize parallel calculation of multiple cells, thereby improving map production efficiency. When adding cells, it is only necessary to update the speed limit mapping information related to the added cells to realize the separate calculation of the newly added cells, thereby speeding up the expansion of the map.

[0090] In one embodiment, when the first key semantic point is a speed limit semantic point, and when the mapping relationship also includes the road grade of each road centerline, the road centerline merging information, and the displacement information of the position bound to the road centerline of each semantic point in the cell to which it belongs, the specific implementation method of determining the speed limit value of the entrance boundary of the current cell as the speed limit value contained in the first key semantic point includes: when the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and when it is determined that the first key semantic point is not a semantic point of the confluence based on the road centerline merging information and the displacement information of the first key semantic point in the cell to which it belongs, the speed limit value of the entrance boundary of the current cell is determined as the speed limit value contained in the first key semantic point.

[0091] The road centerline merging information includes the displacement information of the merging point in the cell. When the displacement information of the merging point in the target cell is the same as the displacement information of the first key semantic point in the target cell or the displacement difference is less than a preset difference threshold, the first key semantic point is determined to be the semantic point of the merging point, otherwise it is determined that the first key semantic point is not the semantic point of the merging point. The road centerline merging information may also include the road grade of each road centerline before the merging point and the road grade of the road centerline after the merging point.

[0092] When the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and based on the road centerline merging information and the displacement information of the first key semantic point in the cell to which it belongs, it is determined that the first key semantic point is not the semantic point of the confluence, before being split, the entrance boundary of the current cell and the first key semantic point are on a road centerline with the same speed limit information, and the entrance boundary of the current cell needs to continue the speed limit information restricted by the first key semantic point. Therefore, the speed limit value of the entrance boundary of the current cell can be determined as the speed limit value contained in the first key semantic point.

[0093] In other cases, the specific implementation method of determining the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell includes: when the first key semantic point is a speed limit semantic point and the road grade of the center line of the road to which the entrance boundary of the current cell belongs is different from the road grade of the center line of the road to which the first key semantic point belongs, the speed limit value of the entrance boundary of the current cell is determined as the default speed limit value corresponding to the entrance boundary of the current cell.

[0094] When the first key semantic point is a speed limit semantic point and the road grade of the road centerline to which the entrance boundary of the current cell belongs is different from the road grade of the road centerline to which the first key semantic point belongs, it means that the entrance boundary of the current cell and the first key semantic point are on road centerlines of different grades respectively, and the entrance boundary of the current cell no longer continues the speed limit information restricted by the first key semantic point. Therefore, the speed limit value of the entrance boundary of the current cell can be determined as the default speed limit value corresponding to the entrance boundary of the current cell.

[0095] In one embodiment, when the first key semantic point is a speed limit semantic point at a confluence, and the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, when the confluence at the first key semantic point is a confluence of multiple road centerlines of the same grade, the speed limit value of the entrance boundary of the current cell is determined as the maximum speed limit value of the multiple road centerlines of the same grade before the confluence, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of different grades, the speed limit value of the entrance boundary of the current cell is determined as the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades.

[0096] When the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, if the first key semantic point is a speed limit semantic point at a confluence, the entrance boundary of the current cell needs to continue the speed limit value of the road centerline after the first key semantic point. When the confluence at the first key semantic point is a confluence of multiple road centerlines of the same grade, the speed limit value of the road centerline after the first key semantic point is the maximum speed limit value of the multiple road centerlines of the same grade before the confluence. Thus, the speed limit value of the entrance boundary of the current cell is determined as the maximum speed limit value of the multiple road centerlines of the same grade before the confluence. When the confluence at the first key semantic point is a confluence of multiple road centerlines of different grades, the speed limit value of the road centerline after the first key semantic point is the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades. Thus, the speed limit value of the entrance boundary of the current cell is determined as the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades.

[0097] The method for generating speed limit information at the boundary of a map area provided in an embodiment of the present application, when the first key semantic point is the speed limit semantic point, the embodiment of the present application does not directly determine the speed limit value at the entrance boundary of the current cell as the speed limit value contained in the first key semantic point, but rather determines whether the road grade of the center line of the road to which the entrance boundary of the current cell belongs is the same as the road grade of the center line of the road to which the first key semantic point belongs, and determines whether the first key semantic point is a semantic point of a confluence. Only when the road grades are the same and the first key semantic point is not a semantic point of a confluence, will the speed limit value at the entrance boundary of the current cell be determined as the speed limit value contained in the first key semantic point, thereby improving the accuracy of the entrance boundary speed limit value.

[0098] In one embodiment, when the mapping relationship also includes the path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier, the path length, and the displacement information of the position bound to the center line of the road of each semantic point within the cell to which it belongs, the method for generating speed limit information at the boundary of the map area also includes: searching for the target entrance identifier from the speed limit mapping information, and searching for the second target semantic point information corresponding to the target entrance identifier, wherein the target entrance identifier is the same entrance identifier as the exit identifier of the current cell; when the second target semantic point information is found, and the second key semantic point is a speed limit semantic point whose source is a speed limit sign, if the speed limit value of the center line of the road where the exit boundary of the current cell is located is the default speed limit value, and the speed limit value between the entrance boundary corresponding to the target entrance mark and the second key semantic point is the default speed limit value, and the sum of the length of the road centerline where the exit boundary of the current cell is located and the length between the entrance boundary corresponding to the target entrance mark and the second key semantic point is less than or equal to the preset length threshold, then the speed limit value of the exit boundary of the current cell is determined as the speed limit value of the speed limit sign included in the second key semantic point, and of course, the speed limit values ​​at other positions on the road centerline where the exit boundary of the current cell is located are also determined as the speed limit value of the speed limit sign included in the second key semantic point, that is, the speed limit value of the road centerline where the exit boundary of the current cell is located is updated from the previous default speed limit value to the speed limit value of the speed limit sign included in the second key semantic point. Among them, the second key semantic point is the first semantic point searched from front to back in the second target semantic point information, the road centerline before the second key semantic point includes the entrance boundary of the cell corresponding to the target entrance mark, and the length of the road centerline is determined according to the path, path length and displacement information.

[0099] In addition, for the cell corresponding to the target entrance identifier, the speed limit value between the entrance boundary corresponding to the target entrance identifier and the second key semantic point will also be updated to the speed limit value of the speed limit sign contained in the second key semantic point. However, the speed limit source of the center line of the road across the cell with the default speed limit value remains unchanged. The preset length threshold can be determined according to the actual situation, for example, it can be 200 meters.

[0100] When the length of the center line of a road with a default speed limit is short and the center line of the road is divided into two different cells, the speed limit of the center line of the road is updated to the speed limit of the adjacent speed limit sign. This can make the speed limit range across cells smoother and avoid the risk of frequent speed adjustments in a short period of time.

[0101] In one embodiment, when a first distance between an entrance boundary of a current cell and a toll booth in the current cell is within a preset distance range and there is no semantic point between the entrance boundary of the current cell and the toll booth, after searching for semantic points included in the first target semantic point information from back to front, the method for generating speed limit information at a map area boundary further includes:

[0102] When the first key semantic point is a speed limit semantic point and the sum of the second distance and the first distance is within the preset distance range, when there is a third key semantic point on the road centerline of the electronic toll collection channel in the toll station, the speed limit value between the entrance boundary of the current cell and the third key semantic point on the road centerline of the electronic toll collection channel in the toll station is the speed limit value included in the first key semantic point; when there is no third key semantic point on the road centerline of the electronic toll collection channel, the speed limit value before the starting point of the road centerline of the electronic toll collection channel in the toll station and the centerline of roads of different grades after the end point of the toll station is the speed limit value included in the first key semantic point; when the first key semantic point is a speed limit cancellation semantic point and the sum of the second distance and the first distance is within the preset distance range When the second distance is within the preset distance range, or when the sum of the second distance and the first distance is within the preset distance range, and no speed limit semantic point is searched, when 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; when 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.

[0103] Among them, the third key semantic point is the semantic point that appears for the first time on the road centerline of the electronic toll collection channel, and the semantic point that appears for the first time includes a speed limit semantic point or a speed limit cancellation semantic point. The second distance is the distance between the first key semantic point and the exit boundary corresponding to the target exit mark. The sum of the second distance and the first distance within the preset distance range can be understood as the distance between the first key semantic point and the starting point of the adjacent toll station before the map data is segmented is within the preset distance range. The preset distance range can be determined according to actual conditions, for example, it can be within 100 meters.

[0104] When the first key semantic point is a speed limit semantic point and the sum of the second distance and the first distance is within a preset distance range, when there is a third key semantic point on the road centerline of the electronic toll collection channel in the toll station, the speed limit value from the entrance boundary of the current cell to the third key semantic point on the road centerline of the electronic toll collection channel in the toll station is the speed limit value contained in the first key semantic point, and the speed limit value contained in the third key semantic point is adopted from the third key semantic point on the road centerline of the electronic toll collection channel until the next semantic point on the road centerline of the electronic toll collection channel is reached, and the subsequent speed limit value is determined according to the next semantic point until the end point of the road centerline of the electronic toll collection channel is reached.

[0105] When the first key semantic point is a speed limit cancellation semantic point and the sum of the second distance and the first distance is within the preset distance range, or when the sum of the second distance and the first distance is within the preset distance range and no speed limit semantic point is searched, when 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, subsequent speed limit values ​​are determined according to the first speed limit semantic point until the next semantic point on the road center line of the electronic toll lane is reached, 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 lane is reached.

[0106] For the road center line of the manual toll lane within the toll station, from the starting point of the toll station to the end point of the toll station, the corresponding default speed limit value is retained, for example, 20km / h.

[0107] 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 determine the speed limit value of the road center line from the entrance boundary to the electronic toll channel in the toll station based on the searched semantic points, thereby improving the speed limit accuracy of the entrance boundary and the electronic toll channel in the toll station.

[0108] Corresponding to the above method embodiment, another embodiment of the present application provides a device for generating speed limit information of a map area boundary, such as Figure 2 As shown, the device comprises:

[0109] An acquisition unit 210 is used to acquire speed limit mapping information recorded in advance for each cell, wherein the cell is an area unit of road production, and the speed limit mapping information includes at least one mapping relationship, each of which includes an entry identifier, an exit identifier, and semantic point information on a path from an entry boundary corresponding to the entry identifier to an exit boundary corresponding to the exit identifier, and the semantic point information includes a speed limit semantic point and / or a speed limit cancellation semantic point, the speed limit semantic point is used to indicate that a speed limit value has changed from the location of the speed limit semantic point, and the speed limit semantic point includes a changed speed limit value specified by other speed limit sources other than the default speed limit, and the speed limit cancellation semantic point is used to indicate cancellation of the speed limit value of the speed limit semantic point;

[0110] A search unit 220, configured to search for a target exit identifier from the speed limit mapping information, and search for first target semantic point information corresponding to the target exit identifier, wherein the target exit identifier is the exit identifier that is the same as the entrance identifier of the current cell;

[0111] A searching unit 230, configured to search for semantic points in the first target semantic point information from back to front when the first target semantic point information is found;

[0112] A first determining unit 240 is configured to determine the speed limit value of the entrance boundary of the current cell as the speed limit value included in the first key semantic point when the first key semantic point is the speed limit semantic point, wherein the first key semantic point is the first semantic point searched from back to front in the first target semantic point information;

[0113] The search unit 230 is configured to continue searching forward for semantic points included in the first target semantic point information when the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined;

[0114] A second determining unit 250 is configured to determine the speed limit value of the entrance boundary of the current cell as the speed limit value included in the adjacent speed limit semantic point if a target speed limit semantic point is searched and there is an adjacent speed limit semantic point before the target speed limit semantic point, wherein the target speed limit semantic point is the speed limit semantic point that has the same speed limit value as the first key semantic point and is adjacent to the first key semantic point;

[0115] The third determining unit 260 is configured to determine, in other cases, the speed limit value of the entrance boundary of the current cell as a default speed limit value corresponding to the entrance boundary of the current cell.

[0116] In a possible implementation, the first determination unit 240 is used to determine the speed limit value of the entrance boundary of the current cell as the speed limit value contained in the first key semantic point, when the mapping relationship also includes the road grade of each road centerline, the road centerline convergence information, and the displacement information of the position bound to the road centerline of each semantic point in the cell to which it belongs, and when the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and when it is determined based on the road centerline convergence information and the displacement information of the first key semantic point in the cell to which it belongs that the first key semantic point is not the semantic point of the convergence.

[0117] In a possible implementation, the third determining unit 260 includes:

[0118] The first determination module is used to determine the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell when the first key semantic point is the speed limit semantic point and the road grade of the road centerline to which the entrance boundary of the current cell belongs is different from the road grade of the road centerline to which the first key semantic point belongs.

[0119] In a possible implementation manner, the device further includes:

[0120] A fourth determination unit is used for, when the first key semantic point is the speed limit semantic point at a confluence, and the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of the same grade, determining the speed limit value of the entrance boundary of the current cell as the maximum speed limit value of the multiple road centerlines of the same grade before the confluence, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of different grades, determining the speed limit value of the entrance boundary of the current cell as the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades.

[0121] In a possible implementation, the third determining unit 260 includes:

[0122] A second determination module is used for determining the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell if the target speed limit semantic point is not found when continuing to search forward for the semantic points included in the first target semantic point information, or if the target speed limit semantic point is found but there is no adjacent speed limit semantic point before the target speed limit semantic point, when the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined.

[0123] In a possible implementation, the search unit 220 is further used to search for a target entrance identifier from the speed limit mapping information and search for second target semantic point information corresponding to the target entrance identifier, when the mapping relationship also includes a path from an entrance boundary corresponding to the entrance identifier to an exit boundary corresponding to the exit identifier, a path length, and displacement information of a position bound to a road centerline of each semantic point within a corresponding cell, wherein the target entrance identifier is the entrance identifier that is the same as the exit identifier of the current cell;

[0124] The device also includes:

[0125] The fifth determination unit is also used for, when the second target semantic point information is found and the second key semantic point is the speed limit semantic point whose source is a speed limit sign, if the speed limit value of the road centerline where the exit boundary of the current cell is located is a default speed limit value, and the speed limit value between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is the default speed limit value, and the sum of the length of the road centerline where the exit boundary of the current cell is located and the length of the road centerline between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is less than or equal to a preset length threshold, then the speed limit value of the exit boundary of the current cell is determined as the speed limit value of the speed limit sign contained in the second key semantic point, wherein the second key semantic point is the first semantic point searched from front to back in the second target semantic point information, the road centerline before the second key semantic point includes the entrance boundary of the cell corresponding to the target entrance identifier, and the length of the road centerline is determined according to the path, the path length and the displacement information.

[0126] In a possible implementation manner, the device further includes:

[0127] a sixth determining unit, configured to, when a first distance between an entrance boundary of the current cell and a toll station in the current cell is within a preset distance range and there is no semantic point between the entrance boundary of the current cell and the toll station, after searching the semantic points in the first target semantic point information from back to front, when the first key semantic point is the speed limit semantic point and the sum of the second distance and the first distance is within the preset distance range, and when there is a third key semantic point on the road centerline of the electronic toll passage in the toll station, the speed limit value between the entrance boundary of the current cell and the third key semantic point on the road centerline of the electronic toll passage in the toll station is the speed limit value included in the first key semantic point, and when there is no third key semantic point on the road centerline of the electronic toll passage, the speed limit value between the starting point of the road centerline of the electronic toll passage in the toll station and the centerline of roads of different grades after the end point of the toll station is the speed limit value included in the first key semantic point, and the third key semantic point is the semantic point that appears for the first time on the road centerline of the electronic toll passage, The semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and the second distance is the distance between the first key semantic point and the exit boundary corresponding to the target exit identifier; when the first key semantic point is the speed limit cancellation semantic point and the sum of the second distance and the first distance is within the preset distance range, or when the sum of the second distance and the first distance is within the preset distance range, and no speed limit semantic point is searched, when the speed limit semantic point exists 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 when the speed limit semantic point does not exist 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.

[0128] The speed limit information generation device for the map area boundary provided in the embodiment of the present application can record the speed limit mapping information for each cell in advance. When it is necessary to determine the speed limit value of each cell entrance boundary, each cell can be searched for the exit identifier (i.e., the target exit identifier) ​​that is the same as the current cell entrance identifier from the speed limit mapping information, and the first target semantic point information corresponding to the target exit identifier can be searched. According to the first key semantic point in the first target semantic point information, or the first key semantic point and other semantic point information, the speed limit value of the entrance boundary of the current cell can be determined. It can be seen from this that the embodiment of the present application can calculate the speed limit value of the entrance boundary for each cell separately without merging multiple cells, so that not only does it not need to calculate the whole amount, but it can also realize parallel calculation of multiple cells, thereby improving the map production efficiency. When adding cells, it is only necessary to update the speed limit mapping information related to the added cells to realize the separate calculation of the newly added cells, thereby speeding up the expansion of the map.

[0129] 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 method for generating speed limit information for the map area boundary as described in any of the above embodiments.

[0130] Based on the above method embodiment, another embodiment of the present application provides an electronic device or a computer device, such as Figure 3 As shown, it includes at least one processor 310, and the processor 310 is coupled to the memory 320. The memory 320 stores a program or instruction running on the processor 310. When the program or instruction is executed by the processor 310, the steps of the method for generating speed limit information of the map area boundary as described in any of the above embodiments are implemented.

[0131] 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.

[0132] 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 split the map data into multiple cells, and generate the speed limit information of each cell boundary in parallel by executing the speed limit information generation method for the map area boundary 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 split the map data into multiple cells, and generate the speed limit information of each cell boundary in parallel by executing the speed limit information generation method for the map area boundary described in any of the above embodiments.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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 speed limit information at a map area boundary, characterized in that: The method comprises: Obtain speed limit mapping information pre-recorded for each cell, wherein the cell is an area unit of road production, the speed limit mapping information includes at least one mapping relationship, each of the mapping relationships includes an entry identifier, an exit identifier, and semantic point information on a path from an entry boundary corresponding to the entry identifier to an exit boundary corresponding to the exit identifier, the semantic point information includes a speed limit semantic point and / or a speed limit cancellation semantic point, the speed limit semantic point is used to represent that a speed limit value has changed from the location of the speed limit semantic point, and the speed limit semantic point includes a changed speed limit value specified by other speed limit sources other than the default speed limit, and the speed limit cancellation semantic point is used to indicate cancellation of the speed limit value of the speed limit semantic point; Searching for a target exit identifier from the speed limit mapping information, and searching for first target semantic point information corresponding to the target exit identifier, wherein the target exit identifier is the exit identifier that is the same as the entrance identifier of the current cell; When the first target semantic point information is found, searching for semantic points in the first target semantic point information from back to front; In the case where the first key semantic point is the speed limit semantic point, determining the speed limit value of the entrance boundary of the current cell as the speed limit value included in the first key semantic point, wherein the first key semantic point is the first semantic point searched from back to front in the first target semantic point information; In the case where the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined, continue to search forward for the semantic points included in the first target semantic point information, if the target speed limit semantic point is searched and there is an adjacent speed limit semantic point before the target speed limit semantic point, then determine the speed limit value of the entrance boundary of the current cell as the speed limit value included in the adjacent speed limit semantic point, 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 first key semantic point and is adjacent to it; In other cases, the speed limit value of the entrance boundary of the current cell is determined as a default speed limit value corresponding to the entrance boundary of the current cell.

2. The method according to claim 1, characterized in that: In a case where the mapping relationship further includes road grades of each road centerline, road centerline confluence information, and displacement information of a position bound to a road centerline of each semantic point within a corresponding cell, determining the speed limit value of the entrance boundary of the current cell as the speed limit value included in the first key semantic point includes: When the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and it is determined that the first key semantic point is not the semantic point of the confluence based on the road centerline merging information and the displacement information of the first key semantic point in the cell to which it belongs, the speed limit value of the entrance boundary of the current cell is determined to be the speed limit value contained in the first key semantic point.

3. The method according to claim 2, characterized in that In the other case, determining the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell includes: When the first key semantic point is the speed limit semantic point and the road grade of the center line of the road to which the entrance boundary of the current cell belongs is different from the road grade of the center line of the road to which the first key semantic point belongs, the speed limit value of the entrance boundary of the current cell is determined as the default speed limit value corresponding to the entrance boundary of the current cell.

4. The method according to claim 2, characterized in that: The method further comprises: When the first key semantic point is the speed limit semantic point at the confluence, and the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, when the confluence at the first key semantic point is a confluence of multiple road centerlines of the same grade, the speed limit value of the entrance boundary of the current cell is determined as the maximum speed limit value of the multiple road centerlines of the same grade before the confluence, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of different grades, the speed limit value of the entrance boundary of the current cell is determined as the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades.

5. The method according to claim 1, characterized in that In the other case, determining the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell includes: In the case that the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined, if the semantic point included in the first target semantic point information is continued to be searched forward, the target speed limit semantic point is not found, or the target speed limit semantic point is searched but there is no adjacent speed limit semantic point before the target speed limit semantic point, then the speed limit value of the entrance boundary of the current cell is determined as the default speed limit value corresponding to the entrance boundary of the current cell.

6. The method according to claim 1, characterized in that In the case where the mapping relationship further includes a path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier, the path length, and displacement information of the position bound to the road centerline of each semantic point within the corresponding cell, the method further includes: Searching for a target entry identifier from the speed limit mapping information, and searching for second target semantic point information corresponding to the target entry identifier, wherein the target entry identifier is the entry identifier that is the same as the exit identifier of the current cell; When the second target semantic point information is found and the second key semantic point is the speed limit semantic point whose source is a speed limit sign, if the speed limit value of the road centerline where the exit boundary of the current cell is located is the default speed limit value, and the speed limit value between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is the default speed limit value, and the sum of the length of the road centerline where the exit boundary of the current cell is located and the length of the road centerline between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is less than or equal to a preset length threshold, then the speed limit value of the exit boundary of the current cell is determined as the speed limit value of the speed limit sign contained in the second key semantic point, wherein the second key semantic point is the first semantic point searched from front to back in the second target semantic point information, the road centerline before the second key semantic point includes the entrance boundary of the cell corresponding to the target entrance identifier, and the length of the road centerline is determined according to the path, the path length and the displacement information.

7. The method according to any one of claims 1 to 6, characterized in that When a first distance between an entrance boundary of the current cell and a toll booth in the current cell is within a preset distance range and no semantic point exists between the entrance boundary of the current cell and the toll booth, after searching for semantic points in the first target semantic point information from back to front, the method further includes: In the case where the first key semantic point is the speed limit semantic point and the sum of the second distance and the first distance is within the preset distance range, when there is a third key semantic point on the road centerline of the electronic toll collection channel in the toll station, the speed limit value between the entrance boundary of the current cell and the third key semantic point on the road centerline of the electronic toll collection channel in the toll station is the speed limit value included in the first key semantic point; when there is no third key semantic point on the road centerline of the electronic toll collection channel, the speed limit value between the starting point of the road centerline of the electronic toll collection channel in the toll station and the centerline of roads of different grades after the end point of the toll station is the speed limit value included in the first key semantic point; the third key semantic point is the semantic point that appears for the first time on the road centerline of the electronic toll collection channel, and the semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point; and the second distance is the distance between the first key semantic point and the exit boundary corresponding to the target exit identifier; When the first key semantic point is the speed limit cancellation semantic point and the sum of the second distance and the first distance is within the preset distance range, or when the sum of the second distance and the first distance is within the preset distance range and no speed limit semantic point is found, when the speed limit semantic point exists on the road centerline of the electronic toll lane, the speed limit value between the starting point of the road centerline of the electronic toll lane in the toll station and the first speed limit semantic point on the road centerline of the electronic toll lane is the default speed limit value corresponding to the road centerline of the electronic toll lane, and when the speed limit semantic point does not exist on the road centerline of the electronic toll lane, the speed limit value between the starting point of the road centerline 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 centerline 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.

8. A device for generating speed limit information at a map area boundary, characterized in that: The device comprises: an acquisition unit, used for acquiring speed limit mapping information recorded in advance for each cell, wherein the cell is an area unit of road production, the speed limit mapping information includes at least one mapping relationship, each of the mapping relationships includes an entry identifier, an exit identifier, and semantic point information on a path from an entry boundary corresponding to the entry identifier to an exit boundary corresponding to the exit identifier, the semantic point information includes a speed limit semantic point and / or a speed limit cancellation semantic point, the speed limit semantic point is used to indicate that a speed limit value has changed from the location of the speed limit semantic point, and the speed limit semantic point includes a changed speed limit value specified by other speed limit sources other than the default speed limit, and the speed limit cancellation semantic point is used to indicate cancellation of the speed limit value of the speed limit semantic point; A search unit, configured to search for a target exit identifier from the speed limit mapping information, and search for first target semantic point information corresponding to the target exit identifier, wherein the target exit identifier is the exit identifier that is the same as the entry identifier of the current cell; A searching unit, configured to search for semantic points in the first target semantic point information from back to front when the first target semantic point information is found; A first determining unit is configured to determine, when a first key semantic point is the speed limit semantic point, a speed limit value of an entrance boundary of the current cell as a speed limit value included in the first key semantic point, wherein the first key semantic point is a first semantic point searched from back to front in the first target semantic point information; The search unit is configured to continue searching forward for semantic points included in the first target semantic point information when the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined; A second determining unit is configured to determine the speed limit value of the entrance boundary of the current cell as the speed limit value included in the adjacent speed limit semantic point if a target speed limit semantic point is searched and there is an adjacent speed limit semantic point before the target speed limit semantic point, 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 first key semantic point and is adjacent to the first key semantic point; The third determining unit is used to determine, in other cases, the speed limit value of the entrance boundary of the current cell as a default speed limit value corresponding to the entrance boundary of the current cell.

9. The device according to claim 8, characterized in that The first determination unit is used to determine the speed limit value of the entrance boundary of the current cell as the speed limit value contained in the first key semantic point, when the mapping relationship also includes the road grade of each road centerline, the road centerline merging information and the displacement information of the position bound to the road centerline of each semantic point in the cell to which it belongs, and when the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and when it is determined based on the road centerline merging information and the displacement information of the first key semantic point in the cell to which it belongs that the first key semantic point is not the semantic point of the confluence.

10. The device according to claim 9, characterized in that The third determining unit includes: The first determination module is used to determine the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell when the first key semantic point is the speed limit semantic point and the road grade of the road centerline to which the entrance boundary of the current cell belongs is different from the road grade of the road centerline to which the first key semantic point belongs.

11. The device according to claim 9, characterized in that The device also includes: A fourth determination unit is used for, when the first key semantic point is the speed limit semantic point at a confluence, and the road grade of the road centerline to which the entrance boundary of the current cell belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of the same grade, determining the speed limit value of the entrance boundary of the current cell as the maximum speed limit value of the multiple road centerlines of the same grade before the confluence, and when the confluence at the first key semantic point is a confluence of multiple road centerlines of different grades, determining the speed limit value of the entrance boundary of the current cell as the speed limit value corresponding to the road centerline of the highest grade among the multiple road centerlines of different grades.

12. The device according to claim 8, characterized in that The third determining unit includes: A second determination module is used for determining the speed limit value of the entrance boundary of the current cell as the default speed limit value corresponding to the entrance boundary of the current cell if the target speed limit semantic point is not found when continuing to search forward for the semantic points included in the first target semantic point information, or if the target speed limit semantic point is found but there is no adjacent speed limit semantic point before the target speed limit semantic point, when the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manually determined.

13. The device according to claim 8, characterized in that The search unit is further configured to search for a target entrance identifier from the speed limit mapping information and search for second target semantic point information corresponding to the target entrance identifier, when the mapping relationship further includes a path from an entrance boundary corresponding to the entrance identifier to an exit boundary corresponding to the exit identifier, a path length, and displacement information of a position bound to a road centerline of each semantic point within a corresponding cell, wherein the target entrance identifier is the entrance identifier that is the same as the exit identifier of the current cell; The device also includes: The fifth determination unit is also used for, when the second target semantic point information is found and the second key semantic point is the speed limit semantic point whose source is a speed limit sign, if the speed limit value of the road centerline where the exit boundary of the current cell is located is a default speed limit value, and the speed limit value between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is the default speed limit value, and the sum of the length of the road centerline where the exit boundary of the current cell is located and the length of the road centerline between the entrance boundary corresponding to the target entrance identifier and the second key semantic point is less than or equal to a preset length threshold, then the speed limit value of the exit boundary of the current cell is determined as the speed limit value of the speed limit sign contained in the second key semantic point, wherein the second key semantic point is the first semantic point searched from front to back in the second target semantic point information, the road centerline before the second key semantic point includes the entrance boundary of the cell corresponding to the target entrance identifier, and the length of the road centerline is determined according to the path, the path length and the displacement information.

14. The device according to any one of claims 8 to 13, characterized in that The device also includes: a sixth determining unit, configured to, when a first distance between an entrance boundary of the current cell and a toll station in the current cell is within a preset distance range and there is no semantic point between the entrance boundary of the current cell and the toll station, after searching the semantic points in the first target semantic point information from back to front, when the first key semantic point is the speed limit semantic point and the sum of the second distance and the first distance is within the preset distance range, and when there is a third key semantic point on the road centerline of the electronic toll passage in the toll station, the speed limit value between the entrance boundary of the current cell and the third key semantic point on the road centerline of the electronic toll passage in the toll station is the speed limit value included in the first key semantic point, and when there is no third key semantic point on the road centerline of the electronic toll passage, the speed limit value between the starting point of the road centerline of the electronic toll passage in the toll station and the centerline of roads of different grades after the end point of the toll station is the speed limit value included in the first key semantic point, and the third key semantic point is the semantic point that appears for the first time on the road centerline of the electronic toll passage, The semantic point that appears for the first time includes the speed limit semantic point or the speed limit cancellation semantic point, and the second distance is the distance between the first key semantic point and the exit boundary corresponding to the target exit identifier; when the first key semantic point is the speed limit cancellation semantic point and the sum of the second distance and the first distance is within the preset distance range, or when the sum of the second distance and the first distance is within the preset distance range, and no speed limit semantic point is searched, when the speed limit semantic point exists 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 when the speed limit semantic point does not exist 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.

15. 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 method for generating speed limit information of a map area boundary as described in any one of claims 1 to 7 are implemented.

16. 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 method for generating speed limit information of a map area boundary as described in any one of claims 1 to 7 are implemented.

17. A vehicle, characterized in that: The vehicle comprises the apparatus according to any one of claims 8 to 14, or comprises the electronic device according to claim 16.

Images