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

Abstract

The application 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 recorded for each cell; searching for a target exit identifier from the speed limit mapping information, searching for first target semantic point information corresponding to the target exit identifier; when the first target semantic point information is found, searching for a semantic point in the first target semantic point information from back to front; when a first key semantic point is a speed limit semantic point, determining a speed limit value of an entrance boundary of the current cell as a speed limit value contained by the first key semantic point; when the first key semantic point is an artificially determined cancel speed limit semantic point, searching for a semantic point contained in the first target semantic point information forward, 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, determining the speed limit value of the entrance boundary of the current cell as a speed limit value contained by 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] This application relates to the field of map processing technology, and more specifically, to a method and related apparatus for generating speed limit information of map area boundaries. Background Technology

[0002] The high-precision map generation process is mainly divided into segment tasks, regional tasks, and full-scale tasks. A segment task is a single cell, the smallest unit of road production. When processing a segment task, the speed limit interval for each road is determined and recorded in the cell. After the segment task is completed, the data enters the master database, and regional tasks are initiated. This involves merging multiple segment tasks. Since some speed limit intervals may change when crossing cells, multiple cells are merged first, and then a full-scale calculation is performed on the merged region to re-obtain and record the speed limit intervals within that region. After completing multiple regional tasks, they are merged again. In this process, multiple regions are merged first, and then a full-scale calculation is performed on the merged city area to re-obtain and record the speed limit intervals within that city. Finally, the resulting data, organized by city and road type, is stored, such as Shanghai urban roads, Hangzhou urban expressways, and Suzhou highways, for downstream use.

[0003] However, this method, which requires a full recalculation of the speed limit zone for each additional cell, is not only inefficient but also detrimental to map expansion. Summary of the Invention

[0004] This application provides a method and related apparatus for generating speed limit information of map area boundaries, which can solve the problem that the speed limit interval needs to be fully recalculated for each additional cell, which is not only inefficient but also detrimental to map expansion.

[0005] The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a method for generating speed limit information for map area boundaries, the method comprising:

[0007] Obtain speed limit mapping information pre-recorded for each cell, wherein the cell is a regional unit of road production, the speed limit mapping information includes at least one mapping relationship, each mapping relationship includes an entrance identifier, an exit identifier, and semantic point information on the path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier, the semantic point information includes speed limit semantic points and / or cancel speed limit semantic points, the speed limit semantic points are used to represent the change of speed limit value from the location of the speed limit semantic point, and the speed limit semantic points include the changed speed limit value specified by other speed limit sources other than the default speed limit, the cancel speed limit semantic point is used to indicate the speed limit value canceled by the speed limit semantic point;

[0008] The target exit identifier is found from the speed limit mapping information, and the first target semantic point information corresponding to the target exit identifier is found, wherein the target exit identifier is the same as the entry identifier of the current cell;

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

[0010] When the first key semantic point is the speed-limiting semantic point, the speed-limiting value of the current cell's entry boundary is determined as the speed-limiting value contained in the first key semantic point. The first key semantic point is the first semantic point searched from back to front in the first target semantic point information.

[0011] If 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 semantic points contained in the first target semantic point information. If a target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then the speed limit value of the current cell's entry boundary is determined as the speed limit value contained in the adjacent speed limit semantic point. 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 it.

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

[0013] As can be seen from the above scheme, the embodiments of this application can pre-record speed limit mapping information for each cell. When it is necessary to determine the speed limit value of the entry boundary of each cell, for each cell, the exit identifier (i.e., the target exit identifier) ​​that is the same as the current cell's entry identifier can be found from the speed limit mapping information. The first target semantic point information corresponding to the target exit identifier is also found. Based on 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 current cell's entry boundary is determined. Therefore, the embodiments of this application can calculate the speed limit value of the entry boundary for each cell separately without merging multiple cells. This not only avoids full calculation but also enables parallel calculation of multiple cells, thereby improving map production efficiency. When adding a cell, only the speed limit mapping information related to the newly added cell needs to be updated to achieve separate calculation for the newly added cell, thereby accelerating map expansion.

[0014] In a first possible implementation of the first aspect, where the mapping relationship further includes the road class of each road centerline, road centerline convergence information, and displacement information of each semantic point within its respective cell at the location bound to the road centerline, determining the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point includes:

[0015] If the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and if the first key semantic point is determined not to be a semantic point at the merging point based on the road centerline convergence information and the displacement information of the first key semantic point in its cell, then the speed limit value of the current cell's entrance boundary is determined to be the speed limit value contained in the first key semantic point.

[0016] As can be seen from the above scheme, when the first key semantic point is the speed limit semantic point, this embodiment of the application does not directly determine the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point. Instead, it determines whether the road level of the center line of the road to which the current cell's entrance boundary belongs is the same as the road level of the center line of the road to which the first key semantic point belongs, and whether the first key semantic point is a semantic point at a junction. Only when the road levels are the same and the first key semantic point is not a semantic point at a junction will the speed limit value of the current cell's entrance boundary 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 of the first aspect, the step of determining the velocity limit value of the current cell's inlet boundary as the default velocity limit value corresponding to the current cell's inlet boundary in other cases includes:

[0018] If the first key semantic point is the speed limit semantic point, and the road grade of the road centerline to which the current cell's entrance boundary belongs is different from the road grade of the road centerline to which the first key semantic point belongs, then the speed limit value of the current cell's entrance boundary is determined as the default speed limit value corresponding to the current cell's entrance boundary.

[0019] As can be seen from the above scheme, when the first key semantic point is the speed limit semantic point, in this embodiment of the application, when it is determined that the road level of the road centerline to which the current cell's entrance boundary belongs is different from the road level of the road centerline to which the first key semantic point belongs, the current cell's entrance boundary 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 of the first aspect, the method further includes:

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

[0022] As can be seen from the above scheme, when the first key semantic point is the speed limit semantic point, in this embodiment of the application, when the first key semantic point is determined to be the speed limit semantic point at the merging point, and the road level of the road centerline to which the current cell's entrance boundary belongs is the same as the road level of the road centerline to which the first key semantic point belongs, the speed limit value of the current cell's entrance boundary is determined based on the speed limit values ​​of multiple road centerlines before the merging of the first key semantic point, thereby improving the accuracy of the entrance boundary speed limit value.

[0023] In a fourth possible implementation of the first aspect, the step of determining the velocity limit value of the current cell's inlet boundary as the default velocity limit value corresponding to the current cell's inlet boundary in other cases includes:

[0024] If 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, and if the target speed limit semantic point is not found when continuing to search forward in the semantic points contained 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, then the speed limit value of the current cell's entry boundary is determined as the default speed limit value corresponding to the entry boundary of the current cell.

[0025] In a fifth possible implementation of the first aspect, where the mapping relationship further includes the path traversed 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 each semantic point within its respective cell at the location bound to the road centerline, the method further includes:

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

[0027] If the second target semantic point information is found, and the second key semantic point is the speed limit semantic point originating from the 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 included in the second key semantic point. 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. The length of the road centerline is determined based on the path, the path length, and the displacement information.

[0028] As can be seen from the above scheme, in this embodiment of the application, when the length of the road centerline with the default speed limit is small and the road centerline is divided into two different cells, by updating the speed limit of the road centerline to the speed limit of the adjacent speed limit sign, the speed limit range across cells can be made smoother, avoiding the risk caused by the vehicle frequently adjusting its speed in a short period of time.

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

[0030] 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, if a third key semantic point exists on the road centerline of the electronic toll collection lane within 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 lane within the toll station is the speed limit value included in the first key semantic point. If the third key semantic point does not exist on the road centerline of the electronic toll collection lane, the speed limit value from the starting point of the road centerline of the electronic toll collection lane within the toll station to the point where different levels of road centerlines appear 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 lane. The semantic point that appears for the first time includes the speed limit semantic point or the 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 sign.

[0031] If 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 if no speed limit semantic point is found when the sum of the second distance and the first distance is within the preset distance range, and if a speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the first speed limit semantic point on the road centerline of the electronic toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane. If no speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the ending point of the toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane, and the default speed limit value corresponding to the road after the ending point of the toll collection lane is restored from then on.

[0032] As can be seen from the above scheme, the embodiments of this application can improve the speed limit accuracy of the entrance boundary and the electronic toll collection lane within the toll station by performing semantic point search within a preset distance range in the direction of the toll station and determining the speed limit value of the road centerline from the entrance boundary to the electronic toll collection lane within the toll station based on the searched semantic points.

[0033] Secondly, embodiments of this application provide a speed limit information generation device for map area boundaries, the device comprising:

[0034] An acquisition unit is used to acquire speed limit mapping information pre-recorded for each cell, wherein the cell is a regional unit of road production, the speed limit mapping information includes at least one mapping relationship, each mapping relationship includes an entrance identifier, an exit identifier, and semantic point information on the path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier, the semantic point information includes speed limit semantic points and / or cancel speed limit semantic points, the speed limit semantic points are used to represent the change of speed limit value from the location of the speed limit semantic point, and the speed limit semantic points include the changed speed limit value specified by other speed limit sources other than the default speed limit, the cancel speed limit semantic point is used to indicate the speed limit value canceled by the speed limit semantic point;

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

[0036] The search unit is used 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] The first determining unit is configured to determine the speed limit value of the current cell's entry boundary as the speed limit value contained in the first key semantic point when the first key semantic point is the speed limit semantic point. The first key semantic point is the first semantic point searched from back to front in the first target semantic point information.

[0038] The search unit is configured to continue searching for semantic points contained 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] The second determining unit is configured to determine the speed limit value of the entry boundary of the current cell as the speed limit value contained in the adjacent speed limit semantic point if a target speed limit semantic point is found 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 it.

[0040] The third determining unit is used to determine the speed limit value of the current cell's inlet boundary as the default speed limit value corresponding to the current cell's inlet boundary under other circumstances.

[0041] In a first possible implementation of the second aspect, the first determining unit is configured to, when the mapping relationship further includes the road grade of each road centerline, road centerline convergence information, and displacement information of each semantic point within its assigned cell at the location bound by the road centerline, determine the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point, provided that the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and the first key semantic point is determined not to be a semantic point at the convergence point based on the road centerline convergence information and the displacement information of the first key semantic point within its assigned cell.

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

[0043] The first determining 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 level of the road centerline to which the entrance boundary of the current cell belongs is different from the road level of the road centerline to which the first key semantic point belongs.

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

[0045] The fourth determining unit is configured to, when the first key semantic point is the speed limit semantic point at the merging point, and the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, determine the speed limit value of the current cell's entrance boundary as the maximum speed limit value of the multiple road centerlines of the same grade before merging when the merging at the first key semantic point is the merging of multiple road centerlines of different grades; and determine the speed limit value of the current cell's entrance boundary as the speed limit value corresponding to the highest-grade road centerline among the multiple road centerlines of different grades when the merging at the first key semantic point is the merging of multiple road centerlines of different grades.

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

[0047] The second determining module is used to determine the speed limit value of the current cell's entry boundary as the default speed limit value corresponding to the entry boundary of the current cell 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. If the target speed limit semantic point is not found when continuing to search forward in the semantic points contained 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, the speed limit value of the current cell's entry boundary is determined as the default speed limit value corresponding to the entry boundary of the current cell.

[0048] In a fifth possible implementation of the second aspect, the search unit is further configured to search for a target entry identifier from the speed limit mapping information and search for second target semantic point information corresponding to the target entry identifier when the mapping relationship also includes the path traversed from the entry boundary corresponding to the entry identifier to the exit boundary corresponding to the exit identifier, the path length, and the displacement information of each semantic point in the cell bound to the road centerline.

[0049] The device further includes:

[0050] The fifth determining unit is further configured to, when the second target semantic point information is found and the second key semantic point is the speed limit semantic point originating from the 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 determine the speed limit value of the exit boundary of the current cell as the speed limit value of the speed limit sign included 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 of the second aspect, the device further includes:

[0052] The sixth determining unit is configured to, when the first distance between the entrance boundary of the current cell and the 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 for semantic points in the first target semantic point information from back to front, and 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, if a third key semantic point exists on the road centerline of the electronic toll collection lane within 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 lane within the toll station is the speed limit value included in the first key semantic point; when the third key semantic point does not exist on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane within the toll station and the appearance of different level road centerlines after the toll station end point 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 lane. The first occurrence of a semantic point includes either the speed limit semantic point or the 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 identifier. If 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 a preset distance range, or if the sum of the second distance and the first distance is within a preset distance range and no speed limit semantic point is found, when a speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the first speed limit semantic point on the road centerline of the electronic toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane. When no speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the end point of the toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane, and the default speed limit value corresponding to the road after the end point of the toll collection lane is restored.

[0053] As can be seen from the above scheme, the embodiments of this application can pre-record speed limit mapping information for each cell. When it is necessary to determine the speed limit value of the entry boundary of each cell, for each cell, the exit identifier (i.e., the target exit identifier) ​​that is the same as the current cell's entry identifier can be found from the speed limit mapping information. The first target semantic point information corresponding to the target exit identifier is also found. Based on 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 current cell's entry boundary is determined. Therefore, the embodiments of this application can calculate the speed limit value of the entry boundary for each cell separately without merging multiple cells. This not only avoids full calculation but also enables parallel calculation of multiple cells, thereby improving map production efficiency. When adding a cell, only the speed limit mapping information related to the added cell needs to be updated to achieve separate calculation for the added cell, thereby accelerating map expansion.

[0054] Thirdly, embodiments of this application provide a readable storage medium having a program or instructions stored thereon, which, when executed by a processor, implement the steps of the method for generating speed limit information of map area boundaries as described in any possible implementation of the first aspect.

[0055] Fourthly, embodiments of this application provide a computer device including at least one processor coupled to a memory storing a program or instructions running on the processor, wherein when the program or instructions are executed by the processor, the steps of the method for generating speed limit information of map area boundaries as described in any possible implementation of the first aspect are implemented.

[0056] Fifthly, embodiments of this application provide a vehicle that includes the means as described in any possible implementation of the second aspect, or includes electronic equipment as described in the fourth aspect.

[0057] In a sixth aspect, embodiments of this application provide a computer program product containing instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any possible implementation of the first aspect. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0059] Figure 1A flowchart illustrating a method for generating speed limit information for a map area boundary, provided in an embodiment of this application;

[0060] Figure 2 A block diagram of a speed limit information generation device for a map area boundary provided in this application embodiment;

[0061] Figure 3 This is a schematic diagram of the structure of an electronic device or computer device provided in an embodiment of this application. Detailed Implementation

[0062] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0063] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0064] Figure 1 This is a flowchart illustrating a method for generating speed limit information for map area boundaries. This method can be applied to electronic or computer equipment, specifically vehicles or servers. Specifically, the method may include the following steps:

[0065] S110: Obtain the rate-limiting mapping information pre-recorded for each cell.

[0066] Here, a cell represents a regional unit in road production. Speed ​​limit mapping information includes at least one mapping relationship. Each mapping relationship includes an entrance identifier, an exit identifier, and semantic point information along the path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier. Semantic point information includes speed limit semantic points and / or speed limit cancellation semantic points. Speed ​​limit semantic points indicate changes in the speed limit value from the location of the speed limit semantic point, and include changed speed limit values ​​specified by other speed limit sources besides the default speed limit. Speed ​​limit cancellation semantic points indicate the speed limit value for which the speed limit semantic point is cancelled. The mapping relationship may also include a cell identifier to uniquely identify a cell.

[0067] Speed ​​limit semantic points involve speed limit sources including speed limit signs, manual judgment, ground speed limits, and third-party input. Speed ​​limit cancellation semantic points involve speed limit sources including cancelled speed limit signs, manual judgment, ground speed limits, and third-party input. Manual judgment includes speed limits imposed by electronic surveillance cameras and temporary speed limits in construction areas. In addition to the speed limit value, speed limit semantic points also include the source of the speed limit, the start and end points of the speed limit. Speed ​​limit cancellation semantic points, in addition to the speed limit value to be cancelled, also include the source of the speed limit cancellation, the start and end points of the speed limit cancellation. Speed ​​limit intervals may also include the source of the speed limit. Speed ​​limit semantic points and speed limit cancellation semantic points can be located above the road centerline, but not completely connected to the road centerline.

[0068] The path from the entrance boundary corresponding to the entrance sign to the exit boundary corresponding to the exit sign follows the direction of travel on the road. After extracting the speed limit mapping information from each cell, the speed limit mapping information can be stored in a database for subsequent direct queries.

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

[0070] Table 1

[0071]

[0072] S120: Find the target exit identifier from the speed limit mapping information, and find the first target semantic point information corresponding to the target exit identifier.

[0073] The target exit identifier is the same as the entry identifier of the current cell. When the map data is divided into multiple cells, each division will form two boundary lines: the entry boundary of one cell and the exit boundary of another cell, and the identifiers for the entry and exit boundaries are the same. Therefore, by combining the speed limit information of the road segment before the entry boundary of each cell, the speed limit information at the entry boundary of each cell can be accurately determined. That is, by finding the cell corresponding to the exit boundary identifier that is the same as the entry boundary identifier of each cell, and combining the semantic point information of the found cell, i.e., the first target semantic point information, the speed limit information at the entry boundary of each cell can be accurately determined.

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

[0075] S130: If 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 that passes from the cell entrance boundary to the exit boundary. 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: If the first key semantic point is a rate-limiting semantic point, the rate-limiting value of the current cell's entry boundary is determined as the rate-limiting value contained in the first key semantic point. The first key semantic point is the first semantic point searched from back to front in the first target semantic point information.

[0078] When the first key semantic point is a speed limit semantic point, the speed limit value at the entrance boundary of the current cell can be determined as the speed limit value contained in the first key semantic point. Furthermore, from the entrance boundary until the target position, all speed limits are contained in the first key semantic point. Starting from the first target position of the current cell, the speed limit values ​​of subsequent road centerlines are updated according to the speed limit rules corresponding to the target position, until the next target position is reached. At the next target position, the speed limit values ​​of subsequent road centerlines are updated according to the speed limit rules corresponding to the next target position, until the current cell is traversed. The target position includes any one of the following: the position corresponding to the next speed limit semantic point, the position corresponding to the speed limit cancellation semantic point, the position when the road level changes, the position when turning at an intersection, or the position when making a U-turn.

[0079] When the target location is where the road grade changes, the subsequent road centerlines from that location use the default speed limit corresponding to the changed road grade, and this process continues in the leading direction until the next target location is reached. The speed limit for the subsequent road centerlines is then updated according to the speed limit rules for the next target location. When the target location is at an intersection where a turn is taking place, the subsequent road centerlines from that location use the default speed limit corresponding to the intersection turn, and this process continues in the leading direction until the next target location is reached. The speed limit for the subsequent road centerlines is then updated according to the speed limit rules for the next target location. When the target location is at a U-turn location, the subsequent road centerlines from that location use the default speed limit corresponding to the U-turn, and this process continues in the leading direction until the next target location is reached. The speed limit for the subsequent road centerlines is then updated according to the speed limit rules for the next target location. For example, the default speed limit for an intersection turn could be 40 km / h, and the default speed limit for a U-turn could be 30 km / h.

[0080] If the target location is the location corresponding to the next speed limit semantic point, the subsequent road centerline uses the speed limit value contained in the next speed limit semantic point from the target location, and continues to traverse in the backward direction until the next target location is reached. The speed limit value of the subsequent road centerline is then updated according to the speed limit rule corresponding to the next target location. If the target location is the location corresponding to the speed limit cancellation semantic point, the source of speed limit cancellation is manual determination, and the target location is outside the toll station, the search proceeds forward from the target location. If the target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then starting from the target location, the speed limit value of the subsequent road centerline is determined to be the speed limit value contained in the adjacent speed limit semantic point before the target speed limit semantic point. If the target speed limit semantic point is not found or there is no adjacent speed limit semantic point before the target speed limit semantic point, then the default speed limit value is used starting from the target location. The target speed limit semantic point is the speed limit semantic point with the same speed limit value contained in the speed limit cancellation semantic point at the target location and adjacent to it. If the source of speed limit cancellation is not manual determination, or the target location is inside the toll station, the default speed limit value is used starting from the target location.

[0081] S150: If the first key semantic point is the speed limit cancellation semantic point and the source of the speed limit cancellation semantic point is manual judgment, continue to search forward for semantic points contained in the first target semantic point information. If the target speed limit semantic point is found and there are adjacent speed limit semantic points before the target speed limit semantic point, then the speed limit value of the current cell's entry boundary is determined as the speed limit value contained in the adjacent speed limit semantic point.

[0082] Among them, 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 it.

[0083] If the semantic points in the first target semantic point information corresponding to the target exit identifier are semantic points A, B and C in reverse order, where A is the speed limit cancellation semantic point with a speed limit value of 30km / h, B is the target speed limit semantic point with a speed limit value of 30km / h, and C is the speed limit semantic point with a speed limit value of 40km / h, then the speed limit value at the current cell's entrance boundary is 40km / h.

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

[0085] Other situations include: (1) No first target semantic point information was 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 was 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 was found, but there are no adjacent speed limit semantic points before the target speed limit semantic point.

[0086] The default speed limit is the speed limit for a road when there are no special signs or signs indicating speed limits, or when there is no construction or other special circumstances. Electronic or computer equipment can determine the default speed limit for the center line of each road based on information such as road classification and number of lanes. For example, when the road classification corresponding to the center line is a highway and the number of lanes is 1, the default speed limit is 70 km / h.

[0087] The road classification includes highways, urban expressways, ordinary roads, underground parking garage roads, and ramps, with the classification decreasing in that order. Ramps specifically include various types such as highway entrance / exit connecting roads, highway connecting roads, service area connecting roads, and underground parking garage connecting roads.

[0088] The method for determining the number of lanes corresponding to each road centerline includes: for multiple road centerlines of the same road grade, connect all road centerlines one-to-one (excluding intersections) to form a single road. Count the length of each road centerline in this road and the number of lane centerlines it corresponds to. Each lane centerline count corresponds to a cumulative length. Finally, the total number of lanes along all road centerlines of this road equals the number of lane centerlines with the longest mileage. The default speed limit applied within intersections is the minimum of the default speed limits of the preceding and following roads.

[0089] The method for generating speed limit information for map region boundaries provided in this application embodiment can pre-record speed limit mapping information for each cell. When it is necessary to determine the speed limit value of the entry boundary of each cell, it can search for an exit identifier (i.e., a target exit identifier) ​​that is the same as the current cell's entry identifier from the speed limit mapping information for each cell, and search for the first target semantic point information corresponding to the target exit identifier. Based on 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 current cell's entry boundary is determined. Therefore, this application embodiment can calculate the speed limit value of the entry boundary for each cell separately without merging multiple cells. This not only avoids full calculation but also enables parallel calculation of multiple cells, thereby improving map production efficiency. When adding a cell, only the speed limit mapping information related to the added cell needs to be updated to achieve separate calculation for the new cell, thereby accelerating map expansion.

[0090] In one implementation, when the first key semantic point is a speed limit semantic point, and the mapping relationship also includes the road level of each road centerline, road centerline convergence information, and displacement information of each semantic point within its own cell at the location bound to the road centerline, the specific implementation of determining the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point includes: when the road level of the road centerline to which the current cell's entrance boundary belongs is the same as the road level 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 within its own cell that the first key semantic point is not a semantic point at the convergence point, the speed limit value of the current cell's entrance boundary is determined as the speed limit value contained in the first key semantic point.

[0091] The road centerline convergence information includes the displacement information of the convergence point within the cell. If the displacement information of the convergence point within the target cell is the same as or the displacement information of the first key semantic point within the target cell is less than a preset difference threshold, the first key semantic point is determined to be a semantic point at the convergence point; otherwise, the first key semantic point is determined not to be a semantic point at the convergence point. The road centerline convergence information may also include the road class of each road centerline before the convergence point and the road class of the road centerlines after the convergence point.

[0092] If the road level of the centerline of the current cell's entrance boundary is the same as that of the centerline of the first key semantic point, and the first key semantic point is determined not to be a semantic point at the merging point based on the road centerline convergence information and the displacement information of the first key semantic point in its cell, then before being segmented, the current cell's entrance boundary and the first key semantic point are on the same road centerline with the same speed limit information. The current cell's entrance boundary needs to continue the speed limit information restricted by the first key semantic point. Therefore, the speed limit value of the current cell's entrance boundary can be determined as the speed limit value contained in the first key semantic point.

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

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

[0095] In one implementation, when the first key semantic point is the speed limit semantic point at the merging point, and the road level of the road centerline to which the current cell's entrance boundary belongs is the same as the road level of the road centerline to which the first key semantic point belongs, when the merging at the first key semantic point is the merging of multiple road centerlines of the same level, the speed limit value of the current cell's entrance boundary is determined as the maximum speed limit value of the multiple road centerlines of the same level before the merging. When the merging at the first key semantic point is the merging of multiple road centerlines of different levels, the speed limit value of the current cell's entrance boundary is determined as the speed limit value corresponding to the highest-level road centerline among the multiple road centerlines of different levels.

[0096] When the road class of the centerline of the current cell's entry boundary is the same as that of the centerline of the first key semantic point, and if the first key semantic point is the speed limit semantic point at the merging point, then the speed limit of the current cell's entry boundary needs to continue the speed limit value of the centerline of the road after the first key semantic point. When the merging at the first key semantic point is the merging of multiple road centerlines of the same class, the speed limit value of the centerline of the road after the first key semantic point is the maximum speed limit value of the multiple road centerlines of the same class before the merging. Thus, the speed limit value of the current cell's entry boundary is determined to be the maximum speed limit value of the multiple road centerlines of the same class before the merging. When the merging at the first key semantic point is the merging of multiple road centerlines of different classes, the speed limit value of the centerline of the road after the first key semantic point is the speed limit value corresponding to the highest-level road centerline among the multiple road centerlines of different classes. Thus, the speed limit value of the current cell's entry boundary is determined to be the speed limit value corresponding to the highest-level road centerline among the multiple road centerlines of different classes.

[0097] The method for generating speed limit information for map area boundaries provided in this application embodiment does not directly determine the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point when the first key semantic point is the speed limit semantic point. Instead, it determines whether the road level of the center line of the road to which the current cell's entrance boundary belongs is the same as the road level of the center line of the road to which the first key semantic point belongs, and whether the first key semantic point is a semantic point at a junction. Only when the road levels are the same and the first key semantic point is not a semantic point at a junction will the speed limit value of the current cell's entrance boundary 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 implementation, where the mapping relationship also includes the path, path length, and displacement information of each semantic point within its cell at the location bound to the road centerline, the method for generating speed limit information for the map area boundary further includes: searching for a target entrance identifier from the speed limit mapping information, and searching for second target semantic point information corresponding to the target entrance identifier, wherein the target entrance identifier is the same as the entrance identifier of the current cell; if the second target semantic point information is found, and the second key semantic point is a speed limit semantic point originating from a speed limit sign, and the speed limit value of the road centerline where the current cell's exit boundary is located is the default speed limit. The speed limit value, and the speed limit value between the entrance boundary corresponding to the target entrance identifier and the second key semantic point are set as default speed limits. If the sum of the length of the road centerline where the current cell's exit boundary is located and the length 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 current cell's exit boundary is determined as the speed limit value of the speed limit sign included in the second key semantic point. Similarly, the speed limits at other locations on the road centerline where the current cell's exit boundary is located are also determined as the speed limits of the speed limit signs included in the second key semantic point. In other words, the speed limit value of the road centerline where the current cell's exit boundary is located is updated from the previous default speed limit value to the speed limit value of the speed limit signs included in the second key semantic point. 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 based on the path, path length, and displacement information.

[0099] Furthermore, 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 be updated to the speed limit value of the speed limit sign contained in the second key semantic point. However, the source of the speed limit for the road centerline with the default speed limit value across cells 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 centerline of a road with a default speed limit is small and the centerline of that road segment is divided into two different cells, updating the speed limit of the centerline of that road segment to the speed limit of the adjacent speed limit sign can make the speed limit range across cells smoother and avoid the risks caused by vehicles frequently adjusting their speed in a short period of time.

[0101] In one implementation, when the first distance between the entrance boundary of the current cell and the toll station in the current cell is within a preset distance range, and there are no semantic points between the entrance boundary of the current cell and the toll station, the method for generating speed limit information of the map area boundary after searching for semantic points contained in the first target semantic point information from back to front 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 a preset distance range, if a third key semantic point exists on the road centerline of the electronic toll collection lane within the toll station, the speed limit value from the current cell's entrance boundary to the third key semantic point on the road centerline of the electronic toll collection lane within 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 lane, the speed limit value from the starting point of the road centerline of the electronic toll collection lane within the toll station to the point where different levels of road centerlines appear is the speed limit value included in the first key semantic point; if 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 a preset distance range. In cases where no speed limit semantic point is found, or when the sum of the second distance and the first distance is within a preset distance range, if a speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the first speed limit semantic point on the road centerline of the electronic toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane. If no speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the ending point of the toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane, and the default speed limit value corresponding to the road after the ending point of the toll collection lane is restored from then on.

[0103] The third key semantic point is the semantic point that first appears on the centerline of the road in the electronic toll lane. This first appearance includes either 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 sign. The sum of the second distance and the first distance being within a preset distance range can be understood as the distance between the first key semantic point and the starting point of the nearest toll station being within the preset distance range before the map data is segmented. The preset distance range can be determined based on actual conditions, for example, 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, if there is a third key semantic point on the road centerline of the electronic toll collection lane within the toll station, the speed limit value from the current cell's entrance boundary to the third key semantic point on the road centerline of the electronic toll collection lane within the toll station is the speed limit value contained in the first key semantic point. Starting from the third key semantic point on the road centerline of the electronic toll collection lane, the speed limit value contained in the third key semantic point is adopted until the next semantic point on the road centerline of the electronic toll collection lane is reached, at which point the subsequent speed limit value is determined based on the next semantic point, until the end point of the road centerline of the electronic toll collection lane is reached.

[0105] If 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 a preset distance range, or if no speed limit semantic point is found when the sum of the second distance and the first distance is within a preset distance range, and a speed limit semantic point exists on the center line of the electronic toll collection lane, the speed limit value between the starting point of the center line of the electronic toll collection lane and the first speed limit semantic point on the center line of the electronic toll collection lane is the default speed limit value corresponding to the center line of the electronic toll collection lane. Starting from the first speed limit semantic point on the center line of the electronic toll collection lane, subsequent speed limits are determined based on the first speed limit semantic point until the next semantic point on the center line of the electronic toll collection lane. Then, subsequent speed limits are determined based on the next semantic point until the end point of the center line of the electronic toll collection lane is reached.

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

[0107] The method provided in this application embodiment can improve the accuracy of speed limits at the entrance boundary and within the electronic toll collection lane by performing semantic point search within a preset distance range in the direction ahead of the toll station and determining the speed limit value of the road centerline from the entrance boundary to the electronic toll collection lane within the toll station based on the searched semantic points.

[0108] Corresponding to the above method embodiments, another embodiment of this application provides a speed limit information generation device for map area boundaries, such as... Figure 2 As shown, the device includes:

[0109] The acquisition unit 210 is used to acquire speed limit mapping information pre-recorded for each cell, wherein the cell is a regional unit of road production, the speed limit mapping information includes at least one mapping relationship, each mapping relationship includes an entrance identifier, an exit identifier, and semantic point information on the path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier, the semantic point information includes speed limit semantic points and / or cancel speed limit semantic points, the speed limit semantic points are used to represent the change of speed limit value from the location of the speed limit semantic point, and the speed limit semantic points include the changed speed limit value specified by other speed limit sources other than the default speed limit, the cancel speed limit semantic point is used to indicate the speed limit value canceled by the speed limit semantic point;

[0110] The lookup unit 220 is used to look up a target exit identifier from the speed limit mapping information and look up a first target semantic point information corresponding to the target exit identifier, wherein the target exit identifier is the same as the entry identifier of the current cell;

[0111] The search unit 230 is used 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] The first determining unit 240 is used to determine the speed limit value of the current cell's entry boundary as the speed limit value contained in the first key semantic point when the first key semantic point is the speed limit semantic point. 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 used to continue searching for semantic points contained 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] The second determining unit 250 is configured to determine the speed limit value of the current cell's entry boundary as the speed limit value contained in the adjacent speed limit semantic point if a target speed limit semantic point is found 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 it.

[0115] The third determining unit 260 is used to determine the speed limit value of the current cell's inlet boundary as the default speed limit value corresponding to the current cell's inlet boundary under other circumstances.

[0116] In one possible implementation, the first determining unit 240 is configured to, when the mapping relationship further includes the road grade of each road centerline, road centerline convergence information, and displacement information of each semantic point within its assigned cell at the location bound by the road centerline, determine the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point, provided that the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and the first key semantic point is determined not to be a semantic point at the convergence point based on the road centerline convergence information and the displacement information of the first key semantic point within its assigned cell.

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

[0118] The first determining 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 level of the road centerline to which the entrance boundary of the current cell belongs is different from the road level of the road centerline to which the first key semantic point belongs.

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

[0120] The fourth determining unit is configured to, when the first key semantic point is the speed limit semantic point at the merging point, and the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, determine the speed limit value of the current cell's entrance boundary as the maximum speed limit value of the multiple road centerlines of the same grade before merging when the merging at the first key semantic point is the merging of multiple road centerlines of different grades; and determine the speed limit value of the current cell's entrance boundary as the speed limit value corresponding to the highest-grade road centerline among the multiple road centerlines of different grades when the merging at the first key semantic point is the merging of multiple road centerlines of different grades.

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

[0122] The second determining module is used to determine the speed limit value of the current cell's entry boundary as the default speed limit value corresponding to the entry boundary of the current cell 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. If the target speed limit semantic point is not found when continuing to search forward in the semantic points contained 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, the speed limit value of the current cell's entry boundary is determined as the default speed limit value corresponding to the entry boundary of the current cell.

[0123] In one possible implementation, the lookup unit 220 is further configured to, when the mapping relationship also includes the path traversed 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 each semantic point within its cell at the location bound to the road centerline, 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, wherein the target entrance identifier is the same as the entrance identifier of the current cell;

[0124] The device further includes:

[0125] The fifth determining unit is further configured to, when the second target semantic point information is found and the second key semantic point is the speed limit semantic point originating from the 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 determine the speed limit value of the exit boundary of the current cell as the speed limit value of the speed limit sign included 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 one possible implementation, the device further includes:

[0127] The sixth determining unit is configured to, when the first distance between the entrance boundary of the current cell and the 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 for semantic points in the first target semantic point information from back to front, and 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, if a third key semantic point exists on the road centerline of the electronic toll collection lane within 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 lane within the toll station is the speed limit value included in the first key semantic point; when the third key semantic point does not exist on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane within the toll station and the appearance of different level road centerlines after the toll station end point 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 lane. The first occurrence of a semantic point includes either the speed limit semantic point or the 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 identifier. If 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 a preset distance range, or if the sum of the second distance and the first distance is within a preset distance range and no speed limit semantic point is found, when a speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the first speed limit semantic point on the road centerline of the electronic toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane. When no speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the end point of the toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane, and the default speed limit value corresponding to the road after the end point of the toll collection lane is restored.

[0128] The speed limit information generation device for map area boundaries provided in this application embodiment can pre-record speed limit mapping information for each cell. When it is necessary to determine the speed limit value of the entry boundary of each cell, it can search for an exit identifier (i.e., a target exit identifier) ​​that is the same as the current cell's entry identifier from the speed limit mapping information for each cell, and search for the first target semantic point information corresponding to the target exit identifier. Based on 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 current cell's entry boundary is determined. Therefore, this application embodiment can calculate the speed limit value of the entry boundary for each cell separately without merging multiple cells. This not only avoids full calculation but also enables parallel calculation of multiple cells, thereby improving map production efficiency. When adding a cell, only the speed limit mapping information related to the added cell needs to be updated to achieve separate calculation for the new cell, thereby accelerating map expansion.

[0129] Based on the above method embodiments, another embodiment of this application provides a readable storage medium storing a program or instructions thereon, which, when executed by a processor, implements the steps of the method for generating speed limit information of map area boundaries as described in any of the above embodiments.

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

[0131] Based on the above method embodiments, another embodiment of this application provides a vehicle that 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 data acquisition devices. The data acquisition devices include LiDAR and cameras. The LiDAR generates radar point clouds, the cameras capture road environment images, and the CPU generates map data based on the data collected by the radar point clouds and road environment images. The CPU then divides the map data into multiple cells and generates speed limit information for each cell boundary in parallel by executing the speed limit information generation method for map area boundaries described in any of the above embodiments. Alternatively, the CPU can upload the data collected by the data acquisition devices to a server via the T-Box. The server then generates map data based on the data collected by the data acquisition devices, divides the map data into multiple cells, and generates speed limit information for each cell boundary in parallel by executing the speed limit information generation method for map area boundaries described in any of the above embodiments.

[0133] Based on the above embodiments, another embodiment of this application provides a computer program product, which includes instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any of the above embodiments.

[0134] The above-described apparatus embodiments correspond to the method embodiments and have the same technical effects. For detailed descriptions, please refer to the method embodiments. The apparatus embodiments are derived from the method embodiments; detailed descriptions can be found in the method embodiments section, and will not be repeated here. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0135] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they 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 this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for generating speed limit information for map area boundaries, characterized in that, The method includes: Obtain speed limit mapping information pre-recorded for each cell, wherein the cell is a regional unit of road production, the speed limit mapping information includes at least one mapping relationship, each mapping relationship includes an entrance identifier, an exit identifier, and semantic point information on the path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier, the semantic point information includes speed limit semantic points and / or cancel speed limit semantic points, the speed limit semantic points are used to represent the change of speed limit value from the location of the speed limit semantic point, and the speed limit semantic points include the changed speed limit value specified by other speed limit sources other than the default speed limit, the cancel speed limit semantic point is used to indicate the speed limit value canceled by the speed limit semantic point; The target exit identifier is found from the speed limit mapping information, and the first target semantic point information corresponding to the target exit identifier is found, wherein the target exit identifier is the same as the entry identifier of the current cell; If the first target semantic point information is found, search for semantic points in the first target semantic point information from back to front; When the first key semantic point is the speed-limiting semantic point, the speed-limiting value of the current cell's entry boundary is determined as the speed-limiting value contained in the first key semantic point. The first key semantic point is the first semantic point searched from back to front in the first target semantic point information. If 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 semantic points contained in the first target semantic point information. If a target speed limit semantic point is found and there is an adjacent speed limit semantic point before the target speed limit semantic point, then the speed limit value of the current cell's entry boundary is determined as the speed limit value contained in the adjacent speed limit semantic point. 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 it. In other cases, the speed limit value of the current cell's inlet boundary is determined as the default speed limit value corresponding to the current cell's inlet boundary.

2. The method according to claim 1, characterized in that, When the mapping relationship also includes the road grade of each road centerline, the convergence information of the road centerlines, and the displacement information of each semantic point within its respective cell at the location bound to the road centerline, determining the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point includes: If the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and if the first key semantic point is determined not to be a semantic point at the merging point based on the road centerline convergence information and the displacement information of the first key semantic point in its cell, then the speed limit value of the current cell's entrance boundary 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 other cases, determining the speed limit value of the current cell's inlet boundary as the default speed limit value corresponding to the current cell's inlet boundary includes: If the first key semantic point is the speed limit semantic point, and the road grade of the road centerline to which the current cell's entrance boundary belongs is different from the road grade of the road centerline to which the first key semantic point belongs, then the speed limit value of the current cell's entrance boundary is determined as the default speed limit value corresponding to the current cell's entrance boundary.

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

5. The method according to claim 1, characterized in that, In other cases, determining the speed limit value of the current cell's inlet boundary as the default speed limit value corresponding to the current cell's inlet boundary includes: If 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, and if the target speed limit semantic point is not found when continuing to search forward in the semantic points contained 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, then the speed limit value of the current cell's entry boundary is determined as the default speed limit value corresponding to the entry boundary of the current cell.

6. The method according to claim 1, characterized in that, If the mapping relationship also includes the path traversed 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 each semantic point within its respective cell at the location bound to the road centerline, the method further includes: The target entry identifier is found from the speed limit mapping information, and the second target semantic point information corresponding to the target entry identifier is found, wherein the target entry identifier is the same as the exit identifier of the current cell; If the second target semantic point information is found, and the second key semantic point is the speed limit semantic point originating from the 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 included in the second key semantic point. 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. The length of the road centerline is determined based on the path, the path length, and the displacement information.

7. The method according to any one of claims 1-6, characterized in that, If the first distance between the entrance boundary of the current cell and the toll station in the current cell is within a preset distance range, and there are no semantic points between the entrance boundary of the current cell and the toll station, after searching for semantic points in the first target semantic point information from back to front, the method further includes: 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, if a third key semantic point exists on the road centerline of the electronic toll collection lane within 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 lane within the toll station is the speed limit value included in the first key semantic point. If the third key semantic point does not exist on the road centerline of the electronic toll collection lane, the speed limit value from the starting point of the road centerline of the electronic toll collection lane within the toll station to the point where different levels of road centerlines appear 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 lane. The semantic point that appears for the first time includes the speed limit semantic point or the 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 sign. 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, if the speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the first speed limit semantic point on the road centerline of the electronic toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane. If the speed limit semantic point does not exist on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the ending point of the toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane, and the default speed limit value corresponding to the road after the ending point of the toll collection lane is restored from then on.

8. A device for generating speed limit information for map area boundaries, characterized in that, The device includes: An acquisition unit is used to acquire speed limit mapping information pre-recorded for each cell, wherein the cell is a regional unit of road production, the speed limit mapping information includes at least one mapping relationship, each mapping relationship includes an entrance identifier, an exit identifier, and semantic point information on the path from the entrance boundary corresponding to the entrance identifier to the exit boundary corresponding to the exit identifier, the semantic point information includes speed limit semantic points and / or cancel speed limit semantic points, the speed limit semantic points are used to represent the change of speed limit value from the location of the speed limit semantic point, and the speed limit semantic points include the changed speed limit value specified by other speed limit sources other than the default speed limit, the cancel speed limit semantic point is used to indicate the speed limit value canceled by the speed limit semantic point; The search unit is used to search for a target exit identifier from the speed limit mapping information and search for a first target semantic point information corresponding to the target exit identifier, wherein the target exit identifier is the same as the entry identifier of the current cell; The search unit is used 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. The first determining unit is configured to determine the speed limit value of the current cell's entry boundary as the speed limit value contained in the first key semantic point when the first key semantic point is the speed limit semantic point. The first key semantic point is the first semantic point searched from back to front in the first target semantic point information. The search unit is configured to continue searching for semantic points contained 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. The second determining unit is configured to determine the speed limit value of the entry boundary of the current cell as the speed limit value contained in the adjacent speed limit semantic point if a target speed limit semantic point is found 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 it. The third determining unit is used to determine the speed limit value of the current cell's inlet boundary as the default speed limit value corresponding to the current cell's inlet boundary under other circumstances.

9. The apparatus according to claim 8, characterized in that, The first determining unit is configured to, when the mapping relationship further includes the road grade of each road centerline, road centerline convergence information, and displacement information of each semantic point within its assigned cell at the location bound by the road centerline, determine the speed limit value of the current cell's entrance boundary as the speed limit value contained in the first key semantic point, provided that the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, and the first key semantic point is determined not to be a semantic point at the convergence point based on the road centerline convergence information and the displacement information of the first key semantic point within its assigned cell.

10. The apparatus according to claim 9, characterized in that, The third determining unit includes: The first determining 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 level of the road centerline to which the entrance boundary of the current cell belongs is different from the road level of the road centerline to which the first key semantic point belongs.

11. The apparatus according to claim 9, characterized in that, The device further includes: The fourth determining unit is configured to, when the first key semantic point is the speed limit semantic point at the merging point, and the road grade of the road centerline to which the current cell's entrance boundary belongs is the same as the road grade of the road centerline to which the first key semantic point belongs, determine the speed limit value of the current cell's entrance boundary as the maximum speed limit value of the multiple road centerlines of the same grade before merging when the merging at the first key semantic point is the merging of multiple road centerlines of different grades; and determine the speed limit value of the current cell's entrance boundary as the speed limit value corresponding to the highest-grade road centerline among the multiple road centerlines of different grades when the merging at the first key semantic point is the merging of multiple road centerlines of different grades.

12. The apparatus according to claim 8, characterized in that, The third determining unit includes: The second determining module is used to determine the speed limit value of the current cell's entry boundary as the default speed limit value corresponding to the entry boundary of the current cell 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. If the target speed limit semantic point is not found when continuing to search forward in the semantic points contained 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, the speed limit value of the current cell's entry boundary is determined as the default speed limit value corresponding to the entry boundary of the current cell.

13. The apparatus according to claim 8, characterized in that, The search unit is further configured to, when the mapping relationship includes the path, path length, and displacement information of each semantic point within its cell at the location bound to the road centerline, search for a target entry identifier from the speed limit mapping information and search for second target semantic point information corresponding to the target entry identifier, wherein the target entry identifier is the same as the entry identifier of the current cell. The device further includes: The fifth determining unit is configured to, when the second target semantic point information is found and the second key semantic point is the speed limit semantic point originating from the speed limit sign, determine the speed limit value of the exit boundary of the current cell as the speed limit value of the speed limit sign included in the second key semantic point, 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 determine the speed limit value of the exit boundary of the current cell as the speed limit value of the speed limit sign included in the second key semantic point. 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. The length of the road centerline is determined based on the path, the path length, and the displacement information.

14. The apparatus according to any one of claims 8-13, characterized in that, The device further includes: The sixth determining unit is configured to, when the first distance between the entrance boundary of the current cell and the 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 for semantic points in the first target semantic point information from back to front, and 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, if a third key semantic point exists on the road centerline of the electronic toll collection lane within 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 lane within the toll station is the speed limit value included in the first key semantic point; when the third key semantic point does not exist on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane within the toll station and the appearance of different level road centerlines after the toll station end point 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 lane. The first occurrence of a semantic point includes either the speed limit semantic point or the 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 identifier. If 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 a preset distance range, or if the sum of the second distance and the first distance is within a preset distance range and no speed limit semantic point is found, when a speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the first speed limit semantic point on the road centerline of the electronic toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane. If no speed limit semantic point exists on the road centerline of the electronic toll collection lane, the speed limit value between the starting point of the road centerline of the electronic toll collection lane and the end point of the toll collection lane is the default speed limit value corresponding to the road centerline of the electronic toll collection lane, and the default speed limit value corresponding to the road after the end point of the toll collection lane is restored.

15. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the method for generating speed limit information of map area boundaries as described in any one of claims 1-7.

16. A computer device, characterized in that, The method includes at least one processor coupled to a memory storing a program or instructions that run on the processor, wherein when the program or instructions are executed by the processor, the method for generating speed limit information for map area boundaries as described in any one of claims 1-7 is implemented.

17. A vehicle, characterized in that, The vehicle includes a speed limit information generation device for map area boundaries as described in any one of claims 8-14, or includes a computer device as described in claim 16.

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