Map data processing and road navigation method and device, electronic equipment, medium and program product

Abstract

The invention provides a map data processing and road navigation method and device, electronic equipment, a medium and a program product, and relates to the technical field of intelligent traffic and road navigation, in particular to the field of riding walking road navigation. According to the implementation scheme, SD map data and LD map data are obtained, the SD map data comprise connecting lines used for referring to roads and information related to road attributes, and the LD map data comprise first boundary lines used for describing road boundaries; determining a mapping relation between the SD map data and the LD map data; based on the LD map data, determining a second boundary line used for describing the boundary of at least one of the non-motorized vehicle lane and the sidewalk to obtain expanded LD map data; and based on a mapping relationship between the SD map data and the LD map data, fusing the SD map data and the expanded LD map data to obtain target map data.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent transportation and road navigation technology, in particular to the field of cycling and walking road navigation, and specifically to a map data processing method, a road navigation method and device for cycling and walking users, an electronic device, a computer-readable storage medium, and a computer program product. Background Art

[0002] In road navigation, a complete route navigation planning process can be roughly divided into three processes: route binding, route calculation, and voice broadcast production. Usually, the data used for route binding is SD (Standard Definition) map data, which mainly uses motor vehicles. With the rise of green and low-carbon transportation, the accuracy of road navigation for cycling and walking users has received more attention.

[0003] The methods described in this section are not necessarily methods that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any method described in this section is considered to be prior art simply because it is included in this section. Similarly, unless otherwise indicated, the issues mentioned in this section should not be considered to have been recognized in any prior art. Summary of the invention

[0004] The present disclosure provides a map data processing method, a road navigation method for cycling and walking users, a device, an electronic device, a computer-readable storage medium, and a computer program product.

[0005] According to one aspect of the present disclosure, a map data processing method is provided, comprising: acquiring SD map data and LD (Lane Definition) map data, wherein the SD map data includes connecting lines for referring to roads and information related to road attributes, and the LD map data includes a first boundary line for depicting a road boundary; determining a mapping relationship between the SD map data and the LD map data; based on the LD map data, determining a second boundary line for depicting a boundary of at least one of a non-motorized vehicle lane or a sidewalk to obtain extended LD map data; and based on the mapping relationship between the SD map data and the LD map data, fusing the SD map data and the extended LD map data to obtain target map data.

[0006] According to another aspect of the present disclosure, a road navigation method for a cycling and walking user is provided, comprising: acquiring map data obtained according to the map data processing method as described above, wherein the map data includes a cycling and walking boundary line for depicting a boundary of at least one of a non-motorized vehicle lane or a sidewalk; acquiring the position coordinates of the cycling and walking user; and matching at least one of the non-motorized vehicle lane or the sidewalk for the cycling and walking user based on the cycling and walking boundary line and the position coordinates.

[0007] According to another aspect of the present disclosure, a map data processing device is provided, including: a data acquisition module, configured to acquire SD map data and LD map data, wherein the SD map data includes connecting lines for referring to roads and information related to road attributes, and the LD map data includes a first boundary line for depicting a road boundary; a relationship determination module, configured to determine a mapping relationship between the SD map data and the LD map data; a data creation module, configured to determine a second boundary line for depicting a boundary of at least one of a non-motorized vehicle lane or a sidewalk based on the LD map data to obtain extended LD map data; and a data fusion module, based on the mapping relationship between the SD map data and the LD map data, to fuse the SD map data and the extended LD map data to obtain target map data.

[0008] According to another aspect of the present disclosure, a road navigation device for riding and walking users is provided, comprising: a map acquisition module, configured to acquire map data obtained according to the map data processing device as described above, wherein the map data includes a riding and walking boundary line for depicting the boundary of at least one of a non-motorized vehicle lane or a sidewalk; a coordinate acquisition module, configured to acquire the position coordinates of the riding and walking user; and a road matching module, configured to match at least one of a non-motorized vehicle lane or a sidewalk for the riding and walking user based on the riding and walking boundary line and the position coordinates.

[0009] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0010] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the method as described above.

[0011] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method described above when executed by a processor.

[0012] According to one or more embodiments of the present disclosure, a more accurate map data basis can be provided for road navigation of cyclists and pedestrians, thereby providing cyclists and pedestrians with a binding route service for more accurate road navigation.

[0013] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0015] Figure 1 A schematic diagram showing an exemplary system in which various methods described herein may be implemented according to an embodiment of the present disclosure;

[0016] Figure 2 A flowchart of a map data processing method according to an embodiment of the present disclosure is shown;

[0017] FIG. 3A to FIG. 3D A schematic diagram showing a corresponding relationship between a connecting line and a first boundary line according to an embodiment of the present disclosure;

[0018] Figure 4 A flowchart showing a process of obtaining extended LD map data according to an embodiment of the present disclosure;

[0019] Figure 5A and Figure 5B A schematic diagram of determining a second boundary line according to an embodiment of the present disclosure is shown;

[0020] FIG. 6A to FIG. 6D A schematic diagram showing an update connection line according to an embodiment of the present disclosure is shown;

[0021] Figure 7 A flow chart of a road navigation method for a riding or walking user according to an embodiment of the present disclosure is shown;

[0022] Figure 8 A schematic diagram showing an exceptional situation of binding a road based on a riding-walking boundary line according to an embodiment of the present disclosure;

[0023] Fig. 9 A structural block diagram of a map data processing device according to an embodiment of the present disclosure is shown;

[0024] Fig.10 A structural block diagram of a map data processing device according to another embodiment of the present disclosure is shown;

[0025] Fig.11 A structural block diagram of a road navigation device for riding or walking users according to an embodiment of the present disclosure is shown;

[0026] Fig.12 A structural block diagram of a road navigation device for riding or walking users according to another embodiment of the present disclosure is shown; and

[0027] Fig.13 A structural block diagram of an exemplary electronic device that can be used to implement the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0028] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0029] In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, temporal relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

[0030] The terms used in the description of various examples in this disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and / or" used in this disclosure covers any one of the listed items and all possible combinations.

[0031] In the related art, the data used by traditional road navigation is SD map data, which is mainly used by motor vehicles. For this reason, SD map data is not very friendly to cyclists and pedestrians. The deviation between its data location and the actual location of cyclists and pedestrians is large, which may lead to the inability to accurately identify the actual road where the user is when planning routes and navigating in the middle of the road.

[0032] To this end, the embodiments of the present disclosure provide a map data processing method and a road navigation method for cycling and walking users, which can provide a more accurate map data basis for the road navigation of cycling and walking users, and further provide cycling and walking users with binding road services for more accurate road navigation.

[0033] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0034] Figure 1 FIG. 1 is a schematic diagram of an exemplary system 100 in which various methods and apparatuses described herein may be implemented according to an embodiment of the present disclosure. Figure 1 , the system 100 includes one or more client devices 101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120. The client devices 101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.

[0035] In an embodiment of the present disclosure, the server 120 may run one or more services or software applications that enable execution of a map data processing method and a road navigation method for riding or walking users.

[0036] In some embodiments, server 120 may also provide other services or software applications, which may include non-virtualized environments and virtualized environments. In some embodiments, these services may be provided as web-based services or cloud services, such as provided to users of client devices 101, 102, 103, 104, 105, and / or 106 under a software as a service (SaaS) model.

[0037] exist Figure 1 In the configuration shown, the server 120 may include one or more components that implement the functions performed by the server 120. These components may include software components, hardware components, or a combination thereof that can be executed by one or more processors. Users operating client devices 101, 102, 103, 104, 105, and / or 106 may in turn utilize one or more client applications to interact with the server 120 to utilize the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from the system 100. Therefore, Figure 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

[0038] The user may use client devices 101, 102, 103, 104, 105 and / or 106 to perform road navigation functions. The client device may provide an interface that enables the user of the client device to interact with the client device. The client device may also output information to the user via the interface. Figure 1 Only six client devices are depicted, but one skilled in the art will appreciate that the present disclosure may support any number of client devices.

[0039] Client devices 101, 102, 103, 104, 105 and / or 106 may include various types of computer devices, such as portable handheld devices, general-purpose computers (such as personal computers and laptop computers), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, game systems, thin clients, various messaging devices, sensors or other sensing devices, etc. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux or Linux-like operating systems (such as GOOGLE Chrome OS); or include various mobile operating systems, such as MICROSOFT Windows Mobile OS, iOS, Windows Phone, Android. Portable handheld devices may include cellular phones, smart phones, tablet computers, personal digital assistants (PDAs), etc. Wearable devices may include head-mounted displays (such as smart glasses) and other devices. Game systems may include various handheld game devices, Internet-enabled game devices, etc. Client devices are capable of executing various different applications, such as various Internet-related applications, communication applications (such as email applications), short message service (SMS) applications, and may use various communication protocols.

[0040] The network 110 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP / IP, SNA, IPX, etc. By way of example only, the one or more networks 110 may be a local area network (LAN), an Ethernet-based network, a token ring, a wide area network (WAN), the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a blockchain network, a public switched telephone network (PSTN), an infrared network, a wireless network (e.g., Bluetooth, WIFI), and / or any combination of these and / or other networks.

[0041] Server 120 may include one or more general purpose computers, dedicated server computers (e.g., PC (personal computer) servers, UNIX servers, mid-range servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and / or combination. Server 120 may include one or more virtual machines running virtual operating systems, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain a server's virtual storage device). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

[0042] The computing units in the server 120 may run one or more operating systems including any of the above operating systems and any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and / or middle-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0043] In some implementations, server 120 may include one or more applications to analyze and consolidate data feeds and / or event updates received from users of client devices 101, 102, 103, 104, 105, and / or 106. Server 120 may also include one or more applications to display data feeds and / or real-time events via one or more display devices of client devices 101, 102, 103, 104, 105, and / or 106.

[0044] In some embodiments, the server 120 may be a server of a distributed system, or a server combined with a blockchain. The server 120 may also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology. A cloud server is a host product in a cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and virtual private servers (VPS) services.

[0045] The system 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as audio files and video files. The databases 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The databases 130 may be of different types. In some embodiments, the databases used by the server 120 may be, for example, relational databases. One or more of these databases may store, update, and retrieve data to and from the databases in response to commands.

[0046] In some embodiments, one or more of the databases 130 may also be used by applications to store application data. The databases used by the applications may be different types of databases, such as a key-value store, an object store, or a conventional store backed by a file system.

[0047] Figure 1The system 100 may be configured and operated in various ways to enable the application of various methods and apparatuses described in the present disclosure.

[0048] Various aspects of the map data processing method according to an embodiment of the present disclosure will be described in detail below.

[0049] Figure 2 A flowchart of a map data processing method 200 according to an embodiment of the present disclosure is shown.

[0050] like Figure 2 As shown, the map data processing method 200 includes steps S201 , S202 , S203 and S204 .

[0051] In step S201, SD (Standard Definition) map data and LD (Lane Definition) map data are obtained. The SD map data includes connecting lines (also generally referred to as links) for referring to roads and information related to road attributes. The LD map data includes a first boundary line for depicting the road boundary.

[0052] In the example, SD map data is a type of map data commonly used in digital road networks. It mainly exists to depict roadways, so the link included in the SD map data is generally located in the middle of the roadway, and refers to the road in the form of a line. In addition, the SD map data also includes information related to road attributes, such as road grades (such as national roads, provincial roads, etc.) and road types (such as auxiliary roads, regional roads, overpasses, tunnels, etc.).

[0053] In the example, the LD map data is a lane-level map data, which mainly depicts the map in the form of lane lines and road boundary lines, and the highest accuracy can reach meter level. In the embodiment of the present disclosure, in order to determine the position of non-motorized vehicle lanes and sidewalks, the road boundary lines included in the LD map data can be used, that is, the first boundary lines for depicting road boundaries in the embodiment of the present disclosure.

[0054] In step S202, a mapping relationship between the SD map data and the LD map data is determined.

[0055] In the example, determining the mapping relationship may involve finding a link and a first boundary line having a corresponding relationship from the SD map data and the LD map data, respectively, and establishing an index between the two. For example, one link may correspond to one first boundary line, or one link may correspond to multiple first boundary lines, or multiple links may correspond to one boundary line, or multiple first number of links may correspond to multiple second number of first boundary lines.

[0056] In step S203, based on the LD map data, a second boundary line for describing a boundary of at least one of a non-motorized vehicle lane or a sidewalk is determined to obtain extended LD map data.

[0057] In the example, since the first boundary line included in the LD map data can already indicate information related to the road boundary, the position of at least one of the non-motorized vehicle lanes or sidewalks can be obtained by calculation based on the first boundary line. Depending on different road and traffic settings, non-motorized vehicle lanes and sidewalks may exist at the same time, or only one of them may exist so that both non-motorized vehicles and pedestrians can use it. Therefore, the extended LD map data may refer to map data that has a second boundary line added to the LD map data to depict the boundary of at least one of the non-motorized vehicle lanes or sidewalks.

[0058] In step S204, based on the mapping relationship between the SD map data and the LD map data, the SD map data and the expanded LD map data are merged to obtain target map data.

[0059] In the example, the target map data may be map data for users who are cycling and / or walking (also referred to herein as "cycling and walking") to bind routes in road navigation. Binding routes refers to determining which road the user is currently on. In the embodiments of the present disclosure, since the mapping relationship between SD map data and LD map data has been determined, the SD map data can be fused with the extended LD map data based on the mapping relationship, thereby obtaining an aggregation of two different types of map data.

[0060] Therefore, in the map data processing method 200 according to the embodiment of the present disclosure, enhanced aggregated map data can be obtained by additionally introducing the use of LD map data, so that information related to the location of non-motorized lanes and / or sidewalks can be included in the aggregated map data, thereby providing a more accurate map data basis for road navigation for cycling and walking users. In addition, since the information related to the location of non-motorized lanes and / or sidewalks can be simply and quickly inferred from the first boundary line included in the LD map data for depicting the road boundary, the present method is also easy to implement and deploy in actual use.

[0061] In some embodiments, the first boundary line included in the LD map data may have a group identifier (eg, groupid recorded in the data table of the first boundary line), and the group identifier indicates the link associated with the first boundary line in the SD map data. Figure 2The step S202 of determining the mapping relationship between the SD map data and the LD map data may include: based on the group identifier, determining a first set including at least one link and a second set including at least one first boundary line, wherein at least one link in the first set has a corresponding relationship with at least one first boundary line in the second set.

[0062] In the example, the ratio between the corresponding links and the first boundary line may be M:N, where M and N are integers greater than 0. For example, the first set may include one link, and the second set may include one first boundary line; or the first set may include one link, and the second set may include multiple first boundary lines; or the first set may include multiple links, and the second set may include one first boundary line; or the first set may include multiple links of a first number, and the second set may include multiple first boundary lines of a second number.

[0063] In the example, when a link has a corresponding relationship with multiple first boundary lines, the coordinate points of each of the multiple first boundary lines can be used to determine whether the multiple first boundary lines can be spliced. If splicing is possible, a continuous first boundary line can be obtained. In addition, when a link has a corresponding relationship with multiple first boundary lines, the coordinate points of each of the multiple first boundary lines can also be used to determine whether the multiple first boundary lines are in a parallel relationship. If they are in a parallel relationship, only the two on the leftmost and rightmost sides can be selected from the multiple first boundary lines.

[0064] In the example, a perpendicular line can be drawn from the starting point or end point coordinates of the link to the first boundary line. If the foot of the perpendicular line is on the extension line of the first boundary line, the line segment of the first boundary line can be determined by the endpoint of the first boundary line closest to the foot of the perpendicular line.

[0065] In the above manner, by means of the group identifier of the first boundary line included in the LD map data, the corresponding link and the first boundary line can be found from the SD map data and the LD map data, thereby determining the mapping relationship between the SD map data and the LD map data.

[0066] FIG. 3A to FIG. 3D A schematic diagram showing the correspondence between a link and a first boundary line according to an embodiment of the present disclosure.

[0067] Understandably, FIG. 3A to FIG. 3D Only several exemplary situations of the corresponding relationship between the link and the first boundary line are shown exemplarily, but the present disclosure is not limited thereto. As mentioned above, the ratio between the link and the first boundary line having the corresponding relationship may be M:N, where M and N are integers greater than zero.

[0068] like Figure 3A As shown, a situation where one link 301a corresponds to one first boundary line 302a is shown. That is, the first set contains only one link 301a, and the second set contains only one first boundary line 302a. Therefore, the only link 301a in the first set has a corresponding relationship with the only first boundary line 302a in the second set, and the ratio between the two is 1:1.

[0069] like Figure 3B As shown, a situation where one link 301a corresponds to four first boundary lines 302a, 302b, 302c, and 302d is shown. The first boundary lines 302a and 302c are located on the right side of the link 301a, and the first boundary lines 302b and 302d are located on the left side of the link 301a. That is, the first set contains only one link 301a, and the second set contains four first boundary lines 302a, 302b, 302c, and 302d. Therefore, the only link 301a in the first set has a corresponding relationship with the four first boundary lines 302a, 302b, 302c, and 302d in the second set, and the ratio between the two is 1:4. Further, as mentioned above, only the two first boundary lines 302d and 302c located at the leftmost and rightmost sides can be selected from the four first boundary lines 302a, 302b, 302c, and 302d. In this case, the ratio between the link and the first boundary line is 1:2. Figure 3B What is shown is a situation where multiple first boundary lines are in parallel, but it is understandable that there may also be a situation where multiple first boundary lines can be spliced ​​as described above, that is, the multiple first boundary lines can be spliced ​​to obtain a continuous first boundary line to correspond to link 301a.

[0070] like Figure 3C As shown, it shows the situation that two links 301a, 301b correspond to one first boundary line 302a. That is, the first set contains two links 301a, 301b, and the second set contains only one first boundary line 302a. Therefore, the two links 301a, 301b in the first set have a corresponding relationship with the only first boundary line 302a in the second set, and the ratio between the two is 2:1. Although Figure 3C It is shown that link 301a and 301b are connected, but link 301a and 301b may also be disconnected from each other.

[0071] like Figure 3DAs shown, it shows the situation that two links 301a, 301b correspond to two first boundary lines 302a, 302b. That is, the first set includes two links 301a, 301b, and the second set includes two first boundary lines 302a, 302b. Therefore, the two links 301a, 302b in the first set have a corresponding relationship with the two first boundary lines 302a, 302b in the second set, and the ratio between the two is 2:2. Similarly, although Figure 3D It is shown that link 301a and 301b are connected, but link 301a and 301b may also be disconnected from each other.

[0072] In some embodiments, the first boundary line included in the LD map data has a corresponding boundary line type. Figure 2 The step S203 of determining the second boundary line for describing the boundary of at least one of the non-motorized vehicle lane or the sidewalk based on the LD map data to obtain the extended LD map data may include further steps, which will be described below in conjunction with Figure 4 Describe this in detail.

[0073] Figure 4 A flowchart of a process 400 for obtaining extended LD map data according to an embodiment of the present disclosure is shown.

[0074] like Figure 4 As shown, process 400 may include steps S401, S402 and S403.

[0075] In step S401, it may be determined whether there is at least one of a non-motorized vehicle lane or a sidewalk outside the first boundary line based on the boundary line type of the first boundary line.

[0076] In the example, the first boundary line outside refers to the side of the first boundary line away from the road. It is understandable that in countries or regions where people drive on the right, the outside can refer to the right side of the first boundary line, while in countries or regions where people drive on the left, the outside can refer to the left side of the first boundary line.

[0077] In the example, the boundary line type of the first boundary line can reflect the inherent properties of the first boundary line, that is, it can reflect what the first boundary line is specifically. For example, the boundary line type of the first boundary line can include a geographic boundary, a virtual geographic boundary, a curb, an iron fence, a cement pier, a flower bed, a water ditch, a lawn, a wood, a mountain, a cliff, etc. Therefore, through the boundary line type of the first boundary line, it can be judged from the logic and rules of the road setting whether there is a non-motorized vehicle lane and a sidewalk outside the first boundary line.

[0078] In step S402, in response to determining that at least one of a non-motorized vehicle lane or a pedestrian path exists outside the first boundary line, the second boundary line may be determined to be located at a predetermined distance outside the first boundary line.

[0079] In the example, when both a non-motorized vehicle lane and a sidewalk exist at the same time, the sidewalk may be located outside the non-motorized vehicle lane, so the second boundary line used to depict the non-motorized vehicle lane may be located at a first predetermined distance outside the first boundary line, and the second boundary line used to depict the sidewalk may be located at a second predetermined distance outside the first boundary line, and the second predetermined distance may be greater than the first predetermined distance.

[0080] In step S403, in response to determining that there are no non-motorized vehicle lanes and sidewalks outside the first boundary line, the first boundary line may be determined as the second boundary line.

[0081] In the example, depending on different road and traffic settings, there may be a situation where non-motorized vehicle lanes and sidewalks are not set separately, such as narrow sections of roads in urban areas, such as alleys. In this case, the first boundary line for delineating the road boundary can be determined as the second boundary line for delineating the boundary between the non-motorized vehicle lane and the sidewalk.

[0082] In the above manner, since the boundary line type of the first boundary line can reflect the inherent properties of the first boundary line, it is possible to judge whether there may be non-motorized vehicle lanes and sidewalks outside the first boundary line based on the logic and rules of road setting based on the boundary line type. Therefore, a reasonable calculation of the second boundary line can be made based on relatively accurate and effective map data, thereby improving the accuracy and effectiveness of determining the locations of non-motorized vehicle lanes and sidewalks.

[0083] In some embodiments, step S401 determines whether there is at least one of a non-motorized vehicle lane or a sidewalk outside the first boundary line based on the boundary line type of the first boundary line, and may include: determining whether the boundary line type of the first boundary line indicates that it is impossible to ride or walk outside the first boundary line; and in response to determining that the boundary line type of the first boundary line indicates that it is impossible to ride or walk outside the first boundary line, determining that there are no non-motorized vehicle lanes and sidewalks outside the first boundary line.

[0084] In this way, when the boundary type of the first boundary line (such as woods, mountains, cliffs, diversion areas, etc.) reflects that riding and walking are physically or legally impossible, it can be determined that there are no non-motorized vehicle lanes and sidewalks outside the first boundary line. Therefore, thanks to the fact that the boundary type of the first boundary line can objectively reflect the actual situation of the road boundary in the real world, it is possible to accurately exclude the exceptions where there are no non-motorized vehicle lanes and sidewalks, which helps to accurately determine whether there are non-motorized vehicle lanes and sidewalks outside the first boundary line.

[0085] In some embodiments, step S401 determines whether there is at least one of a non-motorized vehicle lane or a sidewalk outside the first boundary line based on the boundary line type of the first boundary line, and may also include: in response to determining that the boundary line type of the first boundary line does not indicate that it is impossible to ride or walk outside the first boundary line: based on information related to road attributes included in the SD map data, and a mapping relationship between the SD map data and the LD map data, determining whether the road corresponding to the first boundary line is a motor-non mixed road; and in response to determining that the road corresponding to the first boundary line is a motor-non mixed road, determining that there are no non-motorized vehicle lanes and sidewalks outside the first boundary line.

[0086] In the example, a mixed road for motor vehicles and non-motor vehicles refers to a road where motor vehicles, non-motor vehicles and pedestrians can travel together. This type of road may not have clear physical separation to distinguish motor vehicle lanes, non-motor vehicle lanes and sidewalks, but all these types travel in the same road surface space. Therefore, when the road is a mixed road for motor vehicles and non-motor vehicles, there is no need to infer the positions of non-motor vehicle lanes and sidewalks.

[0087] In the above manner, when the boundary line type based on the first boundary line included in the LD map data cannot clearly exclude exceptional circumstances where riding and walking are not possible in the physical or legal sense, the information related to the road attributes included in the SD map data can be used to exclude whether there are other possible reasons for the absence of non-motorized vehicle lanes and sidewalks outside the first boundary line. At this time, it can be determined whether the road corresponding to the first boundary line is a mixed road for motor vehicles and non-motorized vehicles based on the information related to the road attributes included in the SD map data and the mapping relationship between the SD map data and the LD map data. In other words, the road attributes of the road corresponding to the first boundary line can be known through the link, as long as the mapping relationship between the first boundary line and the link is known.

[0088] In some embodiments, when the boundary line type of the first boundary line is known, such as in combination with Figure 2 The step S203 determines, based on the LD map data, a second boundary line for depicting the boundary of at least one of the non-motorized vehicle lane or the sidewalk to obtain the expanded LD map data, and may also include: determining whether the first boundary line has an effective width based on the boundary line type of the first boundary line; in response to determining that the first boundary line has an effective width, determining the second boundary line to be located at a first predetermined distance outside the first boundary line; and in response to determining that the first boundary line does not have an effective width, determining the second boundary line to be located at a second predetermined distance outside the first boundary line, the second predetermined distance being less than the first predetermined distance.

[0089] In the example, when the boundary line type of the first boundary line is a thing such as a flower bed, a water ditch, a lawn, etc., which is set outside the edge of the road in an actual road and has a certain physical width, it can be determined that the first boundary line has an effective width. When the boundary line type of the first boundary line is a thing such as a geographic boundary, a virtual geographic boundary, a curb, an iron fence, a concrete pier, etc., which is basically set along the edge of the road, it can be determined that the first boundary line does not have an effective width.

[0090] In the example, when the first boundary line has an effective width, it can be inferred that the second boundary line for non-motorized vehicle lanes is located 2.5 meters outside the first boundary line, and the second boundary line for sidewalks is located 5 meters outside the first boundary line. If there is only one road that allows non-motorized vehicles and pedestrians to mix, it can be directly inferred that the second boundary line is located 2.5 meters outside the first boundary line. And when the first boundary line does not have an effective width, it can be inferred that the second boundary line for non-motorized vehicle lanes is located 1.5 meters outside the first boundary line, and the second boundary line for sidewalks is located 4 meters outside the first boundary line. Similarly, if there is only one road that allows non-motorized vehicles and pedestrians to mix, it can be directly inferred that the second boundary line is located 1.5 meters outside the first boundary line.

[0091] Therefore, the second boundary line for the boundary of at least one of the non-motorized vehicle lane and / or the sidewalk can be accurately calculated taking into account the width of the first boundary line itself.

[0092] Figure 5A and Figure 5B A schematic diagram of determining a second boundary line according to an embodiment of the present disclosure is shown.

[0093] For ease of explanation, Figure 5A and Figure 5B Take two first boundary lines and two second boundary lines as an example, for example, the first boundary line 501a on the right, the first boundary line 501b on the left, the second boundary line 502a on the right, and the second boundary line 502b on the left. Figure 5A and Figure 5B The description is made using the example of mixed use of non-motorized vehicle lanes and sidewalks.

[0094] like Figure 5A , which shows a situation where the first boundary line has an effective width and the first predetermined distance between the second boundary line and the first boundary line is determined. For example, the types of the right first boundary line 501a and the left first boundary line 501b are both flower beds with a certain physical width, that is, the first boundary lines 501a and 501b have an effective width. In this case, it can be determined that the right second boundary line 502a is located outside the right first boundary line 501a by the first predetermined distance d 1The left second boundary line 502b is located at a first predetermined distance d outside the left first boundary line 501b. 1 Place.

[0095] like Figure 5B , which shows the situation of determining the second predetermined distance between the second boundary line and the first boundary line when the first boundary line does not have an effective width. For example, the first boundary line 501a on the right and the first boundary line 501b on the left are both iron fences, so there is no effective width. In this case, it can be determined that the second boundary line 502a on the right is located at a second predetermined distance d outside the first boundary line 501a on the right 2 The left second boundary line 502b is located at a second predetermined distance d outside the left first boundary line 501b. 2 The second predetermined distance d 2 Less than Figure 5A The first predetermined distance d is shown 1 .

[0096] In some embodiments, such as in combination Figure 2 The step S204 merges the SD map data and the extended LD map data to obtain the target map data based on the mapping relationship between the SD map data and the LD map data, and may include: determining the link in the SD map data that is divided by the second boundary line included in the extended LD map data based on the mapping relationship between the SD map data and the LD map data; determining whether there is a valid portion in the link based on the degree to which the link is divided by the second boundary line; and in response to determining that there is a valid portion in the link, updating the link based on the valid portion.

[0097] In the example, based on the mapping relationship between SD map data and LD map data, that is, the corresponding relationship between link and the first boundary line, the links with corresponding first boundary lines can be traversed from the SD map data. On this basis, it can be determined whether the topology of these links is divided by the second boundary line, and one or more links with this situation are recorded in a target set. After that, each link in the target set can be traversed to determine the degree to which the link is divided by the second boundary line.

[0098] In the example, the degree to which the link is divided by the second boundary line can include partial division and complete division (or approximately complete division). Partial division may refer to the portion of the link that is divided and falls inside the second boundary line being less than 90% of the length of the link. For example, when the length of the link is 10 meters, the portion that is divided and falls inside the second boundary line does not exceed 9 meters, which can be considered as partial division. On the contrary, if the portion of the link that is divided and falls inside the second boundary line is greater than or equal to 90% of the length of the link, it can be considered as approximately complete division. Therefore, in comparison, complete division may refer to one or more links that fall completely inside the second boundary line as a whole. Approximate complete division can also be considered equivalent to complete division.

[0099] In the example, if a partial segmentation occurs, it can be determined that there is a valid part in the link. The valid part may refer to the part of the link that is segmented outside the second boundary line. On the contrary, if a complete segmentation or a nearly complete segmentation occurs, it can be determined that there is no valid part in the link, that is, there is no part in the link itself that is segmented outside the second boundary line or it is deemed that there is no part.

[0100] In the example, for the case of complete segmentation or nearly complete segmentation, the corresponding link may no longer be used, for example, it may be ignored or removed. For the case of partial segmentation, since only the part of the link that is segmented outside the second boundary line is a valid part, the link may be updated based on the valid part. The length and shape of the updated link may correspond to the length and shape of the valid part.

[0101] Through the above method, the data part that is no longer valid due to the generation of the second boundary line can be eliminated during the fusion process of the SD map data and the extended LD map data, thereby ensuring that the aggregated map data obtained by the fusion operation is accurate and effective, and thus facilitating accurate route binding for cycling and walking users in road navigation.

[0102] FIG. 6A to FIG. 6D A schematic diagram of updating a link according to an embodiment of the present disclosure is shown.

[0103] For ease of explanation, FIG. 6A to FIG. 6D The intersection of a main road and a branch road is taken as an example for description, and a link 602 representing the branch road (hereinafter referred to as a branch road link) and boundary lines 601a and 601b representing the main road are exemplarily shown.

[0104] like Fig. 6A and Figure 6B As shown in FIG. 6 , a situation where a branch road link 602 is partially divided by a boundary line 601a of a main road is shown. Fig. 6AAs shown in FIG. 1 , a portion 602b of the fork link 602 is divided between the right boundary line 601a of the main road and the left boundary line 601b of the main road, while another portion 602a of the fork link 602 is divided outside the right boundary line 601a of the main road. Therefore, the fork link 602 is partially divided into an inner portion 602b and an outer portion 602a, that is, a portion of the fork link 602 falls inside the boundary lines 601a and 601b of the main road. In this case, Figure 6B As shown, the outer portion 602a may be determined to be a valid portion of the branch link 602. Therefore, the branch link 602 may be updated so that the updated branch link 602' corresponds only to the outer portion 602a.

[0105] like Figure 6C and Fig.6D As shown in FIG. 6 , a situation is shown where the branch road link 602 is approximately completely divided by the boundary line 601a of the main road (and is therefore considered to be completely divided). Figure 6C As shown in FIG. 6 , the branch road link 602 is divided into an inner portion 602b whose length is much longer than the outer portion 602a, that is, the branch road link 602 almost completely falls inside the boundary lines 601a and 601b of the main road. Fig.6D As shown, it can be determined that the fork link 602 has no valid part or the valid part is zero. Therefore, the fork link 602 may no longer be used, for example, it may be ignored or removed.

[0106] In some embodiments, there may be some special fusion rules during the fusion operation. For example, for intersections in the map, there are generally corresponding SD map data but no corresponding LD map data, so the logic of using SD map data can still be used for intersections. That is, in the aggregated map data obtained through the fusion operation, the map data at the intersection can be composed of SD map data alone. In some cases, individual SD data may have corresponding LD map data near the intersection. For example, a link has a corresponding first boundary line, but if the length of the first boundary line is less than 0.7 times the length of the link, the first boundary line can be regarded as invalid.

[0107] According to an embodiment of the present disclosure, a road navigation method for a riding or walking user is also provided.

[0108] Figure 7 A flowchart of a road navigation method 700 for a riding or walking user according to an embodiment of the present disclosure is shown.

[0109] like Figure 7As shown, method 700 includes steps S701, S702 and S703.

[0110] In step S701, the map data processing method described above (for example, in combination with Figure 2 The map data obtained by the map data processing method 200) includes a cycling and walking boundary line for depicting the boundary of at least one of a non-motorized vehicle lane or a sidewalk.

[0111] In the example, if the user is a non-motorized vehicle rider, the position of the boundary line of the non-motorized vehicle lane can be obtained from the map data; if the user is a pedestrian, the position of the boundary line of the sidewalk can be obtained from the map data. As mentioned above, the term "riding and walking" in this article is a general term for riding and / or walking.

[0112] In step S702, the position coordinates of the riding user are obtained.

[0113] In the example, the location coordinates may refer to geographic coordinates, such as GPS coordinates. The cyclist or pedestrian user may use navigation software or applications installed in a mobile device (such as a mobile phone) to perform road navigation, so the location coordinates of the cyclist or pedestrian user may be obtained during navigation.

[0114] In step S703, at least one of a non-motorized vehicle lane or a sidewalk is matched for the riding and walking user based on the riding and walking boundary line and the position coordinates.

[0115] In the example, the cyclist or pedestrian user can be matched to at least one of a suitable (eg, nearest) non-motorized vehicle lane or a pedestrian path, ie, the binding road as described above, according to the location coordinates of the cyclist or pedestrian user, to determine which road the user is currently on.

[0116] Therefore, in the road navigation method 700 for riding and walking users according to an embodiment of the present disclosure, the map data obtained by using the map data processing method as described above can more accurately depict the locations of non-motorized vehicle lanes and / or sidewalks, thereby providing riding and walking users with binding road services for more accurate road navigation.

[0117] In some embodiments, step S703 matches at least one of a non-motorized vehicle lane or a sidewalk for a cycling and walking user based on the cycling and walking boundary line and the location coordinates, and may include: based on the location coordinates of the cycling and walking user, determining a portion of map data in the map data that is within a predetermined distance from the location coordinates as recalled map data; determining whether there is a cycling and walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is a secondary road; and in response to the presence of a cycling and walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is a secondary road, using the secondary road indicated by the SD map data as at least one of the non-motorized vehicle lane or the sidewalk matched with the cycling and walking user.

[0118] In the example, in the recalled map data, the linkid parameter can be used to know whether the corresponding data is a cycling and walking boundary line and information related to the road attributes. If the road attributes indicate that pedestrians, bicycles or electric vehicles are prohibited, the cycling and walking boundary line may not be used for binding the road.

[0119] In the example, when there is a riding and walking boundary line in the recalled map data that intersects (for example, is approximately parallel and obliquely intersecting) with the link of the auxiliary road, if the route is still bounded according to the riding and walking boundary line, the riding and walking user may be navigated to ride or walk on the main road. Therefore, in this case, instead of using the riding and walking boundary line for route binding, the auxiliary road indicated by the SD map data can be used as at least one of the non-motorized vehicle lane or the sidewalk that matches the riding and walking user.

[0120] Through the above method, while matching users with more accurate non-motorized vehicle lanes or sidewalks based on their location coordinates, a method for judging and selecting road availability is added, thereby enhancing the practicality of roads during the binding process, so as to further improve the user experience of road navigation for cycling and walking users.

[0121] In some embodiments, when the recalled map data includes roads within a region, such as roads in a residential area or roads within a company, if there are other roads between the position coordinates of the cyclist or pedestrian user and the vertical line segment to the roads within the region, the roads within the region will not be included in the road binding. If there are no other roads, if there are non-regional roads near the roads within the region, and the distance between the position coordinates of the cyclist or pedestrian user and the non-regional roads is closer than the distance to the roads within the region, the cyclist or pedestrian user can be bound to the non-regional roads.

[0122] Figure 8 A schematic diagram is shown of an exceptional situation of binding a route based on a riding-walking boundary line according to an embodiment of the present disclosure.

[0123] like Figure 8 As shown, a link 801 representing a main road (hereinafter referred to as the main road link), a cycling and walking boundary line 802, and a link 803 representing an auxiliary road (hereinafter referred to as the auxiliary road link) are shown. Auxiliary road link 803 is the auxiliary road corresponding to the main road link 801. However, auxiliary road link 803 intersects with the cycling and walking boundary line 802. In this case, the road binding may no longer be performed based on the cycling and walking boundary line 802, but the user's cycling and walking road may be matched with the auxiliary road corresponding to the auxiliary road link 803. This is because if the road binding is still performed according to the cycling and walking boundary line 802, the user may be navigated to ride or walk on the main road corresponding to the main road link 801.

[0124] According to an embodiment of the present disclosure, a map data processing device is also provided.

[0125] Fig. 9 FIG. 9 is a block diagram of a map data processing device 900 according to an embodiment of the present disclosure.

[0126] like Fig. 9 As shown, the device 900 includes a data acquisition module 901, a relationship determination module 902, a data creation module 903 and a data fusion module 904. The data acquisition module 901 is configured to acquire SD map data and LD map data, wherein the SD map data includes a connection line for referring to a road and information related to road attributes, and the LD map data includes a first boundary line for depicting a road boundary. The relationship determination module 902 is configured to determine a mapping relationship between the SD map data and the LD map data. The data creation module 903 is configured to determine a second boundary line for depicting a boundary of at least one of a non-motorized vehicle lane or a sidewalk based on the LD map data to obtain extended LD map data. The data fusion module 904 is configured to fuse the SD map data and the extended LD map data based on the mapping relationship between the SD map data and the LD map data to obtain target map data.

[0127] The operations of the data acquisition module 901, the relationship determination module 902, the data creation module 903 and the data fusion module 904 may correspond to the following: Figure 2 The steps S201, S202, S203 and S204 are shown in FIG. Therefore, the details of each aspect are not repeated here.

[0128] Fig.10 FIG. 4 shows a structural block diagram of a map data processing device 1000 according to another embodiment of the present disclosure.

[0129] like Fig.10 As shown, the apparatus 1000 may include a data acquisition module 1001, a relationship determination module 1002, a data creation module 1003, and a data fusion module 1004. The operations of the above modules may be similar to those of Fig. 9 The operations of the data acquisition module 901, the relationship determination module 902, the data creation module 903 and the data fusion module 904 are the same. In addition, the above modules may also include further sub-modules.

[0130] In some embodiments, the first boundary line included in the LD map data may have a group identifier, which may indicate a connecting line associated with the first boundary line in the SD map data, and the relationship determination module 1002 may include: a corresponding relationship determination module 1002a, configured to determine a first set including at least one connecting line and a second set including at least one first boundary line based on the group identifier, wherein at least one connecting line in the first set has a corresponding relationship with at least one first boundary line in the second set.

[0131] In some embodiments, the first boundary line included in the LD map data may have a corresponding boundary line type, and the data creation module 1003 may include: a first judgment module 1003a, configured to determine whether there is at least one non-motorized vehicle lane or a sidewalk outside the first boundary line based on the boundary line type of the first boundary line; a first position determination module 1003b, configured to determine the second boundary line as being located at a predetermined distance outside the first boundary line in response to determining that there is at least one non-motorized vehicle lane or a sidewalk outside the first boundary line; and a second position determination module 1003c, configured to determine the first boundary line as the second boundary line in response to determining that there is no non-motorized vehicle lane and sidewalk outside the first boundary line.

[0132] In some embodiments, the first judgment module 1003a may include: a first sub-judgment module 1003a1, configured to determine whether the boundary line type of the first boundary line indicates that it is impossible to ride or walk outside the first boundary line; and a first result determination module 1003a2, configured to determine that there are no non-motorized vehicle lanes and sidewalks outside the first boundary line in response to determining that the boundary line type of the first boundary line indicates that it is impossible to ride or walk outside the first boundary line.

[0133] In some embodiments, the first judgment module 1003a may also include: a second result determination module 1003a3, configured to, in response to determining that the boundary line type of the first boundary line does not indicate that it is impossible to ride or walk outside the first boundary line: determine whether the road corresponding to the first boundary line is a motor vehicle and non-motor vehicle mixed road based on information related to road attributes included in the SD map data and a mapping relationship between the SD map data and the LD map data; and in response to determining that the road corresponding to the first boundary line is a motor vehicle and non-motor vehicle mixed road, determine that there are no non-motor vehicle lanes and sidewalks outside the first boundary line.

[0134] In some embodiments, the data creation module 1003 may also include: a second judgment module 1003d, configured to determine whether the first boundary line has an effective width based on the boundary line type of the first boundary line; a third position determination module 1003e, configured to determine the second boundary line as being located at a first predetermined distance outside the first boundary line in response to determining that the first boundary line has the effective width; and a fourth position determination module 1003f, configured to determine the second boundary line as being located at a second predetermined distance outside the first boundary line in response to determining that the first boundary line does not have an effective width, wherein the second predetermined distance is smaller than the first predetermined distance.

[0135] In some embodiments, the data fusion module 1004 may include: a connecting line determination module 1004a, configured to determine, based on a mapping relationship between the SD map data and the LD map data, a connecting line in the SD map data that is divided by a second boundary line included in the expanded LD map data; a valid portion determination module 1004b, configured to determine, based on the degree to which the connecting line is divided by the second boundary line, whether there is a valid portion in the connecting line; and an update module 1004c, configured to update the connecting line based on the valid portion in response to determining that there is a valid portion in the connecting line.

[0136] According to an embodiment of the present disclosure, a road navigation device for a riding or walking user is also provided.

[0137] Fig.11 A structural block diagram of a road navigation device 1100 for riding or walking users according to an embodiment of the present disclosure is shown.

[0138] like Fig.11 As shown, the device 1100 includes a map acquisition module 1101, a coordinate acquisition module 1102 and a road matching module 1103. The map acquisition module 1101 is configured to acquire the coordinates of the map data processing device (e.g., in combination with the road matching module 1103) according to the above. Fig. 9 The map data processing device 900 or the combination Fig.10 The map data processing device 1000 described above obtains map data, wherein the map data includes a riding-walking boundary line for describing the boundary of at least one of a non-motorized vehicle lane or a sidewalk. The coordinate acquisition module 1102 is configured to acquire the position coordinates of the riding-walking user. The road matching module 1103 is configured to match at least one of a non-motorized vehicle lane or a sidewalk for the riding-walking user based on the riding-walking boundary line and the position coordinates.

[0139] The operations of the map acquisition module 1101, the coordinate acquisition module 1102, and the road matching module 1103 may correspond to the following: Figure 7 Therefore, the details of each aspect are not repeated here.

[0140] Fig.12 A structural block diagram of a road navigation device 1200 for riding or walking users according to another embodiment of the present disclosure is shown.

[0141] like Fig.12 As shown, the device 1200 may include a map acquisition module 1201 , a coordinate acquisition module 1202 , and a road matching module 1203 .

[0142] In some embodiments, the road matching module 1203 may include: a data recall module 1203a, configured to determine, based on the location coordinates of the riding or walking user, a portion of map data in the map data that is within a predetermined distance from the location coordinates as recalled map data; a data judgment module 1203b, configured to determine whether there is a riding or walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is a secondary road; and a secondary road matching module 1203c, configured to respond to the presence of a riding or walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is a secondary road, and to use the secondary road indicated by the SD map data as at least one of a non-motorized vehicle lane or a sidewalk matched with the riding or walking user.

[0143] According to an embodiment of the present disclosure, an electronic device is also provided, comprising at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0144] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is also provided, wherein the computer instructions are used to enable a computer to execute the method as described above.

[0145] According to an embodiment of the present disclosure, a computer program product is also provided, including a computer program, wherein the computer program implements the method as described above when executed by a processor.

[0146] refer to Fig.13, a block diagram of an electronic device 1300 that can be used as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0147] like Fig.13 As shown, the electronic device 1300 includes a computing unit 1301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1302 or a computer program loaded from a storage unit 1308 into a random access memory (RAM) 1303. In the RAM 1303, various programs and data required for the operation of the electronic device 1300 can also be stored. The computing unit 1301, the ROM 1302, and the RAM 1303 are connected to each other via a bus 1304. An input / output (I / O) interface 1305 is also connected to the bus 1304.

[0148] Multiple components in the electronic device 1300 are connected to the I / O interface 1305, including: an input unit 1306, an output unit 1307, a storage unit 1308, and a communication unit 1309. The input unit 1306 can be any type of device that can input information to the electronic device 1300. The input unit 1306 can receive input digital or character information, and generate key signal input related to user settings and / or function control of the electronic device, and can include but is not limited to a mouse, a keyboard, a touch screen, a trackpad, a trackball, a joystick, a microphone, and / or a remote controller. The output unit 1307 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 1308 can include but is not limited to a disk and an optical disk. The communication unit 809 allows the electronic device 1300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver and / or a chipset, such as a Bluetooth device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device and / or the like.

[0149] The computing unit 1301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1301 performs the various methods and processes described above. For example, in some embodiments, the method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1308. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 1300 via ROM 1302 and / or a communication unit 1309. When the computer program is loaded into RAM 1303 and executed by the computing unit 801, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 1301 may be configured to perform the method described above in any other appropriate manner (e.g., by means of firmware).

[0150] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0151] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0152] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0153] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0154] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0155] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0156] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0157] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0158] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but only by the claims after authorization and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by their equivalent elements. In addition, each step can be performed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples can be combined in various ways. It is important that with the evolution of technology, many elements described herein can be replaced by equivalent elements that appear after the present disclosure.

Claims

1. A map data processing method, comprising: Acquire standard definition SD map data and lane level definition LD map data, wherein the SD map data includes a connection line for indicating a road and information related to road attributes, and the LD map data includes a first boundary line for describing a road boundary; Determining a mapping relationship between the SD map data and the LD map data; Based on the LD map data, determining a second boundary line for delineating a boundary of at least one of a non-motorized vehicle lane or a sidewalk to obtain extended LD map data; and Based on the mapping relationship between the SD map data and the LD map data, the SD map data and the expanded LD map data are fused to obtain target map data.

2. The method according to claim 1, wherein: The first boundary line included in the LD map data has a group identifier, the group identifier indicates the connection line associated with the first boundary line in the SD map data, and The determining of the mapping relationship between the SD map data and the LD map data comprises: Based on the group identifier, a first set including at least one connecting line and a second set including at least one first boundary line are determined, wherein the at least one connecting line in the first set corresponds to the at least one first boundary line in the second set.

3. The method according to claim 1 or 2, wherein: The first boundary line included in the LD map data has a corresponding boundary line type, and The step of determining, based on the LD map data, a second boundary line for describing a boundary of at least one of a non-motorized vehicle lane or a sidewalk to obtain extended LD map data comprises: Based on the boundary line type of the first boundary line, determining whether there is at least one of a non-motorized vehicle lane or a sidewalk outside the first boundary line; In response to determining that at least one of a non-motorized vehicle lane or a pedestrian path exists outside the first boundary line, determining the second boundary line to be located at a predetermined distance outside the first boundary line; and In response to determining that there is no non-motorized vehicle lane and no pedestrian path outside the first boundary line, the first boundary line is determined as the second boundary line.

4. The method according to claim 3, wherein: The determining, based on the boundary line type of the first boundary line, whether there is at least one of a non-motorized vehicle lane or a sidewalk outside the first boundary line comprises: determining whether the boundary line type of the first boundary line indicates that riding or walking outside the first boundary line is not possible; and In response to determining that the boundary line type of the first boundary line indicates that riding or walking outside the first boundary line is not possible, it is determined that there are no non-motorized vehicle lanes and sidewalks outside the first boundary line.

5. The method according to claim 4, wherein: The determining, based on the boundary line type of the first boundary line, whether there is at least one of a non-motorized vehicle lane or a sidewalk outside the first boundary line further includes: In response to determining that the boundary line type of the first boundary line does not indicate that riding or walking outside the first boundary line is not possible: Based on the information related to the road attributes included in the SD map data and the mapping relationship between the SD map data and the LD map data, determining whether the road corresponding to the first boundary line is a mixed road for vehicles and non-vehicles; and In response to determining that the road corresponding to the first boundary line is a mixed motor vehicle and non-motor vehicle road, it is determined that there are no non-motor vehicle lanes and sidewalks outside the first boundary line.

6. The method according to any one of claims 3 to 5, wherein: The method of determining, based on the LD map data, a second boundary line for describing a boundary of at least one of a non-motorized vehicle lane or a sidewalk to obtain extended LD map data further includes: Based on the boundary line type of the first boundary line, determining whether the first boundary line has a valid width; In response to determining that the first boundary line has the effective width, determining the second boundary line to be located at a first predetermined distance outside the first boundary line; and In response to determining that the first boundary line does not have the effective width, the second boundary line is determined to be located at a second predetermined distance outside the first boundary line, the second predetermined distance being smaller than the first predetermined distance.

7. The method according to any one of claims 1 to 6, wherein: The step of fusing the SD map data and the extended LD map data based on the mapping relationship between the SD map data and the LD map data to obtain target map data includes: determining, based on a mapping relationship between the SD map data and the LD map data, a connection line in the SD map data that is segmented by the second boundary line included in the expanded LD map data; Determining whether there is a valid portion in the connecting line based on the extent to which the connecting line is divided by the second boundary line; and In response to determining that the valid portion exists in the connection line, the connection line is updated based on the valid portion.

8. A road navigation method for a riding or walking user, comprising: Acquire map data obtained by the method according to any one of claims 1 to 7, wherein the map data includes a cycling and walking boundary line for delineating a boundary of at least one of a non-motorized vehicle lane or a pedestrian lane; Obtaining the location coordinates of the riding and walking user; and Based on the riding-walking boundary line and the location coordinates, at least one of a non-motorized vehicle lane or a sidewalk is matched for the riding-walking user.

9. The method according to claim 8, wherein: The matching of at least one of a non-motorized vehicle lane or a sidewalk for the riding and walking user based on the riding and walking boundary line and the position coordinates includes: Based on the position coordinates of the walking user, determining a portion of the map data within a predetermined distance from the position coordinates as recalled map data; determining whether there is a riding and walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is a secondary road; and In response to the presence of a riding-walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is a secondary road, the secondary road indicated by the SD map data is used as at least one of a non-motorized vehicle lane or a sidewalk matching the riding-walking user.

10. A map data processing device, comprising: a data acquisition module configured to acquire standard definition SD map data and lane level definition LD map data, wherein the SD map data includes a connection line for indicating a road and information related to road attributes, and the LD map data includes a first boundary line for describing a road boundary; a relationship determination module, configured to determine a mapping relationship between the SD map data and the LD map data; a data creation module configured to determine, based on the LD map data, a second boundary line for delineating a boundary of at least one of a non-motorized vehicle lane or a sidewalk to obtain extended LD map data; and The data fusion module fuses the SD map data and the extended LD map data based on the mapping relationship between the SD map data and the LD map data to obtain target map data.

11. The device according to claim 10, wherein: The first boundary line included in the LD map data has a group identifier, the group identifier indicates the connection line associated with the first boundary line in the SD map data, and The relationship determination module comprises: The correspondence determination module is configured to determine, based on the group identifier, a first set including at least one connecting line and a second set including at least one first boundary line, wherein the at least one connecting line in the first set has a correspondence with the at least one first boundary line in the second set.

12. The device according to claim 10 or 11, wherein: The first boundary line included in the LD map data has a corresponding boundary line type, and The data creation module includes: A first judgment module is configured to determine whether there is at least one of a non-motorized vehicle lane or a sidewalk outside the first boundary line based on the boundary line type of the first boundary line; A first position determination module configured to determine the second boundary line as being located at a predetermined distance outside the first boundary line in response to determining that at least one of a non-motorized vehicle lane or a pedestrian path exists outside the first boundary line; and The second position determination module is configured to determine the first boundary line as the second boundary line in response to determining that there is no non-motorized vehicle lane and sidewalk outside the first boundary line.

13. The device according to claim 12, wherein: The first judgment module includes: A first sub-determination module is configured to determine whether the boundary line type of the first boundary line indicates that riding or walking outside the first boundary line is not possible; and The first result determination module is configured to determine that there are no non-motorized vehicle lanes and sidewalks outside the first boundary line in response to determining that the boundary line type of the first boundary line indicates that it is impossible to ride or walk outside the first boundary line.

14. The device according to claim 13, wherein: The first judgment module also includes: A second result determination module is configured to, in response to determining that the boundary line type of the first boundary line does not indicate that riding or walking outside the first boundary line is not possible: Based on the information related to the road attributes included in the SD map data and the mapping relationship between the SD map data and the LD map data, determining whether the road corresponding to the first boundary line is a mixed road for vehicles and non-vehicles; and In response to determining that the road corresponding to the first boundary line is a mixed motor vehicle and non-motor vehicle road, it is determined that there are no non-motor vehicle lanes and sidewalks outside the first boundary line.

15. The device according to any one of claims 12 to 14, wherein: The data creation module also includes: A second judgment module is configured to determine whether the first boundary line has a valid width based on the boundary line type of the first boundary line; a third position determination module, configured to, in response to determining that the first boundary line has the effective width, determine that the second boundary line is located at a first predetermined distance outside the first boundary line; and The fourth position determination module is configured to, in response to determining that the first boundary line does not have the effective width, determine the second boundary line to be located at a second predetermined distance outside the first boundary line, wherein the second predetermined distance is smaller than the first predetermined distance.

16. The device according to any one of claims 10 to 15, wherein: The data fusion module comprises: a connection line determination module configured to determine, based on a mapping relationship between the SD map data and the LD map data, a connection line in the SD map data that is segmented by the second boundary line included in the expanded LD map data; a valid portion determination module configured to determine whether there is a valid portion in the connection line based on the extent to which the connection line is divided by the second boundary line; and The updating module is configured to update the connection line based on the valid portion in response to determining that the valid portion exists in the connection line.

17. A road navigation device for riding or walking users, comprising: a map acquisition module configured to acquire map data obtained by the apparatus according to any one of claims 10 to 16, wherein the map data includes a cycling and walking boundary line for delineating a boundary of at least one of a non-motorized vehicle lane or a pedestrian lane; A coordinate acquisition module, configured to acquire the position coordinates of the riding and walking user; and The road matching module is configured to match at least one of a non-motorized vehicle lane or a sidewalk for the riding and walking user based on the riding and walking boundary line and the position coordinates.

18. The device according to claim 17, wherein: The road matching module comprises: a data recall module configured to determine, based on the position coordinates of the riding and walking user, a portion of the map data within a predetermined distance from the position coordinates as recalled map data; a data determination module configured to determine whether there is a riding and walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is a secondary road; and The auxiliary road matching module is configured to respond to the presence of a riding and walking boundary line in the recalled map data that intersects with the SD map data indicating that the road is an auxiliary road, and use the auxiliary road indicated by the SD map data as at least one of a non-motorized vehicle lane or a sidewalk matched with the riding and walking user.

19. An electronic device comprising: at least one processor; as well as a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1 to 9.

20. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to make a computer execute the method according to any one of claims 1 to 9.

21. A computer program product comprising a computer program, wherein: The computer program implements the method according to any one of claims 1 to 9 when executed by a processor.

Images