Road speed limit information association method and device and storage medium

Abstract

The invention provides a road speed limit information association method and device and a storage medium, and relates to the technical field of high-precision maps, and the method comprises the steps: determining a first association relationship between each road and each speed limit sign based on the spatial position relationship between each road and each speed limit sign, and determining the speed limit information of each road according to the first association relationship and the attribute information of each speed limit sign; and determining a second association relationship between each road and each piece of speed limit information. In the method, when the speed limit information of each road in the map is determined, the attribute information of the speed limit sign associated with each road is considered, automatic configuration of the road speed limit information in the map can be realized, and the configuration efficiency of the map speed limit information is improved. Compared with manual speed limit marking, the accuracy of map speed limit information configuration can be improved, and the production efficiency of map making can be improved.

Description

Technical Field

[0001] The present application relates to the field of high-precision map technology, and in particular to a method, device and storage medium for associating road speed limit information. Background Art

[0002] Advanced Driving Assistance Systems (ADAS) will control vehicle speed in combination with speed limit information from high-precision maps. The speed limit information from high-precision maps includes lane-level speed limit information and road-level speed limit information. In actual applications, speed limit scenarios are usually complex and changeable.

[0003] At present, the speed limit information in high-precision maps requires map annotators to associate various map elements and determine the speed limit value. A map annotator usually marks the speed limit of a road or lane in an area of ​​the high-precision map. The above process has the following problems: First, the speed limit marking accuracy of the high-precision map is low, especially at the junction of each area; second, the production cost of the high-precision map is high and the production cycle is long.

[0004] Therefore, improving the accuracy and production efficiency of map speed limit information is an urgent problem to be solved. Summary of the invention

[0005] The present application provides a method, device and storage medium for associating road speed limit information, so as to improve the accuracy and production efficiency of map speed limit information.

[0006] In a first aspect, the present application provides a method for associating speed limit information of roads, comprising: determining a first association relationship between each road and each speed limit sign based on the spatial position relationship between each road and each speed limit sign; and determining a second association relationship between each road and each speed limit information based on the first association relationship and attribute information of each speed limit sign.

[0007] In an optional embodiment of the first aspect, the speed limit sign includes at least one of a speed limit sign and a ground speed limit sign; and / or the spatial position relationship includes at least one of a plane distance value, a relative height difference, and a direction angle value; the plane distance value is the distance between the road and the speed limit sign on the same plane, the relative height difference is the difference between the height of the road and the height of the speed limit sign, and the direction angle value is the angle value between the direction of the road and the direction of the speed limit sign.

[0008] In an optional embodiment of the first aspect, determining the first association relationship between each road and each speed limit sign based on the spatial position relationship between each road and each speed limit sign includes:

[0009] When the speed limit sign includes the speed limit sign, each speed limit sign is used as a target speed limit sign to perform the following processing: determine that a road within a first preset range of the target speed limit sign is a candidate road; based on at least one of the plane distance value, relative height difference, and orientation angle value between each candidate road and the target speed limit sign, select the road indicated by the target speed limit sign as a first target road from the candidate roads, and obtain a first association relationship between the target speed limit sign and the first target road; the first target road includes at least one of a first road, a second road, and a third road, the plane distance value between the first road and the target speed limit sign is less than a distance threshold, the relative height difference between the second road and the target speed limit sign is less than or equal to a first height difference threshold, and the orientation angle value between the third road and the target speed limit sign is within a preset angle value range;

[0010] When the speed limit sign includes the ground speed limit sign, each ground speed limit sign is used as a target ground speed limit sign and the following processing is performed: roads within a second preset range of the target ground speed limit sign are determined as candidate roads; based on the relative height difference between each candidate road and the target ground speed limit sign, a second target road is determined from the candidate roads, and a first association relationship between the target ground speed limit sign and the second target road is obtained; the relative height difference between the second target road and the target ground speed limit sign is less than or equal to a second height difference threshold.

[0011] In an optional embodiment of the first aspect, the attribute information of each speed limit sign includes speed limit information and / or a scene label, and determining the second association relationship between each road and each speed limit information according to the first association relationship and the attribute information of each speed limit sign includes:

[0012] The following processing is performed on each road in the first association relationship as a fourth road:

[0013] determining the speed limit sign associated with the fourth road in the first association relationship as a first speed limit sign;

[0014] Based on the speed limit information of the first speed limit sign and / or the scene label of the first speed limit sign, the first speed limit information associated with the fourth road is determined, and a second association relationship between the fourth road and the first speed limit information is obtained.

[0015] In an optional embodiment of the first aspect, determining the first speed limit information associated with the fourth road based on the speed limit information of the first speed limit sign and / or the scene label of the first speed limit sign includes:

[0016] When the speed limit information of the first speed limit sign includes a road-level speed limit value, determining the first speed limit information associated with the fourth road according to the road-level speed limit value; and / or,

[0017] When the speed limit information of the first speed limit sign includes a lane-level speed limit value, determining the first speed limit information associated with the fourth road according to the lane-level speed limit value and the position of each lane of the fourth road, wherein the first speed limit information includes speed limit information corresponding to each lane of the fourth road; and / or

[0018] The first speed limit information associated with the fourth road is determined according to the speed limit information corresponding to the scene tag of the first speed limit sign.

[0019] In an optional embodiment of the first aspect, determining the second association relationship between each road and each speed limit information according to the first association relationship and the attribute information of each speed limit sign includes:

[0020] Each road in the first association relationship is respectively regarded as a fifth road and the following processing is performed:

[0021] determining the speed limit sign associated with the fifth road in the first association relationship as a second speed limit sign;

[0022] Based on the road topological relationship, determining a third target road having a connectivity relationship with the fifth road;

[0023] Based on the attribute information of the fifth road and / or the attribute information of the second speed limit sign, the second speed limit information associated with the third target road is determined, and a second association relationship between the third target road and the second speed limit information is obtained.

[0024] In an optional embodiment of the first aspect, determining the second speed limit information associated with the third target road based on the attribute information of the fifth road and / or the attribute information of the second speed limit sign includes:

[0025] Based on the speed limit information in the attribute information of the fifth road, determining the second speed limit information associated with a sixth road in the third target road, the sixth road being a downstream road of the fifth road; and / or,

[0026] Based on the attribute information of the second speed limit sign, determining the second speed limit information associated with a seventh road in the third target road, the seventh road being a downstream road or an upstream road of the fifth road; and / or,

[0027] Based on the road type in the attribute information of the fifth road, second speed limit information associated with an eighth road in the third target road is determined, the eighth road being an upstream road of the fifth road or a road merged into the fifth road.

[0028] In an optional embodiment of the first aspect, the method further includes:

[0029] The roads that do not have the first association relationship among the roads are respectively regarded as the ninth roads and the following processing is performed:

[0030] Based on the road topological relationship, determining a tenth road having a connectivity relationship with the ninth road;

[0031] Based on the speed limit information and / or the road type in the attribute information of the ninth road, the third speed limit information associated with the tenth road is determined, and a second association relationship between the tenth road and the third speed limit information is obtained.

[0032] In an optional embodiment of the first aspect, the method further includes:

[0033] Determine a speed limit conflicting road based on the second association relationship, where the speed limit conflicting road is a road associated with at least two speed limit information in the second association relationship;

[0034] According to the priority of the speed limit information type of the speed limit conflicting road, the target speed limit information associated with the speed limit conflicting road is determined from at least two speed limit information associated with the speed limit conflicting road in the second association relationship.

[0035] In an optional embodiment of the first aspect, determining, according to the priority of the speed limit information type of the speed limit conflicting road, the target speed limit information associated with the speed limit conflicting road from at least two speed limit information associated with the speed limit conflicting road in the second association relationship includes:

[0036] If, among the at least two speed limit information associated with the speed limit conflicting road in the second association relationship, there is a first candidate speed limit information and a second candidate speed limit information, the first candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the first candidate speed limit information is a lane-level speed limit value indicated by a speed limit sign, and the second candidate speed limit information is a road-level speed limit value indicated by a speed limit sign; and / or,

[0037] If, among the at least two speed limit information associated with the speed limit conflicting road in the second association relationship, there are third candidate speed limit information and fourth candidate speed limit information, the third candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the third candidate speed limit information is the lane-level speed limit value indicated by the speed limit sign, and the fourth candidate speed limit information is the lane-level speed limit value indicated by the ground speed limit sign.

[0038] In a second aspect, the present application provides a device for associating road speed limit information, comprising:

[0039] The processing module is used to determine the first association relationship between each road and each speed limit sign based on the spatial position relationship between each road and each speed limit sign; and determine the second association relationship between each road and each speed limit information according to the first association relationship and the attribute information of each speed limit sign.

[0040] In a third aspect, the present application provides a computer device, comprising: a processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program code, and the processor calls the computer program code to enable the computer device to execute any one of the methods of the first aspect.

[0041] In a fourth aspect, the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method as described in any one of the first aspects is implemented.

[0042] In a fifth aspect, the present application provides a chip system, which is applied to a computer device. The chip system includes one or more processors, and the one or more processors are used to call computer instructions so that the computer device implements any method of the first aspect when executing.

[0043] In a sixth aspect, the present application provides a computer program product, including a computer program, which is used to implement any method of the first aspect when the computer program is executed by a processor.

[0044] The method, device and storage medium for associating speed limit information of roads provided in the present application relate to the field of high-precision map technology. The method includes: determining a first association relationship between each road and each speed limit sign based on the spatial position relationship between each road and each speed limit sign, and determining a second association relationship between each road and each speed limit information based on the first association relationship and the attribute information of each speed limit sign. In the above method, when determining the speed limit information of each road in the map, the attribute information of the speed limit sign associated with each road is considered, so that the automatic configuration of the road speed limit information in the map can be realized, and the efficiency of the map speed limit information configuration can be improved. Compared with manual speed limit marking, it can not only improve the accuracy of the map speed limit information configuration, but also improve the production efficiency of map making. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 1 ;

[0047] Figure 2 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 2 ;

[0048] Figure 3 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 3 ;

[0049] Figure 4 A schematic diagram of determining the spatial position relationship between a road and a speed limit sign provided in an embodiment of the present application;

[0050] Figure 5 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 4 ;

[0051] Figure 6 A schematic diagram of the locations of road and ground speed limit signs provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the locations of roads and speed limit signs provided in an embodiment of the present application;

[0053] Figure 8 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 5 ;

[0054] Fig. 9 A schematic diagram of the road topology provided in the embodiment of the present application;

[0055] Fig.10 A schematic diagram of a road-level speed limit configuration provided in an embodiment of the present application;

[0056] Fig.11 A schematic diagram of a lane-level speed limit configuration provided in an embodiment of the present application;

[0057] Fig.12 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 6 ;

[0058] Fig.13 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 7 ;

[0059] Fig.14 A schematic diagram of a road speed limit conflict provided in an embodiment of the present application;

[0060] Fig.15 A schematic diagram of the structure of a device for associating road speed limit information provided in an embodiment of the present application;

[0061] Fig.16 A schematic diagram of the structure of a computer device provided in an embodiment of the present application.

[0062] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0063] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0064] The terms "first", "second", etc. used in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following embodiments, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0065] At present, map annotators are required to associate speed limit information with the roads or lanes on which the speed limit information actually applies to create a high-precision map (hereinafter referred to as a map). However, the speed limit scenarios in reality are rich and complex, and it is necessary to comprehensively consider multiple factors such as the location of the speed limit information, the location of the road, the type of road, the size of the speed limit value, etc., which increases the difficulty and accuracy of manual annotation. In addition, if the speed limit information and the road or lane associated with the speed limit information are not in the same area (one map annotator corresponds to one area), it will lead to inaccurate speed limit annotations at the junctions of the various areas in the map. Additional personnel will be required to check the regional junctions, which not only increases the cost of map production, but also lengthens the production cycle, resulting in poor timeliness of map updates.

[0066] In view of this, the present application provides a method for associating speed limit information of roads, and the inventive concept is as follows: based on the data collected by the vehicle end, the spatial position relationship between each road and each speed limit sign is obtained, wherein the speed limit sign includes, for example, a speed limit sign and a ground speed limit sign; based on the spatial position relationship between each road and each speed limit sign, a first-level association is performed on the road and the speed limit sign to obtain a first association relationship between each road and each speed limit sign, and then according to the first association relationship and the attribute information of each speed limit sign, the speed limit information is configured for each road in the first association relationship.

[0067] In the above scheme, when determining the speed limit information of each road in the map, the attribute information of the speed limit sign associated with each road is considered, so that the automatic configuration of the speed limit information of the road in the map can be realized. Compared with manual speed limit marking, it can not only improve the accuracy of the speed limit information configuration of the map, but also improve the production efficiency of map making.

[0068] In addition, the speed limit information of some roads or lanes in the map can be optimized based on the road topology relationship to further improve the accuracy of the map speed limit information.

[0069] In addition, by setting the priority of lane-level speed limit values ​​and road-level speed limit values, as well as the priority of lane-level speed limit values ​​indicated by speed limit signs and lane-level speed limit values ​​indicated by ground speed limit signs, the problem of speed limit conflicts on the same road or lane can be solved.

[0070] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0071] Figure 1 Schematic diagram of the process of associating the speed limit information of the road provided in this application Figure 1 The execution subject of the embodiment of the present application may be a computer device. For example, the computer device may be a server. The method in this embodiment may be implemented by software, hardware, or a combination of software and hardware.

[0072] like Figure 1 As shown, the method provided in this embodiment may include the following steps:

[0073] S101. Determine a first association relationship between each road and each speed limit sign based on a spatial position relationship between each road and each speed limit sign.

[0074] The speed limit sign includes at least one of a speed limit sign and a ground speed limit mark. In some embodiments, the speed limit sign can also be described as a speed limit road sign, and the ground speed limit mark can also be described as a ground speed limit text.

[0075] In a possible implementation, before determining the first association relationship between each road and each speed limit sign based on the spatial position relationship between each road and each speed limit sign, the method further includes: obtaining the spatial position information of each road and the spatial position information of each speed limit sign from the data collected by the vehicle. The data collected by the vehicle includes data collected by the global positioning system (GPS), laser radar, camera, and other sensors installed on the vehicle, and the spatial position information of each road and each speed limit sign can be obtained based on these data.

[0076] Exemplarily, the spatial location information of a road may include the coordinate positions of the starting point and the end point of the road on the two-dimensional map plane, the height value of the road in the vertical direction, and the spatial orientation of the road (e.g., from east to west, from south to north, etc.). In some embodiments, the spatial orientation of the road may also be described as the driving direction of the road.

[0077] For example, the spatial position information of a speed limit sign may include the coordinate position of the speed limit sign on the two-dimensional map plane, the height value of the speed limit sign in the vertical direction, and the spatial orientation of the speed limit sign. The spatial orientation of the speed limit sign can be understood as the direction of the projection line starting from the projection point of the speed limit sign column after the speed limit sign is projected onto the ground.

[0078] Exemplarily, the spatial position information of a certain ground speed limit sign may include the position coordinates of the ground speed limit sign on a two-dimensional map plane and the height value of the ground speed limit sign in the vertical direction.

[0079] In a possible implementation manner, the spatial position relationship between each road and each speed limit sign is determined based on the spatial position information of each road and each speed limit sign obtained above.

[0080] The spatial position relationship includes at least one of a plane distance value, a relative height difference, and a direction angle value. The plane distance value is the distance between the road and the speed limit sign on the same plane, the relative height difference is the difference between the height of the road and the height of the speed limit sign, and the direction angle value is the angle value between the direction of the road and the direction of the speed limit sign.

[0081] In a possible implementation, the plane distance value between each road and each speed limit sign is determined based on the position coordinates of each road and each speed limit sign in the same plane (two-dimensional map plane).

[0082] In a possible implementation manner, the relative height difference between each road and each speed limit sign is determined based on the height values ​​of each road and each speed limit sign in the vertical direction.

[0083] In a possible implementation manner, based on the spatial orientations of the roads and the speed limit signs, the orientation angle values ​​of the roads and the speed limit signs are determined.

[0084] Through the above-mentioned several implementation methods, the spatial position relationship between each road and each speed limit sign in the map can be determined. Subsequently, based on the spatial position relationship between each road and each speed limit sign, the first association relationship between each road and each speed limit sign can be further determined, that is, the speed limit sign having the first association relationship with each road can be determined.

[0085] The following describes how to determine the first association between each road and each speed limit sign, taking the speed limit sign including the speed limit sign as an example. Figure 2 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 2 ,like Figure 2 As shown, each speed limit sign is used as a target speed limit sign to perform the following steps:

[0086] S1011. Determine roads within a first preset range of the target speed limit sign as candidate roads.

[0087] In some embodiments, based on the position coordinates of the target speed limit sign on the two-dimensional map plane, roads within a first preset range of the target speed limit sign are determined from the map as candidate roads, and the number of candidate roads may be one or more. The first preset range of the target speed limit sign can be understood as a preset radius range centered on the position coordinates of the target speed limit sign on the map.

[0088] S1012. Based on at least one of the plane distance value, relative height difference, and orientation angle value between each candidate road and the target speed limit sign, the road indicated by the target speed limit sign is selected from the candidate roads as the first target road, and a first association relationship between the target speed limit sign and the first target road is obtained.

[0089] The first target road includes at least one of the first road, the second road and the third road, the plane distance value between the first road and the target speed limit sign is less than a distance threshold, the relative height difference between the second road and the target speed limit sign is less than or equal to a first height difference threshold, and the orientation angle value between the third road and the target speed limit sign is within a preset angle value range.

[0090] In one possible implementation, based on the plane distance values ​​between each candidate road and the target speed limit sign, the road indicated by the target speed limit sign is screened out from the candidate roads as the first road, and a first association relationship between the target speed limit sign and the first road is obtained. In this implementation, firstly, based on the position coordinates of each candidate road and the target speed limit sign in the same plane (two-dimensional map plane), the plane distance values ​​of each candidate road and the target speed limit sign are determined, and then the road whose plane distance value to the target speed limit sign is less than the distance threshold is determined from the candidate roads as the first road, and the first road is associated with the target speed limit sign, that is, the first association relationship between the target speed limit sign and the first road is obtained.

[0091] For example, see Figure 3 As shown in (a), the target speed limit sign is speed limit sign 1, and the candidate roads include road 1 and road 2. The coordinates of the position C of the speed limit sign 1 on the two-dimensional plane xoy (i.e., the two-dimensional map plane) are obtained. According to the line segment AB of road 1 on the two-dimensional plane, the vertical distance O1C from C to AB is determined, and the vertical distance O1C is used as the plane distance value between the speed limit sign 1 and the road 1. Similarly, the plane distance value between the speed limit sign 1 and the road 2 can be determined, recorded as O2C, and the distance threshold is a. If O1C<a<O2C, the speed limit sign 1 can be associated with the road 1, that is, the speed limit sign 1 and the road 1 have a first association relationship.

[0092] The distance threshold can be set according to actual needs and is not limited in this embodiment.

[0093] In the above implementation, according to the plane distance value between the speed limit sign and the road, the road whose plane distance value is less than the distance threshold is associated with the speed limit sign, thereby realizing automatic association of the speed limit sign and the road in the map.

[0094] In a possible implementation, based on the relative height difference between each candidate road and the target speed limit sign, the road indicated by the target speed limit sign is screened out from the candidate roads as the second road, and a first association relationship between the target speed limit sign and the second road is obtained. In this implementation, firstly, based on the height values ​​of each candidate road and the target speed limit sign in the vertical direction, the relative height difference between each candidate road and the target speed limit sign is determined, and then a road whose relative height difference with the target speed limit sign is less than or equal to a first height difference threshold is determined from the candidate roads as the second road, and the second road is associated with the target speed limit sign, that is, the first association relationship between the target speed limit sign and the second road is obtained.

[0095] For example, see Figure 3 As shown in (b), the target speed limit sign is speed limit sign 2, and the candidate roads include road 3 and road 4. The height z2 of speed limit sign 2 in the z direction (i.e., vertical direction), the height z3 of road 3 in the z direction, and the height z4 of road 4 in the z direction are obtained. The relative height difference between speed limit sign 2 and road 3 in the z direction is recorded as |z2-z3|, and the relative height difference between speed limit sign 2 and road 4 in the z direction is recorded as |z2-z4|. The first height difference threshold is △z1. If |z2-z3|<△z1, |z2-z4|>△z1, speed limit sign 2 can be associated with road 3, that is, speed limit sign 2 and road 3 have a first association relationship.

[0096] The first height difference threshold can be set according to actual needs, and this embodiment does not limit this.

[0097] In the above implementation, based on the relative height difference between the speed limit sign and the road in the vertical direction, the road whose relative height difference is less than or equal to the first height difference threshold is associated with the speed limit sign, thereby realizing automatic association of the speed limit sign and the road in the map, which is particularly suitable for associating the speed limit sign with the road in the viaduct scene.

[0098] In a possible implementation, based on the orientation angle value between each candidate road and the target speed limit sign, the road indicated by the target speed limit sign is screened out from the candidate roads as the third road, and a first association relationship between the target speed limit sign and the third road is obtained. In this implementation, firstly, based on the spatial orientation of each candidate road and the target speed limit sign, the orientation angle value between each candidate road and the target speed limit sign is determined, and then the road whose orientation angle value with the target speed limit sign is within a preset angle value range is determined from the candidate roads as the third road, and the third road is associated with the target speed limit sign, that is, the first association relationship between the target speed limit sign and the third road is obtained.

[0099] For example, see Figure 3 As shown in (c), the target speed limit sign is speed limit sign 3, and the candidate roads include road 5 and road 6. The orientation angle value α between speed limit sign 3 and road 5 is determined according to the spatial orientation of speed limit sign 3 and the spatial orientation of road 5, and the orientation angle value β between speed limit sign 3 and road 6 is determined according to the spatial orientation of speed limit sign 3 and the spatial orientation of road 6, and the preset angle value range is 90°±3°. If α is within 90°±3° and β is outside 90°±3°, speed limit sign 3 is associated with road 5, that is, speed limit sign 3 and road 5 have a first association relationship.

[0100] The preset angle value range can be set according to actual needs, and this embodiment does not limit this.

[0101] In the above implementation, based on the orientation angle value between the speed limit sign and the road, the speed limit sign with an orientation angle value within a preset angle value range is associated with the road, thereby realizing automatic association between the speed limit sign and the road in the map, which is particularly suitable for associating the speed limit sign with the road in intersections and forks.

[0102] It should be noted that the above-mentioned implementation modes can be implemented separately or in combination, which is not limited in this embodiment.

[0103] The following describes how to determine the first association between each road and each ground speed limit sign, taking the speed limit sign including the ground speed limit sign as an example. Figure 4 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 3 ,like Figure 4 As shown in the figure, take each ground speed limit sign as the target speed limit sign and perform the following steps:

[0104] S1013. Determine that a road within a second preset range of the target ground speed limit sign is a candidate road.

[0105] In some embodiments, based on the position coordinates of the target ground speed limit mark on the two-dimensional map plane, roads within a second preset range of the target ground speed limit mark are determined from the map as candidate roads, and the number of candidate roads may be one or more. The second preset range of the target ground speed limit mark can be understood as a preset radius range centered on the position coordinates of the target ground speed limit mark on the map.

[0106] S1014. Determine a second target road from the candidate roads according to the relative height difference between each candidate road and the target ground speed limit sign, and obtain a first association relationship between the target ground speed limit sign and the second target road. The relative height difference between the second target road and the target ground speed limit sign is less than or equal to a second height difference threshold.

[0107] First, based on the height values ​​of each candidate road and the target ground speed limit sign in the vertical direction, the relative height difference between each candidate road and the target ground speed limit sign is determined, and then a road whose relative height difference with the target ground speed limit sign is less than or equal to a second height difference threshold is determined from the candidate roads as the second target road, and the second target road is associated with the target ground speed limit sign, that is, a first association relationship between the target ground speed limit sign and the second target road is obtained.

[0108] Exemplarily, the second height difference threshold may be set to 0. The second height difference threshold may be set according to actual needs, which is not limited in this embodiment.

[0109] In the above implementation, for the existence of upper and lower roads in the same space, the relative height difference between the ground speed limit sign and the upper and lower roads is determined, and the road whose relative height difference with the ground speed limit sign is less than or equal to the second height difference threshold is used as the road associated with the ground speed limit sign, thereby realizing automatic association between the ground speed limit sign and the road in the map, which is particularly suitable for the association between the ground speed limit sign and the road in the viaduct scene.

[0110] After determining the first association relationship between each road and each speed limit sign, the second association relationship between each road and each speed limit information may be further determined, with reference to the following steps for details.

[0111] S102. Determine a second association relationship between each road and each speed limit information based on the first association relationship and the attribute information of each speed limit sign.

[0112] The attribute information of each speed limit sign includes speed limit information and / or a scene label, that is, for each speed limit sign, the attribute information of the speed limit sign includes the speed limit information and / or the scene label of the speed limit sign.

[0113] The speed limit information of the speed limit sign includes a lane-level speed limit value and / or a road-level speed limit value. When the speed limit sign is a speed limit signboard, the speed limit information of the speed limit signboard may include a road-level speed limit value, that is, the speed limit value of the entire road, and the road-level speed limit value may include the maximum speed limit value and / or the minimum speed limit value of the entire road. The speed limit information of the speed limit signboard may include a lane-level speed limit value, that is, the speed limit values ​​of multiple lanes. When the speed limit sign is a ground speed limit sign, the speed limit information of the ground speed limit sign may include a lane-level speed limit value, that is, the speed limit values ​​of multiple lanes. The aforementioned speed limit value for each lane may include the maximum speed limit value and / or the minimum speed limit value for each lane.

[0114] The scene label of the speed limit sign is used to indicate the scene of the road where the speed limit sign is located. The scenes of the road where the speed limit sign is located include but are not limited to ramps, exits, construction, tunnels, bridges, etc. The scene label of the speed limit sign can be obtained by map annotators or by identifying data collected by the vehicle. For example, the scene of the road where the speed limit sign is located can be identified based on images collected by the vehicle camera.

[0115] In some embodiments, the attribute information of each speed limit sign can be obtained from the data collected from the lane. For example, the camera installed on the vehicle collects an image containing each speed limit sign, and the attribute information of each speed limit sign in the image can be obtained based on the image recognition algorithm.

[0116] In some embodiments, see Figure 5 According to the first association relationship and the attribute information of each speed limit sign, determining the second association relationship between each road and each speed limit information (S102) may include the following steps:

[0117] The following processing is performed on each road in the first association relationship as the fourth road:

[0118] S1021. Determine the speed limit sign associated with the fourth road in the first association relationship as the first speed limit sign.

[0119] The first speed limit sign includes a speed limit signboard and / or a ground speed limit sign.

[0120] S1022. Based on the speed limit information of the first speed limit sign and / or the scene label of the first speed limit sign, determine the first speed limit information associated with the fourth road, and obtain a second association relationship between the fourth road and the first speed limit information.

[0121] In a possible implementation, when the speed limit information of the first speed limit sign includes a road-level speed limit value, the first speed limit information associated with the fourth road is determined according to the road-level speed limit value. That is, the road-level speed limit value indicated by the first speed limit sign is associated with the fourth road, and the first speed limit information associated with the fourth road includes the road-level speed limit value indicated by the first speed limit sign.

[0122] Exemplarily, taking the first speed limit sign as a speed limit sign, in the first association relationship, road 1 is associated with speed limit sign 1, and based on the road-level speed limit value of speed limit sign 1, for example, the maximum speed limit is 80km / h, it is determined that the first speed limit information of road 1 includes the maximum speed limit of 80km / h indicated by speed limit sign 1. In some examples, the road-level speed limit value of speed limit sign 1 also includes a minimum speed limit value, for example, the minimum speed limit is 50km / h, and it is determined that the first speed limit information of road 1 includes two road-level speed limit values ​​indicated by speed limit sign 1, namely, the maximum speed limit of 80km / h and the minimum speed limit of 50km / h.

[0123] In a possible implementation, when the speed limit information of the first speed limit sign includes a lane-level speed limit value, the first speed limit information associated with the fourth road is determined based on the lane-level speed limit value and the position of each lane of the fourth road, and the first speed limit information includes the speed limit information corresponding to each lane in the fourth road.

[0124] The speed limit information of the first speed limit sign may include N groups of lane-level speed limit information, each group of lane-level speed limit information includes a maximum speed limit value and / or a minimum speed limit value of a lane, where N is a positive integer greater than or equal to 2. The number of lanes on the fourth road is M, and M is a positive integer.

[0125] In one possible case, the number N of lane-level speed limit information indicated by the first speed limit sign is equal to the number M of lanes on the fourth road, and speed limit information is associated with each lane on the fourth road based on the N sets of lane-level speed limit information and the positions of each lane of the fourth road.

[0126] For example, see Figure 6 The first speed limit sign associated with the fourth road is a ground speed limit sign, which indicates four maximum speed limit values, namely 70km / h, 60km / h, 60km / h, and 50km / h. According to the four maximum speed limit values ​​indicated by the ground speed limit sign and the positions of the lanes of the fourth road, it is determined that the speed limit information associated with lane 1 on the fourth road includes 70km / h, the speed limit information associated with lane 2 includes 60km / h, the speed limit information associated with lane 3 includes 60km / h, and the speed limit information associated with lane 4 includes 50km / h, thereby realizing automatic configuration of lane-level speed limits.

[0127] In one possible case, the number N of lane-level speed limit information indicated by the first speed limit sign is less than the number M of lanes on the fourth road, and speed limit information is associated with each lane on the fourth road in a preset order according to the N sets of lane-level speed limit information and the positions of the lanes on the fourth road. The preset order includes, for example, from left to right, or from right to left.

[0128] For example, see Figure 7The first speed limit sign associated with the fourth road is a gantry speed limit sign, which indicates four sets of lane-level speed limit information, each set of lane-level speed limit information including a maximum speed limit value and a minimum speed limit value. According to the four sets of lane-level speed limit information indicated by the speed limit sign and the positions of the lanes of the fourth road, the maximum speed limit value and the minimum speed limit value are sequentially configured for each lane on the fourth road in a sequence from left to right, for example, to achieve automatic configuration of the lane-level speed limit.

[0129] In the above example, there are some lanes, such as Figure 7 The middle lane 5 is not associated with the speed limit information. The speed limit information of this lane can be determined by the following embodiment.

[0130] In some embodiments, the first lane is a lane on the fourth road that is not associated with speed limit information, and the speed limit information of the first lane can be determined based on speed limit information associated with an adjacent lane of the first lane.

[0131] In one example, if the first lane is the rightmost lane of the fourth road, the adjacent lane of the first lane is the adjacent lane on the left side of the first lane, and the speed limit information associated with the first lane can be determined based on the speed limit information associated with the adjacent lane on the left side of the first lane.

[0132] For example, see Figure 7 The speed limit information associated with lane 4 includes a maximum speed limit of 100 km / h and a minimum speed limit of 60 km / h. Lane 4 is an adjacent lane to lane 5. According to the speed limit information associated with lane 4, the maximum speed limit and the minimum speed limit are configured for lane 5.

[0133] In one example, if the first lane is the leftmost lane in the fourth road, the adjacent lane of the first lane is the adjacent lane on the right side of the first lane, and the speed limit information associated with the first lane can be determined based on the speed limit information of the adjacent lane on the right side of the first lane.

[0134] The above embodiment is mainly aimed at the situation where a lane on a road in a map is not associated with speed limit information. By acquiring the speed limit information of the lane adjacent to the lane, the speed limit information is automatically configured for the lane.

[0135] In a possible implementation, the first speed limit information associated with the fourth road is determined based on the speed limit information corresponding to the scene tag of the first speed limit sign. That is, the speed limit information corresponding to the scene tag of the first speed limit sign is associated with the fourth road, and it is determined that the first speed limit information associated with the fourth road includes the speed limit information corresponding to the scene tag of the first speed limit sign.

[0136] Exemplarily, taking the first speed limit label as a speed limit sign, in the first association relationship, road 2 and speed limit sign 2 are associated, and the scene label of speed limit sign 2 is used to indicate that the scene of the road where it is located is a construction scene. Based on the speed limit information corresponding to the scene label of speed limit sign 2, for example, the maximum speed limit is 5km / h, it is determined that the first speed limit information associated with road 2 includes 5km / h.

[0137] It should be noted that the above-mentioned embodiments can be implemented separately or in combination, which is not limited in this embodiment. The first speed limit information associated with each road in the first association relationship can refer to the above-mentioned embodiments.

[0138] The method for associating speed limit information of roads shown in this embodiment is based on the spatial position relationship between each road and each speed limit sign in the map, and the first-level relationship between the roads and the speed limit signs is performed to obtain the first association relationship between each road and each speed limit sign. Based on the first association relationship and in combination with the attribute information of each speed limit sign, the speed limit information is configured for each road in the first association relationship. This can realize the automatic configuration of the speed limit information of the roads in the map. Compared with manual speed limit marking, it can not only improve the accuracy of the speed limit information configuration of the map, but also improve the production efficiency of map making.

[0139] In some embodiments, after determining the second association relationship between each road and each speed limit sign, the method further includes: configuring the speed limit information of each road in the map based on the second association relationship between each road and each speed limit sign.

[0140] In one example, each road and each speed limit sign in the aforementioned embodiment are map elements collected for the first time, and the speed limit information of each road in the map is configured based on the second association relationship between each road and each speed limit sign, which means: based on the second association relationship between each road and each speed limit sign, the speed limit information of each road in the map is constructed.

[0141] In one example, each road and / or each speed limit sign in the aforementioned embodiment is a newly added map element. Configuring the speed limit information of each road in the map based on the second association relationship between each road and each speed limit sign means: updating the speed limit information of each road in the map based on the second association relationship between each road and each speed limit sign.

[0142] Based on the above embodiment, when determining the second association relationship between each road and each speed limit information according to the first association relationship and the attribute information of each speed limit sign, the road topology relationship in the map and the attribute information of some roads can also be combined to associate the speed limit information with the road.

[0143] The road topology relationship is used to indicate the connectivity relationship between roads on the map. In some embodiments, the road topology relationship can also be described as a road connectivity relationship.

[0144] The attribute information of a road may include the road type, speed limit information, etc., where the road type includes but is not limited to high-altitude roads, intercity roads, ramp roads, exit roads, entrance roads, construction roads, tunnel roads, bridge roads, U-turn roads, auxiliary roads, etc. Different road types may correspond to different speed limit information.

[0145] It should be noted that the road type in the road attribute information can be obtained by map annotators or identified based on vehicle-side collected data. If the road attribute information includes speed limit information, the road can be understood as a road with speed limit information configured in the basic map.

[0146] In some embodiments, see Figure 8 According to the first association relationship and the attribute information of each speed limit sign, determining the second association relationship between each road and each speed limit information (S102) may include the following steps:

[0147] Each road in the first association relationship is treated as the fifth road and the following processing is performed:

[0148] S1023. Determine the speed limit sign associated with the fifth road in the first association relationship as the second speed limit sign.

[0149] The second speed limit sign includes a speed limit signboard and / or a ground speed limit sign.

[0150] S1024. Based on the road topological relationship, determine a third target road that has a connectivity relationship with the fifth road.

[0151] The third target road that is connected to the fifth road may include the following: a downstream road of the fifth road, an upstream road of the fifth road, and a road that merges into (or flows into) the fifth road. Fig. 9 Taking the fifth road as Road 1 as an example, according to the road topological relationship, it can be determined that the downstream roads of Road 1 include Road 2 and Road 3, it can also be determined that the road merged into Road 1 is Road 4, and it can also be determined that the upstream road of Road 1 is Road 5.

[0152] S1025. Based on the attribute information of the fifth road and / or the attribute information of the second speed limit sign, determine the second speed limit information associated with the third target road, and obtain a second association relationship between the third target road and the second speed limit information.

[0153] In a possible implementation, based on the speed limit information in the attribute information of the fifth road, the second speed limit information associated with the sixth road in the third target road is determined, and the sixth road is a downstream road of the fifth road.

[0154] For example, see Fig. 9The fifth road is Road 1. Assume that the speed limit of Road 1 is configured to be 60km / h. The sixth road is Road 3. The speed limit of Road 3 is not configured. At this time, the speed limit of Road 3 can be determined based on the speed limit of Road 1. For example, the speed limit of Road 3 is configured to be 60km / h.

[0155] In the above implementation manner, after the downstream road of the current road is determined based on the road topological relationship, the speed limit information of the downstream road can be determined according to the speed limit information of the current road.

[0156] In a possible implementation, based on the attribute information of the second speed limit sign, the second speed limit information associated with the seventh road in the third target road is determined, and the seventh road is a downstream road or an upstream road of the fifth road.

[0157] The attribute information of the second speed limit sign includes the speed limit information and / or the scene label of the second speed limit sign. The speed limit information of the second speed limit sign includes the lane-level speed limit value and / or the road-level speed limit value, and the scene label of the second speed limit sign is used to indicate the scene of the road where the second speed limit sign is located. For details, please refer to the description of the aforementioned S102 section, which will not be expanded here.

[0158] In one example, the second speed limit information associated with the seventh road in the third target roads is determined based on the speed limit information in the attribute information of the second speed limit sign.

[0159] For example, see Fig.10 In (a), the fifth road is Road 1, the seventh road is Road 3, and the second speed limit sign associated with the fifth road is Fig.10 As shown in the speed limit sign 1 in (a), the speed limit information indicated by the speed limit sign 1 is 80 km / h, and the speed limit information 80 km / h of the speed limit sign 1 is determined as the speed limit information associated with the road 3.

[0160] In one example, based on the scene tag in the attribute information of the second speed limit sign, the second speed limit information associated with the seventh road in the third target road is determined. Specifically, the speed limit information corresponding to the scene tag in the attribute information of the second speed limit sign is determined as the second speed limit information associated with the seventh road.

[0161] For example, see Fig.10 In (b), the fifth road is Road 5, the seventh road is Road 1, and the second speed limit sign associated with the fifth road is Fig.10 In the speed limit sign 2 shown in (b), if the scene label of the speed limit sign 2 indicates that the road ahead is a bridge road, the speed limit information corresponding to the bridge road is determined as the speed limit information associated with road 1. In some examples, if the scene label of the speed limit sign 2 indicates that the road ahead is a ramp road, the speed limit information corresponding to the ramp road is determined as the speed limit information associated with road 1.

[0162] In the above implementation, after determining the downstream road of the current road based on the road topology relationship, the speed limit information can be configured for the downstream road of the current road according to the speed limit information indicated by the speed limit sign associated with the current road and / or the scene label, thereby improving the accuracy of the road speed limit information configuration in the map.

[0163] In a possible implementation, based on the road type in the attribute information of the fifth road, the second speed limit information associated with the eighth road in the third target road is determined, and the eighth road is an upstream road of the fifth road or a road merged into the fifth road. The road type includes but is not limited to ramp roads, service area entrance roads, tunnel roads, bridge roads, left-turn roads, right-turn roads, etc.

[0164] In one example, speed limit information associated with at least one lane in an eighth road is determined based on speed limit information corresponding to the road type in the attribute information of the fifth road.

[0165] In one case of this example, when the eighth road is the upstream road of the fifth road, the speed limit information of at least one lane extending from the eighth road to the fifth road is determined based on the speed limit information corresponding to the road type in the attribute information of the fifth road.

[0166] For example, see Fig.11 In (a), the fifth road is Road 2, the eighth road is Road 1, Road 1 includes 3 lanes, the lane extending from Road 1 to Road 2 is Lane 3 in Road 1, and Road 2 is a ramp road. According to the speed limit information corresponding to the road type of Road 2, for example, 30km / h, the speed limit value of Lane 3 in Road 1 is determined. If the speed limit value of Lane 3 of Road 1 is initially configured to be 60km / h, the speed limit value of Lane 3 can be adjusted from 60km / h to 40km / h, so as to achieve a smooth transition of the speed limit information at the junction of the two roads and improve the accuracy of the speed limit information configuration of the map road. In some examples, the speed limit value of Lane 3 can also be adjusted from 60km / h to 30km / h. In some examples, the road type of Road 2 can also be a service area entrance and exit road, a tunnel road, or a bridge road, etc. The adjustment principle of the speed limit information of at least one lane of the upstream road connected to these roads can refer to the aforementioned examples and will not be expanded here.

[0167] In the above example, when it is determined based on the road topology that there is a fork in the road ahead, the speed limit value of at least one lane extending from the current road to the fork road can be adjusted according to the road type of the fork road (a type of downstream road), thereby optimizing the lane speed limit values ​​near the road connection in the map and improving the accuracy of the map speed limit information.

[0168] In another case of this example, when the eighth road is the road into which the fifth road merges (joins), the speed limit information of at least one lane extending from the fifth road to the eighth road is determined based on the speed limit information corresponding to the road type in the attribute information of the fifth road.

[0169] For example, see Fig.11 In (b), the fifth road is Road 3, the eighth road is Road 4, Road 4 includes 3 lanes, the lane extending from Road 3 to Road 4 is Lane 3 in Road 4, and Road 3 is a ramp road. According to the speed limit information corresponding to the road type of Road 3, for example, 30km / h, the speed limit value of Lane 3 in Road 4 is determined. The speed limit value of Lane 3 of Road 4 was initially configured to be 60km / h. The speed limit value of Lane 3 can be adjusted from 60km / h to 40km / h to achieve a smooth transition of the speed limit information at the junction of the two roads and improve the accuracy of the speed limit information configuration of the map road. In some examples, the speed limit value of Lane 3 can also be adjusted from 60km / h to 30km / h. In some examples, the road type of Road 2 can also be a service area entrance and exit road.

[0170] In the above example, when it is determined based on the road topology that there is a road merging ahead of the current road, the speed limit value of at least one lane extending from the merging road to the current road can be adjusted based on the speed limit value of the merging road, thereby optimizing the lane speed limit values ​​near the road connection in the map and improving the accuracy of the map speed limit information.

[0171] It should be noted that the above-mentioned several implementation modes can be implemented separately or in combination, which is not limited in this embodiment. The second speed limit information associated with each road in the first association relationship can refer to the above-mentioned several implementation modes.

[0172] On the basis of the above embodiment, there is still a road in the map that is not associated with a speed limit sign, that is, the road is a road that does not have a first association relationship among the above roads. In the speed limit information association method, the speed limit information can be configured for the upstream and downstream roads of the road in combination with the attribute information of the road and the road topology relationship. For details, please refer to the following embodiment.

[0173] For example, Fig.12 Schematic diagram of the process of associating the speed limit information of the road provided in the embodiment of the present application Figure 6 .like Fig.12 As shown, the method provided in this embodiment may include the following steps:

[0174] The roads that do not have the first association relationship among the roads are respectively regarded as the ninth roads and the following processing is performed:

[0175] S1201. Based on the road topology, determine the tenth road that has a connectivity relationship with the ninth road;

[0176] S1202. Based on the speed limit information and / or the road type in the attribute information of the ninth road, determine the third speed limit information associated with the tenth road, and obtain a second association relationship between the tenth road and the third speed limit information.

[0177] The ninth road may be regarded as a road in the map that is not associated with a speed limit sign, and the tenth road may be an upstream road or a downstream road of the ninth road.

[0178] In one possible implementation, based on the speed limit information in the attribute information of the ninth road, the third speed limit information associated with the tenth road is determined to obtain a second association relationship between the tenth road and the third speed limit information. The implementation principle of this implementation is similar to the first implementation of S1025, and the details can be referred to the aforementioned embodiment, which will not be expanded here.

[0179] In a possible implementation, based on the road type in the attribute information of the ninth road, the third speed limit information associated with the tenth road is determined, and a second association relationship between the tenth road and the third speed limit information is obtained. The implementation principle of this implementation is similar to the third implementation of S1025, and the details can be referred to the aforementioned embodiment, which will not be expanded here.

[0180] The above two implementation modes may be implemented separately or in combination, which is not limited in this embodiment.

[0181] Based on the foregoing embodiments, after determining the second association relationship between each road and each speed limit information according to the first association relationship between each road and each speed limit sign and the attribute information of each speed limit sign, there may be redundant speed limit information on some roads. For example, the speed limit information of a certain road includes a road-level speed limit value and multiple lane-level speed limit values. For another example, the speed limit information of a certain road includes multiple lane-level speed limit values ​​indicated by different speed limit signs. Therefore, it is necessary to further optimize the speed limit information of the road to avoid speed limit conflicts caused by multiple speed limit values ​​on the road.

[0182] For example, Fig.13 Schematic diagram of the process of the method for associating speed limit information of roads provided in the embodiment of the present application Figure 7 .exist Figure 1 Based on the embodiment shown, Fig.13 As shown, the method provided in this embodiment further includes the following steps:

[0183] S103. Based on the second association relationship between each road and each speed limit sign, determine a speed limit conflicting road, where the speed limit conflicting road is a road associated with at least two speed limit information in the second association relationship.

[0184] Exemplarily, in the second association relationship, road 1 is associated with speed limit sign 1, road 2 is associated with ground speed limit sign 1, and road 3 is associated with speed limit sign 2 and ground speed limit sign 2. Speed ​​limit sign 2 indicates a road-level speed limit value or a lane-level speed limit value, ground speed limit sign 2 indicates a lane-level speed limit value, and road 3 is a speed limit conflict road.

[0185] S104. According to the priority of the speed limit information type of the speed limit conflicting road, determine the target speed limit information associated with the speed limit conflicting road from at least two speed limit information associated with the speed limit conflicting road in the second association relationship.

[0186] In a possible implementation, if there is a first candidate speed limit information and a second candidate speed limit information among at least two speed limit information associated with the speed limit conflicting road in the second association relationship, the first candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the first candidate speed limit information is the lane-level speed limit value indicated by the speed limit sign, and the second candidate speed limit information is the road-level speed limit value indicated by the speed limit sign.

[0187] The lane-level speed limit value indicated by the speed limit sign includes the lane-level speed limit value indicated by the speed limit sign (e.g., the gantry speed limit sign) and / or the lane-level speed limit value indicated by the ground speed limit sign, and the lane-level speed limit value generally includes the maximum speed limit value of multiple lanes and / or the minimum speed limit value of multiple lanes. The road-level speed limit value indicated by the speed limit sign includes the road-level speed limit value indicated by the speed limit sign (e.g., the road sign beside the road).

[0188] For example, Fig.14 As shown in (a), a road in the second association relationship is associated with two speed limit information, namely: the lane-level speed limit value indicated by the ground speed limit sign associated with the road, the lane-level speed limit values ​​of the three lanes from left to right are 120km / h, 100km / h and 80km / h respectively; and the road-level speed limit value indicated by the speed limit sign associated with the road, for example, the road-level speed limit value of the road is 80km / h, indicating the overall speed limit value of the road. Based on the above situation, the road-level speed limit value of 80km / h of the road can be eliminated, and the three lane-level speed limit values ​​of the road can be retained.

[0189] It can be understood that the lane-level speed limit is more accurate than the road-level speed limit. Therefore, when a road is configured with both a road-level speed limit and a lane-level speed limit, the lane-level speed limit will be used as the speed limit for the road to avoid speed limit conflicts caused by multiple speed limit values ​​on the road.

[0190] In the above implementation, the lane-level speed limit value has a higher priority than the road-level speed limit value. If a speed limit conflicting road is associated with both a road-level speed limit value and a lane-level speed limit value, the road-level speed limit value can be eliminated and the lane-level speed limit value can be retained, thereby resolving the problem of road speed limit conflicts.

[0191] In a possible implementation, if there are third candidate speed limit information and fourth candidate speed limit information in at least two speed limit information associated with the speed limit conflicting road in the second association relationship, the third candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the third candidate speed limit information is the lane-level speed limit value indicated by the speed limit sign, and the fourth candidate speed limit information is the lane-level speed limit value indicated by the ground speed limit sign.

[0192] For example, see Fig.14 (b), a road in the second association relationship is associated with two speed limit information, namely: the lane-level speed limit value indicated by the ground speed limit sign associated with the road, the lane-level speed limit values ​​of the three lanes from left to right are 100km / h, 100km / h and 80km / h respectively; and the lane-level speed limit value indicated by the speed limit sign associated with the road, the lane-level speed limit values ​​of the three lanes from left to right are 120km / h, 100km / h and 80km / h respectively. Based on the above situation, the three lane-level speed limit values ​​(i.e., 100km / h, 100km / h and 80km / h) indicated by the ground speed limit sign associated with the road can be eliminated, and the three lane-level speed limit values ​​(i.e., 120km / h, 100km / h and 80km / h) indicated by the speed limit sign associated with the road can be retained.

[0193] It is understandable that, under normal circumstances, the speed limit sign is updated faster than the speed limit sign on the ground. Therefore, when a road is configured with multiple lane-level speed limits indicated by speed limit signs and multiple lane-level speed limits indicated by speed limit signs on the ground, the lane-level speed limit indicated by the speed limit sign is used as the speed limit value of the road to avoid speed limit conflicts caused by multiple speed limit values ​​in the lanes of the road.

[0194] In the above implementation, the lane-level speed limit value indicated by the speed limit sign has a higher priority than the lane-level speed limit value indicated by the ground speed limit sign. If the speed limit conflict road is associated with both the lane-level speed limit value indicated by the speed limit sign and the lane-level speed limit value indicated by the ground speed limit sign, the lane-level speed limit value indicated by the ground speed limit sign can be eliminated and the lane-level speed limit value indicated by the speed limit sign can be retained, thereby solving the problem of road speed limit conflicts.

[0195] In a possible implementation, if the second candidate speed limit information, the third candidate speed limit information and the fourth candidate speed limit information exist in at least two speed limit information associated with the speed limit conflicting road in the second association relationship, the third candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road. The second candidate speed limit information is the road-level speed limit value indicated by the speed limit sign, the third candidate speed limit information is the lane-level speed limit value indicated by the speed limit sign, and the fourth candidate speed limit information is the lane-level speed limit value indicated by the ground speed limit sign.

[0196] In the above implementation, if the speed limit conflicting road is associated with both a road-level speed limit value and two lane-level speed limit values, the road-level speed limit value and the lane-level speed limit value indicated by the ground speed limit sign can be eliminated, and the lane-level speed limit value indicated by the speed limit sign can be retained, thereby solving the problem of road speed limit conflict. The principle of this implementation can refer to the above two implementations.

[0197] Fig.15 This is a schematic diagram of the structure of the speed limit information association device for a road provided in an embodiment of the present application. Fig.15 As shown, the device 1500 comprises:

[0198] The processing module 1501 is used to determine a first association relationship between each road and each speed limit sign based on a spatial position relationship between each road and each speed limit sign;

[0199] A second association relationship between each road and each piece of speed limit information is determined based on the first association relationship and the attribute information of each speed limit sign.

[0200] In an optional embodiment, the speed limit sign includes at least one of a speed limit signboard and a ground speed limit sign; and / or the spatial position relationship includes at least one of a plane distance value, a relative height difference, and a direction angle value; the plane distance value is the distance between the road and the speed limit sign on the same plane, the relative height difference is the difference between the height of the road and the height of the speed limit sign, and the direction angle value is the angle value between the direction of the road and the direction of the speed limit sign.

[0201] In an optional embodiment, when the speed limit sign includes a speed limit sign, the processing module 1501 is used to perform the following processing on each speed limit sign as a target speed limit sign: determine that a road within a first preset range of the target speed limit sign is a candidate road; based on at least one of the plane distance value, relative height difference, and orientation angle value between each candidate road and the target speed limit sign, select the road indicated by the target speed limit sign as the first target road from the candidate roads, and obtain a first association relationship between the target speed limit sign and the first target road; the first target road includes at least one of the first road, the second road, and the third road, the plane distance value between the first road and the target speed limit sign is less than a distance threshold, the relative height difference between the second road and the target speed limit sign is less than or equal to a first height difference threshold, and the orientation angle value between the third road and the target speed limit sign is within a preset angle value range;

[0202] In an optional embodiment, when the speed limit sign includes a ground speed limit sign, the processing module 1501 is used to perform the following processing on each ground speed limit sign as a target ground speed limit sign: determine that the roads within a second preset range of the target ground speed limit sign are candidate roads; determine a second target road from the candidate roads based on the relative height difference between each candidate road and the target ground speed limit sign, and obtain a first association relationship between the target ground speed limit sign and the second target road; the relative height difference between the second target road and the target ground speed limit sign is less than or equal to a second height difference threshold.

[0203] In an optional embodiment, the attribute information of each speed limit sign includes speed limit information and / or a scene label, and the processing module 1501 is used to: respectively treat each road in the first association relationship as a fourth road and perform the following processing:

[0204] determining the speed limit sign associated with the fourth road in the first association relationship as the first speed limit sign;

[0205] Based on the speed limit information of the first speed limit sign and / or the scene label of the first speed limit sign, the first speed limit information associated with the fourth road is determined, and a second association relationship between the fourth road and the first speed limit information is obtained.

[0206] In an optional embodiment, the processing module 1501 is used to:

[0207] When the speed limit information of the first speed limit sign includes a road-level speed limit value, determining the first speed limit information associated with the fourth road according to the road-level speed limit value; and / or,

[0208] When the speed limit information of the first speed limit sign includes a lane-level speed limit value, determining first speed limit information associated with the fourth road according to the lane-level speed limit value and the position of each lane of the fourth road, the first speed limit information including speed limit information corresponding to each lane of the fourth road; and / or,

[0209] The first speed limit information associated with the fourth road is determined according to the speed limit information corresponding to the scene tag of the first speed limit sign.

[0210] In an optional embodiment, the processing module 1501 is used to: respectively use each road in the first association relationship as the fifth road and perform the following processing:

[0211] determining the speed limit sign associated with the fifth road in the first association relationship as the second speed limit sign;

[0212] Based on the road topological relationship, determining a third target road having a connectivity relationship with the fifth road;

[0213] Based on the attribute information of the fifth road and / or the attribute information of the second speed limit sign, the second speed limit information associated with the third target road is determined, and a second association relationship between the third target road and the second speed limit information is obtained.

[0214] In an optional embodiment, the processing module 1501 is used to:

[0215] Based on the speed limit information in the attribute information of the fifth road, determining the second speed limit information associated with the sixth road in the third target road, the sixth road being a downstream road of the fifth road; and / or,

[0216] Based on the attribute information of the second speed limit sign, determining the second speed limit information associated with a seventh road in the third target road, the seventh road being a downstream road or an upstream road of the fifth road; and / or,

[0217] Based on the road type in the attribute information of the fifth road, second speed limit information associated with an eighth road in the third target road is determined, and the eighth road is an upstream road of the fifth road or a road merged into the fifth road.

[0218] In an optional embodiment, the processing module 1501 is further used to: treat the roads that do not have the first association relationship among the roads as the ninth road and perform the following processing:

[0219] Based on the road topological relationship, determining a tenth road that has a connectivity relationship with the ninth road;

[0220] Based on the speed limit information and / or the road type in the attribute information of the ninth road, the third speed limit information associated with the tenth road is determined, and a second association relationship between the tenth road and the third speed limit information is obtained.

[0221] In an optional embodiment, the processing module 1501 is further configured to:

[0222] Determine a speed limit conflict road based on the second association relationship, where the speed limit conflict road is a road associated with at least two speed limit information in the second association relationship;

[0223] According to the priority of the speed limit information type of the speed limit conflicting road, the target speed limit information associated with the speed limit conflicting road is determined from at least two speed limit information associated with the speed limit conflicting road in the second association relationship.

[0224] In an optional embodiment, the processing module 1501 is used to:

[0225] If, among the at least two speed limit information associated with the speed limit conflicting road in the second association relationship, there is a first candidate speed limit information and a second candidate speed limit information, the first candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the first candidate speed limit information is a lane-level speed limit value indicated by a speed limit sign, and the second candidate speed limit information is a road-level speed limit value indicated by a speed limit sign; and / or,

[0226] If there are third candidate speed limit information and fourth candidate speed limit information in at least two speed limit information associated with the speed limit conflicting road in the second association relationship, the third candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the third candidate speed limit information is the lane-level speed limit value indicated by the speed limit sign, and the fourth candidate speed limit information is the lane-level speed limit value indicated by the ground speed limit sign.

[0227] The road speed limit information association device 1500 provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0228] Fig.16 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Fig.16 As shown, the computer device 1600 includes: a processor 1601, a memory 1602 and a bus 1603;

[0229] The memory 1602 is used to store the computer program code of the processor 1601;

[0230] The processor 1601 is configured to execute the technical solution of any of the aforementioned method embodiments by executing computer program code.

[0231] Optionally, the memory 1602 may be independent or integrated with the processor 1601 .

[0232] The memory 1602 is connected to the processor 1601 via the bus 1603 and completes communication with each other.

[0233] Optionally, the memory 1602 may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0234] The bus 1603 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0235] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0236] The computer device is used to execute the technical solution of any of the above method embodiments, and its implementation principle and technical effect are similar, which will not be repeated here. In some embodiments, the computer device can also be described as an electronic device.

[0237] An embodiment of the present application also provides a readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0238] An embodiment of the present application also provides a chip system, which is applied to a computer device. The chip system includes one or more processors, and the one or more processors are used to call computer instructions so that the computer device implements the technical solution provided by any of the aforementioned method embodiments.

[0239] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when the computer program is executed by a processor.

[0240] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0241] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for associating road speed limit information, characterized in that: include: Determining a first association relationship between each road and each speed limit sign based on a spatial position relationship between each road and each speed limit sign; A second association relationship between each road and each speed limit information is determined according to the first association relationship and the attribute information of each speed limit sign.

2. The method according to claim 1, characterized in that The speed limit sign includes at least one of a speed limit signboard and a ground speed limit sign; and / or, The spatial position relationship includes at least one of a plane distance value, a relative height difference, and a direction angle value; the plane distance value is the distance between the road and the speed limit sign on the same plane, the relative height difference is the difference between the height of the road and the height of the speed limit sign, and the direction angle value is the angle value between the direction of the road and the direction of the speed limit sign.

3. The method according to claim 2, characterized in that The determining of the first association relationship between each road and each speed limit sign based on the spatial position relationship between each road and each speed limit sign includes: When the speed limit sign includes the speed limit sign, each speed limit sign is used as a target speed limit sign to perform the following processing: determine that a road within a first preset range of the target speed limit sign is a candidate road; based on at least one of the plane distance value, relative height difference, and orientation angle value between each candidate road and the target speed limit sign, select the road indicated by the target speed limit sign as a first target road from the candidate roads, and obtain a first association relationship between the target speed limit sign and the first target road; the first target road includes at least one of a first road, a second road, and a third road, the plane distance value between the first road and the target speed limit sign is less than a distance threshold, the relative height difference between the second road and the target speed limit sign is less than or equal to a first height difference threshold, and the orientation angle value between the third road and the target speed limit sign is within a preset angle value range; When the speed limit sign includes the ground speed limit sign, each ground speed limit sign is used as a target ground speed limit sign and the following processing is performed: roads within a second preset range of the target ground speed limit sign are determined as candidate roads; based on the relative height difference between each candidate road and the target ground speed limit sign, a second target road is determined from the candidate roads, and a first association relationship between the target ground speed limit sign and the second target road is obtained; the relative height difference between the second target road and the target ground speed limit sign is less than or equal to a second height difference threshold.

4. The method according to claim 1, characterized in that: The attribute information of each speed limit sign includes speed limit information and / or a scene label, and determining the second association relationship between each road and each speed limit information according to the first association relationship and the attribute information of each speed limit sign includes: The following processing is performed on each road in the first association relationship as a fourth road: determining the speed limit sign associated with the fourth road in the first association relationship as a first speed limit sign; Based on the speed limit information of the first speed limit sign and / or the scene label of the first speed limit sign, the first speed limit information associated with the fourth road is determined, and a second association relationship between the fourth road and the first speed limit information is obtained.

5. The method according to claim 4, characterized in that The determining, based on the speed limit information of the first speed limit sign and / or the scene label of the first speed limit sign, the first speed limit information associated with the fourth road includes: When the speed limit information of the first speed limit sign includes a road-level speed limit value, determining the first speed limit information associated with the fourth road according to the road-level speed limit value; and / or, When the speed limit information of the first speed limit sign includes a lane-level speed limit value, determining the first speed limit information associated with the fourth road according to the lane-level speed limit value and the position of each lane of the fourth road, wherein the first speed limit information includes speed limit information corresponding to each lane of the fourth road; and / or The first speed limit information associated with the fourth road is determined according to the speed limit information corresponding to the scene tag of the first speed limit sign.

6. The method according to claim 1, characterized in that The determining, based on the first association relationship and the attribute information of each speed limit sign, a second association relationship between each road and each speed limit information includes: Each road in the first association relationship is respectively regarded as a fifth road and the following processing is performed: determining the speed limit sign associated with the fifth road in the first association relationship as a second speed limit sign; Based on the road topological relationship, determining a third target road having a connectivity relationship with the fifth road; Based on the attribute information of the fifth road and / or the attribute information of the second speed limit sign, the second speed limit information associated with the third target road is determined, and a second association relationship between the third target road and the second speed limit information is obtained.

7. The method according to claim 6, characterized in that The determining, based on the attribute information of the fifth road and / or the attribute information of the second speed limit sign, the second speed limit information associated with the third target road includes: Based on the speed limit information in the attribute information of the fifth road, determining the second speed limit information associated with a sixth road in the third target road, the sixth road being a downstream road of the fifth road; and / or, Based on the attribute information of the second speed limit sign, determining the second speed limit information associated with a seventh road in the third target road, the seventh road being a downstream road or an upstream road of the fifth road; and / or, Based on the road type in the attribute information of the fifth road, second speed limit information associated with an eighth road in the third target road is determined, the eighth road being an upstream road of the fifth road or a road merged into the fifth road.

8. The method according to claim 1, characterized in that The method further comprises: The roads that do not have the first association relationship among the roads are respectively regarded as the ninth roads and the following processing is performed: Based on the road topological relationship, determining a tenth road having a connectivity relationship with the ninth road; Based on the speed limit information and / or the road type in the attribute information of the ninth road, the third speed limit information associated with the tenth road is determined, and a second association relationship between the tenth road and the third speed limit information is obtained.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: Determine a speed limit conflicting road based on the second association relationship, where the speed limit conflicting road is a road associated with at least two speed limit information in the second association relationship; According to the priority of the speed limit information type of the speed limit conflicting road, the target speed limit information associated with the speed limit conflicting road is determined from at least two speed limit information associated with the speed limit conflicting road in the second association relationship.

10. The method according to claim 9, characterized in that The step of determining the target speed limit information associated with the speed limit conflicting road from at least two pieces of speed limit information associated with the speed limit conflicting road in the second association relationship according to the priority of the speed limit information type of the speed limit conflicting road includes: If, among the at least two speed limit information associated with the speed limit conflicting road in the second association relationship, there is a first candidate speed limit information and a second candidate speed limit information, the first candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the first candidate speed limit information is a lane-level speed limit value indicated by a speed limit sign, and the second candidate speed limit information is a road-level speed limit value indicated by a speed limit sign; and / or, If, among the at least two speed limit information associated with the speed limit conflicting road in the second association relationship, there are third candidate speed limit information and fourth candidate speed limit information, the third candidate speed limit information is determined as the target speed limit information associated with the speed limit conflicting road, the third candidate speed limit information is the lane-level speed limit value indicated by the speed limit sign, and the fourth candidate speed limit information is the lane-level speed limit value indicated by the ground speed limit sign.

11. A computer device, characterized in that: A processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program codes, and the processor calls the computer program codes to enable the computer device to execute any one of the methods described in claims 1 to 10.

12. A computer-readable storage medium, characterized in that: The method comprises a computer program, which is used to implement the method according to any one of claims 1 to 10 when the computer program is executed by a processor.

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