Speed limit processing method and device, electronic equipment, storage medium and vehicle

Abstract

The invention relates to a speed limit processing method and device, electronic equipment, a storage medium and a vehicle, and the method comprises the steps: carrying out the track matching road network processing of a plurality of road lines in a target region and a plurality of tracks in the target region, and obtaining at least one track segment matched with each road line; taking one of the plurality of road lines as a target road line, and determining at least one target track section matched with the target road line; aiming at each track point in the at least one target track section, determining at least one matched sampling point matched with each track point from a plurality of sampling points in the target road line, and obtaining a plurality of matching relationships; and based on the plurality of matching relationships, according to the speed value of the at least one target trajectory point matched with the to-be-processed sampling point, determining the speed limit value of the to-be-processed sampling point so as to determine the speed limit value of each sampling point in the plurality of road lines, the to-be-processed sampling point being any one of the plurality of sampling points in the target road line.

Description

Technical Field

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

[0002] As one of the electronic maps, the standard map can provide necessary data information for the operation of functions such as assisted driving and the production of high-precision maps, such as the speed limit value of the road line in the road; the existing method of assigning speed limit values ​​in standard maps is mainly to use professional surveying and mapping vehicles to collect speed limit values ​​and complete the assignment work; at the same time, in order to ensure that the map data can be updated in a timely manner, it is necessary to frequently use surveying and mapping vehicles, but this method is costly. For example, when there is frequent road construction in a certain area, the information obtained by this method may not meet the actual needs, that is, the data information in the electronic map cannot be updated in time, and adverse consequences will also occur in the subsequent application process of the electronic map. Therefore, how to quickly and timely obtain the speed limit value of the road line in the electronic map and update the data in the electronic map has become an urgent problem to be solved. Summary of the invention

[0003] The present application provides a speed limit processing method, device, electronic device, storage medium and vehicle, which can reduce the cost of obtaining speed limit information of a standard map and improve the efficiency of obtaining speed limit information of a standard map.

[0004] In a first aspect, an embodiment of the present application provides a speed limit processing method, comprising: performing trajectory matching road network processing on multiple road lines in a target area and multiple trajectories in the target area to obtain at least one trajectory segment matching each road line, wherein the distance between any trajectory point on each trajectory segment in the at least one trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold; taking one road line among the multiple road lines as a target road line, and determining at least one target trajectory segment matching the target road line; for each trajectory point in the at least one target trajectory segment, determining from the multiple sampling points in the target road line a target trajectory segment matching each trajectory point At least one matching sampling point is matched to obtain multiple matching relationships; wherein each matching relationship includes a target trajectory point and at least one matching sampling point matching the target trajectory point, the distance between the matching sampling point in the matching relationship and the target trajectory point is less than the distance between other sampling points in the target road line and the target trajectory point, and the target trajectory point is any trajectory point in at least one target trajectory segment; based on the multiple matching relationships, according to the speed value of at least one target trajectory point matching the sampling point to be processed, the speed limit value of the sampling point to be processed is determined to determine the speed limit value of each sampling point in the multiple road lines, and the sampling point to be processed is any one of the multiple sampling points in the target road line.

[0005] In some embodiments of the present application, the speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed value of at least one target trajectory point.

[0006] In some embodiments of the present application, based on the multiple matching relationships, determining the speed limit value of the sampling point to be processed according to the speed value of at least one target trajectory point that matches the sampling point to be processed includes: determining whether there is a target trajectory point that matches the sampling point to be processed in the at least one target trajectory segment based on the multiple matching relationships; and in the case of determining that there is at least one target trajectory point that matches the sampling point to be processed in the at least one target trajectory segment, determining the speed limit value of the sampling point to be processed according to the speed value of the at least one target trajectory point that matches the sampling point to be processed.

[0007] In some embodiments of the present application, the speed limit value of the sampling point to be processed is determined based on the speed value of the at least one target trajectory point that matches the sampling point to be processed, including: determining the average value or minimum value of the speed value of the at least one target trajectory point that matches the sampling point to be processed as the speed limit value of the sampling point to be processed.

[0008] In some embodiments of the present application, after determining whether there is a target trajectory point matching the sampling point to be processed in the at least one target trajectory segment based on the multiple matching relationships, the method further includes: in a case where it is determined that there is no target trajectory point matching the sampling point to be processed in the at least one target trajectory segment, determining the speed limit value of the sampling point to be processed based on the speed limit value of at least one speed limit sampling point whose speed limit value has been determined, the speed limit value of the sampling point to be processed being less than or equal to the maximum value of the speed limit values ​​of the at least one speed limit sampling point.

[0009] In some embodiments of the present application, the speed limit value of the sampling point to be processed is determined based on the speed limit value of at least one speed limit sampling point with a determined speed limit value, including: when the sampling point to be processed is the first sampling point in the target road line, the speed limit value of a speed limit sampling point in the target road line with a determined speed limit value that is located in front of the sampling point to be processed and closest to the sampling point to be processed is determined as the speed limit value of the sampling point to be processed; when the sampling point to be processed is the second sampling point in the target road line, the average value or minimum value of the speed limit values ​​of each speed limit sampling point in the target road line with a determined speed limit value is determined as the speed limit value of the sampling point to be processed; when the sampling point to be processed is the third sampling point in the target road line, the speed limit value of a speed limit sampling point in the target road line with a determined speed limit value that is located behind the sampling point to be processed and closest to the sampling point to be processed is determined as the speed limit value of the sampling point to be processed; wherein, in the target road line, the second sampling point is located in front of the first sampling point, and the third sampling point is located in front of the second sampling point.

[0010] In some embodiments of the present application, the first sampling point is the first sampling point in the target road line along the driving direction of the target road line; the third sampling point is the last sampling point in the target road line along the driving direction of the target road line; the second sampling point is the sampling point in the target road line other than the first sampling point and the third sampling point.

[0011] In some embodiments of the present application, before determining at least one matching sampling point that matches each trajectory point from multiple sampling points in the target road line for each trajectory point in at least one target trajectory segment to obtain multiple matching relationships, the method further includes: performing equidistant interpolation processing on each road line starting from the corresponding starting sampling point at a preset interval to obtain at least one interpolation sampling point corresponding to each road line, the distance between the last sampling point of the at least one difference sampling point and the corresponding ending sampling point of the road line being less than or equal to the preset interval; and determining the original sampling point of each road line and the corresponding at least one interpolation sampling point as multiple sampling points for each road line.

[0012] In a second aspect, an embodiment of the present application provides a speed limit processing device, including: a matching module, used to perform trajectory matching road network processing on multiple road lines in a target area and multiple trajectories in the target area, and obtain at least one trajectory segment matching each road line, wherein the distance between any trajectory point on each trajectory segment in the at least one trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold; a determination module, used to take one road line among the multiple road lines as a target road line, and determine at least one target trajectory segment matching the target road line; for each trajectory point in the at least one target trajectory segment, respectively determine from multiple sampling points in the target road line At least one matching sampling point matching each trajectory point is determined to obtain a plurality of matching relationships; wherein each matching relationship includes a target trajectory point and at least one matching sampling point matching the target trajectory point, a distance between the matching sampling point in the matching relationship and the target trajectory point is less than a distance between other sampling points in the target road line and the target trajectory point, and the target trajectory point is any one trajectory point in at least one target trajectory segment; based on the plurality of matching relationships, a speed limit value of the sampling point to be processed is determined according to a speed value of at least one target trajectory point matching the sampling point to be processed, so as to determine a speed limit value of each sampling point in the plurality of road lines, and the sampling point to be processed is any one of the plurality of sampling points in the target road line.

[0013] In some embodiments of the present application, the speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed value of at least one target trajectory point.

[0014] In some embodiments of the present application, the determination module is specifically used to determine whether there is a target trajectory point matching the sampling point to be processed in the at least one target trajectory segment based on the multiple matching relationships; when it is determined that there is at least one target trajectory point matching the sampling point to be processed in the at least one target trajectory segment, determine the speed limit value of the sampling point to be processed according to the speed value of the at least one target trajectory point matching the sampling point to be processed.

[0015] In some embodiments of the present application, the determination module is specifically configured to determine an average value or a minimum value of the speed value of the at least one target trajectory point that matches the sampling point to be processed as the speed limit value of the sampling point to be processed.

[0016] In some embodiments of the present application, the determination module is specifically used to determine whether there is a target trajectory point matching the sampling point to be processed in the at least one target trajectory segment based on the multiple matching relationships. If it is determined that there is no target trajectory point matching the sampling point to be processed in the at least one target trajectory segment, determine the speed limit value of the sampling point to be processed according to the speed limit value of at least one speed limit sampling point whose speed limit value has been determined, and the speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed limit values ​​of the at least one speed limit sampling point.

[0017] In some embodiments of the present application, the determination module is specifically used to, when the sampling point to be processed is the first sampling point in the target road line, determine the speed limit value of a speed limit sampling point in the target road line that is located in front of the sampling point to be processed and is closest to the sampling point to be processed and has a determined speed limit value as the speed limit value of the sampling point to be processed; when the sampling point to be processed is the second sampling point in the target road line, determine the average value or minimum value of the speed limit values ​​of each speed limit sampling point in the target road line that has a determined speed limit value as the speed limit value of the sampling point to be processed; when the sampling point to be processed is the third sampling point in the target road line, determine the speed limit value of a speed limit sampling point in the target road line that is located behind the sampling point to be processed and is closest to the sampling point to be processed and has a determined speed limit value as the speed limit value of the sampling point to be processed; wherein, in the target road line, the second sampling point is located in front of the first sampling point, and the third sampling point is located in front of the second sampling point.

[0018] In some embodiments of the present application, the first sampling point is the first sampling point in the target road line along the driving direction of the target road line; the third sampling point is the last sampling point in the target road line along the driving direction of the target road line; the second sampling point is the sampling point in the target road line other than the first sampling point and the third sampling point.

[0019] In some embodiments of the present application, the device also includes: an interpolation module, which is used to determine, for each trajectory point in at least one target trajectory segment, at least one matching sampling point that matches each trajectory point from multiple sampling points in the target road line, and before obtaining multiple matching relationships, perform equidistant interpolation processing on each road line starting from the corresponding starting sampling point at a preset interval to obtain at least one interpolation sampling point corresponding to each road line, and the distance between the last sampling point of the at least one difference sampling point and the corresponding ending sampling point of the road line is less than or equal to the preset interval; the determination module is also used to determine the original sampling point of each road line and the corresponding at least one interpolation sampling point as multiple sampling points for each road line.

[0020] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, wherein the processor is used to execute a computer program stored in a memory, and when the computer program is executed by the processor, the steps of any one of the speed limit processing methods provided in the first aspect are implemented.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any one of the speed limit processing methods provided in the first aspect are implemented.

[0022] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising: the speed limit processing device as described in the second aspect, or the electronic device as described in the third aspect, or the computer-readable storage medium as described in the fourth aspect.

[0023] In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program or instructions. When the computer program product runs on a processor, the processor executes the computer program or instructions to implement the steps of the speed limit processing method described in the first aspect.

[0024] In the seventh aspect, an embodiment of the present application provides a chip, which includes a processor, a memory and a communication interface, the communication interface is coupled to the processor, the memory is used to store programs or instructions that can be run on the processor, and the processor is used to execute the program or instructions to implement the steps of the speed limit processing method described in the first aspect.

[0025] Compared with the prior art, the technical solution provided by the embodiment of the present application has the following advantages: in the embodiment of the present application, by performing trajectory matching road network processing on multiple road lines in the target area and multiple trajectories in the target area, at least one trajectory segment matching each road line is obtained (wherein each trajectory segment belongs to a different trajectory, and the distance between any trajectory point on each trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold); one road line among the multiple road lines is used as the target road line, and at least one target trajectory segment matching the target road line is determined; for each trajectory point in the at least one target trajectory segment, at least one matching sampling point matching each trajectory point is determined from the multiple sampling points in the target road line, and multiple matching relationships are obtained (each matching relationship includes the target trajectory point, and at least one matching sampling point matching the target trajectory point). Sample point, the distance between each matching sampling point and the target trajectory point is less than the distance between the sampling point that does not match the target trajectory point and the target trajectory point among the multiple sampling points in the target road line, and the target trajectory point is any one trajectory point in at least one target trajectory segment); based on multiple matching relationships, according to the speed value of at least one target trajectory point that matches the sampling point to be processed (any one of the multiple sampling points in the target road line), determine the speed limit value of the sampling point to be processed (because each matching relationship includes the target trajectory point and at least one matching sampling point that matches the target trajectory point, therefore, taking the sampling point to be processed as a unit, at least one target trajectory point that matches the sampling point to be processed can be determined from the multiple matching relationships, and then according to the speed value of the at least one target trajectory point, the speed limit value of the sampling point to be processed is determined), so as to determine the speed limit value of each sampling point in the multiple road lines. Therefore, it is achieved that the speed value of the sampling point of the standard map is mapped by the speed value of the trajectory point on the trajectory of historical driving, the cost of obtaining the speed limit information of the standard map is reduced, and the efficiency of obtaining the speed limit information of the standard map is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] 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.

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0028] Figure 1 A schematic diagram of a road line and lane group of a road section provided in this application;

[0029] Figure 2A flow chart of a speed limit processing method provided for this application;

[0030] Figure 3 A schematic diagram of matching a road line and a track segment provided in this application;

[0031] Figure 4a A flow chart of another speed limit processing method provided for this application;

[0032] Figure 4b A flowchart of another speed limit processing method provided by this application;

[0033] Figure 5 A flowchart of another speed limit processing method provided by this application;

[0034] Figure 6 A schematic diagram of the structure of a speed limit processing device provided in this application;

[0035] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0036] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0038] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0039] First, some nouns or terms involved in the claims and description of the present invention are explained below.

[0040] Tile: A map tile is a map slice file that contains a series of scales and a certain map range. Map tiles are organized in a pyramid structure, and each tile can be uniquely marked by level, row and column number.

[0041] Map match: Binding a trajectory to a road network is a way of calculating which roads a trajectory passes through in the road network and determining the matching relationship between roads and trajectories.

[0042] The trajectory is the data generated during the vehicle's driving process. The trajectory can be composed of multiple trajectory points, where each trajectory point can include various specific information, such as specific location information, time information, speed information, etc.

[0043] Electronic maps are mainly divided into high-precision maps and standard maps.

[0044] Standard maps mainly provide positioning, retrieval, and path planning functions in non-assisted driving or non-autonomous driving scenarios, and standard maps can achieve full road network coverage. Among them, standard maps are maps composed of topological network elements based on road lines (links), with an accuracy of meters, and only depict the location and shape of roads. Standard maps have relatively low accuracy and can only reach the road level, not the lane level.

[0045] The standard map is represented by standard (SD) road network data. The roads in the standard map are represented by road lines, and each road can be composed of one or more road lines. For example, Figure 1 (a) in the figure shows a schematic diagram of a road in a standard map. A road can be composed of a road line A and a road line B, that is, a road can be divided into multiple sections, each section corresponding to a road line. A road line is composed of sampling points and is the digitized representation of an actual road. Among them, sampling points are points necessary to describe a road line. There are at least 2 sampling points on a road line. When a road line represents a relatively straight road or a relatively straight road section, there can be only 2 sampling points on this road line.

[0046] In this embodiment, the road line can be a line segment with a direction, that is, a vector. The road line data is the data of each sampling point on this road. The road line in the standard map and its corresponding road line data are obtained, that is, the data of each sampling point corresponding to each road line is obtained from the standard road network data corresponding to the standard map.

[0047] A high-precision map is a reconstruction of the road environment. It contains a large amount of information about lane positions, types, widths, and road elements such as traffic lights and traffic signs, forming an accurate three-dimensional representation of the road network. High-precision maps are mainly used for assisted driving or autonomous driving, and they are only for specific areas, not all road networks. Since high-precision maps are based on lane-level topological network elements, compared with standard maps, high-precision maps are more accurate and can reach the lane level. The data dimensions of high-precision maps are also richer, adding detailed information such as lane line type, lane width, and roadside landmarks.

[0048] HD maps are represented by HD road network data. Roads in HD maps are represented by lane groups, and each road can be composed of one or more lane groups. Figure 1 (b) in the figure is a schematic diagram of a road in a high-precision map. A road can be composed of lane group A and lane group B, that is, a road can be divided into multiple sections, each section corresponds to a lane group. Each lane group includes multiple actual lane lines and at least one virtual lane line. The actual lane line is the lane line actually marked on the road; the virtual lane line is the virtual line between two actual lane lines. The virtual lane line is generally the center line between two actual lane lines. The virtual lane line is generally not marked on the road, but it is necessary to use the virtual lane line in the process of assisted driving or automatic driving. For example, the vehicle needs to drive along the virtual lane line during automatic driving, so the virtual lane line is included in the lane group of the high-precision map.

[0049] Both the actual lane line and the virtual lane line are composed of some densely distributed points that describe the shape of the corresponding lane line. The points on the lane line are generally called shape points. In the high-precision map, adjacent lane groups are separated by lane group connecting lines. A lane group is between two adjacent lane group connecting lines. Each actual lane line and each virtual lane line in the lane group is a directional vector, and the actual lane line and the virtual lane line in the same lane have the same direction, which is the same as the direction in which vehicles are allowed to travel in the lane. Lane line data is the data of each shape point in the lane. The lane group in the high-precision map and its corresponding lane group data are obtained, that is, the data of the actual lane line shape points and the data of the virtual lane line shape points in each lane group are obtained from the high-precision road network data corresponding to the high-precision map. For example, if there are three lanes on a highway, each lane group in the corresponding high-precision map includes 4 actual lane lines and 3 virtual lane lines, wherein the 4 actual lane lines are used to distinguish the three lanes, and a virtual lane line is also included between the two actual lane lines of each lane. For example, if the three lanes on a highway are divided into sections of 50 meters, then the four actual lane lines and three virtual lane lines within 50 meters form a lane group. Figure 1 Lane group A and lane group B shown in (b) of FIG. In the same road, the road line and the lane group may not be completely matched. The length of the road segment indicated by the road line is usually longer than the length of the road segment indicated by the lane group. A lane group may correspond to one road line or two road lines (a part of the lane group corresponds to one of the road lines, and the other part of the lane group corresponds to the other road line).

[0050] In the embodiment of the present application, it is assumed that most users will not drive in violation of traffic rules and exceed the speed limit corresponding to the road. Therefore, the speed limit value of the sampling point of the standard map is mapped by the speed value of the track point on the historical driving track, which is actually the empirical speed limit, that is, the speed limit of the road network of the standard map is matched according to the speed limit experience of most users. For example, if most users on a road drive on this road at a speed value interval, then a speed value in this speed value interval can be determined as the speed limit value of this road, and then the speed limit data of the road network of the standard map can be obtained.

[0051] The present application is applied to the scenario of determining the speed limit information of the standard map. The electronic device in the embodiment of the present application can be a vehicle-mounted terminal, or a mobile phone, notebook, computer, etc. that is connected to the vehicle for communication. The specific information can be determined based on actual conditions and is not limited here.

[0052] The technical solution of the present application is explained in detail below through several specific embodiments.

[0053] Figure 2 A flow chart of a speed limit processing method provided for this application is shown as follows: Figure 2 As shown, the speed limit processing method may include the following steps 101 to 104.

[0054] 101. Perform trajectory matching road network processing on multiple road lines and multiple trajectories in the target area to obtain at least one trajectory segment matching each road line, wherein a distance between any trajectory point on each trajectory segment in the at least one trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold.

[0055] The multiple tracks of the target area may be all tracks of the target area or part of tracks of the target area, which is not limited here. The multiple road lines of the target area may be all road lines in the target area.

[0056] The target area may be a tile in a map (such as a standard map), or an area where a province is located in the map, or an area where a highway is located. The specific area may be determined based on actual conditions and is not limited here.

[0057] A trajectory is a historical driving trajectory of a user's vehicle (or social vehicle) collected. A trajectory consists of multiple trajectory points. The trajectory is represented by trajectory data. The trajectory data corresponding to a trajectory includes the data of each trajectory point in the trajectory (including the speed limit value of the trajectory point) and the length data of the trajectory.

[0058] For example, before determining at least one trajectory segment matching a road line, at least one trajectory matching the road line may be determined first, and then at least one trajectory segment matching the road line may be determined from the at least one trajectory matching the road line. The at least one trajectory matching the road line is a trajectory or multiple trajectories in the target area, the indicated road segment of which overlaps with the road segment indicated by the road line.

[0059] For example, based on the longitude and latitude information in the data corresponding to the target road line and the longitude and latitude information in the data corresponding to each trajectory, it can be determined whether the section indicated by the target road line overlaps with the section indicated by a trajectory, and then the trajectory with the overlapping indicated section is determined as the target trajectory that matches the target road line.

[0060] Exemplarily, it is also possible to determine whether the section indicated by the target road line overlaps with the section indicated by a trajectory based on the section identifier in the data corresponding to the target road line and the section identifier in the data corresponding to each trajectory, and then determine the trajectory with the overlapping indicated section as the target trajectory that matches the target road line.

[0061] In some embodiments of the present application, the above step 101 can be specifically implemented through the following steps 101a to 101c.

[0062] 101a. Obtain road network data corresponding to a plurality of road lines within a target area from the road network data corresponding to a standard map.

[0063] The specific method for obtaining the road network data within the target area in the road network data corresponding to the standard map can refer to the existing relevant technology and is not limited here.

[0064] Exemplarily, the road network data corresponding to the standard map is filtered according to the spatial boundary corresponding to the target area. The filtering method is to generate a regional space polygon according to the spatial boundary of the target area, screen the road lines that completely fall within the regional space polygon and the road lines that partially fall within the regional space polygon, and obtain the road network data corresponding to multiple road lines.

[0065] 101b. Acquire trajectory data corresponding to a plurality of trajectories in the target area from a vehicle driving trajectory database, wherein the vehicle driving trajectory database includes vehicle driving trajectory data in the target area and other areas.

[0066] Among them, the specific method of obtaining the trajectory data corresponding to multiple trajectories in the target area from the vehicle driving trajectory database can refer to the existing related technology, which is not limited here.

[0067] Exemplarily, the trajectory data in the vehicle driving trajectory database is filtered according to the spatial boundary corresponding to the target area. The filtering method is to generate a regional spatial polygon according to the spatial boundary of the target area, filter the trajectories that are completely within the spatial polygon and the trajectories that are partially within the spatial polygon, and obtain the trajectory data corresponding to multiple trajectories.

[0068] 101c. Performing trajectory matching road network processing on the road network data corresponding to the multiple road lines in the target area and the trajectory data corresponding to the multiple trajectories in the target area to obtain trajectory matching road network data, where the trajectory matching road network data is used to indicate the multiple road lines and at least one trajectory segment respectively matched with each road line.

[0069] Among them, the trajectory matching road network processing can be implemented based on the trajectory binding road network (map match) technology, and can also be implemented by other methods. For details, please refer to the existing related technologies and will not be described in detail here.

[0070] The number of trajectories matched by different road lines may be the same or different. That is, any road line may match one trajectory or multiple trajectories, which is not limited here. A road line is the smallest unit of a road. A road line may match multiple trajectories, and different road lines may also match the same trajectory, that is, two or more road lines may match the same trajectory (for example, at least one trajectory matched with road line 1 includes trajectory 1, and at least one trajectory matched with road line 2 also includes trajectory 1).

[0071] Accordingly, different road lines can match the same or different number of trajectory segments. Any road line can match one trajectory segment or multiple trajectory segments, which is not limited here. A road line is the smallest unit of a road. A road line may match multiple trajectory segments, but different road lines match different trajectory segments. A road line may have multiple matching trajectory segments with a trajectory.

[0072] For example, Figure 3 As shown, road line A matches track 1, track 2, and track 3. There are two track segments on track 1 that match road line A (as shown in the bold part of track 1), one track segment on track 2 that matches road line A (as shown in the bold part of track 2), and one track segment on track 3 that matches road line A (as shown in the bold part of track 3).

[0073] 102. Take one of the multiple road lines as a target road line, and determine at least one target trajectory segment matching the target road line.

[0074] Exemplarily, any one of the multiple road lines can be used as the target road line, and at least one trajectory segment matching each road line is obtained according to the above steps, and at least one target trajectory segment matching the target road line is determined. 103. For each trajectory point in at least one target trajectory segment, at least one matching sampling point matching each trajectory point is determined from multiple sampling points in the target road line, and multiple matching relationships are obtained; wherein each matching relationship includes the target trajectory point and at least one matching sampling point matching the target trajectory point, and the distance between the matching sampling point in the matching relationship and the target trajectory point is less than the distance between other sampling points in the target road line and the target trajectory point, and the target trajectory point is any one trajectory point in at least one target trajectory segment.

[0075] It can be understood that after determining at least one target trajectory segment that matches the target road line, a matching relationship can be determined for each trajectory point in the at least one target trajectory segment. The matching relationship is to determine at least one matching sampling point that matches the trajectory point from multiple sampling points in the target road line for a trajectory point, and then obtain matching relationships corresponding to each trajectory point, that is, multiple matching relationships are obtained. For other road lines in the multiple road lines, multiple matching relationships corresponding to other road lines in the multiple road lines are also determined according to the above-mentioned method for corresponding to the target road line.

[0076] The number of sampling points that match the corresponding target trajectory point in each matching relationship may be the same or different, which is not limited here.

[0077] In some embodiments of the present application, the distance from each trajectory point in at least one trajectory matched to each road line obtained by trajectory matching road network processing to all sampling points on the road line can be calculated for each road line as a unit, and then at least one matching sampling point that is closest to the trajectory point matched to each trajectory point is determined according to the principle of the nearest neighbor algorithm to obtain a matching relationship corresponding to each trajectory point, or a sampling point whose distance to each trajectory point is less than or equal to a matching threshold is determined as at least one matching sampling point corresponding to each trajectory point to obtain a matching relationship corresponding to each trajectory point, that is, the distance between the matching sampling point in the matching relationship and the target trajectory point is less than the distance between other sampling points in the target road line and the target trajectory point.

[0078] 104. Based on multiple matching relationships, determine the speed limit value of the sampling point to be processed according to the speed value of at least one target trajectory point that matches the sampling point to be processed, so as to determine the speed limit value of each sampling point in the multiple road lines, and the sampling point to be processed is any one of the multiple sampling points in the target road line.

[0079] In some embodiments of the present application, the size of the speed limit value of the sampling point to be processed may not be limited, or the size of the speed limit value of the sampling point to be processed may be limited. The specific size may be determined based on actual conditions and is not limited here.

[0080] In some embodiments of the present application, the speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed value of at least one target trajectory point. In this way, it can be ensured that the vehicle drives at the speed limit value of the sampling point to be processed and does not violate the speed limit.

[0081] It can be understood that because each matching relationship includes a target trajectory point and at least one matching sampling point that matches the target trajectory point, therefore, taking the sampling point to be processed as a unit, at least one target trajectory point that matches the sampling point to be processed can be determined from multiple matching relationships, and then the speed limit value of the sampling point to be processed can be determined according to the speed value of the at least one target trajectory point.

[0082] A road line may match multiple trajectories, so a sampling point may match multiple trajectory points.

[0083] The speed limit value of the sampling point to be processed can be the maximum value of the speed values ​​of at least one target trajectory point, the speed limit value of the sampling point to be processed can also be the minimum value of the speed values ​​of at least one target trajectory point, the speed limit value of the sampling point to be processed can also be the average value of the speed values ​​of at least one target trajectory point, the speed limit value of the sampling point to be processed can also be the maximum value of the speed values ​​of at least one target trajectory point, and any one of the minimum value of the speed values ​​of at least one target trajectory point. The specific speed limit value can be determined according to actual conditions and is not limited here.

[0084] In the embodiment of the present application, a plurality of road lines in a target area and a plurality of trajectories in the target area are subjected to trajectory matching road network processing to obtain at least one trajectory segment matching each road line (wherein each trajectory segment belongs to a different trajectory, and the distance between any trajectory point on each trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold); one road line among the plurality of road lines is used as a target road line, and at least one target trajectory segment matching the target road line is determined; for each trajectory point in the at least one target trajectory segment, at least one matching sampling point matching each trajectory point is determined from a plurality of sampling points in the target road line, to obtain a plurality of matching relationships (each matching relationship includes a target trajectory point and at least one matching sampling point matching the target trajectory point, and each matching sampling point matches the target trajectory point). The distance between the target trajectory point and the target trajectory point is less than the distance between the sampling point that does not match the target trajectory point among the multiple sampling points in the target road line and the target trajectory point, and the target trajectory point is any one of the trajectory points in at least one target trajectory segment); based on multiple matching relationships, according to the speed value of at least one target trajectory point that matches the sampling point to be processed (any one of the multiple sampling points in the target road line), the speed limit value of the sampling point to be processed is determined (because each matching relationship includes the target trajectory point and at least one matching sampling point that matches the target trajectory point, therefore, taking the sampling point to be processed as a unit, at least one target trajectory point that matches the sampling point to be processed can be determined from the multiple matching relationships, and then the speed limit value of the sampling point to be processed can be determined according to the speed value of the at least one target trajectory point), so as to determine the speed limit value of each sampling point in the multiple road lines. Therefore, it is achieved that the speed value of the sampling point of the standard map is mapped by the speed value of the trajectory point on the trajectory of historical driving, the cost of obtaining the speed limit information of the standard map is reduced, and the efficiency of obtaining the speed limit information of the standard map is improved.

[0085] In some embodiments of the present application, in multiple matching relationships, each sampling point in multiple road lines may have a matching target trajectory point; in multiple matching relationships, some sampling points in each sampling point in multiple road lines may have matching target trajectory points, while another part of each sampling point in the multiple road lines may not have matching target trajectory points; the specific number can be determined based on actual conditions and is not limited here.

[0086] For example, in combination Figure 2 ,like Figure 4a As shown, the above step 104 can be specifically implemented through the following steps 104a and 104b.

[0087] 104a. Based on multiple matching relationships, determine whether there is a target trajectory point matching the sampling point to be processed in at least one target trajectory segment.

[0088] 104b. When it is determined that at least one target trajectory point matching the sampling point to be processed exists in at least one target trajectory segment, determine a speed limit value of the sampling point to be processed according to a speed value of the at least one target trajectory point matching the sampling point to be processed.

[0089] In the embodiment of the present application, it can be determined first whether there is a target trajectory point matching the sampling point to be processed in at least one target trajectory segment among multiple matching relationships, and if so, the above step 104b is executed, and if not, the following step 105 is executed. In this way, different methods for obtaining the speed limit value of the road line to be processed are determined according to whether there is a target trajectory point matching the sampling point to be processed, and the speed limit value of each sampling point can be quickly determined.

[0090] In some embodiments of the present application, the above step 104b can be specifically implemented through the following step 104b1.

[0091] 104b1. Determine the average value or the minimum value of the speed value of at least one target trajectory point that matches the sampling point to be processed as the speed limit value of the sampling point to be processed.

[0092] In the embodiment of the present application, the average value of the speed value of at least one target trajectory point matching the sampling point to be processed is determined as the speed limit value of the sampling point to be processed, which can basically ensure that the vehicle will not exceed the speed limit when passing through the road section corresponding to the sampling point to be processed at the speed limit value of the sampling point to be processed.

[0093] In the embodiment of the present application, the minimum value of the speed value of at least one target trajectory point matching the sampling point to be processed is determined as the speed limit value of the sampling point to be processed, which can ensure that the vehicle will not exceed the speed limit when passing through the road section corresponding to the sampling point to be processed at the speed limit value of the sampling point to be processed.

[0094] In some embodiments of the present application, Figure 4a ,like Figure 4b As shown, after the above step 104a, the speed limit processing method provided in the embodiment of the present application may further include the following step 105.

[0095] 105. When it is determined that there is no target trajectory point matching the sampling point to be processed in at least one target trajectory segment, determine the speed limit value of the sampling point to be processed according to the speed limit value of at least one speed limit sampling point whose speed limit value has been determined.

[0096] The speed limit value of the sampling point to be processed is less than or equal to the maximum speed limit value of at least one speed limit sampling point.

[0097] Exemplarily, when it is determined that there is no target trajectory point matching the sampling point to be processed in at least one target trajectory segment, the speed limit value of the sampling point to be processed can be determined based on the speed limit value of at least one speed limit sampling point that is closest to the sampling point to be processed and has a determined speed limit value (they may belong to the target road line together with the sampling point to be processed, or may belong to other road lines adjacent to the target road line).

[0098] In an embodiment of the present application, when there is no target trajectory point matching the sampling point to be processed in at least one target trajectory segment, the speed limit value of the sampling point to be processed can be determined based on the speed limit value of at least one speed limit sampling point whose speed limit value has been determined. In this way, the speed limit value of each sampling point in each road line can be determined.

[0099] In some embodiments of the present application, the above step 105 can be specifically implemented by any one of the following steps 105a to 105c.

[0100] 105a. When the sampling point to be processed is the first sampling point in the target road line, the speed limit value of a speed limit sampling point in the target road line that is located in front of the sampling point to be processed and closest to the sampling point to be processed and has a determined speed limit value is determined as the speed limit value of the sampling point to be processed.

[0101] 105b. When the sampling point to be processed is the second sampling point in the target road line, the average value or the minimum value of the speed limit values ​​of the speed limit sampling points in the target road line whose speed limit values ​​have been determined is determined as the speed limit value of the sampling point to be processed.

[0102] 105c. When the sampling point to be processed is the third sampling point in the target road line, the speed limit value of a speed limit sampling point in the target road line that is located behind the sampling point to be processed and closest to the sampling point to be processed and has a determined speed limit value is determined as the speed limit value of the sampling point to be processed.

[0103] In the target road line, the second sampling point is located in front of the first sampling point, and the third sampling point is located in front of the second sampling point.

[0104] Among them, in the driving direction along the target road line, with the sampling point to be processed as the reference, the previous sampling point relative to the sampling point to be processed is the sampling point located in front of the sampling point to be processed, and the next sampling point relative to the sampling point to be processed is the sampling point located behind the sampling point to be processed.

[0105] For example, Figure 3 As shown, among the three sampling points from left to right on the road line A, the left sampling point is located in front of the middle sampling point, and the right sampling point is located behind the middle sampling point.

[0106] In an embodiment of the present application, when there is no target trajectory point matching the sampling point to be processed in at least one target trajectory segment, the speed limit value of the sampling point to be processed can be determined according to the corresponding scheme according to whether the sampling point to be processed is the first sampling point, the second sampling point, or the third sampling point, and concurrent calculation can be achieved in units of road lines to improve processing efficiency.

[0107] In some embodiments of the present application, the first sampling point is the first sampling point in the target road line along the driving direction of the target road line (i.e., the starting sampling point on the corresponding road line); the third sampling point is the last sampling point in the target road line along the driving direction of the target road line (i.e., the ending sampling point on the corresponding road line); the second sampling point is the sampling point in the target road line other than the first sampling point and the third sampling point.

[0108] In the embodiment of the present application, it is distinguished whether the sampling point to be processed is the starting sampling point, the ending sampling point or the intermediate sampling point on the corresponding road line, and the speed limit value of the sampling point to be processed is determined according to the corresponding scheme. In this way, the determined speed limit value is more in line with reality, and concurrent calculation can be achieved in units of road lines to improve processing efficiency.

[0109] In some embodiments of the present application, Figure 4b ,like Figure 5 As shown, before the above step 103, the speed limit processing method provided in the embodiment of the present application may further include the following steps 106 and 107.

[0110] 106. Perform equidistant interpolation processing on each road line starting from the corresponding starting sampling point at a preset interval to obtain at least one interpolation sampling point corresponding to each road line.

[0111] The distance between the last sampling point of at least one difference sampling point and the corresponding end sampling point of the road line is less than or equal to a preset interval.

[0112] Among them, the preset interval can be determined according to actual conditions and is not limited here. For example, the preset interval is 1 meter, 2 meters, etc.

[0113] 107. Determine the original sampling point of each road line and the corresponding at least one interpolation sampling point as a plurality of sampling points of each road line.

[0114] In the embodiment of the present application, since the sampling of the road line data of the standard map is relatively sparse, that is, there are relatively few original sampling points on the road line, in order to make the speed limit information of the final standard map more accurate, some sampling points can be interpolated for the road line.

[0115] The present application also provides a speed limit processing device, Figure 6A schematic diagram of the structure of a speed limit processing device provided in this application, such as Figure 6 As shown, the speed limit processing device includes: a matching module 601, which is used to perform trajectory matching road network processing on multiple road lines in a target area and multiple trajectories in the target area to obtain at least one trajectory segment matching each road line, wherein the distance between any trajectory point on each trajectory segment in the at least one trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold; a determination module 602, which is used to take one of the multiple road lines as a target road line and determine at least one target trajectory segment matching the target road line; for each trajectory point in the at least one target trajectory segment, respectively determine from a plurality of sampling points in the target road line the trajectory points that match each of the trajectory segments. At least one matching sampling point of the track point is matched to obtain a plurality of matching relationships; wherein each matching relationship includes a target track point and at least one matching sampling point matching the target track point, the distance between the matching sampling point in the matching relationship and the target track point is less than the distance between other sampling points in the target road line and the target track point, and the target track point is any track point in the at least one target track segment; based on the plurality of matching relationships, according to the speed value of at least one target track point matching the sampling point to be processed, the speed limit value of the sampling point to be processed is determined, so as to determine the speed limit value of each sampling point in the plurality of road lines, and the sampling point to be processed is any one of the plurality of sampling points in the target road line.

[0116] In some embodiments of the present application, the speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed value of at least one target trajectory point.

[0117] In some embodiments of the present application, the determination module 602 is specifically used to determine whether there is a target trajectory point matching the sampling point to be processed in at least one target trajectory segment based on multiple matching relationships; when it is determined that there is at least one target trajectory point matching the sampling point to be processed in at least one target trajectory segment, determine the speed limit value of the sampling point to be processed according to the speed value of at least one target trajectory point matching the sampling point to be processed.

[0118] In some embodiments of the present application, the determination module 602 is specifically configured to determine an average value or a minimum value of a speed value of at least one target trajectory point matching the sampling point to be processed as a speed limit value of the sampling point to be processed.

[0119] In some embodiments of the present application, the determination module 602 is specifically used to determine whether there is a target trajectory point matching the sampling point to be processed in at least one target trajectory segment based on multiple matching relationships. When it is determined that there is no target trajectory point matching the sampling point to be processed in at least one target trajectory segment, determine the speed limit value of the sampling point to be processed according to the speed limit value of at least one speed limit sampling point whose speed limit value has been determined, and the speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed limit values ​​of at least one speed limit sampling point.

[0120] In some embodiments of the present application, the determination module 602 is specifically used to, when the sampling point to be processed is the first sampling point in the target road line, determine the speed limit value of a speed limit sampling point in the target road line that is located in front of the sampling point to be processed and is closest to the sampling point to be processed and has a determined speed limit value as the speed limit value of the sampling point to be processed; when the sampling point to be processed is the second sampling point in the target road line, determine the average value or minimum value of the speed limit values ​​of each speed limit sampling point in the target road line that has a determined speed limit value as the speed limit value of the sampling point to be processed; when the sampling point to be processed is the third sampling point in the target road line, determine the speed limit value of a speed limit sampling point in the target road line that is located behind the sampling point to be processed and is closest to the sampling point to be processed and has a determined speed limit value as the speed limit value of the sampling point to be processed; wherein, in the target road line, the second sampling point is located in front of the first sampling point, and the third sampling point is located in front of the second sampling point.

[0121] In some embodiments of the present application, the first sampling point is the first sampling point in the target road line along the driving direction of the target road line; the third sampling point is the last sampling point in the target road line along the driving direction of the target road line; the second sampling point is the sampling point in the target road line other than the first sampling point and the third sampling point.

[0122] In some embodiments of the present application, the device also includes: an interpolation module, which is used to determine, for each trajectory point in at least one target trajectory segment, at least one matching sampling point that matches each trajectory point from multiple sampling points in the target road line, and before obtaining multiple matching relationships, perform equidistant interpolation processing on each road line starting from the corresponding starting sampling point at a preset interval to obtain at least one interpolation sampling point corresponding to each road line, and the distance between the last sampling point of at least one difference sampling point and the corresponding ending sampling point of the road line is less than or equal to the preset interval; the determination module 602 is also used to determine the original sampling point of each road line and the corresponding at least one interpolation sampling point as multiple sampling points for each road line.

[0123] It should be noted that the above-mentioned speed limit processing device can be the electronic device in the above-mentioned method embodiment of the present application, or it can be a functional module and / or functional entity in the electronic device that can implement the functions of the device embodiment, and the embodiment of the present application is not limited.

[0124] In the embodiments of the present application, each module can implement the speed limit processing method provided in the above method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0125] Figure 7 The structural diagram of an electronic device provided in the embodiment of the present application is used to exemplarily illustrate the electronic device that implements any speed limit processing method in the embodiment of the present application, and should not be understood as a specific limitation on the embodiment of the present application.

[0126] like Figure 7 As shown, the electronic device 700 may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0127] Typically, the following devices may be connected to the I / O interface 705: input devices 706 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 708 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 709. The communication device 709 may allow the electronic device 700 to communicate with other devices wirelessly or by wire to exchange data. Although the electronic device 700 having various devices is shown, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or have alternatively.

[0128] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 709, or installed from the storage device 708, or installed from the ROM 702. When the computer program is executed by the processor 701, the functions defined in any speed limit processing method provided in the embodiment of the present application can be executed.

[0129] It should be noted that the computer-readable medium mentioned above in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0130] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (Hyper Text Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0131] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0132] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: performs trajectory matching road network processing on multiple road lines in the target area and multiple trajectories in the target area to obtain at least one trajectory segment matching each road line, wherein each trajectory segment belongs to a different trajectory, and the distance between any trajectory point on each trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold; takes one road line among the multiple road lines as the target road line, and determines at least one target trajectory segment matching the target road line; for each trajectory point in the at least one target trajectory segment, respectively determines from the multiple sampling points in the target road line At least one matching sampling point is matched with each trajectory point respectively, and a plurality of matching relationships are obtained; wherein each matching relationship includes a target trajectory point and at least one matching sampling point matched with the target trajectory point, and a distance between each matching sampling point and the target trajectory point is less than a distance between a sampling point that does not match the target trajectory point among a plurality of sampling points in a target road line and the target trajectory point, and the target trajectory point is any one trajectory point in at least one target trajectory segment; based on the plurality of matching relationships, a speed limit value of the sampling point to be processed is determined according to a speed value of at least one target trajectory point matched with the sampling point to be processed, so as to determine a speed limit value of each sampling point in the plurality of road lines, and the sampling point to be processed is any one of the plurality of sampling points in the target road line.

[0133] In an embodiment of the present application, a computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, and the above-mentioned programming languages ​​include but are not limited to object-oriented programming languages, such as Java, Smalltalk, C++, and also include conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed completely on the computer, partially on the computer, as an independent software package, partially on the computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0134] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0135] The units involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of a unit does not, in some cases, constitute a limitation on the unit itself.

[0136] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0137] In the context of the present application, a computer-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a computer-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0138] An embodiment of the present application further provides a vehicle, comprising: the above-mentioned speed limit processing device, or the above-mentioned electronic device, or the above-mentioned computer-readable storage medium.

[0139] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

[0140] In addition, although each operation is described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or to be performed in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the application. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0141] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A speed limit processing method, characterized in that: The method comprises: Performing trajectory matching road network processing on multiple road lines in a target area and multiple trajectories in the target area to obtain at least one trajectory segment matching each road line, wherein a distance between any trajectory point on each trajectory segment in the at least one trajectory segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold; Taking one of the plurality of road lines as a target road line, and determining at least one target trajectory segment matching the target road line; For each trajectory point in at least one target trajectory segment, at least one matching sampling point matching each trajectory point is determined from a plurality of sampling points in the target road line, to obtain a plurality of matching relationships; wherein each matching relationship includes a target trajectory point and at least one matching sampling point matching the target trajectory point, a distance between the matching sampling point in the matching relationship and the target trajectory point is less than a distance between other sampling points in the target road line and the target trajectory point, and the target trajectory point is any trajectory point in the at least one target trajectory segment; Based on the multiple matching relationships, a speed limit value of the sampling point to be processed is determined according to a speed value of at least one target trajectory point that matches the sampling point to be processed, so as to determine the speed limit value of each sampling point in the multiple road lines, and the sampling point to be processed is any one of the multiple sampling points in the target road line.

2. The method according to claim 1, characterized in that The speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed value of the at least one target trajectory point.

3. The method according to claim 1, characterized in that The determining, based on the multiple matching relationships and according to the speed value of at least one target trajectory point that matches the sampling point to be processed, the speed limit value of the sampling point to be processed includes: Based on the multiple matching relationships, determining whether there is a target trajectory point matching the sampling point to be processed in the at least one target trajectory segment; When it is determined that the at least one target trajectory point matching the sampling point to be processed exists in the at least one target trajectory segment, a speed limit value of the sampling point to be processed is determined according to a speed value of the at least one target trajectory point matching the sampling point to be processed.

4. The method according to claim 3, characterized in that The determining the speed limit value of the sampling point to be processed according to the speed value of the at least one target trajectory point matched with the sampling point to be processed comprises: An average value or a minimum value of the speed value of the at least one target trajectory point matching the sampling point to be processed is determined as the speed limit value of the sampling point to be processed.

5. The method according to claim 3, characterized in that: After determining whether there is a target trajectory point matching the sampling point to be processed in the at least one target trajectory segment based on the multiple matching relationships, the method further includes: When it is determined that there is no target trajectory point matching the sampling point to be processed in the at least one target trajectory segment, the speed limit value of the sampling point to be processed is determined according to the speed limit value of at least one speed limit sampling point whose speed limit value has been determined, and the speed limit value of the sampling point to be processed is less than or equal to the maximum value of the speed limit values ​​of the at least one speed limit sampling point.

6. The method according to claim 5, characterized in that The determining the speed limit value of the sampling point to be processed according to the speed limit value of at least one speed limit sampling point whose speed limit value has been determined comprises: When the sampling point to be processed is the first sampling point in the target road line, the speed limit value of a speed limit sampling point in the target road line that is located in front of the sampling point to be processed and closest to the sampling point to be processed and has a determined speed limit value is determined as the speed limit value of the sampling point to be processed; In the case where the sampling point to be processed is the second sampling point in the target road line, an average value or a minimum value of the speed limit values ​​of the speed limit sampling points in the target road line whose speed limit values ​​have been determined is determined as the speed limit value of the sampling point to be processed; When the sampling point to be processed is the third sampling point in the target road line, the speed limit value of a speed limit sampling point in the target road line that is located behind the sampling point to be processed and closest to the sampling point to be processed and has a determined speed limit value is determined as the speed limit value of the sampling point to be processed; Wherein, in the target road line, the second sampling point is located in front of the first sampling point, and the third sampling point is located in front of the second sampling point.

7. The method according to claim 6, characterized in that The first sampling point is the first sampling point on the target road line in the driving direction of the target road line; The third sampling point is the last sampling point on the target road line in the driving direction along the target road line; The second sampling point is a sampling point in the target road line except the first sampling point and the third sampling point.

8. The method according to any one of claims 1 to 7, characterized in that Before determining, for each trajectory point in at least one target trajectory segment, at least one matching sampling point that matches each trajectory point from a plurality of sampling points in the target road line, and obtaining a plurality of matching relationships, the method further comprises: Performing equidistant interpolation processing on each road line starting from the corresponding starting sampling point at a preset interval to obtain at least one interpolation sampling point corresponding to each road line, wherein the distance between the last sampling point of the at least one difference sampling point and the corresponding ending sampling point of the road line is less than or equal to the preset interval; The original sampling points of each road line and the corresponding at least one interpolation sampling point are determined as a plurality of sampling points of each road line.

9. A speed limit processing device, characterized in that: include: a matching module, configured to perform a track matching road network processing on a plurality of road lines in a target area and a plurality of tracks in the target area, to obtain at least one track segment matching each road line, wherein a distance between any track point on each track segment in the at least one track segment and at least one sampling point on the corresponding road line is less than or equal to a distance threshold; a determination module, configured to use one of the plurality of road lines as a target road line, and determine at least one target trajectory segment matching the target road line; For each trajectory point in at least one target trajectory segment, at least one matching sampling point matching each trajectory point is determined from a plurality of sampling points in the target road line, to obtain a plurality of matching relationships; wherein each matching relationship includes a target trajectory point and at least one matching sampling point matching the target trajectory point, a distance between the matching sampling point in the matching relationship and the target trajectory point is less than a distance between other sampling points in the target road line and the target trajectory point, and the target trajectory point is any trajectory point in the at least one target trajectory segment; Based on the multiple matching relationships, a speed limit value of the sampling point to be processed is determined according to a speed value of at least one target trajectory point that matches the sampling point to be processed, so as to determine the speed limit value of each sampling point in the multiple road lines, and the sampling point to be processed is any one of the multiple sampling points in the target road line.

10. An electronic device, characterized in that: include: A processor, the processor is used to execute a computer program stored in a memory, and the computer program, when executed by the processor, implements the steps of the speed limit processing method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the speed limit processing method according to any one of claims 1 to 8 are implemented.

12. A vehicle, characterized in that: include: The speed limit processing device as claimed in claim 9, or the electronic device as claimed in claim 10, or includes the computer-readable storage medium as claimed in claim 11.

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