Regional range determination method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a region range determination method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining a region division result of a to-be-processed region; the region division result at least comprises road attribute points of roads included in each region; determining region boundary points of each region according to road attribute points of roads included in each region; and for each region, determining the region range of the region according to the region boundary point of the region, and updating the region division result corresponding to the region by using the region range. By applying the scheme of the embodiment of the invention, the area range containing the roads can be constructed according to the road information contained in each cell, the constructed area range is used as the division result of the cell, and when a road needs to be updated, the road can be updated only by determining the area where the road to be updated is located, so that the updating efficiency is improved. And the relation of other roads does not need to be updated, so that the complexity of road updating can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method, device, electronic device and storage medium for determining an area range. Background Art

[0002] In autonomous driving technology, accurate map construction is a prerequisite for ensuring the safe driving of autonomous vehicles. Specifically, when a certain area (such as Beijing, Shanghai, etc.) needs to be mapped, the roads in the area can be divided into multiple areas, each of which can be called a cell. Then, the roads included in each cell are mapped separately, and finally the mapping results of each cell are combined to obtain a map of the entire area. In other words, each divided cell can include multiple roads, and after each cell is divided, a relationship can be established between the roads included in the same cell, that is, all roads in the same cell have a relationship.

[0003] However, the roads in different regions are not static. They may change over time, such as the addition of new roads or road widening. When the roads in a region change, it is necessary to re-divide the cells of the changed roads and build a map. However, in the above cell division method, since all roads in each cell have a relationship, when the changed road is divided into any cell, it is necessary to change the relationship of all roads in the cell before the new road can be re-mapped. This process requires a lot of calculations and will cause a lot of resource waste. Therefore, how to reduce the complexity of updating roads in cells has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a method, device, electronic device and storage medium for determining an area range to reduce the complexity of updating roads within a cell. The specific technical solution is as follows.

[0005] In a first aspect, an embodiment of the present invention provides a method for determining an area range, the method comprising:

[0006] Obtaining a regional division result of the area to be processed; the regional division result at least includes road attribute points of roads included in each area;

[0007] Determining the regional boundary points of each region according to the road attribute points of the roads included in each region;

[0008] For each region, the region range of the region is determined according to the region boundary points of the region, and the region range is used to update the region division result corresponding to the region.

[0009] Optionally, the step of determining the area boundary points of each area according to the road attribute points of the roads included in each area includes:

[0010] According to the road attribute points of the roads included in each area, based on a preset algorithm, the area boundary points of each area are calculated; the road attribute points of each area are all contained in the area formed by the area boundary points of the area.

[0011] Optionally, the step of determining, for each region, the region range of the region according to the region boundary points of the region includes:

[0012] For each region, based on the preset algorithm, the region boundary points of the region are sequentially connected to obtain the edge line corresponding to the region;

[0013] The area range surrounded by the edge line is taken as the area range where the area is located.

[0014] Optionally, for each region, based on the preset algorithm, sequentially connecting the region boundary points of the region to obtain an edge line corresponding to the region includes:

[0015] For each region, identifying target adjacent region boundary points whose spacing is greater than a preset distance threshold among the adjacent region boundary points;

[0016] According to the preset insertion rules, new insertion points are inserted between the boundary points of each target adjacent area;

[0017] Based on the preset algorithm, each region boundary point and insertion point of the region are connected in sequence to obtain an edge line corresponding to the region.

[0018] Optionally, the preset algorithm includes a concave hull algorithm.

[0019] Optionally, the method further includes:

[0020] For each area, the roads within the area are updated according to the attribute information of the roads included in the area; the attribute information at least includes: road grade and road identification.

[0021] In a second aspect, an embodiment of the present invention provides a device for determining a region range, the device comprising:

[0022] A regional result acquisition module is used to acquire the regional division result of the area to be processed; the regional division result at least includes the road attribute points of the roads included in each area;

[0023] A boundary point determination module, used for determining the regional boundary points of each region according to the road attribute points of the roads included in each region;

[0024] The area range determination module is used to determine the area range of each area according to the area boundary points of the area, and use the area range to update the area division result corresponding to the area.

[0025] Optionally, the boundary point determination module is specifically used to:

[0026] According to the road attribute points of the roads included in each area, based on a preset algorithm, the area boundary points of each area are calculated; the road attribute points of each area are all contained in the area formed by the area boundary points of the area.

[0027] Optionally, the area range determination module includes:

[0028] The edge line construction submodule is used to connect the boundary points of each region in sequence based on the preset algorithm to obtain the edge line corresponding to the region;

[0029] The area range division submodule is used to take the area range surrounded by the edge line as the area range where the area is located.

[0030] Optionally, the edge line construction submodule is specifically used for:

[0031] For each region, identifying target adjacent region boundary points whose spacing is greater than a preset distance threshold among the adjacent region boundary points;

[0032] According to the preset insertion rules, new insertion points are inserted between the boundary points of each target adjacent area;

[0033] Based on the preset algorithm, each region boundary point and insertion point of the region are connected in sequence to obtain an edge line corresponding to the region.

[0034] Optionally, the preset algorithm includes a concave hull algorithm.

[0035] Optionally, the device further comprises:

[0036] The road updating module is used to update the roads within each area according to the attribute information of the roads within the area; the attribute information at least includes: road grade and road identification.

[0037] In a third aspect, an embodiment of the present invention provides an electronic device, including: a memory and a processor, wherein the memory and the processor are coupled;

[0038] The memory is used to store one or more computer instructions;

[0039] The processor is used to execute the one or more computer instructions to implement the area range determination method as described in the first aspect above.

[0040] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having one or more computer instructions stored thereon, which are executed by a processor to implement the area range determination method as described in the first aspect above.

[0041] In a fifth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for determining the area range described in the first aspect is implemented.

[0042] From the above content, it can be seen that the regional range determination method, device, electronic device and storage medium provided by the embodiments of the present invention can construct a regional range that can include these roads according to the road information included in each cell for the area where cells have been divided, and use the constructed regional range as the division result of the cell, that is, the cell division result that originally includes multiple roads with a relationship can be updated to a cell division result corresponding to the regional range. When a road needs to be updated later, it is only necessary to determine the area where the road to be updated is located to determine the cell where it is located, and further update it without updating the relationship of other roads, thereby reducing the complexity of road updates. Of course, implementing any product or method of the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0044] Figure 1 A schematic diagram of a flow chart of a method for determining a region range provided by an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of a structure of a device for determining a region range provided by an embodiment of the present invention;

[0046] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0049] The embodiment of the present invention discloses a method, device, electronic device and storage medium for determining an area range, which can reduce the complexity of updating roads in a cell. The embodiment of the present invention is described in detail below.

[0050] Figure 1 A flow chart of a method for determining a region range provided in an embodiment of the present invention. The method is applied to an electronic device. The method specifically includes the following steps.

[0051] S110: Obtaining a cell division result of the area to be processed; the cell division result at least includes road attribute points of the roads included in each cell.

[0052] The above-mentioned area to be processed may include any area that needs to determine the cell range, which may be an urban area, a county town, etc., which are all possible.

[0053] In the embodiment of the present invention, in order to reduce the complexity of updating roads in a cell, the cell can be updated based on the cell result obtained by division. Among them, the existing cell division method usually divides roads as objects. After the division is completed, each cell includes multiple roads, and the roads in a cell have relationships.

[0054] For example, when building a map, each road can be numbered, and after the cells are divided, the stored cell division results can include: which roads each cell includes, the road attribute points of each road, the non-road attribute points, etc., wherein the road attribute points can be points that can reflect the inherent attributes of the road, for example, they can include the starting point, end point, and lane information points of each road, etc. Non-road attribute points can include sign location points and traffic light location points in the road. Exemplarily, a cell can include road 23, road 25, road 26, and specific information of each road. Therefore, after obtaining the cell division results of the area to be processed, it is also possible to know the conditions of all roads included in each cell.

[0055] S120: Determine the area boundary points of each cell according to the road attribute points of the roads included in each cell.

[0056] In the known cell division methods, the complexity of updating roads within a cell is high because relationships are established between the roads within each cell. That is, all roads within the same cell are coupled. When updating any road in any cell, it is necessary to re-establish the relationship between the road to be updated and all other roads in the cell.

[0057] In the embodiment of the present invention, in order to reduce the complexity of updating roads in a cell, the division method of each cell can be adjusted to decouple the road relationship in the cell. Therefore, when any road needs to be updated, only the road to be updated needs to be processed, and no processing is required for other divided roads. Specifically, the cell division result storing the information of each road can be adjusted to the cell division result corresponding to each area range. All roads in the area range corresponding to any cell belong to the cell, and there is no relationship between the roads, and they are all independent.

[0058] For example, the regional boundary points of each cell can be determined based on the road attribute points of the roads included in each cell, so that the regional range of each cell can be determined based on the regional boundary points. In other words, each cell can be regarded as a whole area to determine the regional boundary points of each cell. For example, the road boundary contour of the area where each cell is located can be determined; then, for each cell, the road attribute points located on the road boundary contour of the area where the cell is located are used as the regional boundary points of the area where the cell is located.

[0059] In one implementation, the regional boundary points of each cell may be calculated based on the road attribute points of the roads included in each cell and based on a preset algorithm. The road attribute points of each cell are all contained in the region formed by the regional boundary points of the cell. The preset algorithm may include a convex hull algorithm or a concave hull algorithm.

[0060] S130: For each cell, determine the region range where the cell is located according to the region boundary points of the cell, and use the region range to update the cell division result corresponding to the cell.

[0061] For example, for each cell, a region that can contain all region boundary points and has the smallest area can be determined as the region range of the cell.

[0062] In one implementation, for each cell, based on a preset algorithm, the region boundary points of the cell are sequentially connected to obtain an edge line corresponding to the cell; then the region range surrounded by the edge line is used as the region range where the cell is located.

[0063] When the above preset algorithm is the concave hull algorithm, in some cases, the distance between the boundary points of two adjacent regions will be relatively large, so that the concave distance will also be relatively large, and the final region range is not consistent with the actual situation.

[0064] In one implementation, the electronic device can perform encryption operations on the region boundary points with large spacing, that is, a new point can be added between two region boundary points. For example, for each cell, the target adjacent region boundary points with a spacing greater than a preset distance threshold can be identified from the adjacent region boundary points; then, according to the preset insertion rule, a new insertion point is inserted between the target adjacent region boundary points; finally, based on the preset algorithm, the region boundary points and the insertion point of the region where the cell is located are sequentially connected to obtain the edge line corresponding to the cell.

[0065] Among them, the above-mentioned preset distance threshold can be set according to actual conditions, such as 30 meters, 50 meters, 100 meters, etc., and the embodiment of the present invention does not limit its specific value. When inserting a new point in the middle of the target adjacent area boundary point, for example, a point can be inserted at a fixed distance, such as 10 meters, 15 meters, etc., and the embodiment of the present invention does not limit the specific value of the distance. When the area boundary points are encrypted and the concave hull algorithm is used to calculate the area boundary, for any adjacent area boundary point, the concave distance can be less than the distance between the two points.

[0066] As an implementation method of the present invention, when the roads in the area to be processed change, the changed roads can also be updated. For example, for each cell, the roads within the cell range can be updated according to the attribute information of the roads included in the cell area; the attribute information at least includes: road grade and road identification. In other words, when there are roads that need to be updated, only the roads to be updated can be processed, and no processing is required for other roads in the same cell.

[0067] From the above content, it can be seen that the embodiment of the present invention can construct a regional range that can include these roads for an area that has been divided into cells, based on the road information included in each cell, and use the constructed regional range as the division result of the cell. That is to say, the cell division result that originally included multiple related roads can be updated to a cell division result corresponding to the regional range. When a road needs to be updated subsequently, it is only necessary to determine the area where the road to be updated is located to determine the cell where it is located, and further update it, thereby reducing the complexity of road updates.

[0068] like Figure 2 As shown, it shows a schematic diagram of the structure of a device for determining a region range provided by an embodiment of the present invention, the device comprising:

[0069] The regional result acquisition module 210 is used to acquire the regional division result of the area to be processed; the regional division result at least includes the road attribute points of the roads included in each area;

[0070] A boundary point determination module 220, configured to determine the region boundary points of each region according to the road attribute points of the roads included in each region;

[0071] The area range determination module 230 is used to determine the area range of each area according to the area boundary points of the area, and use the area range to update the area division result corresponding to the area.

[0072] Optionally, the boundary point determination module 220 is specifically configured to:

[0073] According to the road attribute points of the roads included in each area, based on a preset algorithm, the area boundary points of each area are calculated; the road attribute points of each area are all contained in the area formed by the area boundary points of the area.

[0074] Optionally, the area range determination module 230 includes:

[0075] The edge line construction submodule is used to connect the boundary points of each region in sequence based on the preset algorithm to obtain the edge line corresponding to the region;

[0076] The area range division submodule is used to take the area range surrounded by the edge line as the area range where the area is located.

[0077] Optionally, the edge line construction submodule is specifically used for:

[0078] For each region, identifying target adjacent region boundary points whose spacing is greater than a preset distance threshold among the adjacent region boundary points;

[0079] According to the preset insertion rules, new insertion points are inserted between the boundary points of each target adjacent area;

[0080] Based on the preset algorithm, each region boundary point and insertion point of the region are connected in sequence to obtain an edge line corresponding to the region.

[0081] Optionally, the preset algorithm includes a concave hull algorithm.

[0082] Optionally, the device further comprises:

[0083] The road updating module is used to update the roads within each area according to the attribute information of the roads within the area; the attribute information at least includes: road grade and road identification.

[0084] From the above content, it can be seen that the embodiment of the present invention can construct a regional range that can include these roads for an area that has been divided into cells, based on the road information included in each cell, and use the constructed regional range as the division result of the cell. That is to say, the cell division result that originally included multiple related roads can be updated to a cell division result corresponding to the regional range. When a road needs to be updated subsequently, it is only necessary to determine the area where the road to be updated is located to determine the cell where it is located, and further update it, thereby reducing the complexity of road updates.

[0085] The above device embodiment corresponds to the method embodiment and has the same technical effect as the method embodiment. For specific description, please refer to the method embodiment. The device embodiment is obtained based on the method embodiment. For specific description, please refer to the method embodiment part, which will not be repeated here.

[0086] Next, an electronic device provided by an embodiment of the present application is introduced. Figure 3 , Figure 3 A schematic diagram of a structure of a server provided in an embodiment of the present application, the server comprising:

[0087] one or more processors 40;

[0088] The processor 40 is coupled to a storage device 41, and the storage device 41 is used to store one or more programs.

[0089] When the one or more programs are executed by the one or more processors 40, the electronic device implements the following Figure 1 A technical solution of the method for determining the area range.

[0090] The present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the following is achieved: Figure 1 The method for determining the area range described.

[0091] The present application provides a computer program product, the computer program product comprising a computer program, the computer program when executed by a processor to achieve the following Figure 1 The method for determining the area range described above.

[0092] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0093] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining a region range, characterized in that: The method comprises: Obtaining a regional division result of the area to be processed; the regional division result at least includes road attribute points of roads included in each area; Determining the regional boundary points of each region according to the road attribute points of the roads included in each region; For each region, the region range of the region is determined according to the region boundary points of the region, and the region range is used to update the region division result corresponding to the region.

2. The method according to claim 1, characterized in that The step of determining the area boundary points of each area according to the road attribute points of the roads included in each area comprises: According to the road attribute points of the roads included in each area, based on a preset algorithm, the area boundary points of each area are calculated; the road attribute points of each area are all contained in the area formed by the area boundary points of the area.

3. The method according to claim 2, characterized in that The step of determining the area range of each area according to the area boundary points of the area includes: For each region, based on the preset algorithm, the region boundary points of the region are sequentially connected to obtain the edge line corresponding to the region; The area range surrounded by the edge line is taken as the area range where the area is located.

4. The method according to claim 3, characterized in that The step of sequentially connecting the boundary points of each region based on the preset algorithm to obtain the edge line corresponding to the region comprises: For each region, identifying target adjacent region boundary points whose spacing is greater than a preset distance threshold among the adjacent region boundary points; According to the preset insertion rules, new insertion points are inserted between the boundary points of each target adjacent area; Based on the preset algorithm, each region boundary point and insertion point of the region are connected in sequence to obtain an edge line corresponding to the region.

5. The method according to any one of claims 2 to 4, characterized in that: The preset algorithm includes a concave hull algorithm.

6. The method according to any one of claims 2 to 4, characterized in that: The method further comprises: For each area, the roads within the area are updated according to the attribute information of the roads included in the area; the attribute information at least includes: road grade and road identification.

7. A device for determining a region range, characterized in that: The device comprises: A regional result acquisition module is used to acquire the regional division result of the area to be processed; the regional division result at least includes the road attribute points of the roads included in each area; A boundary point determination module, used for determining the regional boundary points of each region according to the road attribute points of the roads included in each region; The area range determination module is used to determine the area range of each area according to the area boundary points of the area, and use the area range to update the area division result corresponding to the area.

8. The device according to claim 7, characterized in that The boundary point determination module is specifically used for: According to the road attribute points of the roads included in each area, based on a preset algorithm, the area boundary points of each area are calculated; the road attribute points of each area are all contained in the area formed by the area boundary points of the area.

9. The device according to claim 8, characterized in that The area range determination module includes: The edge line construction submodule is used to connect the boundary points of each region in sequence based on the preset algorithm to obtain the edge line corresponding to the region; The area range division submodule is used to take the area range surrounded by the edge line as the area range where the area is located.

10. The device according to claim 9, characterized in that The edge line construction submodule is specifically used for: For each region, identifying target adjacent region boundary points whose spacing is greater than a preset distance threshold among the adjacent region boundary points; According to the preset insertion rules, new insertion points are inserted between the boundary points of each target adjacent area; Based on the preset algorithm, each region boundary point and insertion point of the region are connected in sequence to obtain an edge line corresponding to the region.

11. The device according to any one of claims 8 to 10, characterized in that: The preset algorithm includes a concave hull algorithm.

12. The device according to any one of claims 8 to 10, characterized in that: The device also includes: The road updating module is used to update the roads within each area according to the attribute information of the roads within the area; the attribute information at least includes: road grade and road identification.

13. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are coupled; The memory is used to store one or more computer instructions; The processor is configured to execute the one or more computer instructions to implement the area range determination method according to any one of claims 1 to 6.

14. A computer-readable storage medium having one or more computer instructions stored thereon, characterized in that: The instruction is executed by a processor to implement the area range determination method according to any one of claims 1 to 6.

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