Method and device for determining road information
By comparing the first electronic map and the second electronic map, determining and updating the target road, the problem of wasted computing resources and reduced processing efficiency during the map update process is solved, and efficient map updates and real-time and accurate road information are achieved.
Patent Information
- Application Number
- CN202411522782.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-29
- Publication Date
- 2025-02-18
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
During the map update process, the existing technology uses all road information without distinction, resulting in waste of computing resources and reduced processing efficiency, affecting the map update efficiency.
By comparing the first electronic map with the second electronic map, the first target road and its road level are determined, and if the level belongs to or is associated with the target road level set, it is determined as a new addition to the second electronic map Road intelligence.
It effectively avoids processing redundant data, reduces computing resource consumption, quickly locates and updates important road changes, improves map update efficiency, and enhances the real-time and accuracy of updated map information.
Smart Images
Figure CN119474113A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of maps, and in particular to a method and device for determining road information. Background Art
[0002] With the rapid development of autonomous driving technology and intelligent transportation systems, maps that can provide detailed road information have become one of the key tools for achieving reliable navigation.
[0003] However, when updating the road information in the map, data collection and update costs are important considerations. In the related art, the data information of one map is usually used to update another map, so as to complete the update of map data on the basis of saving update costs. However, for the map that needs to be updated, not all road changes are of equal importance. Therefore, if all road information contained in one map is used indiscriminately to update other maps, it will not only waste computing resources, but also reduce the processing efficiency of road information, thereby affecting the efficiency of map update. Summary of the invention
[0004] In view of this, the present application provides a method and device for determining road information to solve the defects existing in the related technology. The technical solution of the present application is as follows:
[0005] According to an embodiment of the first aspect of the present application, a method for determining road intelligence is provided, comprising:
[0006] Respectively obtain a first electronic map and a second electronic map corresponding to the target area;
[0007] determining a first target road in the target area and a first road grade of the first target road based on the first electronic map and the second electronic map, the first electronic map including the first target road and the second electronic map not including the first target road;
[0008] In a case where the first road level belongs to a target road level set, determining the first target road as newly added road information for the second electronic map;
[0009] When the first road grade does not belong to the target road grade set, if there is a second target road in the preset buffer zone of the first target road, the first target road is determined as the newly added road information for the second electronic map, and the second target road is a road whose road grade belongs to the target road grade set.
[0010] According to an embodiment of the second aspect of the present application, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.
[0011] According to an embodiment of the third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.
[0012] According to an embodiment of the fourth aspect of the present application, a computer program product is proposed, including a computer program / instruction, and when the computer program / instruction is executed by a processor, the method described in the first aspect is implemented.
[0013] In the technical solution provided by the present application, different electronic maps corresponding to the target area can be obtained respectively, including a first electronic map and a second electronic map, and a first target road existing in the first electronic map but not in the second electronic map and a first road level that can characterize its road level can be determined. In the case where the first road level belongs to the target road level set, it can be considered that the first target road is a road concerned by the second electronic map, so it is determined as the newly added road information for the second electronic map. In the case where the first road level does not belong to the target road level set, it can be determined whether there are other roads whose road levels belong to the target road level set in the preset buffer of the first target road, that is, the second target road. Since the road level of the second target road belongs to the target road level set, that is, the second target road is a road concerned by the second electronic map, then in the case where the second target road exists in the preset buffer of the first target road, it can be considered that the first target road is an associated road of the second target road, and then it is determined that the first target road is also a road concerned by the second electronic map, so it can also be determined as the newly added road information for the second electronic map.
[0014] By applying the technical solution of the present application, by judging the road grade of the first target road and the road grade of the second target road associated with the first target road, it is determined whether the first target road is the road of interest from the perspective of the second electronic map, and when the first target road is indeed the road of interest from the perspective of the second electronic map, it is used as the newly added road information for the second electronic map. Compared with indiscriminately using all road information contained in the first electronic map to update the second electronic map, this solution avoids processing a large amount of redundant data by targetedly selecting the road information that needs to be updated, thereby greatly reducing the consumption of computing resources; at the same time, it can quickly locate and update important road changes, improve the efficiency of determining new road information, and thus shorten the update time of the map, and enhance the real-time and accuracy of the road information contained in the updated map.
[0015] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and do not limit the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] 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, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.
[0017] Figure 1 is a flow chart of a method for determining road information shown in an exemplary embodiment of the present application;
[0018] Figure 2 is a schematic diagram of a first target road shown in an exemplary embodiment of the present application;
[0019] Figure 3 is a reference road schematic diagram shown in an exemplary embodiment of the present application;
[0020] Figure 4 is a schematic diagram of a high-precision map shown in an exemplary embodiment of the present application;
[0021] Figure 5 is a schematic diagram of a second target road shown in an exemplary embodiment of the present application;
[0022] Figure 6 It is a flow chart of an overall solution shown in an exemplary embodiment of the present application;
[0023] Figure 7 is a schematic diagram of a device for determining road information shown in an exemplary embodiment of the present application;
[0024] Figure 8 It is a schematic diagram of a computer device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION
[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of the present application as detailed in the appended claims.
[0026] It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this application. In some other embodiments, the steps included in the method may be more or less than those described in this application. In addition, a single step described in this application may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this application may also be combined into a single step for description in other embodiments.
[0027] With the rapid development of autonomous driving technology and intelligent transportation systems, maps that can provide detailed road information have become one of the key tools for achieving safe and reliable navigation. However, when updating the road information in the map, data collection and update costs are important considerations.
[0028] In the related art, data information of one map is usually used to update another map. For example, by comparing two map data sets of different precision to identify the difference between them, and adding data information that does not originally exist in the map to be updated to the map, the map data is updated on the basis of saving the update cost.
[0029] However, maps usually contain a large amount of road information, and not all road changes are equally important for maps that need to be updated. For example, when the map that needs to be updated is an electronic map used by smart driving vehicles, changes in ferry routes and pedestrian paths will not have a significant impact on vehicles using smart driving. Therefore, when such roads change, it is not necessary to immediately update the electronic map used for the smart driving system. Therefore, if all the road information contained in one map is used indiscriminately to update another map, it will not only waste computing resources, but also reduce the processing efficiency of road intelligence, thereby affecting the efficiency of map updates.
[0030] In order to solve the above problems, the present application proposes a method for determining road intelligence, which determines the roads of interest from the perspective of the second electronic map based on the road level, and uses it as new road intelligence for the second electronic map to update the second electronic map. Compared with indiscriminately using all road information contained in the first electronic map to update the second electronic map, this solution avoids processing a large amount of redundant data by targetedly selecting the road information that needs to be updated, thereby greatly reducing the consumption of computing resources; at the same time, it can quickly locate and update important road changes, improve the efficiency of determining new road intelligence, and thus shorten the map update time, and enhance the real-time and accuracy of the road information contained in the updated map.
[0031] Next, the embodiments of the present application are described in detail with reference to the accompanying drawings.
[0032] As an embodiment, the technical solution proposed in this application can be deployed on a variety of different architectures and devices to adapt to different application scenarios and technical requirements. For example, it can be deployed on terminal devices such as mobile phones, tablet computers, and vehicle computers, so that users / map operation and maintenance personnel can determine road information through terminal devices; it can be deployed on a single server or server cluster to improve the processing performance when the solution is executed; it can be deployed on cloud platforms such as public clouds and private clouds, as well as distributed systems; the technical solution proposed in this application can also be applied in architectures such as the Internet of Vehicles and the Internet of Things, such as different vehicles can directly communicate with each other to exchange electronic maps, and then determine road information, etc.
[0033] Figure 1 FIG. 1 is a flow chart of a method for determining road information according to an exemplary embodiment of the present application. Figure 1 , the method comprising:
[0034] Step 101: Obtain a first electronic map and a second electronic map corresponding to a target area respectively.
[0035] In one embodiment, the target area is used to represent the scope of the map area that needs to be processed for road intelligence. The scope represented by the target area can be determined by the user / map operation and maintenance personnel who initiates the corresponding road intelligence processing task, such as by selecting the selected range on the displayed first electronic map or second electronic map; it can also be determined according to a pre-set area division rule, for example, the area represented by the preset latitude and longitude range can be used as the target area, or each target area can be determined according to administrative divisions (which may include various division methods such as provinces, cities, and districts), and this application does not limit this.
[0036] In one embodiment, the technical solution proposed in the present application is applicable to a variety of map data update scenarios, including but not limited to the following situations: the first electronic map is a standard-precision map, and the second electronic map is a high-precision map; the first electronic map is a high-precision map, and the second electronic map is a standard-precision map; the first electronic map and the second electronic map are two electronic maps with the same accuracy but different sources, such as two high-precision maps from different sources or two standard-precision maps from different sources.
[0037] Specifically, the map source is used to characterize the provider or generator of map data, which may include different map data providers, surveying and mapping agencies, government agencies, crowdsourcing data platforms, etc. Map accuracy refers to the accuracy and detail of map data when representing geographic features. When electronic maps are classified according to accuracy, they can be divided into Standard Definition Map (SD map) and High Definition Map (HD map). Compared with high-precision maps, standard definition maps have relatively low accuracy. They are maps that provide basic road network information and are mainly used to meet daily travel needs and provide general geographic location services. High-precision maps are maps that provide extremely high-precision road network and environmental information, such as detailed road geometry information, as well as fine features such as lane lines, traffic signs, and curbs. They are mainly designed for autonomous driving vehicles and advanced driver assistance systems and can provide vehicles with accurate location references and environmental perception data.
[0038] It is understandable that the map data contained in the standard precision map and the high-precision map have certain differences in accuracy, and two electronic maps with the same accuracy may also have different map data due to factors such as different update time points. Since the present application as a whole provides a method for updating the second electronic map according to specific road information in the first electronic map, when the first electronic map is a standard precision map and the second electronic map is a high-precision map, the update frequency of the high-precision map can be increased while reducing the update cost of the high-precision map, thereby ensuring the real-time information of the high-precision map; when the first electronic map is a high-precision map and the second electronic map is a standard precision map, the detailed information of the standard precision map can be enhanced to improve its accuracy and practicality; when the first electronic map and the second electronic map are two electronic maps with the same accuracy and different sources, the map data can be complemented to ensure the integrity and accuracy of the final map. The technician can choose which electronic map the first electronic map and the second electronic map correspond to according to actual needs, and the present application does not limit this.
[0039] Step 102: determining a first target road and a first road grade in the target area based on the precise map and a second electronic map, wherein the first electronic map includes the first target road and the second electronic map does not include the first target road.
[0040] In one embodiment, a first target road needs to be determined based on the first electronic map and the second electronic map corresponding to the acquired target area. The first target road is used to represent any road that exists in the first electronic map and does not exist in the second electronic map. Figure 2 2 is a schematic diagram of a first target road shown in an exemplary embodiment of the present application. Map 21 is a first electronic map, which includes roads 211 and 212; map 22 is a second electronic map, which includes road 221. Figure 2 As shown, the road 211 existing in the first electronic map 21 has a corresponding road 221 in the second electronic map 22, that is, the road 211 and the road 221 are actually the same road, so the road 211 in the first electronic map is not the first target road. The road 212 existing in the first electronic map 21 has no corresponding road in the second electronic map 22, so the road 212 in the first electronic map is the first target road.
[0041] In one embodiment, it is also necessary to determine the road grade of the first target road. In the embodiment of the present application, the specific division method of road grades is not too limited. Those skilled in the art can determine it according to actual needs, such as but not limited to the road design standards, functions, traffic flow and service level of the road. One or any combination of factors is used as a reference to classify the roads to obtain the road grade, and each road has a corresponding road grade. The road grade may include but is not limited to any one or any combination of highways, urban expressways, national highways, provincial highways, county roads, township and village roads, other roads, non-guided roads, ferries, pedestrian roads, etc.
[0042] Both the first electronic map and the second electronic map contain road labeling information for describing and identifying road data, and the road labeling information can usually identify the road grade of each road. Therefore, the road grade of the first target road can be determined based on the road labeling information in the first electronic map. Figure 2 In the case where the road 212 shown is the first target road, if the road labeling information of the first electronic map indicates that the road grade of the road 212 is "highway", then the road grade of the first target road is determined to be "highway".
[0043] Specifically, as an embodiment, the first electronic map may be a standard precision map, and the second electronic map may be a high-precision map. In this case, when determining the first target road in the standard precision map, the standard precision buffer of any potential target road in the standard precision map and the high-precision buffer corresponding to the standard precision buffer in the high-precision map may be obtained first. Here, the potential target road may be any road existing in the standard precision map, and any potential target road may be determined as the target road after being judged in subsequent steps. At the same time, in the field of map technology, the buffer of a road is used to characterize a strip area of fixed width determined based on the center line or edge of the road. The buffer of any road in this application is a range determined based on the buffer width pre-set by the technician, and the pre-set buffer width is usually 8 meters. Of course, the width of the buffer here can also be changed according to specific needs, such as being set to 5 meters, 10 meters, 20 meters, etc., and this application does not limit this. In this embodiment, the standard precision buffer of any potential target road is a strip area with a width of 8 meters based on the center line of the potential target road, and the high-precision buffer is actually a mapping of the range represented by the standard precision buffer in the high-precision map.
[0044] Figure 3 It is a reference road schematic diagram shown in an exemplary embodiment of the present application. Among them, map 31 is a standard precision map, and map 32 is a high-precision map. The standard precision map 31 contains roads 311 and road 312, and the high-precision map 32 contains roads 321 and roads 325 and road 326. In the standard precision map 31, both roads 311 and 312 can be potential target roads. For the potential target road 311, its preset buffer zone is area 313, which is also a standard precision buffer zone, and the range represented by area 313 is mapped as area 323 in the high-precision map 32, then area 323 is the high-precision buffer zone. Correspondingly, for the potential target road 312, its corresponding standard precision buffer zone is area 314, and its high-precision buffer zone is area 324.
[0045] Afterwards, if there is no reference road corresponding to any potential target road in the high-precision map, the potential target road is determined as the first target road. Any potential target road may have one or more reference roads, and the reference road is a road that intersects with the determined high-precision buffer zone.
[0046] In one approach, all roads that intersect with the high-precision buffer zone can be determined as reference roads. That is, any road that intersects with the high-precision buffer zone is a reference road. In this approach, only when there is no road in the high-precision buffer zone can the corresponding potential target road be determined as the first target road. Figure 3As shown, for the potential target road 311, there is no road in its corresponding high-precision buffer 323, that is, there is no intersection between any road and the high-precision buffer 323. At this time, the potential target road 311 can be determined as the first target road.
[0047] In another method, based on the existence of an intersection between any road and the high-precision buffer zone, further judgment is required based on relevant length ratios to determine whether any road is a reference road.
[0048] Specifically, each road that intersects with the high-precision buffer zone can be used as a candidate reference road. For any candidate reference road, the length of the partial section of the candidate reference road located in the high-precision buffer zone needs to be determined.
[0049] like Figure 3 As shown, for the potential target road 312, there are two roads that intersect with it in the corresponding high-precision buffer zone 324, namely, road 325 and road 326, so both roads can be used as alternative reference roads. At this time, it is necessary to calculate the ratio between the length of the partial section of each alternative reference road located in the high-precision buffer zone and the length of the corresponding potential target road. For the alternative reference road 325, the two endpoints A and B intersecting with the high-precision buffer zone can be determined, and the length between the two endpoints can be directly used as the length of the partial section of the alternative reference road located in the high-precision buffer zone; the two endpoints A and B intersecting with the high-precision buffer zone can also be determined, and the projection points A' and B' of A and B on the potential target road can be determined, and then the length of the line between A' and B' can be used as the projection length, and the projection length can be used as the length of the partial section of the alternative reference road located in the high-precision buffer zone.
[0050] The method for calculating the projection can be found in Figure 4 The high-precision map shown. Among them, road 41 is a potential target road (actually exists in the standard precision map, and is drawn in the high-precision map here only for the convenience of understanding), area 42 is the high-precision buffer zone corresponding to the potential target road, and road 43 is an alternative reference road that intersects with the high-precision buffer zone 42. At this time, the two endpoints A and B where the alternative reference road 43 intersects with the high-precision buffer zone 42 can be determined, and the projection points A' and B' of A and B on the potential target road 41 can be determined, and then the length of the line 44 between A' and B' is used as the projection length, which can be used as the length of the partial section of the alternative reference road located in the high-precision buffer zone.
[0051] After obtaining the length of the section of the candidate reference road located in the high-precision buffer zone, the ratio between the length and the length of the corresponding potential target road can be further calculated. Only when the calculated ratio is not less than a preset ratio threshold value, the candidate road is determined as the reference road of the corresponding potential target road. The ratio threshold value here can be set by the technician according to actual needs, and can usually be set to 0.9, but this application does not limit this.
[0052] Of course, for any potential target road, if there is no alternative reference road in the high-precision map, it can be directly determined that there is no reference road for the potential target road, and then the potential target road can be directly determined as the first target road. It should also be noted that in the technical solution of the present application, if it is necessary to determine whether there are other roads in the preset buffer zone of any road, the method described in the above embodiment can be used, and will not be repeated hereafter.
[0053] It can be understood that when there is no reference road in the high-precision buffer corresponding to any potential target road, it can be considered that there is no road similar to the potential target road in the corresponding range in the high-precision map, and the potential target road can be determined as the first target road.
[0054] Step 103: When the first road level belongs to a target road level set, the first target road is determined as newly added road information for the second electronic map.
[0055] In one embodiment, a target road class set may be pre-set, and the target road class set includes the road classes of the roads concerned from the perspective of the second electronic map. In other words, if any road class belongs to the target road class set, the road with the road class is considered to be the road concerned from the perspective of the second electronic map. The target road set may include one or more road classes, and the roads corresponding to these road classes (i.e., the roads belonging to these road classes) are all roads concerned from the perspective of the second electronic map.
[0056] In the case where the road grade of the first target road belongs to the target road grade set, the first target road is the road of interest from the perspective of the second electronic map, and the first target road does not exist in the second electronic map, so the first target road can be determined as the newly added map intelligence for the second electronic map. For example, the target road grade set includes two road grades, "highway" and "urban expressway". If the road grade of the first target road is "highway", the first target road can be determined as the newly added map intelligence for the second electronic map; at the same time, if the road grade of the first target road is "urban expressway", the first target road can also be determined as the newly added map intelligence for the second electronic map.
[0057] Step 104, when the first road grade does not belong to the target road grade set, if there is a second target road whose road grade belongs to the target road grade set in the preset buffer zone of the first target road, the first target road is determined as the newly added road information for the second electronic map.
[0058] In the case where the road grade of the first target road does not belong to the target road grade set, it can be further confirmed whether there is a second target road in the preset buffer of the first target road. The second target road is used to represent any road that exists in the preset buffer of the first target road and whose road grade belongs to the target road grade set. Here, the road grade of the second target road can also be determined based on the road marking information in the first electronic map. For details, see the method for determining the road grade of the first target road recorded in the aforementioned embodiment, which will not be repeated here.
[0059] Figure 5 is a schematic diagram of a second target road shown in an exemplary embodiment of the present application. Among them, map 51 is a first electronic map, which contains roads 52 and 53, and road 52 is the determined first target road, and area 54 is a preset buffer zone of the first target road 52. Assume that the target road grade set includes two road grades of "highway" and "urban expressway", and the road grade of road 52 is "other roads", and the road grade of road 53 is "highway". At this time, the road grade of the first target road 52 does not belong to the target road grade set, then continue to determine whether there is a second target road belonging to the target road grade set in the preset buffer zone 54. Figure 5 The middle road 53 is located in the preset buffer zone 54 and its road grade belongs to the target road grade set, so the road 53 is the second target road.
[0060] Based on the above embodiments, it can be known that when the road level of the first target road does not belong to the target road level set, it can be considered that the first target road is not the road of interest from the perspective of the second electronic map; but since the road level of the second target road existing in the preset buffer zone of the first target road belongs to the target road level set, that is, the second target road adjacent to the first target road is the road of interest from the perspective of the second electronic map, it can be considered that there is a certain association between the first target road and the second target road, and then the first target road is re-determined as the road of interest from the perspective of the second electronic map, and the first target road is determined as the newly added road information for the second electronic map. For example, when the target road level set includes two road levels of "highway" and "urban expressway", it can be understood that the second electronic map focuses on these two roads, and although the first target road does not belong to any of the two, the second target road adjacent to the first target road is "highway" or "urban expressway", then the first target road may be a related ramp of "highway" or "urban expressway", and is closely related to "highway" or "urban expressway", and is also a road that needs to be paid attention to by the second electronic map, so it can be used as the newly added road information.
[0061] Correspondingly, in the case where there is no second target road whose road grade belongs to the target road grade set in the preset buffer of the first target road, such as no road in the preset buffer, or there is a road in the preset buffer but its road grade does not belong to the target road grade set, it can be considered that there is no association between the first target road and the road concerned from the perspective of the second electronic map. In this case, it is determined that the first road is not the road concerned from the perspective of the second electronic map, and there is no new road information for the second electronic map.
[0062] It can be seen from the above embodiments that the technical solution of the present application can determine whether the first target road is the road of interest from the perspective of the second electronic map by judging the road grade of the first target road and the road grade of the second target road associated with the first target road, and when the first target road is indeed the road of interest from the perspective of the second electronic map, it is used as the newly added road information for the second electronic map. Compared with indiscriminately using all road information contained in the first electronic map to update the second electronic map, this solution avoids processing a large amount of redundant data by targetedly selecting the road information that needs to be updated, thereby greatly reducing the consumption of computing resources; at the same time, it can quickly locate and update important road changes, improve the efficiency of determining new road information, and thus shorten the map update time, and enhance the real-time and accuracy of the road information contained in the updated map.
[0063] In one embodiment, when the first road level belongs to the target road level set, it is further possible to determine whether there is a third target road in the preset buffer of the first target road, and when there is a third target road, the first target road and the third target road are jointly determined as the newly added road intelligence for the second electronic map. The third target road is used to characterize any road in the preset buffer of the first target road, and it is not necessary to determine whether the road level of the third target road belongs to the target road level set. For example, when the target road level set includes two road levels of "highway" and "urban expressway", it can be understood that the second electronic map focuses on these two roads. If the road level of the first target road is "highway", and there are other roads in the preset buffer of the first target road, that is, the third target road, it can be considered that there is an association relationship between the third target road and the first target road, such as the third target road may be a ramp of the expressway (that is, the first target road), which is also a road that the second electronic map needs to pay attention to. Therefore, the first target road and the third target road can be jointly used as the newly added road intelligence for the second electronic map.
[0064] It can be seen from the above embodiments that the technical solution of the present application can determine the roads related to the road while determining the road concerned by the second electronic map, and simultaneously determine both as new road information, which not only ensures the integrity of the new road information, but also improves the efficiency of determining the new road information.
[0065] In one embodiment, after obtaining the newly added road information, the second electronic map can be updated according to the newly added road information. Based on the records of the above embodiment, the newly added road information determined includes the road concerned by the second electronic map, such as the first target road. The first target road is a road that only exists in the standard map, so the first target road can be updated to the second electronic map to supplement the data information of the second electronic map and improve the data integrity of the second electronic map.
[0066] Specifically, the newly added road information may include the newly added road and its road grade. The road grade of any newly added road may be the road grade of the road corresponding to the newly added road in the first electronic map. For example, in the case where the first target road is a newly added road, the first road grade of the first target road determined according to the road marking information in the first electronic map may be used as the road grade of the newly added road. The road grade of any newly added road may also be the newly set road grade for the newly added road in the second electronic map. For example, in step 104 of the above embodiment, although the road grade of the first target road does not belong to the target road grade set (for example, the target road grade set includes two road grades of "highway" and "urban expressway", and the first target road is a high-speed ramp, and the road grade is "other roads"), it has a certain association relationship with the second target road whose road grade belongs to the target road grade set (for example, the road grade of the second target road is "highway"). Therefore, when the first target road is updated as a newly added road to the second electronic map, its corresponding road grade may be reset (for example, it may be set to "highway"), so that when the second electronic map is updated, a road grade that actually meets the actual needs may be set for the newly added road, thereby improving the usability of the updated second electronic map.
[0067] The following will be combined Figure 6 , an overall implementation process of this application scheme is described.
[0068] Step 601: Obtain a first electronic map and a second electronic map corresponding to a target area respectively.
[0069] Step 602: Determine a first target road and its first road grade in the target area based on the first electronic map and the second electronic map, wherein the first target road is any road included in the first electronic map and not included in the second electronic map.
[0070] When the first electronic map is a standard precision map and the second electronic map is a high precision map, it is possible to determine whether there is a reference road in the high precision buffer zone corresponding to any potential target road by calculating the length ratio and comparing it with the ratio threshold. In the absence of any reference road, the potential target road is determined to be the target road.
[0071] Specifically, when there is a reference road in the high-precision buffer zone, it can be considered that there is a road similar to the potential target road in the high-precision map, and the potential target road is not the first target road; when there is no reference road in the high-precision buffer zone, it can be considered that there is no road similar to any potential target road in the high-precision map, and the potential target road is determined to be the target road.
[0072] Step 603: determine whether the road grade of the first target road belongs to the target road grade set.
[0073] When the road grade of the first target road belongs to the target road grade set, step 604 is executed; when the road grade of the first target road does not belong to the target road grade set, step 606 is executed.
[0074] Step 604, the first target road is determined as the newly added road information for the second electronic map. At the same time, step 605 can also be executed to determine the third target road located in the preset buffer of the first target road as the newly added road information. Of course, when the third target road does not exist in the preset buffer of the first target road, only the first target road is determined as the newly added road information.
[0075] Step 606, determining whether there is a second target road whose road grade belongs to the target road grade set in the preset buffer zone of the first target road. If there is a second target road, execute step 607; if not, execute step 608.
[0076] Step 607: determine the first target road as newly added road information for the second electronic map.
[0077] Step 608: Determine whether there is any new road information for the second electronic map.
[0078] The concepts and specific implementation methods involved in the above process can be found in the above embodiments and will not be described in detail here.
[0079] Based on the method for determining road information provided in this application, this application also provides a device for determining road information, see Figure 7 ,include:
[0080] An acquisition unit 71 is used to respectively acquire a first electronic map and a second electronic map corresponding to a target area;
[0081] A road determination unit 72, configured to determine a first target road in the target area and a first road grade of the first target road based on the first electronic map and the second electronic map, wherein the first electronic map includes the first target road and the second electronic map does not include the first target road;
[0082] A first information determining unit 73, configured to determine the first target road as newly added road information for the second electronic map when the first road level belongs to a target road level set;
[0083] The second information determination unit 74 is used to determine the first target road as the newly added road information for the second electronic map if there is a second target road in the preset buffer zone of the first target road when the first road grade does not belong to the target road grade set, and the second target road is a road whose road grade belongs to the target road grade set.
[0084] Optionally, the device further includes a third intelligence determining unit 75 and / or a fourth intelligence determining unit 76:
[0085] A third information determining unit 75 is configured to determine the first target road and the third target road as newly added road information for the second electronic map if there is a third target road in a preset buffer zone of the first target road when the first road level belongs to the target road level set;
[0086] The third target road is any road within a preset buffer zone of the first target road.
[0087] The fourth information determining unit 76 is configured to determine that there is no newly added road information for the second electronic map when the second target road does not exist in the preset buffer zone of the first target road.
[0088] Optionally, the first electronic map is a standard precision map, the second electronic map is a high precision map, and the road determination unit 72 is specifically used for:
[0089] Acquire a standard-precision buffer zone of any potential target road in the standard-precision map and a high-precision buffer zone corresponding to the standard-precision buffer zone in the high-precision map;
[0090] When there is no reference road corresponding to any of the potential target roads in the high-precision map, any of the potential target roads is determined as the first target road, wherein the reference road is a road in the high-precision map that at least intersects with the high-precision buffer zone.
[0091] Optionally, a reference road corresponding to any potential target road is determined in the following manner:
[0092] In the case where there is at least one alternative reference road in the high-precision map that intersects with the high-precision buffer zone, if the ratio between the length of a partial section of any alternative reference road located in the high-precision buffer zone and the length of any potential target road is not less than a preset ratio threshold, then the any alternative reference road is determined to be the reference road corresponding to the any potential target road.
[0093] Optionally, the first road grade is determined based on road marking information in the first electronic map; and / or
[0094] The road grade of the second target road is determined based on road labeling information in the first electronic map.
[0095] Optionally, the device further comprises:
[0096] The updating unit 77 is used to update the second electronic map according to the newly added road information.
[0097] Optionally, the newly added road information includes the newly added road and the road grade of the newly added road, wherein the road grade of any newly added road is:
[0098] the road grade of any newly added road in the first electronic map; or
[0099] The newly established road grade corresponding to any newly added road in the second electronic map.
[0100] Optionally, the first electronic map is a standard-precision map, and the second electronic map is a high-precision map; or,
[0101] The first electronic map is a high-precision map, and the second electronic map is a standard-precision map; or
[0102] The first electronic map and the second electronic map are two electronic maps with the same accuracy and from different sources.
[0103] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.
[0104] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.
[0105] Correspondingly, the present application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any of the above embodiments when executing the computer program.
[0106] See also Figure 8At the hardware level, the electronic device includes a processor 802, an internal bus 804, a network interface 806, a memory 808, and a non-volatile memory 810, and may also include hardware required for other services. The processor 802 reads the corresponding computer program from the non-volatile memory 810 into the memory 808 and then runs it, forming a road intelligence determination device at the logical level. Of course, in addition to the software implementation, this application does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.
[0107] Accordingly, the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method described in any of the above embodiments is implemented.
[0108] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email transceiver, a game console, a tablet computer, a wearable device or a combination of any of these devices.
[0109] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0110] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.
[0111] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.
[0112] Based on the same concept as the above method, this specification also provides a computer program product, including a computer program / instruction, which implements the steps of the method described in any of the above embodiments when executed by a processor.
Claims
1. A method for determining road information, characterized in that: The method comprises: Respectively obtain a first electronic map and a second electronic map corresponding to the target area; determining a first target road in the target area and a first road grade of the first target road based on the first electronic map and the second electronic map, the first electronic map including the first target road and the second electronic map not including the first target road; In a case where the first road level belongs to a target road level set, determining the first target road as newly added road information for the second electronic map; When the first road grade does not belong to the target road grade set, if there is a second target road in the preset buffer zone of the first target road, the first target road is determined as the newly added road information for the second electronic map, and the second target road is a road whose road grade belongs to the target road grade set.
2. The method according to claim 1, characterized in that Also includes: In the case where the first road level belongs to the target road level set, if there is a third target road in the preset buffer zone of the first target road, the first target road and the third target road are determined as newly added road information for the second electronic map; wherein the third target road is any road in the preset buffer zone of the first target road; and / or When the second target road does not exist in the preset buffer zone of the first target road, it is determined that there is no newly added road information for the second electronic map.
3. The method according to claim 1, characterized in that The first electronic map is a standard-precision map, the second electronic map is a high-precision map, and determining the first target road in the first electronic map includes: Acquire a standard-precision buffer zone of any potential target road in the standard-precision map and a high-precision buffer zone corresponding to the standard-precision buffer zone in the high-precision map; When there is no reference road corresponding to any of the potential target roads in the high-precision map, any of the potential target roads is determined as the first target road, wherein the reference road is a road in the high-precision map that at least intersects with the high-precision buffer zone.
4. The method according to claim 3, characterized in that: The reference road corresponding to any potential target road is determined by: In the case where there is at least one alternative reference road in the high-precision map that intersects with the high-precision buffer zone, if the ratio between the length of a partial section of any alternative reference road located in the high-precision buffer zone and the length of any potential target road is not less than a preset ratio threshold, then the any alternative reference road is determined to be the reference road corresponding to the any potential target road.
5. The method according to claim 1, characterized in that: The first road grade is determined based on road marking information in the first electronic map; and / or The road grade of the second target road is determined based on road marking information in the first electronic map.
6. The method according to claim 1, characterized in that The method further comprises: The second electronic map is updated according to the newly added road information.
7. The method according to claim 1, characterized in that The newly added road information includes the newly added road and the road grade of the newly added road, wherein the road grade of any newly added road is: the road grade of any newly added road in the first electronic map; or The newly established road grade corresponding to any newly added road in the second electronic map.
8. The method according to any one of claims 1 to 7, characterized in that: The first electronic map is a standard-precision map, and the second electronic map is a high-precision map; or, The first electronic map is a high-precision map, and the second electronic map is a standard-precision map; or The first electronic map and the second electronic map are two electronic maps with the same accuracy and from different sources.
9. A computer device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method according to any one of claims 1 to 8.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the method according to any one of claims 1 to 8 are implemented.
11. A computer program product, characterized in that The method comprises a computer program / instruction, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 8.