Region division method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a region division method and device, electronic equipment and a storage medium, under the condition that the ability of a mapping algorithm is determined, an intersection distance minimum threshold value and an intersection distance maximum threshold value can be preset, the intersection distance minimum threshold value is the minimum distance from a road division point allowed by the mapping algorithm to an intersection, and the intersection distance maximum threshold value is the minimum distance from the road division point to the intersection. The situation that the cell is too small due to the fact that road division is carried out at the position smaller than the intersection is avoided; the maximum threshold value of the intersection distance is the maximum distance from the road division point allowed by the mapping algorithm to the intersection, so that the situation that the cell is too large due to the fact that road division is carried out at the position which is farther away from the intersection is avoided; moreover, multiple times of iterative calculation can be carried out between the minimum threshold value and the maximum threshold value of the intersection distance, and finally the partition length which is as large as possible and does not cause the cell to be too large is found, so that each cell of which the size is matched with the mapping algorithm capability can be obtained, the mapping efficiency can be ensured, and the accuracy of the mapping result can be improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more specifically, to a method, device, electronic device and storage medium for dividing an area. 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 area can be divided into multiple areas, each of which can be called a cell. Then, the roads in each cell are mapped separately, and finally the mapping results of each cell are combined to obtain a map of the entire area.

[0003] However, in the actual mapping process, the above mapping methods have the following problems: when each cell is too small, the entire area will be divided into too many cells, which will consume too many mapping resources; when each cell is too large, due to the limitations of the mapping algorithm, it may lead to mapping failure. Therefore, how to accurately divide cells to balance the efficiency and accuracy of mapping has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a region division method, device, electronic device and storage medium to improve the accuracy of cell division. The specific technical solution is as follows.

[0005] In a first aspect, an embodiment of the present application provides a method for dividing a region, the method comprising:

[0006] Obtain original map data; and obtain the preset maximum threshold of intersection spacing and the maximum total length of roads in the area;

[0007] Dividing the roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance, and forming each area according to the division results;

[0008] Counting the total length of roads included in each of the areas, and determining whether there is an area with a total length of roads greater than the maximum total length of roads in the area;

[0009] When there is an area where the total length of roads is greater than the maximum total length of roads in the area, obtaining a preset minimum threshold of intersection spacing, and calculating the current division length according to the maximum threshold of intersection spacing and the minimum threshold of intersection spacing;

[0010] Dividing the roads between adjacent intersections that meet the conditions according to the current division length, and forming each area according to the division result;

[0011] Counting the total length of roads included in each of the areas, and updating the current division length according to the relationship between the total length of each road and the maximum total length of roads in the area;

[0012] Determine whether the size relationship between the two current division lengths before and after the update meets the preset conditions. If so, return to the step of dividing the roads between adjacent intersections that meet the conditions according to the current division lengths and forming each area according to the division results.

[0013] Optionally, the step of updating the current division length according to the relationship between the total length of each road and the maximum total length of roads in the area includes:

[0014] Determining a maximum boundary and a minimum boundary for calculating the current partition length;

[0015] When there is a road with a total length greater than the maximum total length of the road in the area, updating the current division length according to the current division length and the minimum boundary;

[0016] When there is no road with a total length greater than the maximum road total length in the area, the current division length is updated according to the current division length and the maximum boundary.

[0017] Optionally, the step of updating the current division length according to the current road division length and the minimum boundary includes:

[0018] Calculating the average of the minimum boundary and the current road division length as the updated current division length;

[0019] The step of updating the current partition length according to the current partition length and the maximum boundary comprises:

[0020] The average of the maximum boundary and the current road division length is calculated as the updated current division length.

[0021] Optionally, the step of dividing roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance includes:

[0022] Among the roads between adjacent intersections, identify a target road whose road length is greater than 2 times the maximum threshold of the intersection spacing;

[0023] The target road is divided from the center to obtain two equally spaced roads.

[0024] Optionally, the step of calculating the current division length according to the maximum intersection distance threshold and the minimum intersection distance threshold comprises:

[0025] The average of the minimum threshold of the intersection distance and the maximum threshold of the intersection distance is calculated as the current division length.

[0026] Optionally, the preset condition includes: a difference between two current division lengths before and after the update is greater than or equal to a preset value.

[0027] Optionally, the minimum intersection spacing threshold corresponds to an intersection type of the intersection, and the intersection types include: a city road fork and a highway fork.

[0028] In a second aspect, an embodiment of the present application provides a region division device, the device comprising:

[0029] The data acquisition module is used to acquire the original map data; and to acquire the preset maximum threshold of the intersection spacing and the maximum total length of the roads in the area;

[0030] A road division module, used to divide the roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance, and form each area according to the division results;

[0031] A length statistics module, used to count the total length of roads included in each of the areas, and determine whether there is an area with a total road length greater than the maximum total road length in the area;

[0032] A length calculation module, used for obtaining a preset minimum threshold of intersection spacing when there is an area with a total road length greater than the maximum total road length in the area, and calculating the current division length according to the maximum threshold of intersection spacing and the minimum threshold of intersection spacing;

[0033] An area formation module, used to divide the roads between adjacent intersections that meet the conditions according to the current division length, and form each area according to the division result;

[0034] A length updating module, used for counting the total length of roads included in each of the areas, and updating the current division length according to the relationship between the total length of each road and the maximum total length of roads in the area;

[0035] The length judgment module is used to judge whether the size relationship between the two current division lengths before and after the update meets the preset conditions. If so, the area formation module is triggered.

[0036] Optionally, the length updating module includes:

[0037] A boundary determination submodule, used to determine a maximum boundary and a minimum boundary for calculating the current partition length;

[0038] A first length updating submodule, configured to update the current division length according to the current division length and the minimum boundary when there is a road with a total length greater than the maximum total length of the roads in the area;

[0039] The second length updating submodule is configured to update the current division length according to the current division length and the maximum boundary when there is no road with a total length greater than the maximum road total length in the area.

[0040] Optionally, the first length updating submodule is specifically used to calculate the average of the minimum boundary and the current road division length as the updated current division length;

[0041] The second length updating submodule is specifically used to calculate the average of the maximum boundary and the current road division length as the updated current division length.

[0042] Optionally, the road division module is specifically used to:

[0043] Among the roads between adjacent intersections, identify a target road whose road length is greater than 2 times the maximum threshold of the intersection spacing;

[0044] The target road is divided from the center to obtain two equally spaced roads.

[0045] Optionally, the length calculation module is specifically used to:

[0046] The average of the minimum threshold of the intersection distance and the maximum threshold of the intersection distance is calculated as the current division length.

[0047] Optionally, the preset condition includes: a difference between two current division lengths before and after the update is greater than or equal to a preset value.

[0048] Optionally, the minimum intersection spacing threshold corresponds to an intersection type of the intersection, and the intersection types include: a city road fork and a highway fork.

[0049] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory and a processor, wherein the memory and the processor are coupled;

[0050] The memory is used to store one or more computer instructions;

[0051] The processor is used to execute the one or more computer instructions to implement the area division method as described in the first aspect above.

[0052] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having one or more computer instructions stored thereon, which are executed by a processor to implement the area division method as described in the first aspect above.

[0053] 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 area division method described in the first aspect is implemented.

[0054] From the above content, it can be seen that the area division method, device, electronic device and storage medium provided by the embodiment of the present application can pre-set the minimum threshold of intersection spacing and the maximum threshold of intersection spacing when the mapping algorithm capability is determined. The minimum threshold of intersection spacing is the minimum distance from the road division point to the intersection allowed by the mapping algorithm to avoid the situation where the cell is too small due to the road division from a position smaller than the intersection; the maximum threshold of intersection spacing is the maximum distance from the road division point to the intersection allowed by the mapping algorithm to avoid the situation where the cell is too large due to the road division from a position larger than the intersection; and multiple iterative calculations can be performed between the minimum threshold and the maximum threshold of intersection spacing to finally find a division length that is as large as possible without causing the cell to be too large. After dividing the roads between the intersections based on the division length and forming cells, each cell whose size matches the mapping algorithm capability can be obtained, thereby ensuring that mapping resources will not be wasted in the mapping process, ensuring the efficiency of mapping, and improving the accuracy of the mapping results. Of course, it is not necessary to achieve all the advantages described above at the same time for implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0056] Figure 1 A schematic diagram of a flow chart of a method for dividing regions provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of a structure of a region division device provided in an embodiment of the present application;

[0058] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0060] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application 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 that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0061] The embodiment of the present application discloses a region division method, device, electronic device and storage medium, which can improve the accuracy of cell division. The embodiment of the present application is described in detail below.

[0062] In the field of autonomous driving, when a certain area (such as Beijing, Shanghai, etc.) needs to be mapped, the area can be divided into multiple areas, each of which can be called a cell. Then, the roads in each cell are mapped separately, and finally the mapping results of each cell are combined to obtain a map of the entire area. The specific cell construction method can be to set a division length. When determining whether to divide the road between two intersections, only roads whose distance from the division position to the two intersections is greater than the division length can be divided, that is, the road is interrupted in the middle, and then each road-connected area is regarded as a cell.

[0063] It can be understood that the road types in the entire area may include intersection types and other types. Intersection types of roads may include roads with multiple driving directions such as three-way intersections, crossroads, and highway exits, and other types of roads include roads with only one driving direction except for intersection types. When dividing cells, in order to reduce the difficulty and complexity of combining each cell in subsequent mapping, road division can be performed only in the middle of other types of roads, rather than in the middle of intersections.

[0064] Moreover, during the mapping process, if the set division length is too small, many roads will be divided, resulting in the construction of more cells, and the length of the road included in each cell is shorter. However, when building a map, each cell will consume a certain amount of mapping resources, which will lead to a lot of resource waste. Therefore, in an embodiment of the present application, in order to avoid wasting mapping resources, it is necessary to ensure that the distance between the division position and the intersection is greater than a certain value. Specifically, a minimum threshold for the intersection spacing can be set, that is, the minimum distance from the road division point to the intersection allowed by the mapping algorithm.

[0065] In addition, during the mapping process, the longer the division length is, the easier it is to build the map. However, if the division length is set too long, only a few roads will meet the division conditions, which will cause the constructed cell to be too large, that is, the length of the road included in the cell is too long. When building a map, limited mapping algorithms may cause the mapping of cells that are too large to fail. Therefore, in an embodiment of the present application, in order to ensure the accuracy of mapping, a maximum threshold for the spacing between intersections can be set, that is, the maximum distance from the road division point to the intersection allowed by the mapping algorithm. In addition, the maximum total length of roads in the cell can also be set, that is, the sum of the lengths of all roads included in a cell allowed within the capability of the mapping algorithm. Cells that exceed this length may cause mapping failure. Among them, the maximum total length of roads in the cell can be set according to the algorithm capability, such as 3,000 meters, 5,000 meters, etc.

[0066] The minimum threshold of the intersection spacing and the maximum threshold of the intersection spacing can be determined according to the mapping algorithm capability, or according to factors such as the size of the area to be mapped, the mapping accuracy, etc., and the present application embodiment does not limit their specific values. For example, the maximum threshold of the intersection spacing can be set to 300 meters, 320 meters, etc.

[0067] It can be understood that the complexity of mapping is different for different road types. For example, for highways and urban roads, the road conditions on highways are relatively simple, and the difficulty of mapping is relatively low, while the road conditions on urban roads are relatively complex, and the difficulty of mapping is relatively high. In this case, in one implementation, the above-mentioned minimum threshold of intersection spacing can correspond to the intersection type of the intersection, and the intersection types include: urban road forks, and highway forks. For example, the minimum threshold of intersection spacing corresponding to the urban road fork can be set to 50 meters, 60 meters, etc.; the minimum threshold of intersection spacing corresponding to the highway fork can be set to 150 meters, 180 meters, etc. Among them, the urban road fork can also be called an urban intersection, and the highway fork can also be called a guide belt.

[0068] Figure 1A schematic flow chart of a method for dividing a region provided in an embodiment of the present application. The method is applied to an electronic device. The method specifically includes the following steps.

[0069] S110: Acquire original map data; and acquire a preset maximum threshold of intersection spacing and a maximum total length of roads in the cell.

[0070] In the field of autonomous driving, maps can be constructed based on open-source original map data, which can include all the road information required for map construction, such as the type of each road (highway or urban road, etc.), intersection location, width of each road, length of each road, etc.

[0071] S120: Divide the roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance, and form each cell according to the division result.

[0072] After obtaining the maximum threshold of intersection spacing, the roads between adjacent intersections that meet the conditions can be divided according to the maximum threshold of intersection spacing. It can be understood that only roads with a length greater than 2 times the maximum threshold of intersection spacing can be divided. If a road with a length less than 2 times the maximum threshold of intersection spacing is divided, at least one of the roads obtained after division will be less than the maximum threshold of intersection spacing, which will not meet the requirements of map construction.

[0073] In one implementation, when dividing roads between adjacent intersections that meet the conditions according to the maximum threshold of intersection spacing, the target road whose road length is greater than 2 times the maximum threshold of intersection spacing can be first identified among the roads between adjacent intersections; then the target road is divided from the center to obtain two equally spaced roads.

[0074] After dividing the roads, cells can be formed. In other words, each road-connected area can be regarded as a cell.

[0075] S130: Count the total length of roads included in each cell, and determine whether there is a cell whose total road length is greater than the maximum total road length in the cell.

[0076] Determine each road included in each cell, and add up the lengths of the roads included in the cell to obtain the total length of the roads included in the cell.

[0077] S140: When there is a cell whose total road length is greater than the maximum total road length in the cell, a preset minimum intersection spacing threshold is obtained, and a current division length is calculated according to the maximum intersection spacing threshold and the minimum intersection spacing threshold.

[0078] When there is a cell whose total road length is greater than the maximum total road length in the cell, it indicates that the currently used partition length, that is, the maximum threshold of the intersection spacing, is too large. In this case, the partition length can be adjusted, specifically, the partition length needs to be reduced.

[0079] In an embodiment of the present application, based on the set maximum threshold value of intersection spacing and minimum threshold value of intersection spacing, a binary search method can be used to find a division length that is as large as possible without causing the cell to be too large. After dividing the roads between intersections based on the division length and forming cells, cells whose sizes match the capabilities of the mapping algorithm can be obtained, thereby ensuring that mapping resources are not wasted during the mapping process, ensuring the efficiency of mapping, and improving the accuracy of the mapping results.

[0080] Specifically, first, the average of the minimum threshold of the intersection spacing and the maximum threshold of the intersection spacing can be calculated as the current division length. For example, when the minimum threshold of the intersection spacing is 150 meters and the maximum threshold of the intersection spacing is 350 meters, the calculated current division length is 250 meters.

[0081] S150: Divide the roads between adjacent intersections that meet the conditions according to the current division length, and form each cell according to the division result.

[0082] For example, similar to the above-mentioned division of roads between adjacent intersections according to the maximum threshold of intersection spacing and the minimum threshold of intersection spacing, we can first identify roads whose road length is greater than 2 times the current division length among the roads between adjacent intersections; then divide the identified roads from the center to obtain two equally spaced roads.

[0083] S160: Count the total length of roads included in each cell, and update the current division length according to the relationship between the total length of each road and the maximum total length of the road in the cell.

[0084] After counting the total length of roads included in each cell, the relationship between the total length of each road and the maximum total length of roads in the cell includes two situations. For the two situations, different methods can be used to update the current division length. The first is that there is a total length of roads greater than the maximum total length of roads in the cell, indicating that the current division length is still too large and needs to be further reduced; the second is that there is no total length of roads greater than the maximum total length of roads in the cell, indicating that the current division length meets the requirements, but there may still be a larger division length that meets the requirements, and its value can be increased.

[0085] Specifically, the maximum boundary and the minimum boundary for calculating the current division length can be first determined; when there is a road total length greater than the maximum total length of the road in the cell, the current division length is updated according to the current division length and the minimum boundary; when there is no road total length greater than the maximum total length of the road in the cell, the current division length is updated according to the current division length and the maximum boundary.

[0086] Among them, according to the current road division length and the minimum boundary, when updating the current division length, the average of the minimum boundary and the current road division length can be calculated as the updated current division length; according to the current division length and the maximum boundary, when updating the current division length, the average of the maximum boundary and the current road division length can be calculated as the updated current division length.

[0087] For example, when the current division length is 250 meters calculated based on the minimum threshold of 150 meters for intersection spacing and the maximum threshold of 350 meters for intersection spacing, and the maximum total length of roads in the cell is 3000 meters, after the cell is reorganized, it can be determined that the maximum boundary used to calculate the current division length of 250 meters is 350 meters and the minimum boundary is 150 meters. Then the following operations can be performed: when there is a total road length greater than 3000 meters, the current division length of 250 meters and the minimum boundary of 150 meters are used to calculate the average, that is, 200 meters, as the updated current division length; when there is no total road length greater than 3000 meters, the current division length of 250 meters and the maximum boundary of 350 meters are used to calculate the average, that is, 300 meters, as the updated current division length.

[0088] S170: Determine whether the size relationship between the two current division lengths before and after the update meets the preset conditions; if so, return to step S150 to divide the roads between adjacent intersections that meet the conditions according to the current division lengths, and form each cell according to the division results.

[0089] It can be understood that as the number of loops increases, the values ​​of the two current partition lengths before and after the update will become closer and closer. When the difference between the two current partition lengths before and after the update is less than a certain value, the two cell partition results based on the two current partition lengths will have a high degree of similarity, and there is basically no practical significance in updating the current partition length again.

[0090] Therefore, in the embodiment of the present application, a preset value may be pre-set, such as 1 meter, 2 meters, 5 meters, etc. After the current division length is updated, it may be determined whether the difference between the two current division lengths before and after the update is greater than or equal to the preset value; if greater, the calculation is looped again, that is, step S150 is returned to be executed, and the roads between adjacent intersections that meet the conditions are divided according to the current division length, and each cell is formed according to the division result.

[0091] Exemplarily, the updating process of the current division length in step S160 in the next cycle is:

[0092] When the current division length of 250 meters and the minimum boundary of 150 meters are averaged in the previous cycle, that is, 200 meters, as the updated current division length, and the maximum total length of the road in the cell is 3000 meters, after the cell is reorganized, it can be determined that the maximum boundary used to calculate the current division length of 200 meters is 250 meters and the minimum boundary is 150 meters. Then the following operations can be performed: when there is a total road length greater than 3000 meters, the current division length of 200 meters and the minimum boundary of 150 meters are averaged, that is, 175 meters, as the updated current division length; when there is no total road length greater than 3000 meters, the current division length of 200 meters and the maximum boundary of 250 meters are averaged, that is, 225 meters, as the updated current division length.

[0093] When the current division length of 250 meters and the maximum boundary of 350 meters are averaged in the previous cycle, that is, 300 meters, as the updated current division length, and the maximum total length of the road in the cell is 3000 meters, after the cell is reorganized, it can be determined that the maximum boundary used to calculate the current division length of 300 meters is 350 meters and the minimum boundary is 250 meters. Then the following operations can be performed: when there is a total road length greater than 3000 meters, the current division length of 300 meters and the minimum boundary of 250 meters are averaged, that is, 275 meters, as the updated current division length; when there is no total road length greater than 3000 meters, the current division length of 300 meters and the maximum boundary of 350 meters are averaged, that is, 325 meters, as the updated current division length.

[0094] If the size relationship between the two current division lengths before and after the update does not meet the preset condition, that is, is not greater than the preset value, the process ends and the currently constructed cell is used as the final cell division result.

[0095] It can be seen from the above content that the embodiment of the present application can pre-set the minimum threshold of intersection spacing and the maximum threshold of intersection spacing when the mapping algorithm capability is determined. The minimum threshold of intersection spacing is the minimum distance from the road division point to the intersection allowed by the mapping algorithm, so as to avoid the situation where the cell is too small due to road division from a position smaller than the intersection; the maximum threshold of intersection spacing is the maximum distance from the road division point to the intersection allowed by the mapping algorithm, so as to avoid the situation where the cell is too large due to road division from a position larger than the intersection; and multiple iterative calculations can be performed between the minimum threshold and the maximum threshold of intersection spacing to eventually find a division length that is as large as possible without causing the cell to be too large. After dividing the roads between the intersections based on the division length and forming cells, each cell whose size matches the mapping algorithm capability can be obtained, thereby ensuring that mapping resources are not wasted during the mapping process, ensuring the efficiency of mapping, and improving the accuracy of the mapping results.

[0096] FIG2 shows a schematic diagram of the structure of a region division device provided in an embodiment of the present application, wherein the device comprises:

[0097] The data acquisition module 210 is used to acquire the original map data; and to acquire the preset maximum threshold of the intersection spacing and the maximum total length of the road in the cell;

[0098] A road division module 220, configured to divide the roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance, and form each cell according to the division result;

[0099] The length statistics module 230 is used to count the total length of roads included in each cell, and determine whether there is a cell whose total road length is greater than the maximum total road length in the cell;

[0100] The length calculation module 240 is used to obtain a preset minimum threshold of intersection spacing when there is a cell whose total road length is greater than the maximum total road length in the cell, and calculate the current division length according to the maximum threshold of intersection spacing and the minimum threshold of intersection spacing;

[0101] The area forming module 250 is used to divide the roads between adjacent intersections that meet the conditions according to the current division length, and form each cell according to the division result;

[0102] The length updating module 260 is used to count the total length of the roads included in each cell, and update the current division length according to the relationship between the total length of each road and the maximum total length of the road in the cell;

[0103] The length judgment module 270 is used to judge whether the size relationship between the two current division lengths before and after the update meets the preset condition. If so, the area formation module is triggered.

[0104] Optionally, the length updating module 260 includes:

[0105] A boundary determination submodule, used to determine a maximum boundary and a minimum boundary for calculating the current partition length;

[0106] A first length updating submodule, configured to update the current division length according to the current division length and the minimum boundary when there is a road with a total length greater than the maximum total length of the road in the cell;

[0107] The second length updating submodule is used to update the current division length according to the current division length and the maximum boundary when there is no total road length greater than the maximum total road length in the cell.

[0108] Optionally, the first length updating submodule is specifically used to calculate the average of the minimum boundary and the current road division length as the updated current division length;

[0109] The second length updating submodule is specifically used to calculate the average of the maximum boundary and the current road division length as the updated current division length.

[0110] Optionally, the road division module 220 is specifically used to:

[0111] Among the roads between adjacent intersections, identify a target road whose road length is greater than 2 times the maximum threshold of the intersection spacing;

[0112] The target road is divided from the center to obtain two equally spaced roads.

[0113] Optionally, the length calculation module is specifically used to:

[0114] The average of the minimum threshold of the intersection distance and the maximum threshold of the intersection distance is calculated as the current division length.

[0115] Optionally, the preset condition includes: a difference between two current division lengths before and after the update is greater than or equal to a preset value.

[0116] Optionally, the minimum intersection spacing threshold corresponds to an intersection type of the intersection, and the intersection types include: a city road fork and a highway fork.

[0117] It can be seen from the above content that the embodiment of the present application can pre-set the minimum threshold of intersection spacing and the maximum threshold of intersection spacing when the mapping algorithm capability is determined. The minimum threshold of intersection spacing is the minimum distance from the road division point to the intersection allowed by the mapping algorithm, so as to avoid the situation where the cell is too small due to road division from a position smaller than the intersection; the maximum threshold of intersection spacing is the maximum distance from the road division point to the intersection allowed by the mapping algorithm, so as to avoid the situation where the cell is too large due to road division from a position larger than the intersection; and multiple iterative calculations can be performed between the minimum threshold and the maximum threshold of intersection spacing to eventually find a division length that is as large as possible without causing the cell to be too large. After dividing the roads between the intersections based on the division length and forming cells, each cell whose size matches the mapping algorithm capability can be obtained, thereby ensuring that mapping resources are not wasted during the mapping process, ensuring the efficiency of mapping, and improving the accuracy of the mapping results.

[0118] 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.

[0119] 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:

[0120] one or more processors 40;

[0121] The processor 40 is coupled to a storage device 41, and the storage device 41 is used to store one or more programs.

[0122] 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 area division method.

[0123] 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 area division method described.

[0124] 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 area division method described.

[0125] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0126] 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.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or 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 application.

Claims

1. A method for dividing a region, characterized in that: The method comprises: Obtain original map data; and obtain the preset maximum threshold of intersection spacing and the maximum total length of roads in the area; Dividing the roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance, and forming each area according to the division results; Counting the total length of roads included in each of the areas, and determining whether there is an area with a total length of roads greater than the maximum total length of roads in the area; When there is an area where the total length of roads is greater than the maximum total length of roads in the area, obtaining a preset minimum threshold of intersection spacing, and calculating the current division length according to the maximum threshold of intersection spacing and the minimum threshold of intersection spacing; Dividing the roads between adjacent intersections that meet the conditions according to the current division length, and forming each area according to the division result; Counting the total length of roads included in each of the areas, and updating the current division length according to the relationship between the total length of each road and the maximum total length of roads in the area; Determine whether the size relationship between the two current division lengths before and after the update meets the preset conditions. If so, return to the step of dividing the roads between adjacent intersections that meet the conditions according to the current division lengths and forming each area according to the division results.

2. The method according to claim 1, characterized in that The step of updating the current division length according to the relationship between the total length of each road and the maximum total length of the road in the area comprises: Determining a maximum boundary and a minimum boundary for calculating the current partition length; When there is a road with a total length greater than the maximum total length of the road in the area, updating the current division length according to the current division length and the minimum boundary; When there is no road with a total length greater than the maximum road total length in the area, the current division length is updated according to the current division length and the maximum boundary.

3. The method according to claim 2, characterized in that The step of updating the current division length according to the current road division length and the minimum boundary comprises: Calculating the average of the minimum boundary and the current road division length as the updated current division length; The step of updating the current partition length according to the current partition length and the maximum boundary comprises: The average of the maximum boundary and the current road division length is calculated as the updated current division length.

4. The method according to claim 1, characterized in that: The step of dividing the roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance comprises: Among the roads between adjacent intersections, identify a target road whose road length is greater than 2 times the maximum threshold of the intersection spacing; The target road is divided from the center to obtain two equally spaced roads.

5. The method according to claim 1, characterized in that The step of calculating the current division length according to the maximum threshold of the intersection distance and the minimum threshold of the intersection distance comprises: The average of the minimum threshold of the intersection distance and the maximum threshold of the intersection distance is calculated as the current division length.

6. The method according to any one of claims 1 to 5, characterized in that: The preset condition includes: the difference between the two current division lengths before and after the update is greater than or equal to a preset value.

7. The method according to any one of claims 1 to 5, characterized in that: The minimum threshold of the intersection distance corresponds to the intersection type of the intersection, and the intersection type includes: a city road fork and a highway fork.

8. A region dividing device, characterized in that: The device comprises: The data acquisition module is used to acquire the original map data; and to acquire the preset maximum threshold of the intersection spacing and the maximum total length of the roads in the area; A road division module, used to divide the roads between adjacent intersections that meet the conditions according to the maximum threshold of the intersection distance, and form each area according to the division results; A length statistics module, used to count the total length of roads included in each of the areas, and determine whether there is an area with a total road length greater than the maximum total road length in the area; A length calculation module, used for obtaining a preset minimum threshold of intersection spacing when there is an area with a total road length greater than the maximum total road length in the area, and calculating the current division length according to the maximum threshold of intersection spacing and the minimum threshold of intersection spacing; An area formation module, used to divide the roads between adjacent intersections that meet the conditions according to the current division length, and form each area according to the division result; A length updating module, used for counting the total length of the roads included in each of the areas, and updating the current division length according to the relationship between the total length of each road and the maximum total length of the roads in the area; The length judgment module is used to judge whether the size relationship between the two current division lengths before and after the update meets the preset conditions. If so, the area formation module is triggered.

9. The device according to claim 8, characterized in that The length update module comprises: A boundary determination submodule, used to determine a maximum boundary and a minimum boundary for calculating the current partition length; A first length updating submodule, configured to update the current division length according to the current division length and the minimum boundary when there is a road with a total length greater than the maximum total length of the roads in the area; The second length updating submodule is configured to update the current division length according to the current division length and the maximum boundary when there is no road with a total length greater than the maximum road total length in the area.

10. The device according to claim 9, characterized in that The first length updating submodule is specifically used to calculate the average of the minimum boundary and the current road division length as the updated current division length; The second length updating submodule is specifically used to calculate the average of the maximum boundary and the current road division length as the updated current division length.

11. The device according to claim 8, characterized in that The road division module is specifically used for: Among the roads between adjacent intersections, identify a target road whose road length is greater than 2 times the maximum threshold of the intersection spacing; The target road is divided from the center to obtain two equally spaced roads.

12. The device according to claim 8, characterized in that The length calculation module is specifically used for: The average of the minimum threshold of the intersection distance and the maximum threshold of the intersection distance is calculated as the current division length.

13. The device according to any one of claims 8 to 12, characterized in that: The preset condition includes: the difference between the two current division lengths before and after the update is greater than or equal to a preset value.

14. The device according to any one of claims 8 to 12, characterized in that: The minimum threshold of the intersection distance corresponds to the intersection type of the intersection, and the intersection type includes: a city road fork and a highway fork.

15. 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 used to execute the one or more computer instructions to implement the area division method according to any one of claims 1 to 7.

16. 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 division method according to any one of claims 1 to 7.

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