Problem data screening method and device, storage medium and equipment

Abstract

The invention discloses a problem data screening method and device, a storage medium and equipment, and the method comprises the steps: determining a road center line range corresponding to problem data according to the continuity of a target line in each cell and / or between cells of a high-precision map, the target line comprising a road center line and / or a lane center line; from the starting point to the ending point of the road center line range, a vertical line is made towards the road center line corresponding to the road center line range according to a preset step length, first target points are searched for the two sides of the road center line along the vertical line, and when points on a road boundary line are searched, the first target points are points on the road boundary line; when the point on the road boundary line is not searched, the first target point is the point on the lane center line farthest from the road center line corresponding to the road center line range; and connecting a second target point obtained after the first target point is expanded outwards by the first distance to obtain a problem data box. The problem data can be screened from the high-precision map.

Description

Technical Field

[0001] The present application relates to the field of map processing technology, and in particular to a method, device, storage medium and equipment for screening problem data. Background Art

[0002] High-precision map is a high-precision map used for autonomous driving, which contains map elements such as road shape, road markings, traffic signs and obstacles, and its map accuracy can reach the centimeter level. In order to ensure the "freshness" of high-precision maps to meet the safety requirements of intelligent driving, it is usually necessary to invest a lot of manpower, material resources and time to collect mapping-related data and frequently update high-precision maps. When a low-precision local map is needed or the local map is updated, in order to reduce the manpower, material resources and time required for data collection, a low-precision local map can be obtained by automatically deleting the high-precision data in the high-precision map. For example, if there is lane group information in the high-precision map, but the lane group information is not needed in the low-precision map, the lane group information in the high-precision map can be deleted. However, due to the high precision of high-precision maps, when there is a small error in the line connection of the high-precision map, it will not affect intelligent driving, but the low-precision map has high requirements for specifications such as line connection. Therefore, when converting high-precision maps to low-precision maps, it is particularly important to automatically filter out problematic data first. Summary of the invention

[0003] The present application provides a method, device, storage medium and equipment for screening problematic data, which can automatically screen out problematic data from a high-precision map before converting the high-precision map into a low-precision map, so as to improve the accuracy of the low-precision map.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for screening problem data, the method comprising:

[0006] Determine the road centerline range corresponding to the problem data according to the continuity of the target line within each cell and / or between cells of the high-precision map, wherein the cell is an area unit of road production, and the target line includes the road centerline and / or the lane centerline;

[0007] From the starting point to the end point of the road centerline range, a perpendicular line is drawn to the road centerline corresponding to the road centerline range according to a preset step length, and a first target point is searched along the perpendicular line to both sides of the road centerline, wherein when a point on a road boundary line is searched, the first target point is the point on the road boundary line, and when a point on the road boundary line is not searched, the first target point is the point on the lane centerline farthest from the road centerline corresponding to the road centerline range;

[0008] The second target points obtained by extending the first target point outward by a first distance are connected to obtain a problem data frame, wherein the data contained in the problem data frame is the problem data.

[0009] Through the above scheme, it can be seen that the embodiment of the present application can first determine the road centerline range corresponding to the problem data according to the continuity of the target line in each cell and / or between cells of the high-precision map, and then make a vertical line from the starting point to the end point of the road centerline range to the road centerline corresponding to the road centerline range according to the preset step length, and search for the first target point on both sides of the road centerline along each vertical line, and finally connect the second target point obtained after the first target point is expanded outward by the first distance to obtain the problem data frame. It can be seen that the embodiment of the present application can automatically filter out the problem data frame that does not meet the requirements of the low-precision map according to the continuity of the target line in each cell and / or between cells of the high-precision map, thereby improving the accuracy of the low-precision map.

[0010] In a first possible implementation manner of the first aspect, before connecting a second target point obtained by extending the first target point outward by a first distance, the method further includes:

[0011] Traversing two adjacent first target points in sequence;

[0012] Acquire a third target point between two adjacent first target points, wherein the third target point is a shape point on the target line where the two adjacent first target points are located;

[0013] When the perpendicular point of the third target point on the road centerline is between the perpendicular points of the two adjacent first target points on the road centerline, and the perpendicular distance of the third target point to the road centerline is less than or equal to the target perpendicular distance, the third target point is used as the first target point, wherein the target perpendicular distance is determined based on the perpendicular distances of the two adjacent first target points to the road centerline respectively.

[0014] From the above scheme, it can be seen that the embodiment of the present application can add a new first target point between every two first target points before connecting the second target points obtained after expanding the first target point outward by a first distance, thereby improving the smoothness and accuracy of the problem data frame.

[0015] In a second possible implementation manner of the first aspect, before sequentially traversing two adjacent first target points, the method further includes:

[0016] When the first target point is not found on the target side along the vertical line where the starting point of the road centerline range is located, a fourth target point is obtained, and when the third distance is extended from the fourth target point in the opposite direction of the line where the fourth target point is located, the shape point obtained is determined as the first target point, wherein the fourth target point is the first target point found by the next vertical line adjacent to the vertical line where the starting point of the road centerline range is located, and is located on the target side, and the target side includes at least one side of the two sides of the road centerline along the vertical line where the starting point of the road centerline range is located; and / or,

[0017] When the first target point is not found on the target side along the perpendicular line at which the end point of the road centerline range is located, a fifth target point is obtained, and from the fifth target point, when the third distance is extended in the positive direction of the line where the fifth target point is located, the shape point obtained is determined as the first target point, wherein the fifth target point is the first target point searched by the previous perpendicular line adjacent to the perpendicular line at which the end point of the road centerline range is located, and is located on the target side.

[0018] It can be seen from the above scheme that the embodiment of the present application can, when the first target point is not searched on the target side along the vertical line at the starting point of the road centerline range, and / or when the first target point is not searched on the target side along the vertical line at the end point of the road centerline range, supplement the first target point by expanding outward, so that the problem data box finally obtained can select all problem data to avoid omissions.

[0019] In a third possible implementation manner of the first aspect, determining the road centerline range corresponding to the problem data according to the continuity of the target line within each unit cell and / or between cells of the high-precision map includes:

[0020] In the case where a broken lane centerline exists in the cell, starting from the broken point of the broken lane centerline, when extending the second distance along the reverse direction and the positive direction of the broken lane centerline respectively, a starting point of the problem lane centerline and an end point of the problem lane centerline are obtained, and perpendicular lines are drawn from the starting point of the problem lane centerline and the end point of the problem lane centerline to the road centerline respectively, and the obtained perpendicular points are respectively determined as the starting point of the problem road centerline and the end point of the problem road centerline, and the range determined by the starting point of the problem road centerline and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data, and the broken lane centerline includes a lane centerline without a subsequent part and / or a lane centerline without a preceding part; and / or,

[0021] When there is a misalignment problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell of the two cells, the second distance is extended along the reverse direction of the road centerline in the preceding cell to obtain the starting point of the problematic road centerline, starting from the starting point of the road centerline in the succeeding cell of the two cells, the second distance is extended along the positive direction of the road centerline in the succeeding cell to obtain the end point of the problematic road centerline, and the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline is used as the road centerline range corresponding to the problematic data; and / or,

[0022] When there is an overlapping problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell, the second distance is extended along the positive direction of the road centerline in the preceding cell to obtain the end point of the problematic road centerline, starting from the starting point of the road centerline in the subsequent cell, the second distance is extended along the reverse direction of the road centerline in the subsequent cell to obtain the starting point of the problematic road centerline, and the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline is used as the road centerline range corresponding to the problematic data; and / or,

[0023] When there is a lane centerline disconnection problem at the junction of two cells, and the junctions of the two cells are both disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell, the second distance is extended in the opposite direction of the lane centerline with the disconnection in the preceding cell to obtain the starting point of the problem lane centerline, starting from the starting point of the lane centerline with the disconnection in the subsequent cell, the second distance is extended in the positive direction of the lane centerline with the disconnection in the subsequent cell to obtain the end point of the problem lane centerline, and perpendicular lines are drawn from the starting point of the problem lane centerline and the end point of the problem lane centerline to the road centerline in the corresponding cell, and the obtained perpendicular points are determined as the starting point of the problem road centerline and the end point of the problem road centerline, and the range determined by the starting point of the problem road centerline and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data; and / or,

[0024] When there is a lane centerline disconnection problem at the junction of two cells, and only the junction of the preceding cell is disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell, the second distance is extended in the reverse direction and the positive direction of the lane centerline with the disconnection in the preceding cell, to obtain the starting point and the end point of the problem lane centerline, and draw perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell, respectively, and determine the obtained perpendicular points as the starting point and the end point of the problem road centerline, and use the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or,

[0025] When there is a lane centerline disconnection problem at the junction of two cells, and only the junction of the successor cell is disconnected, starting from the starting point of the lane centerline with the disconnection in the successor cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the successor cell respectively, the starting point and the end point of the problem lane centerline are obtained, and perpendicular lines are drawn from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell respectively, and the obtained perpendicular points are determined as the starting point and the end point of the problem road centerline respectively, and the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

[0026] In a fourth possible implementation manner of the first aspect, connecting the second target points obtained by extending the first target point outward by a first distance to obtain the problem data frame includes:

[0027] After extending the first target point outward by the first distance, obtaining the second target point corresponding to each of the first target points;

[0028] Sort the second target points according to the order of the vertical points of the first target points on the center line of the road and the relative position direction between the first target points and the center line of the road;

[0029] According to the sorting result, multiple second target points are connected in sequence to obtain the problem data frame.

[0030] It can be seen from the above scheme that when the embodiment of the present application connects the second target points, the second target points are first sorted according to the order of the vertical points of the first target points on the center line of the road and the relative position direction between the first target points and the center line of the road, and then the multiple second target points are connected in sequence according to the sorting results, thereby avoiding errors in the problem data selected in the final problem data box due to incorrect connection of the second target points.

[0031] In a second aspect, an embodiment of the present application provides a device for screening problem data, the device comprising:

[0032] A determination unit, used to determine the road centerline range corresponding to the problem data according to the continuity of the target line within each cell and / or between cells of the high-precision map, wherein the cell is an area unit of road production, and the target line includes the road centerline and / or the lane centerline;

[0033] A search unit, configured to draw a perpendicular line from the starting point to the end point of the road centerline range to the road centerline corresponding to the road centerline range according to a preset step length, and search for a first target point along the perpendicular line to both sides of the road centerline, wherein when a point on a road boundary line is searched, the first target point is the point on the road boundary line, and when no point on the road boundary line is searched, the first target point is the point on the lane centerline farthest from the road centerline corresponding to the road centerline range;

[0034] A connection unit is used to connect the second target point obtained by expanding the first target point outward by a first distance to obtain a problem data frame, wherein the data contained in the problem data frame is the problem data.

[0035] In a first possible implementation manner of the second aspect, the apparatus further includes:

[0036] A traversal unit, configured to traverse two adjacent first target points in sequence before connecting the second target points obtained by expanding the first target points outward by a first distance;

[0037] An acquisition unit, configured to acquire a third target point between two adjacent first target points, wherein the third target point is a shape point on a target line where the two adjacent first target points are located;

[0038] The determination unit is further used to use the third target point as the first target point when the perpendicular point of the third target point on the road centerline is between the perpendicular points of the two adjacent first target points on the road centerline, and the perpendicular distance of the third target point to the road centerline is less than or equal to the target perpendicular distance, wherein the target perpendicular distance is determined based on the perpendicular distances of the two adjacent first target points to the road centerline.

[0039] In a second possible implementation manner of the second aspect, the device further includes:

[0040] A first expansion unit is used for obtaining a fourth target point when the first target point is not found on the target side along the vertical line where the starting point of the road centerline range is located before traversing two adjacent first target points in sequence, and determining the shape point obtained when extending the third distance in the opposite direction of the line where the fourth target point is located from the fourth target point as the first target point, wherein the fourth target point is the first target point searched by the next vertical line adjacent to the vertical line where the starting point of the road centerline range is located, and is located on the target side, and the target side includes at least one side of the two sides of the road centerline along the vertical line where the starting point of the road centerline range is located; and / or,

[0041] A second expansion unit is used to obtain a fifth target point when the first target point is not found on the target side along the vertical line at which the end point of the road centerline range is located, and to determine the shape point obtained when the third distance is extended in the positive direction of the line where the fifth target point is located from the fifth target point as the first target point, wherein the fifth target point is the first target point searched by the previous vertical line adjacent to the vertical line at which the end point of the road centerline range is located, and is located on the target side.

[0042] In a third possible implementation manner of the second aspect, the determining unit includes:

[0043] The first determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a broken lane centerline in the cell, starting from the breaking point of the broken lane centerline, and extending the second distance in the reverse direction and the positive direction of the broken lane centerline respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline respectively, determining the obtained perpendicular points as the starting point and the end point of the problem road centerline respectively, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data, wherein the broken lane centerline includes a lane centerline without a subsequent part and / or a lane centerline without a preceding part; and / or,

[0044] The second determination module is used for, when there is a misalignment problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell of the two cells, extending the second distance in the reverse direction of the road centerline in the preceding cell, obtaining the starting point of the problematic road centerline, starting from the starting point of the road centerline in the succeeding cell of the two cells, extending the second distance in the positive direction of the road centerline in the succeeding cell, obtaining the end point of the problematic road centerline, and taking the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline as the road centerline range corresponding to the problematic data; and / or,

[0045] The third determination module is used for, when there is an overlap problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell, extending the second distance along the positive direction of the road centerline in the preceding cell to obtain the end point of the problematic road centerline, starting from the starting point of the road centerline in the subsequent cell, extending the second distance along the reverse direction of the road centerline in the subsequent cell to obtain the starting point of the problematic road centerline, and taking the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline as the road centerline range corresponding to the problematic data; and / or,

[0046] A fourth determination module is used for obtaining the starting point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and the junctions of the two cells are both disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell and extending the second distance in the opposite direction of the lane centerline with the disconnection in the preceding cell, obtaining the end point of the problem lane centerline when the second distance is extended in the positive direction of the lane centerline with the disconnection in the succeeding cell, and drawing perpendicular lines from the starting point of the problem lane centerline and the end point of the problem lane centerline to the road centerline in the corresponding cell, determining the obtained perpendicular points as the starting point of the problem road centerline and the end point of the problem road centerline, and using the range determined by the starting point of the problem road centerline and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or,

[0047] A fifth determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and only the junction of the preceding cell is disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the preceding cell, respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell, respectively determining the obtained perpendicular points as the starting point and the end point of the problem road centerline, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or,

[0048] The sixth determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and only the junction of the successor cell is disconnected, starting from the starting point of the lane centerline with the disconnection in the successor cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the successor cell respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell respectively, determining the obtained perpendicular points as the starting point and the end point of the problem road centerline respectively, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data.

[0049] In a fourth possible implementation manner of the second aspect, the connecting unit includes:

[0050] An expansion module, configured to expand the first target point outward by the first distance to obtain the second target point corresponding to each of the first target points;

[0051] A sorting module, used for sorting the second target points according to the order of the vertical points of the first target points on the center line of the road and the relative position direction between the first target points and the center line of the road;

[0052] A connection module is used to connect multiple second target points in sequence according to the sorting result to obtain the problem data frame.

[0053] Through the above scheme, it can be seen that the embodiment of the present application can first determine the road centerline range corresponding to the problem data according to the continuity of the target line in each cell and / or between cells of the high-precision map, and then make a vertical line from the starting point to the end point of the road centerline range to the road centerline corresponding to the road centerline range according to the preset step length, and search for the first target point on both sides of the road centerline along each vertical line, and finally connect the second target point obtained after the first target point is expanded outward by the first distance to obtain the problem data frame. It can be seen that the embodiment of the present application can automatically filter out the problem data frame that does not meet the requirements of the low-precision map according to the continuity of the target line in each cell and / or between cells of the high-precision map, thereby improving the accuracy of the low-precision map.

[0054] In a third aspect, an embodiment of the present application provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the method described in any possible implementation manner of the first aspect.

[0055] In a fourth aspect, an embodiment of the present application provides a computer device, comprising at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the method described in any possible implementation method of the first aspect is implemented.

[0056] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] 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.

[0058] Figure 1 A flowchart of a method for screening problem data provided in an embodiment of the present application;

[0059] Figure 2 An example diagram of the road centerline range corresponding to the first type of problem data provided in an embodiment of the present application;

[0060] Figure 3 An example diagram of the road centerline range corresponding to the second type of problem data provided in an embodiment of the present application;

[0061] Figure 4 An example diagram of the road centerline range corresponding to the third type of problem data provided in an embodiment of the present application;

[0062] Figure 5 An example diagram of the road centerline range corresponding to the fourth type of problem data provided in an embodiment of the present application;

[0063] Figure 6 An example diagram of the road centerline range corresponding to the fifth type of problem data provided in an embodiment of the present application;

[0064] Figure 7 An example diagram of the road centerline range corresponding to the sixth type of problem data provided in an embodiment of the present application;

[0065] Figure 8 An example diagram of the road centerline range corresponding to the seventh type of problem data provided in an embodiment of the present application;

[0066] Fig. 9 An example diagram for determining a first target point provided in an embodiment of the present application;

[0067] Fig.10 An example diagram for determining a second target point provided in an embodiment of the present application;

[0068] Fig.11 A block diagram of a device for screening problematic data provided by an embodiment of the present application;

[0069] Fig.12 A schematic diagram of the structure of an electronic device or computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] 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.

[0071] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" in the embodiments of the present application and the accompanying drawings and any variations thereof 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 optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0072] Figure 1 The flowchart of a method for screening problematic data is shown in FIG. 1 , which can be applied to electronic devices or computer devices, and can be applied to vehicles or servers. Specifically, the method can include the following steps:

[0073] S110: Determine the road centerline range corresponding to the problem data according to the continuity of the target line within each cell and / or between cells of the high-precision map.

[0074] Among them, cell is an area unit of road production, and the target line includes the road centerline and / or lane centerline. Low-precision maps often have high requirements for the continuity of target lines. Therefore, when there are problems with the continuity of target lines within and / or between cells of high-precision maps, such as the presence of broken lane centerlines within cells, misalignment between the edges of two cells, overlap between the edges of two cells, and disconnection of lane centerlines at the edges of two cells, if the high-precision map is directly converted into a low-precision map, it will cause discontinuity of the low-precision map. Therefore, the road centerline range corresponding to the problem data can be determined based on the continuity of the target lines within and / or between cells of the high-precision map, and the problem data frame can be determined based on the road centerline range, so that the data in the problem data frame can be filtered or repaired later and then converted into a low-precision map.

[0075] The specific implementation methods of this step include but are not limited to one or more combinations of the following:

[0076] The first method: when there is a broken lane centerline in the cell, starting from the broken point of the broken lane centerline, the second distance is extended in the reverse direction and the positive direction of the broken lane centerline respectively to obtain the starting point and the end point of the problem lane centerline, and the starting point and the end point of the problem lane centerline are respectively drawn perpendicular to the road centerline, and the obtained perpendicular points are respectively determined as the starting point and the end point of the problem road centerline, and the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

[0077] Among them, the center line of a broken lane includes a lane center line without a subsequent part and / or a lane center line without a preceding part. When the center line of a broken lane existing in a cell includes a lane center line without a subsequent part, starting from the breaking point of the center line of the broken lane, the point on the lane center line obtained by extending the second distance in the opposite direction of the center line of the broken lane is the starting point of the center line of the problem lane, that is, the distance between the starting point of the center line of the problem lane and the breaking point is the second distance, and starting from the breaking point of the center line of the broken lane, the point on the lane center line obtained by extending the second distance in the positive direction of the center line of the broken lane is the end point of the center line of the problem lane, that is, the distance between the end point of the center line of the problem lane and the breaking point is the second distance. The positive direction of the lane center line is the positive direction of vehicle travel, and the reverse direction is the reverse direction of vehicle travel. The second distance can be determined based on actual experience, for example, it can be 10m.

[0078] like Figure 2 As shown in the figure, a cell includes two road boundary lines (RB1 and RB2), two lane center lines (LC1 and LC2) and a road center line (RC), among which LC1 has no subsequent part and can be called a broken lane center line, and the breaking point is A1. Starting from the breaking point A1 of LC1, the point on the lane center line obtained when the second distance d is extended in the reverse direction of LC1 is the starting point A2 of the problem lane center line, and the point on the lane center line obtained when the second distance d is extended in the positive direction of LC1 is the end point A3 of the problem lane center line. Draw perpendicular lines from A2 and A3 to RC respectively, and take the obtained perpendicular point A2' as the starting point of the problem road center line, and the perpendicular point A3' as the end point of the problem road center line, and take the line segment A2'A3' as the road center line range corresponding to the problem data.

[0079] When the center line of a broken lane in a cell includes a center line of a lane without a preceding portion, the point on the lane center line obtained by extending the second distance in the opposite direction of the center line of the broken lane starting from the break point of the center line of the broken lane is the starting point of the center line of the problem lane, that is, the distance between the starting point of the center line of the problem lane and the break point is the second distance; and the point on the lane center line obtained by extending the second distance in the positive direction of the center line of the broken lane starting from the break point of the center line of the broken lane is the end point of the center line of the problem lane, that is, the distance between the end point of the center line of the problem lane and the break point is the second distance.

[0080] like Figure 3As shown in the figure, a cell includes two road boundary lines (RB1 and RB2), two lane center lines (LC1 and LC2) and a road center line (RC), where LC1 has no preceding part and can be called a broken lane center line, with the breaking point B1. Starting from the breaking point B1 of LC1, the point on the lane center line obtained when the second distance d is extended in the reverse direction of LC1 is the starting point B2 of the problem lane center line, and the point on the lane center line obtained when the second distance d is extended in the positive direction of LC1 is the end point B3 of the problem lane center line. Draw perpendicular lines from B2 and B3 to RC respectively, and take the obtained perpendicular point B2' as the starting point of the problem road center line, and the perpendicular point B3' as the end point of the problem road center line, and take the line segment B2'B3' as the road center line range corresponding to the problem data.

[0081] The second method: when there is a misalignment problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell of the two cells, the second distance is extended in the opposite direction of the road centerline in the preceding cell to obtain the starting point of the problem road centerline; starting from the starting point of the road centerline in the succeeding cell of the two cells, the second distance is extended in the positive direction of the road centerline in the succeeding cell to obtain the end point of the problem road centerline; the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

[0082] In two connected cells, the former vehicle driving direction, from front to back, can be called the predecessor cell and the successor cell respectively. The misalignment problem between the edges of two cells means that: the end point of the line in the predecessor cell and the starting point of the same line in the successor cell have the same first coordinate, and the difference in the second coordinate exceeds the preset coordinate range. The first coordinate refers to the coordinate on the coordinate axis perpendicular to the road direction, and the second coordinate refers to the coordinate on the coordinate axis along the road direction.

[0083] like Figure 4As shown, cell A and cell B are two adjacent cells. Cell A includes two road boundary lines (RB1 and RB2), two lane center lines (LC1 and LC2) and a road center line (RC1). The end point of RC1 is A1. Cell B includes two road boundary lines (RB3 and RB4), two lane center lines (LC3 and LC4) and a road center line (RC2). The starting point of RC2 is B1. There is a misalignment problem between the edges of the two cells. The end point of cell A is not connected to the starting point of cell B. Starting from A1 of RC1 of cell A, when the second distance d is extended along the reverse direction of RC1, the starting point C1 of the problem road center line is obtained. Starting from B1 of RC2 of cell B, the second distance d is extended along the positive direction of RC2 to obtain the end point C2 of the problem road center line. The range between C1 and C2 is used as the road center line range corresponding to the problem data.

[0084] The third method: When there is an overlapping problem between the edges of two cells, starting from the end point of the road centerline in the previous cell, the second distance is extended along the positive direction of the road centerline in the previous cell to obtain the end point of the problem road centerline, starting from the starting point of the road centerline in the subsequent cell, the second distance is extended along the reverse direction of the road centerline in the subsequent cell to obtain the starting point of the problem road centerline, and the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

[0085] When the edge portions between two cells completely overlap (the horizontal and vertical coordinates are equal), it is determined that there is an overlapping problem in the edge portions between the two cells; when the coordinates of the target coordinate axis between the edge portions of the two cells are equal, it can also be determined that there is an overlapping problem in the edge portions between the two cells, and the target coordinate axis refers to the coordinate axis along the road direction.

[0086] like Figure 5As shown, cell A and cell B are two adjacent cells. Cell A includes two road boundary lines (RB1 and RB2), two lane center lines (LC1 and LC2) and a road center line (RC1). The end point of RC1 is A1. Cell B includes two road boundary lines (RB3 and RB4), two lane center lines (LC3 and LC4) and a road center line (RC2). The starting point of RC2 is B1. There is an overlapping problem between the edges of the two cells. Starting from A1 of RC1 of cell A, when the second distance d is extended along the positive direction of RC1, the end point C2 of the problem road center line is obtained. Starting from B1 of RC2 of cell B, the second distance d is extended along the reverse direction of RC2 to obtain the starting point C1 of the problem road center line. The range between C1 and C2 is used as the road center line range corresponding to the problem data.

[0087] The fourth type: when there is a lane centerline disconnection problem at the junction of two cells, and the junctions of both cells are disconnected, starting from the end point of the disconnected lane centerline in the previous cell, and extending the second distance in the opposite direction of the disconnected lane centerline in the previous cell, the starting point of the problem lane centerline is obtained, starting from the starting point of the disconnected lane centerline in the subsequent cell, and extending the second distance in the positive direction of the disconnected lane centerline in the subsequent cell, the end point of the problem lane centerline is obtained, and perpendicular lines are drawn from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell, and the obtained perpendicular points are determined as the starting point and the end point of the problem road centerline, and the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

[0088] The problem of lane centerline disconnection at the junction between two cells includes that at the junction (connection) between two cells, there is a lane centerline without a successor part in the preceding cell and / or there is a lane centerline without a preceding part in the succeeding cell, resulting in the two cells not being completely connected. The cell corresponding to the starting point of the problem lane centerline is the preceding cell, and the cell corresponding to the end point of the problem lane centerline is the succeeding cell.

[0089] like Figure 6As shown, cell A and cell B are two adjacent cells, cell A includes two road boundary lines (RB1 and RB2 respectively), two lane center lines (LC1 and LC2 respectively) and a road center line (RC1), the end point of LC1 is A1, cell B includes two road boundary lines (RB3 and RB4 respectively), two lane center lines (LC3 and LC4 respectively) and a road center line (RC2), the starting point of LC3 is B1, LC1 and LC3 are disconnected, starting from the end point A1 of LC1, when the second distance d is extended along the reverse direction of LC1, the starting point C1 of the problem lane center line is obtained, starting from the starting point B1 of LC3, when the second distance d is extended along the positive direction of cell B, the end point C2 of the problem lane center line is obtained, the vertical point C1' obtained by drawing a perpendicular line from C1 to RC1 is the starting point of the problem road center line, the vertical point C2' obtained by drawing a perpendicular line from C2 to RC2 is the end point of the problem road center line, and the range between C1' and C2' is the road center line range corresponding to the problem data.

[0090] The fifth type: when there is a lane centerline disconnection problem at the junction between two cells, and only the junction of the previous cell is disconnected, starting from the end point of the lane centerline with the disconnection in the previous cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the previous cell respectively, the starting point and the end point of the problem lane centerline are obtained, and the starting point and the end point of the problem lane centerline are drawn perpendicular to the road centerline in the corresponding cell respectively, and the obtained perpendicular points are determined as the starting point and the end point of the problem road centerline respectively, and the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

[0091] The cell corresponding to the starting point of the problem lane centerline is the predecessor cell, and the cell corresponding to the end point of the problem lane centerline is the successor cell. The problem of lane centerline disconnection between two cells includes that in the connection part between the two cells, there is a lane centerline in the predecessor cell without a successor part, and / or there is a lane centerline in the successor cell without a predecessor part.

[0092] like Figure 7As shown, cell A and cell B are two adjacent cells. Cell A includes two road boundary lines (RB1 and RB2 respectively), two lane center lines (LC1 and LC2 respectively) and a road center line (RC1). The end point of LC1 is A1. Cell B includes two road boundary lines (RB3 and RB4 respectively), two lane center lines (LC3 and LC4 respectively) and a road center line (RC2). The starting point of LC3 is B1. At the connection between LC1 and LC3, there is a LC1 disconnection problem. Starting from the end point A1 of LC1, when the second distance d is extended along the reverse direction of LC1, the starting point C1 of the problem lane center line is obtained. Starting from the end point A1 of LC1, when the second distance d is extended along the positive direction of LC1, the end point C2 of the problem lane center line is obtained. The vertical point C1' obtained by drawing a perpendicular line from C1 to RC1 is the starting point of the problem road center line. The vertical point C2' obtained by drawing a perpendicular line from C2 to RC2 is the end point of the problem road center line. The range between C1' and C2' is the road center line range corresponding to the problem data.

[0093] The sixth type: when there is a lane centerline disconnection problem at the junction of two cells, and only the junction of the successor cell is disconnected, starting from the starting point of the lane centerline with the disconnection in the successor cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the successor cell respectively, the starting point and the end point of the problem lane centerline are obtained, and the starting point and the end point of the problem lane centerline are drawn perpendicular to the road centerline in the corresponding cell respectively, and the obtained perpendicular points are determined as the starting point and the end point of the problem road centerline respectively, and the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

[0094] like Figure 8As shown, cell A and cell B are two adjacent cells. Cell A includes two road boundary lines (RB1 and RB2 respectively), two lane center lines (LC1 and LC2 respectively) and a road center line (RC1). The end point of LC1 is A1. Cell B includes two road boundary lines (RB3 and RB4 respectively), two lane center lines (LC3 and LC4 respectively) and a road center line (RC2). The starting point of LC3 is B1. At the connection between LC1 and LC3, there is a LC3 disconnection problem. Starting from the starting point B1 of LC3, when the second distance d is extended along the reverse direction of LC3, the starting point D1 of the problem lane center line is obtained. Starting from the starting point B1 of LC3, when the second distance d is extended along the positive direction of LC3, the end point D2 of the problem lane center line is obtained. The vertical point D1' obtained by drawing a perpendicular line from D1 to RC1 is the starting point of the problem road center line, and the vertical point D2' obtained by drawing a perpendicular line from D2 to RC2 is the end point of the problem road center line. The range between D1'D2' is the road center line range corresponding to the problem data.

[0095] S120: From the starting point to the end point of the road centerline range, draw a perpendicular line to the road centerline corresponding to the road centerline range according to a preset step length, and search for the first target point along the perpendicular line to both sides of the road centerline.

[0096] Among them, when a point on the road boundary line is searched, the first target point is the point on the road boundary line, and when a point on the road boundary line is not searched, the first target point is the point on the lane centerline farthest from the road centerline corresponding to the road centerline range. A vertical line can search two first target points. The value of the preset step size can be determined according to the smoothness and accuracy of the problem data frame connected by the subsequent second target point.

[0097] exist Figure 3 After determining the starting point A2' and the end point A3' of the problem road centerline, you can start from the starting point A2' and draw a perpendicular line to the road centerline RC according to the preset step length, and search for the first target point along the perpendicular line to both sides of the road centerline until the end point A3', so as to obtain the first target point a1-k1, a2-k2, see Fig. 9 .

[0098] S130: Connect the second target points obtained by expanding the first target point outward by the first distance to obtain a problem data frame.

[0099] The data contained in the question data frame is the question data.

[0100] In this step, after the first target point is expanded outward by a first distance, the second target point corresponding to each first target point is obtained; the second target points are sorted according to the order of the vertical points of the first target points on the center line of the road and the relative position direction between the first target point and the center line of the road; according to the sorting result, multiple second target points are connected in turn to obtain the problem data frame.

[0101] The distance between the first target point and the second target point is the first distance. The multiple second target points can be connected clockwise or counterclockwise. Fig.10 As shown, after the first target point is extended outward by the first distance, the second target points include a1'-k1', a2'-k2'. If connected counterclockwise, the multiple second target points located on the upper side of the road centerline determine the order of the vertical points of each second target point on the road centerline along the positive direction of the road centerline, and the second target points are sorted, that is, the order is a1', b1'...k1', and the multiple second target points located on the lower side of the road centerline determine the order of the vertical points of each second target point on the road centerline along the reverse direction of the road centerline, and the second target points are sorted, that is, the order is k2', j2'...a2'. k1' is located in front of k2'. According to the sorting result, the connection order includes a1', b1'...k1', k2', j2'...a2', a1'.

[0102] It should be noted that the problem data frame may be a quadrilateral or a polygon, depending on the shape of the road.

[0103] The method for screening problem data provided by the embodiment of the present application can first determine the road centerline range corresponding to the problem data according to the continuity of the target line in each cell and / or between cells of the high-precision map, and then make a vertical line from the starting point to the end point of the road centerline range according to the preset step length to the road centerline corresponding to the road centerline range, and search for the first target point on both sides of the road centerline along each vertical line, and finally connect the second target point obtained after the first target point is expanded outward by the first distance to obtain the problem data frame. It can be seen that the embodiment of the present application can automatically screen out the problem data frame that does not meet the requirements of the low-precision map according to the continuity of the target line in each cell and / or between cells of the high-precision map, thereby improving the accuracy of the low-precision map. When connecting the second target point, the embodiment of the present application first sorts the second target point according to the order of the vertical points of the first target point on the road centerline and the relative position direction between the first target point and the road centerline, and then connects multiple second target points in sequence according to the sorting result, so as to avoid errors in the problem data selected by the final problem data frame due to the wrong connection of the second target point.

[0104] In one implementation, in order to improve the smoothness and accuracy of the problem data frame, another embodiment of the present application provides the following method:

[0105] Before connecting the second target point obtained by expanding the first target point outward by the first distance, traverse the two adjacent first target points in sequence; obtain the third target point between the two adjacent first target points, wherein the third target point is a shape point on the target line where the two adjacent first target points are located; when the vertical point of the third target point on the road centerline is located between the vertical points of the two adjacent first target points on the road centerline, and the vertical distance of the third target point to the road centerline is less than or equal to the target vertical distance, take the third target point as the first target point, wherein the target vertical distance is determined according to the vertical distances of the two adjacent first target points to the road centerline respectively.

[0106] The number of third target points between two adjacent first target points may be one or more. For each third target point, if the vertical point of the third target point on the road centerline is between the vertical points of two adjacent first target points on the road centerline, and the vertical distance of the third target point to the road centerline is less than or equal to the target vertical distance, the third target point can be used as the first target point, otherwise the third target point is not used as the first target point.

[0107] The target vertical distance is determined based on the vertical distances from two adjacent first target points to the center line of the road. For example, the target vertical distance is a preset multiple of the maximum value of the vertical distances from two adjacent first target points to the center line of the road, such as dd=1.25*max(d1,d2), where dd represents the target vertical distance, d1 represents the vertical distance from one of the two adjacent first target points to the center line of the road, and d2 represents the vertical distance from the other of the two adjacent first target points to the center line of the road.

[0108] In one embodiment, before sequentially traversing two adjacent first target points, the method further includes:

[0109] When the first target point is not found on the target side along the vertical line where the starting point of the road centerline range is located, a fourth target point is obtained, and when the third distance is extended in the opposite direction of the line where the fourth target point is located from the fourth target point, the obtained shape point is determined as the first target point, wherein the fourth target point is the first target point found by the next vertical line adjacent to the vertical line where the starting point of the road centerline range is located, and is located on the target side, and the target side includes at least one side of the two sides of the road centerline along the vertical line where the starting point of the road centerline range is located; and / or,

[0110] When the first target point is not searched on the target side along the perpendicular line where the end point of the road centerline range is located, the fifth target point is obtained, and from the fifth target point, when the third distance is extended in the positive direction of the line where the fifth target point is located, the obtained shape point is determined as the first target point, wherein the fifth target point is the first target point searched by the previous perpendicular line adjacent to the perpendicular line where the end point of the road centerline range is located, and is located on the target side.

[0111] The specific value of the third distance is determined according to actual experience, but the third distance is generally greater than the preset step length. The next vertical line adjacent to the vertical line where the starting point of the road centerline range is located refers to: along the positive direction of the road centerline, the vertical line where the adjacent point with the preset step length is located with the starting point of the road centerline range. The previous vertical line adjacent to the vertical line where the end point of the road centerline range is located refers to: along the reverse direction of the road centerline, the vertical line where the adjacent point with the preset step length is located with the end point of the road centerline range.

[0112] The method for screening problem data provided in the embodiment of the present application can, when the first target point is not found on the target side along the vertical line at the starting point of the road centerline range, and / or when the first target point is not found on the target side along the vertical line at the end point of the road centerline range, supplement the first target point by expanding outward, so that the problem data box finally obtained can select all the problem data to avoid omissions.

[0113] Corresponding to the above method embodiment, another embodiment of the present application provides a device for screening problem data, such as Fig.11 As shown, the device comprises:

[0114] A determination unit 210 is used to determine the road centerline range corresponding to the problem data according to the continuity of the target line within each cell and / or between cells of the high-precision map, wherein the cell is an area unit of road production, and the target line includes the road centerline and / or the lane centerline;

[0115] A search unit 220 is used to draw a perpendicular line from the starting point to the end point of the road centerline range to the road centerline corresponding to the road centerline range according to a preset step length, and search for a first target point along the perpendicular line to both sides of the road centerline, wherein when a point on the road boundary line is searched, the first target point is the point on the road boundary line, and when the point on the road boundary line is not searched, the first target point is the point on the lane centerline farthest from the road centerline corresponding to the road centerline range;

[0116] The connection unit 230 is used to connect the second target points obtained by expanding the first target point outward by a first distance to obtain a problem data frame, wherein the data contained in the problem data frame is the problem data.

[0117] In a possible implementation manner, the device further includes:

[0118] A traversal unit, configured to traverse two adjacent first target points in sequence before connecting the second target points obtained by expanding the first target points outward by a first distance;

[0119] An acquisition unit, configured to acquire a third target point between two adjacent first target points, wherein the third target point is a shape point on a target line where the two adjacent first target points are located;

[0120] The determination unit 210 is further configured to use the third target point as the first target point when the perpendicular point of the third target point on the road centerline is between the perpendicular points of the two adjacent first target points on the road centerline, and the perpendicular distance of the third target point to the road centerline is less than or equal to the target perpendicular distance, wherein the target perpendicular distance is determined based on the perpendicular distances of the two adjacent first target points to the road centerline, respectively.

[0121] In a possible implementation manner, the device further includes:

[0122] A first expansion unit is used for obtaining a fourth target point when the first target point is not found on the target side along the vertical line where the starting point of the road centerline range is located before traversing two adjacent first target points in sequence, and determining the shape point obtained when extending the third distance in the opposite direction of the line where the fourth target point is located from the fourth target point as the first target point, wherein the fourth target point is the first target point searched by the next vertical line adjacent to the vertical line where the starting point of the road centerline range is located, and is located on the target side, and the target side includes at least one side of the two sides of the road centerline along the vertical line where the starting point of the road centerline range is located; and / or,

[0123] A second expansion unit is used to obtain a fifth target point when the first target point is not found on the target side along the vertical line at which the end point of the road centerline range is located, and to determine the shape point obtained when the third distance is extended in the positive direction of the line where the fifth target point is located from the fifth target point as the first target point, wherein the fifth target point is the first target point searched by the previous vertical line adjacent to the vertical line at which the end point of the road centerline range is located, and is located on the target side.

[0124] In a possible implementation, the determining unit 210 includes:

[0125] The first determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a broken lane centerline in the cell, starting from the breaking point of the broken lane centerline, and extending the second distance in the reverse direction and the positive direction of the broken lane centerline respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline respectively, determining the obtained perpendicular points as the starting point and the end point of the problem road centerline respectively, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data, wherein the broken lane centerline includes a lane centerline without a subsequent part and / or a lane centerline without a preceding part; and / or,

[0126] The second determination module is used for, when there is a misalignment problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell of the two cells, extending the second distance in the reverse direction of the road centerline in the preceding cell, obtaining the starting point of the problematic road centerline, starting from the starting point of the road centerline in the succeeding cell of the two cells, extending the second distance in the positive direction of the road centerline in the succeeding cell, obtaining the end point of the problematic road centerline, and taking the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline as the road centerline range corresponding to the problematic data; and / or,

[0127] The third determination module is used for, when there is an overlap problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell, extending the second distance along the positive direction of the road centerline in the preceding cell to obtain the end point of the problematic road centerline, starting from the starting point of the road centerline in the subsequent cell, extending the second distance along the reverse direction of the road centerline in the subsequent cell to obtain the starting point of the problematic road centerline, and taking the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline as the road centerline range corresponding to the problematic data; and / or,

[0128] A fourth determination module is used for obtaining the starting point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and the junctions of the two cells are both disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell and extending the second distance in the opposite direction of the lane centerline with the disconnection in the preceding cell, obtaining the end point of the problem lane centerline when the second distance is extended in the positive direction of the lane centerline with the disconnection in the succeeding cell, and drawing perpendicular lines from the starting point of the problem lane centerline and the end point of the problem lane centerline to the road centerline in the corresponding cell, determining the obtained perpendicular points as the starting point of the problem road centerline and the end point of the problem road centerline, and using the range determined by the starting point of the problem road centerline and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or,

[0129] A fifth determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and only the junction of the preceding cell is disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the preceding cell, respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell, respectively determining the obtained perpendicular points as the starting point and the end point of the problem road centerline, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or,

[0130] The sixth determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and only the junction of the successor cell is disconnected, starting from the starting point of the lane centerline with the disconnection in the successor cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the successor cell respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell respectively, determining the obtained perpendicular points as the starting point and the end point of the problem road centerline respectively, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data.

[0131] In a possible implementation, the connecting unit 230 includes:

[0132] An expansion module, configured to expand the first target point outward by the first distance to obtain the second target point corresponding to each of the first target points;

[0133] A sorting module, used for sorting the second target points according to the order of the vertical points of the first target points on the center line of the road and the relative position direction between the first target points and the center line of the road;

[0134] A connection module is used to connect multiple second target points in sequence according to the sorting result to obtain the problem data frame.

[0135] The device for screening problem data provided by the embodiment of the present application can first determine the road centerline range corresponding to the problem data according to the continuity of the target lines in each cell and / or between cells of the high-precision map, and then make a vertical line from the starting point to the end point of the road centerline range to the road centerline corresponding to the road centerline range according to the preset step length, and search for the first target point on both sides of the road centerline along each vertical line, and finally connect the second target point obtained after the first target point is expanded outward by a first distance to obtain the problem data frame. It can be seen from this that the embodiment of the present application can automatically screen out the problem data frame that does not meet the requirements of the low-precision map according to the continuity of the target lines in each cell and / or between cells of the high-precision map, thereby improving the accuracy of the low-precision map.

[0136] Based on the above method embodiments, another embodiment of the present application provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps of the method for generating speed limit information for the map area boundary as described in any of the above embodiments.

[0137] Based on the above method embodiment, another embodiment of the present application provides an electronic device or a computer device, such as Fig.12 As shown, it includes at least one processor 310, and the processor 310 is coupled to the memory 320. The memory 320 stores a program or instruction running on the processor 310. When the program or instruction is executed by the processor 310, the steps of the method for generating speed limit information of the map area boundary as described in any of the above embodiments are implemented.

[0138] Based on the above method embodiments, another embodiment of the present application provides a vehicle, which includes the device as described in any of the above embodiments, or includes the electronic device as described above.

[0139] Based on the above embodiments, another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any of the above embodiments.

[0140] 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. It can be understood by those skilled in the art 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.

[0141] 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.

[0142] 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 screening problem data, characterized in that: The method comprises: Determine the road centerline range corresponding to the problem data according to the continuity of the target line within each cell and / or between cells of the high-precision map, wherein the cell is an area unit of road production, and the target line includes the road centerline and / or the lane centerline; From the starting point to the end point of the road centerline range, a perpendicular line is drawn to the road centerline corresponding to the road centerline range according to a preset step length, and a first target point is searched along the perpendicular line to both sides of the road centerline, wherein when a point on a road boundary line is searched, the first target point is the point on the road boundary line, and when a point on the road boundary line is not searched, the first target point is the point on the lane centerline farthest from the road centerline corresponding to the road centerline range; The second target points obtained by extending the first target point outward by a first distance are connected to obtain a problem data frame, wherein the data contained in the problem data frame is the problem data.

2. The method according to claim 1, characterized in that Before connecting the second target point obtained by extending the first target point outward by the first distance, the method further includes: Traversing two adjacent first target points in sequence; Acquire a third target point between two adjacent first target points, wherein the third target point is a shape point on the target line where the two adjacent first target points are located; When the perpendicular point of the third target point on the road centerline is between the perpendicular points of the two adjacent first target points on the road centerline, and the perpendicular distance of the third target point to the road centerline is less than or equal to the target perpendicular distance, the third target point is used as the first target point, wherein the target perpendicular distance is determined based on the perpendicular distances of the two adjacent first target points to the road centerline respectively.

3. The method according to claim 2, characterized in that Before sequentially traversing two adjacent first target points, the method further includes: When the first target point is not found on the target side along the vertical line where the starting point of the road centerline range is located, a fourth target point is obtained, and when the third distance is extended from the fourth target point in the opposite direction of the line where the fourth target point is located, the shape point obtained is determined as the first target point, wherein the fourth target point is the first target point found by the next vertical line adjacent to the vertical line where the starting point of the road centerline range is located, and is located on the target side, and the target side includes at least one side of the two sides of the road centerline along the vertical line where the starting point of the road centerline range is located; and / or, When the first target point is not found on the target side along the perpendicular line at which the end point of the road centerline range is located, a fifth target point is obtained, and from the fifth target point, when the third distance is extended in the positive direction of the line where the fifth target point is located, the shape point obtained is determined as the first target point, wherein the fifth target point is the first target point searched by the previous perpendicular line adjacent to the perpendicular line at which the end point of the road centerline range is located, and is located on the target side.

4. The method according to claim 1, characterized in that: Determining the road centerline range corresponding to the problem data according to the continuity of the target line within each cell and / or between cells of the high-precision map includes: In the case where a broken lane centerline exists in the cell, starting from the broken point of the broken lane centerline, when extending the second distance along the reverse direction and the positive direction of the broken lane centerline respectively, a starting point of the problem lane centerline and an end point of the problem lane centerline are obtained, and perpendicular lines are drawn from the starting point of the problem lane centerline and the end point of the problem lane centerline to the road centerline respectively, and the obtained perpendicular points are respectively determined as the starting point of the problem road centerline and the end point of the problem road centerline, and the range determined by the starting point of the problem road centerline and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data, and the broken lane centerline includes a lane centerline without a subsequent part and / or a lane centerline without a preceding part; and / or, When there is a misalignment problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell of the two cells, the second distance is extended along the reverse direction of the road centerline in the preceding cell to obtain the starting point of the problematic road centerline, starting from the starting point of the road centerline in the succeeding cell of the two cells, the second distance is extended along the positive direction of the road centerline in the succeeding cell to obtain the end point of the problematic road centerline, and the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline is used as the road centerline range corresponding to the problematic data; and / or, When there is an overlapping problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell, the second distance is extended along the positive direction of the road centerline in the preceding cell to obtain the end point of the problematic road centerline, starting from the starting point of the road centerline in the subsequent cell, the second distance is extended along the reverse direction of the road centerline in the subsequent cell to obtain the starting point of the problematic road centerline, and the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline is used as the road centerline range corresponding to the problematic data; and / or, When there is a lane centerline disconnection problem at the junction of two cells, and the junctions of the two cells are both disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell, the second distance is extended in the opposite direction of the lane centerline with the disconnection in the preceding cell to obtain the starting point of the problem lane centerline, starting from the starting point of the lane centerline with the disconnection in the subsequent cell, the second distance is extended in the positive direction of the lane centerline with the disconnection in the subsequent cell to obtain the end point of the problem lane centerline, and perpendicular lines are drawn from the starting point of the problem lane centerline and the end point of the problem lane centerline to the road centerline in the corresponding cell, and the obtained perpendicular points are determined as the starting point of the problem road centerline and the end point of the problem road centerline, and the range determined by the starting point of the problem road centerline and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data; and / or, When there is a lane centerline disconnection problem at the junction of two cells, and only the junction of the preceding cell is disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell, the second distance is extended in the reverse direction and the positive direction of the lane centerline with the disconnection in the preceding cell, to obtain the starting point and the end point of the problem lane centerline, and draw perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell, respectively, and determine the obtained perpendicular points as the starting point and the end point of the problem road centerline, and use the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or, When there is a lane centerline disconnection problem at the junction of two cells, and only the junction of the successor cell is disconnected, starting from the starting point of the lane centerline with the disconnection in the successor cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the successor cell respectively, the starting point and the end point of the problem lane centerline are obtained, and perpendicular lines are drawn from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell respectively, and the obtained perpendicular points are determined as the starting point and the end point of the problem road centerline respectively, and the range determined by the starting point and the end point of the problem road centerline is used as the road centerline range corresponding to the problem data.

5. The method according to any one of claims 1 to 4, characterized in that The step of connecting the second target points obtained by extending the first target point outward by a first distance to obtain a problem data frame includes: After extending the first target point outward by the first distance, obtaining the second target point corresponding to each of the first target points; Sort the second target points according to the order of the vertical points of the first target points on the center line of the road and the relative position direction between the first target points and the center line of the road; According to the sorting result, multiple second target points are connected in sequence to obtain the problem data frame.

6. A device for screening problem data, characterized in that: The device comprises: A determination unit, used to determine the road centerline range corresponding to the problem data according to the continuity of the target line within each cell and / or between cells of the high-precision map, wherein the cell is an area unit of road production, and the target line includes the road centerline and / or the lane centerline; A search unit, configured to draw a perpendicular line from the starting point to the end point of the road centerline range to the road centerline corresponding to the road centerline range according to a preset step length, and search for a first target point along the perpendicular line to both sides of the road centerline, wherein when a point on a road boundary line is searched, the first target point is the point on the road boundary line, and when no point on the road boundary line is searched, the first target point is the point on the lane centerline farthest from the road centerline corresponding to the road centerline range; A connection unit is used to connect the second target point obtained by expanding the first target point outward by a first distance to obtain a problem data frame, wherein the data contained in the problem data frame is the problem data.

7. The device according to claim 6, characterized in that The device also includes: A traversal unit, configured to traverse two adjacent first target points in sequence before connecting the second target points obtained by expanding the first target points outward by a first distance; An acquisition unit, configured to acquire a third target point between two adjacent first target points, wherein the third target point is a shape point on a target line where the two adjacent first target points are located; The determination unit is further used to use the third target point as the first target point when the perpendicular point of the third target point on the road centerline is between the perpendicular points of the two adjacent first target points on the road centerline, and the perpendicular distance of the third target point to the road centerline is less than or equal to the target perpendicular distance, wherein the target perpendicular distance is determined based on the perpendicular distances of the two adjacent first target points to the road centerline.

8. The device according to claim 7, characterized in that The device also includes: A first expansion unit is used for obtaining a fourth target point when the first target point is not found on the target side along the vertical line where the starting point of the road centerline range is located before traversing two adjacent first target points in sequence, and determining the shape point obtained when extending the third distance in the opposite direction of the line where the fourth target point is located from the fourth target point as the first target point, wherein the fourth target point is the first target point searched by the next vertical line adjacent to the vertical line where the starting point of the road centerline range is located, and is located on the target side, and the target side includes at least one side of the two sides of the road centerline along the vertical line where the starting point of the road centerline range is located; and / or, A second expansion unit is used to obtain a fifth target point when the first target point is not found on the target side along the vertical line at which the end point of the road centerline range is located, and to determine the shape point obtained when the third distance is extended in the positive direction of the line where the fifth target point is located from the fifth target point as the first target point, wherein the fifth target point is the first target point searched by the previous vertical line adjacent to the vertical line at which the end point of the road centerline range is located, and is located on the target side.

9. The device according to claim 6, characterized in that The determining unit comprises: The first determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a broken lane centerline in the cell, starting from the breaking point of the broken lane centerline, and extending the second distance in the reverse direction and the positive direction of the broken lane centerline respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline respectively, determining the obtained perpendicular points as the starting point and the end point of the problem road centerline respectively, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data, wherein the broken lane centerline includes a lane centerline without a subsequent part and / or a lane centerline without a preceding part; and / or, The second determination module is used for, when there is a misalignment problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell of the two cells, extending the second distance in the reverse direction of the road centerline in the preceding cell, obtaining the starting point of the problematic road centerline, starting from the starting point of the road centerline in the succeeding cell of the two cells, extending the second distance in the positive direction of the road centerline in the succeeding cell, obtaining the end point of the problematic road centerline, and taking the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline as the road centerline range corresponding to the problematic data; and / or, The third determination module is used for, when there is an overlap problem between the edges of two cells, starting from the end point of the road centerline in the preceding cell, extending the second distance along the positive direction of the road centerline in the preceding cell to obtain the end point of the problematic road centerline, starting from the starting point of the road centerline in the subsequent cell, extending the second distance along the reverse direction of the road centerline in the subsequent cell to obtain the starting point of the problematic road centerline, and taking the range determined by the starting point of the problematic road centerline and the end point of the problematic road centerline as the road centerline range corresponding to the problematic data; and / or, A fourth determination module is used for obtaining the starting point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and the junctions of the two cells are both disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell and extending the second distance in the opposite direction of the lane centerline with the disconnection in the preceding cell, obtaining the end point of the problem lane centerline when the second distance is extended in the positive direction of the lane centerline with the disconnection in the succeeding cell, and drawing perpendicular lines from the starting point of the problem lane centerline and the end point of the problem lane centerline to the road centerline in the corresponding cell, determining the obtained perpendicular points as the starting point of the problem road centerline and the end point of the problem road centerline, and using the range determined by the starting point of the problem road centerline and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or, A fifth determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and only the junction of the preceding cell is disconnected, starting from the end point of the lane centerline with the disconnection in the preceding cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the preceding cell, respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell, respectively determining the obtained perpendicular points as the starting point and the end point of the problem road centerline, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data; and / or, The sixth determination module is used for obtaining the starting point and the end point of the problem lane centerline when there is a lane centerline disconnection problem at the junction between two cells and only the junction of the successor cell is disconnected, starting from the starting point of the lane centerline with the disconnection in the successor cell, and extending the second distance in the reverse direction and the positive direction of the lane centerline with the disconnection in the successor cell respectively, and drawing perpendicular lines from the starting point and the end point of the problem lane centerline to the road centerline in the corresponding cell respectively, determining the obtained perpendicular points as the starting point and the end point of the problem road centerline respectively, and using the range determined by the starting point and the end point of the problem road centerline as the road centerline range corresponding to the problem data.

10. The device according to any one of claims 6 to 9, characterized in that: The connecting unit comprises: An expansion module, configured to expand the first target point outward by the first distance to obtain the second target point corresponding to each of the first target points; A sorting module, used for sorting the second target points according to the order of the vertical points of the first target points on the center line of the road and the relative position direction between the first target points and the center line of the road; A connection module is used to connect multiple second target points in sequence according to the sorting result to obtain the problem data frame.

11. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

12. A computer device, characterized in that: The method comprises at least one processor, wherein the processor is coupled to a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the method according to any one of claims 1 to 5 is implemented.

Images