Road section division method, vehicle, computer readable storage medium and computer program product

Abstract

The present application discloses a road interval division method, a vehicle, a computer-readable storage medium and a computer program product, and relates to the field of intelligent transportation technology. The method includes: using the navigation information, positioning information and vehicle information of the vehicle to mark the road type of the target area to obtain an initial marking result; according to the gate information of the target area, the initial marking result is corrected to obtain an intermediate marking result; based on the road attribute continuity rule, the intermediate marking result is supplemented to obtain a target marking result, wherein the target marking result is used to divide the scene road intervals of multiple driving permissions in the target area. The present application solves the technical problem that the accuracy of the road division scheme in the related technology is low, resulting in low safety of intelligent driving.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a road section division method, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0002] In the relevant technical field, internal road scenes are more complex and have more ambiguous features than public road scenes. In terms of real-time mapping, path planning, and vehicle control, it is necessary to accurately divide the internal road scenes and public road scenes in the area so as to adopt targeted solutions for different road scenes.

[0003] The existing road division schemes only involve intersection recognition division and urban road marking division, which cannot meet the needs of distinguishing between internal roads and public roads in some tasks. As a result, the performance of current autonomous driving or intelligent driving is limited and the user experience is poor.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a road section division method, a vehicle, a computer-readable storage medium and a computer program product to at least solve the technical problem that the accuracy of the road division scheme in the related art is low, resulting in low safety of intelligent driving.

[0006] According to one aspect of an embodiment of the present application, a road section division method is provided, including: using the vehicle's navigation information, positioning information and vehicle information to mark the road type of the target area to obtain an initial marking result; correcting the initial marking result according to the gate information of the target area to obtain an intermediate marking result; based on the road attribute continuity rule, supplementing the intermediate marking result to obtain a target marking result, wherein the target marking result is used to divide the scene road sections of multiple driving permissions in the target area.

[0007] Furthermore, the target area is marked with a road type using the vehicle's navigation information, positioning information and own vehicle information to obtain an initial marking result, including: using the navigation information to mark the first trajectory interval in the target area with a road type to obtain a first part of the marking result, wherein the first trajectory interval is a driving trajectory interval in the target area corresponding to the navigation trajectory; using the positioning information and own vehicle information to mark the second trajectory interval in the target area with a road type to obtain a second part of the marking result, wherein the second trajectory interval is other trajectory intervals in the target area except the first trajectory interval; based on the first part of the marking result and the second part of the marking result, an initial marking result is generated.

[0008] Furthermore, the navigation information is used to mark the road type of the first trajectory interval in the target area, and the first part of the marking results includes: calculating the distance between the navigation information and the trajectory points of the driving trajectory in the target area to obtain distance data; based on the distance data, performing navigation reliability evaluation on the driving trajectory to determine the first trajectory interval; based on the road type data in the navigation information, marking the first trajectory interval with a road type to obtain the first part of the marking results.

[0009] Furthermore, the second part of the marking results includes a positioning marking result and a self-vehicle marking result; using the positioning information and the self-vehicle information, the second trajectory interval in the target area is marked with a road type, and the second part of the marking results includes: using the positioning information, determining the positioning signal strength corresponding to the trajectory point in the second trajectory interval; based on the positioning signal strength, determining a reliable positioning sub-interval from the second trajectory interval; using the positioning information and the geographic location data corresponding to the target area, marking the reliable positioning sub-interval with a road type, and obtaining a positioning marking result; using the positioning signal strength and the self-vehicle information, marking the road type of other sub-intervals in the second trajectory interval except the reliable positioning sub-interval, and obtaining a self-vehicle marking result.

[0010] Furthermore, the initial marking result includes a marked interval and an unmarked interval, and the marked interval includes multiple sub-intervals with multiple driving permissions; the initial marking result is corrected according to the gate information of the target area, and the intermediate marking result includes: according to the gate information, determining the target gate whose distance from the endpoint position of any sub-interval in the multiple sub-intervals is less than a preset threshold; correcting the endpoint positions of the multiple sub-intervals based on the position of the target gate to obtain a corrected marked interval; inferring the road type of the unmarked interval based on the position of the target gate to obtain a first inference result; marking the road type of at least part of the unmarked interval according to the first inference result to obtain an inferred marking result; and generating an intermediate marking result using the corrected marked interval and the inferred marking result.

[0011] Furthermore, the road section division method also includes: using the parking space information and speed bump information of the target area to infer the road type of the unmarked section to obtain a second inference result; marking the road type of at least part of the unmarked section according to the second inference result, and updating the inference marking result.

[0012] Furthermore, based on the road attribute continuity rule, the intermediate marking result is supplemented with marking to obtain the target marking result, including: based on the intermediate marking result, the marked interval and the unmarked interval are re-determined; according to the road attribute continuity rule and the marked interval, the unmarked interval is supplemented with road type marking to obtain the target marking result, wherein the road attribute continuity rule is used to constrain the road types of adjacent road intervals in the target area to be the same.

[0013] According to another aspect of an embodiment of the present application, a road interval division method is also provided, including: determining the target road interval where the current position is located according to the current position of the vehicle in the target area and the target marking result; controlling the target function module of the vehicle to switch to a target mode corresponding to the target road interval; wherein the target road interval is one of the scene road intervals of multiple driving permissions divided according to the target marking result, the target marking result is obtained by supplementing the intermediate marking result based on the road attribute continuity rule, the intermediate marking result is obtained by correcting the initial marking result according to the gate information of the target area, and the initial marking result is obtained by marking the road type of the target area using the vehicle's navigation information, positioning information and self-vehicle information.

[0014] According to another aspect of an embodiment of the present application, a vehicle is also provided, including an on-board memory and an on-board processor, wherein a computer program is stored in the on-board memory, and the on-board processor is configured to run the computer program to execute any one of the above-mentioned road section division methods.

[0015] According to another aspect of an embodiment of the present application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein when the executable program is running, the device where the storage medium is located is controlled to execute any one of the above-mentioned road section division methods.

[0016] According to another aspect of an embodiment of the present application, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the road section division method according to any one of the above items is implemented.

[0017] In an embodiment of the present application, the vehicle's navigation information, positioning information and vehicle information are used to mark the road type of the target area to obtain an initial marking result; the initial marking result is corrected according to the gate information of the target area to obtain an intermediate marking result; based on the road attribute continuity rule, the intermediate marking result is supplemented and marked to obtain a target marking result, wherein the target marking result is used to divide the scene road intervals of multiple driving permissions in the target area.

[0018] It is easy to notice that the embodiment of the present application can more accurately mark the road types in the target area by combining the vehicle's navigation information, positioning information and vehicle information, and use the gate information of the target area and the road attribute continuity rules to process the marking results, which can improve the accuracy of the marking results, thereby improving the accuracy of the road interval division, providing more reliable data support for the vehicle's intelligent driving, and achieving the purpose of more accurately dividing the road interval, thereby achieving the technical effect of improving the accuracy of the road division scheme and improving the safety of intelligent driving, and thus solving the technical problem of low accuracy of the road division scheme in the related technology, which leads to low safety of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and the related descriptions of the embodiments are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 is a hardware structure block diagram of an optional computing terminal for implementing a road section division method according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of a road section division method according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of an optional method of obtaining an inferred labeling result according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of an optional road attribute continuity rule according to an embodiment of the present application;

[0024] Figure 5 This is a schematic diagram of an optional road section division according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments only include a 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 should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations 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 necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] According to an embodiment of the present application, a method embodiment of a road section division method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0028] First, the operating environment of the above method embodiment is exemplarily described. Figure 1 is a hardware structure block diagram of an optional computing terminal for implementing a road section division method according to an embodiment of the present application, such as Figure 1 As shown, a computing terminal 10 (for example, a computer terminal, a mobile smart terminal, a vehicle terminal, or a cloud computing virtual terminal, etc.) may include: one or more processors 102, a memory 104 for storing data, and a transmission device 106 for implementing a communication function, wherein each processor 102 may include but is not limited to a processing component such as a microprocessor (Microcontroller Unit, referred to as MCU) or a programmable logic device (Field Programmable Gate Array, referred to as FPGA).

[0029] The computing terminal 10 may further include: a display device 110, an input / output device 108, a Universal Serial Bus (USB) port (the USB port may be used as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure) and a camera (not shown in the figure). A person skilled in the art may understand that Figure 1 The structure of the computing terminal 10 shown is only for illustration and does not impose a strict limitation on the structure of the computing terminal 10. For example, the computing terminal 10 may also include Figure 1 More or fewer components than those shown in FIG. 1 , or computing terminal 10 may have the same components as those shown in FIG. Figure 1Different categories of components are shown.

[0030] It should be noted that the one or more processors 102 and / or other data processing circuits in the computing terminal 10 may be embodied in whole or in part as software, hardware, firmware or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any of the other components in the vehicle terminal (or mobile device).

[0031] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the road interval division method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the above-mentioned road interval division method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the vehicle terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0032] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the vehicle terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0033] Under the above operating environment, the embodiment of the present application provides the following Figure 2 The road section division method shown is Figure 2 is a flow chart of a road section division method according to an embodiment of the present application. Figure 2 As shown, the method includes the following implementation steps S201 to S203.

[0034] Step S201, using the navigation information, positioning information and vehicle information of the vehicle, the road type of the target area is marked to obtain an initial marking result.

[0035] The above navigation information may be data provided by the vehicle navigation system, and the navigation information may include but is not limited to the vehicle's current location, driving direction, speed, navigation route, etc.

[0036] The above positioning information can be used to assist in determining the accuracy of the current position of the vehicle. The positioning information can be obtained through positioning technology, and the positioning information can include the state of the positioning signal (such as the presence of the positioning signal, the absence of the positioning signal, etc.), the strength of the positioning signal, etc. The above positioning technology can include but is not limited to Global Positioning System (GPS) positioning, base station positioning, Wireless Fidelity (WiFi) positioning, visual positioning, etc.

[0037] The above self-vehicle information can be collected by the vehicle's own sensors, and the self-vehicle information may include but is not limited to the vehicle's speed, the vehicle's acceleration, and the vehicle's surrounding environmental information (such as wind speed, temperature, humidity, road signs, distance to other vehicles, distance to obstacles around the vehicle, information about the basement where the vehicle is located, etc.). The above sensors may include but are not limited to laser radar, camera, ultrasonic sensor, wind sensor, temperature sensor, humidity sensor, speed sensor, acceleration sensor.

[0038] The above road types may include but are not limited to public roads and internal roads. The above public roads may be roads open to the public and allowed to be used by all legal drivers and pedestrians on the premise of complying with traffic regulations. The above internal roads may be roads within a specific closed or semi-closed area (such as residential areas, business parks, schools, hospitals, factories or parking lots of large buildings, etc.).

[0039] The specific implementation method of using the vehicle's navigation information, positioning information and self-vehicle information to mark the road type of the target area and obtain the initial marking result can be: obtaining the vehicle's navigation information, positioning information and self-vehicle information, and using the vehicle's navigation information to mark the road type of the target area; further, combining the vehicle's positioning information and self-vehicle information, the marking result is updated to obtain the initial marking result. In this way, the purpose of using the vehicle's navigation information, positioning information and self-vehicle information to more accurately and completely mark the road types corresponding to the roads in the target area is achieved.

[0040] It is easy to understand that since the vehicle's navigation information may be inaccurate in a complex driving environment, by combining the vehicle's navigation information, positioning information and vehicle information to mark the target area's road type, it is possible to avoid incorrect marking of the target area's road type due to inaccurate vehicle navigation information, thereby improving the accuracy of the initial marking results.

[0041] Step S202: modify the initial marking result according to the gate information of the target area to obtain an intermediate marking result.

[0042] The above-mentioned gate information may be data or signals related to the gates installed in the target area. The gate information may be obtained by utilizing images captured by the vehicle's camera and an image recognition model. The gate information may be used to assist in distinguishing road types. The gate information may include but is not limited to: the location of the gate, the status of the gate, and the identification signal of the gate.

[0043] The initial marking result is corrected according to the gate information of the target area. The specific implementation method of obtaining the intermediate marking result can be: using the gate information of the target area, it is determined whether there are marking points with incorrect road type markings in the initial marking result. If there are marking points with incorrect road type markings in the initial marking result (such as marking road points belonging to public roads as internal roads in the initial marking result), then the marking points with incorrect road type markings are corrected to obtain the intermediate marking result.

[0044] It is easy to understand that relying solely on the vehicle's navigation information, positioning information, and vehicle information may lead to errors in the marking results. Therefore, by using the gate information of the target area to correct the initial marking results, the erroneous marking points in the initial marking results can be corrected, thereby improving the accuracy of road type classification.

[0045] Step S203: supplementarily mark the intermediate marking result based on the road attribute continuity rule to obtain a target marking result, wherein the target marking result is used to divide the scene road sections of various driving permissions in the target area.

[0046] The above-mentioned road attribute continuity rule can be a logical judgment rule formulated based on the continuity and consistency characteristics of road attributes (such as road type, driving permission, material, width, etc.) in geographic space. The road attribute continuity rule can be used to assist in distinguishing the road type in the target area.

[0047] Based on the road attribute continuity rule, the intermediate marking result is supplemented with marking, and the specific implementation method of obtaining the target marking result can be: based on the intermediate marking result, the road attribute continuity rule is used to judge the unmarked area in the target area to achieve supplementary marking of the intermediate result and obtain the final target marking result.

[0048] For example, if the front and rear of an unmarked area in the target area are both internal roads, based on the road attribute continuity, it can be determined that the unmarked area also belongs to the internal road.

[0049] It is easy to understand that by utilizing the road attribute continuity rule, areas that cannot be directly marked due to lack of information can be supplemented with markings, roads in the target area can be more comprehensively classified into road types, and more comprehensive and accurate marking results can be provided, thereby more accurately dividing the scene road intervals for various driving permissions in the target area.

[0050] Through the technical solution provided by the above steps S201 to S203, in the embodiment of the present application, by combining the vehicle's navigation information, positioning information and vehicle information, the road type in the target area can be marked more accurately, and the marking result can be processed using the gate information and road attribute continuity rules of the target area, which can improve the accuracy of the marking result, thereby improving the accuracy of the road interval division, providing more reliable data support for the vehicle's intelligent driving, and achieving the purpose of more accurately dividing the road interval, thereby achieving the technical effect of improving the accuracy of the road division scheme and improving the safety of intelligent driving, thereby solving the technical problem of low accuracy of the road division scheme in the related technology, resulting in low safety of intelligent driving.

[0051] As an optional implementation, in the above step S201, the navigation information, positioning information and vehicle information of the vehicle are used to mark the road type of the target area to obtain an initial marking result, which may also include the following execution steps:

[0052] Step S211, using the navigation information, marking the road type of the first track section in the target area to obtain a first partial marking result, wherein the first track section is a driving track section in the target area corresponding to the navigation track;

[0053] Step S212, using the positioning information and the vehicle information, marking the road type of the second track interval in the target area to obtain a second part of the marking result, wherein the second track interval is the other track intervals in the target area except the first track interval;

[0054] Step S213: generating an initial marking result based on the first part of the marking result and the second part of the marking result.

[0055] The specific implementation method of using the navigation information to mark the road type of the first track interval in the target area and obtain the first part of the marking results can be: using the acquired navigation information, determine whether the current driving track of the vehicle is consistent with the navigation track in the navigation information, if the current driving track of the vehicle is consistent with the navigation track in the navigation information, then determine the first track interval in the target area, use the map data in the navigation information to mark the road type of the first track interval in the target area, and obtain the first part of the marking results. Exemplarily, if the current driving track of the vehicle is consistent with the navigation track displayed in the navigation information, and the navigation information shows that the current driving track of the vehicle belongs to a public road, then the road corresponding to the driving track is marked as a public road type.

[0056] The specific implementation method of marking the road type of the second track section in the target area by using the positioning information and the vehicle information to obtain the second part of the marking result can be: identifying and marking the other track sections in the target area except the first track section in combination with the positioning information and the vehicle information of the vehicle. Exemplarily, the current position of the vehicle is determined by the positioning information of the vehicle, and the road type of the second track section is determined by combining the features such as speed bumps and speed limit signs recognized by the vehicle camera, and the road type of the second track section in the target area is marked to obtain the second part of the marking result.

[0057] It is easy to understand that through the above steps S211 to S213, in the embodiment of the present application, by combining navigation information, positioning information and vehicle information, the road types in the target area are preliminarily divided, and multi-dimensional information is utilized. It not only utilizes the accuracy of navigation information, but also makes up for the shortcomings of navigation information in specific environments (such as internal roads), improves the flexibility and accuracy of the road interval division method, and provides autonomous driving vehicles with more accurate and safe road type marking results.

[0058] As an optional implementation, in the above step S211, the first track section in the target area is marked with a road type by using the navigation information to obtain a first part of the marking result, which may also include the following execution steps:

[0059] Step S2111, calculating the distance between the navigation information and the track points of the driving track in the target area to obtain distance data;

[0060] Step S2112, performing navigation reliability assessment on the driving trajectory according to the distance data, and determining a first trajectory interval;

[0061] Step S2113: Mark the road type of the first track section according to the road type data in the navigation information to obtain a first part of the marking result.

[0062] The track points may be a series of data points on a driving track recorded when the vehicle is driving along a target route in a target area. The driving track may include geographical location information of the track points.

[0063] In some application scenarios, the driving trajectory may also include multiple historical trajectories, which are fused and processed, and the navigation reliability of these historical trajectories is comprehensively considered. The first trajectory interval is further determined, so that after the road type is marked, the first part of the marking result is obtained.

[0064] The above distance data can be used to assist in evaluating the accuracy of the vehicle's current position and the reliability of the vehicle's navigation information. The above road type data can be attribute information data used to distinguish road types, and the road type data can be obtained through map data.

[0065] The above-mentioned navigation reliability assessment can be achieved by setting a reliability assessment method. The above-mentioned reliability assessment method can be a method of setting a reliability threshold to conduct reliability assessment on the driving trajectory, and the reliability assessment method can also be a method of conducting reliability assessment by using a data statistical method (such as calculating statistics such as average distance and standard deviation).

[0066] The specific implementation method of calculating the distance between the navigation information and the trajectory points of the driving trajectory in the target area to obtain the distance data can be: when the vehicle is driving in the target area, the trajectory points of the driving trajectory are recorded, and further, the navigation information is used to calculate the distance between the navigation information and the trajectory points of the driving trajectory in the target area to obtain the distance data.

[0067] The navigation reliability of the driving trajectory is evaluated based on the distance data. The specific implementation method of determining the first trajectory interval may be: analyzing the distribution and change trend of the distance data, and evaluating the navigation reliability of the driving trajectory using a navigation reliability evaluation method. If the evaluation result is that the driving trajectory is reliable, the driving trajectory is determined to be the first trajectory interval.

[0068] In an exemplary application scenario, the navigation reliability of the driving trajectory can be evaluated by setting a reliability threshold, where the reliability threshold is set to 10m, the navigation information and the driving trajectory within the target area are obtained, the distance between the navigation information and the trajectory points of the driving trajectory within the target area is calculated, and the corresponding distance data is obtained; further, it is determined whether the distance data is less than the reliability threshold of 10m, and if the distance data is less than 10m, it is determined that the trajectory belongs to the first trajectory interval within the target area; further, the road type data in the navigation information is obtained, and the road type data in the navigation information is used to mark the first trajectory interval with a road type, and a first part of the marking result is obtained.

[0069] It is easy to understand that through the above steps S2111 to S2113, in the embodiment of the present application, the navigation information and the driving trajectory in the target area are used to calculate the distance, and then the navigation reliability of the driving trajectory is evaluated, which can more accurately determine whether the navigation information corresponding to the first trajectory interval is reliable. Not only can the navigation information be used to more quickly mark the road type of the trajectory interval that reliably corresponds to the navigation information, but it can also avoid the situation where the road type of the trajectory interval is incorrectly marked due to unreliable navigation information, thereby improving the accuracy of road type marking, improving the accuracy of the road interval division method, and improving the adaptability and robustness of the road interval division method in complex environments.

[0070] As an optional implementation, the second part of the marking results includes a positioning marking result and a self-vehicle marking result; in the above step S212, the second trajectory interval in the target area is marked with a road type using the positioning information and the self-vehicle information to obtain the second part of the marking results, which may also include the following execution steps:

[0071] Step S2121, using the positioning information, determining the positioning signal strength corresponding to the track point in the second track interval;

[0072] Step S2122, determining a reliable positioning sub-interval from the second trajectory interval based on the positioning signal strength;

[0073] Step S2123, using the positioning information and the geographical location data corresponding to the target area, marking the road type of the reliable positioning sub-interval to obtain a positioning marking result;

[0074] Step S2124: Using the positioning signal strength and the vehicle information, the road type of the sub-intervals other than the sub-interval with reliable positioning in the second trajectory interval is marked to obtain the vehicle marking result.

[0075] The positioning signal strength can be used to assist in determining whether the positioning signal is reliable, and the positioning signal strength can also be used to assist in determining the environment information that the vehicle is currently in. The geographic location data can be the annotation data of the road type in the location data corresponding to the map.

[0076] Using the positioning information, determine the positioning signal strength corresponding to the trajectory point in the second trajectory interval; based on the positioning signal strength, determine the specific implementation method of the reliable positioning sub-interval from the second trajectory interval: by using the positioning information, determine the positioning signal strength corresponding to each trajectory point in the second trajectory interval in the target area, based on the positioning signal strength, judge whether the positioning signal is reliable, and determine the trajectory point corresponding to the reliable positioning signal as the reliable positioning sub-interval.

[0077] The specific implementation method of marking the road type of the reliable positioning sub-interval by using the positioning information and the geographic location data corresponding to the target area to obtain the positioning marking result can be: obtaining the positioning information and geographic location data corresponding to the trajectory points belonging to the reliable positioning sub-interval, and marking the road type of the reliable positioning sub-interval by using the positioning information and the geographic location data corresponding to the target area to obtain the positioning marking result.

[0078] The positioning signal strength and the vehicle information are used to mark the road types of the sub-intervals other than the reliable positioning sub-intervals in the second trajectory interval, and the specific implementation method for obtaining the self-vehicle marking result can be: for the sub-intervals other than the reliable positioning sub-intervals in the second trajectory interval, the vehicle's sensor is used to obtain the vehicle information to identify the characteristics of the surrounding environment (such as the characteristics corresponding to the garage scene captured by the vehicle's camera), and the positioning signal strength and the vehicle information are combined to mark the road types of the sub-intervals other than the reliable positioning sub-intervals in the second trajectory interval to obtain the self-vehicle marking result.

[0079] In an exemplary application scenario, a reliable positioning sub-interval is determined by setting a positioning signal threshold. The second trajectory interval in the target area is obtained, and the signal strength of each trajectory point in the second trajectory interval is determined using the positioning information. The positioning signal threshold is used to judge the positioning signal strength of each trajectory point. The positioning signal threshold and the positioning signal strength of each trajectory point are used to judge whether the positioning signal strength of each trajectory point is reliable. If the positioning signal strength of the trajectory point is reliable, it is determined that the trajectory point belongs to the reliable positioning sub-interval. The positioning information and the geographic location data corresponding to each trajectory point belonging to the reliable positioning sub-interval are used to mark the road type of each trajectory point belonging to the reliable positioning sub-interval to obtain a positioning marking result. Furthermore, if the positioning signal strength of the trajectory point is not reliable, the road type of other sub-intervals in the second trajectory interval except the reliable positioning sub-interval is marked using the positioning signal strength and the vehicle information to obtain the vehicle marking result.

[0080] It is easy to understand that by distinguishing between reliable positioning sub-intervals and unreliable positioning sub-intervals and using different information sources to mark road types, road types can be identified more accurately. Not only can the road types of the reliable positioning sub-intervals whose positioning information is reliable be quickly marked, but the vehicle information obtained by the vehicle's own sensors can also be used to mark the road types of other sub-intervals outside the reliable positioning sub-intervals, thereby improving the accuracy and adaptability of the road interval division method.

[0081] As an optional implementation, the initial marking result includes a marked interval and an unmarked interval, and the marked interval includes multiple sub-intervals of multiple driving permissions; in the above step S202, the initial marking result is corrected according to the gate information of the target area to obtain the intermediate marking result, and the following execution steps may also be included:

[0082] Step S2021, determining, based on the gate information, a target gate whose distance to an endpoint position of any sub-interval among the multiple sub-intervals is less than a preset threshold;

[0083] Step S2022, correcting the endpoint positions of the plurality of sub-intervals based on the position of the target gate to obtain a corrected marked interval;

[0084] Step S2023, inferring the road type of the unmarked section based on the position of the target gate to obtain a first inference result;

[0085] Step S2024, marking the road type of at least part of the unmarked section according to the first inference result to obtain an inferred marking result;

[0086] Step S2025: Generate an intermediate marking result using the corrected marking interval and the inferred marking result.

[0087] The marked interval may be an interval marked in the target area using the navigation information, positioning information and vehicle information of the vehicle. The unmarked interval may be an interval in the target area that has not been marked due to insufficient information or other reasons. The multiple sub-intervals of the multiple driving permissions may be multiple sub-intervals further divided in the marked interval according to the driving permissions of the road (such as whether public access is allowed, whether traffic is restricted, etc.), and each sub-interval has a specific driving permission attribute.

[0088] The preset threshold can be used to determine the distance between the gate position and the end point of the sub-interval. The modified marking interval can be an interval in which the initial marking result is modified by additional information based on the initial marking result. The inferred marking result can be a marking result that indirectly marks the road type by analyzing the correlation between known data and information or using logical reasoning.

[0089] The specific implementation method of determining the target gate whose distance to the endpoint position of any sub-interval in multiple sub-intervals is less than a preset threshold according to the gate information can be: acquiring images in real time through the vehicle's camera, using the acquired images and the image recognition model to obtain the gate information, and screening out the gate whose distance to the endpoint position of any sub-interval in multiple sub-intervals of the marked interval is less than the preset threshold according to the gate information, and determining the gate as the target gate.

[0090] In an optional application scenario, Figure 3 is a schematic diagram of an optional method for obtaining an inferred labeling result according to an embodiment of the present application, such as Figure 3 As shown, the above preset threshold can be set to 100m. The road image is collected in real time by the vehicle's camera, and the collected road image is input into the image recognition model to obtain the gate information. If the distance between the endpoint position of any sub-interval in the multiple sub-intervals and the gate is less than 100m, the gate is determined as the target gate.

[0091] Since the position information of the target gate is more accurate, the endpoint positions of multiple sub-intervals are corrected based on the position of the target gate to obtain a corrected marked interval, which can more accurately reflect the conversion point of the road type.

[0092] The specific implementation method of inferring the road type of the unmarked interval based on the position of the target gate to obtain the first inference result can be: for the unmarked interval in the initial marking result, the road type is inferred according to the position information of the target gate to obtain the first inference result corresponding to the unmarked interval.

[0093] In an optional application scenario, Figure 3 As shown, if the target gate is located at the end of a section of road and the mark of this section of road belongs to a public road, the unmarked section after the target gate may belong to an internal road, and the first inference result corresponding to the unmarked section is determined to be an internal road.

[0094] It is easy to understand that through the above steps S2021 to S2025, in the embodiment of the present application, by using the gate information, not only can the endpoint position of the marked interval be corrected by using more accurate gate position information, the conversion point of the road type can be more accurately determined, and the accuracy of the road interval division method can be improved, but also the road type of the unmarked interval can be inferred based on the target gate position to determine the road type of the unmarked interval, and the road type of the target area can be more comprehensively marked. Therefore, the road interval division method of the embodiment of the present application has higher accuracy and stronger adaptability.

[0095] As an optional implementation, the above road section division method may further include the following execution steps:

[0096] Step S2026, using the parking space information and speed bump information of the target area, inferring the road type of the unmarked section to obtain a second inference result;

[0097] Step S2027: Mark the road type of at least part of the unmarked section according to the second inference result, and update the inference marking result.

[0098] The parking space information may be specific parking area data in the target area, and the parking space information may include but is not limited to the location, number, size, shape, interval between adjacent parking spaces, and marking information of parking spaces (such as parking space number, exclusive identification, etc.). The speed bump information may be used to assist in determining the environment of the current driving road, thereby assisting in determining the road type, and the speed bump information may include but is not limited to the length of the speed bump, the number of speed bumps, and the interval between adjacent speed bumps.

[0099] The specific implementation method of using the parking space information and speed bump information of the target area to infer the road type of the unmarked section to obtain the second inference result can be: using the vehicle's sensor system to obtain the parking space information and speed bump information of the target area, and using the parking space information and speed bump information of the target area to infer the road type of the unmarked section that failed to be marked due to insufficient information or in the previous steps, to obtain the second inference result.

[0100] According to the second inference result, at least part of the unmarked interval is marked with a road type, and the specific implementation method of updating the inference marking result may be: using the second inference result, at least part of the unmarked interval is marked with a road type, and the inference marking result is updated.

[0101] In an exemplary application scenario, the parking space information of the target area may be the number of vertical parking spaces and the intervals between adjacent vertical parking spaces, and the speed bump information may be the intervals between adjacent speed bumps and the number of speed bumps. The number of parking spaces, the intervals between parking spaces, the number of speed bumps, and the intervals between adjacent speed bumps in the target area are obtained. If there are more than three consecutive adjacent vertical parking spaces in the unmarked section of the target area and the intervals between adjacent parking spaces are less than 5m, and there are more than two speed bumps and the intervals between adjacent speed bumps are less than 20m, it is inferred that the road type of the unmarked section belongs to an internal road, and the second inference result is determined as an internal road.

[0102] It is easy to understand that through the above steps S2026 to S2027, in the embodiment of the present application, by introducing the parking space information and speed bump information of the target area, the road type of the unmarked interval is inferred, which not only enhances the accuracy of road type recognition, but also reduces the recognition blind spots in the target area, thereby improving the adaptability of the road interval division method.

[0103] As an optional implementation, in the above step S203, based on the road attribute continuity rule, the intermediate marking result is supplemented with marking to obtain the target marking result, which may also include the following execution steps:

[0104] Step S2031, re-determining the marked interval and the unmarked interval based on the intermediate marking result;

[0105] Step S2032, according to the road attribute continuity rule and the marked intervals, the unmarked intervals are supplemented with road type marking to obtain a target marking result, wherein the road attribute continuity rule is used to constrain adjacent road intervals in the target area to have the same road type.

[0106] Based on the intermediate marking result, the marked interval and the unmarked interval are re-determined; according to the road attribute continuity rule and the marked interval, the unmarked interval is supplemented with the road type mark, and the specific implementation method for obtaining the target marking result can be: based on the intermediate marking result, the marking result in the target area is determined again, and the marked interval and the unmarked interval in the target area are re-determined; further, if an unmarked interval is located between two marked intervals of the same road type, and no features are found to indicate a change in the road type, according to the road attribute continuity rule, this unmarked interval is marked as the same road type as the adjacent marked interval, so as to supplement the road type mark of the unmarked interval and obtain the target marking result.

[0107] In an exemplary application scenario, Figure 4 is a schematic diagram of an optional road attribute continuity rule according to an embodiment of the present application, such as Figure 4 As shown, if an unmarked section is located between two sections marked as public roads, the unmarked section is marked as a road type of a public road according to the road attribute continuity rule.

[0108] It is easy to understand that through the above steps S2031 to S2032, by using the road attribute continuity rule to supplement the marking of the unmarked interval, on the one hand, the road types in the target area can be more completely marked, reducing the unmarked areas in the target area; on the other hand, the logical consistency of the road type division can be ensured, thereby improving the accuracy of road type marking.

[0109] In an exemplary application scenario, Figure 5 is a schematic diagram of an optional road section division according to an embodiment of the present application, such as Figure 5As shown, the road types in the target area include public roads and internal roads. For the public roads, the target area is marked with the road type using the navigation information and positioning information of the vehicle to obtain an initial marking result. Further, the initial marking result is corrected according to the gate information of the target area to obtain an intermediate marking result. Further, based on the road attribute continuity rule, the intermediate marking result is supplemented to obtain the target marking result; for the internal roads, the target area is marked with the road type using the positioning information and the underground garage information of the vehicle in the vehicle information to obtain an initial marking result. Further, based on the gate information of the target area, the initial marking result is corrected to obtain an intermediate marking result. Further, based on the road attribute continuity rule, the intermediate marking result is supplemented to obtain the target marking result.

[0110] In an embodiment of the present application, the vehicle's navigation information, positioning information and vehicle information are used to mark the road type of the target area to obtain an initial marking result; the initial marking result is corrected according to the gate information of the target area to obtain an intermediate marking result; based on the road attribute continuity rule, the intermediate marking result is supplemented and marked to obtain a target marking result, wherein the target marking result is used to divide the scene road intervals of multiple driving permissions in the target area.

[0111] It is easy to notice that the embodiment of the present application can more accurately mark the road types in the target area by combining the vehicle's navigation information, positioning information and vehicle information, and use the gate information of the target area and the road attribute continuity rules to process the marking results, which can improve the accuracy of the marking results, thereby improving the accuracy of the road interval division, providing more reliable data support for the vehicle's intelligent driving, and achieving the purpose of more accurately dividing the road interval, thereby achieving the technical effect of improving the accuracy of the road division scheme and improving the safety of intelligent driving, and thus solving the technical problem of low accuracy of the road division scheme in the related technology, which leads to low safety of intelligent driving.

[0112] According to another aspect of an embodiment of the present application, a road interval division method is also provided, including: determining the target road interval where the current position is located according to the current position of the vehicle in the target area and the target marking result; controlling the target function module of the vehicle to switch to a target mode corresponding to the target road interval; wherein the target road interval is one of the scene road intervals of multiple driving permissions divided according to the target marking result, the target marking result is obtained by supplementing the intermediate marking result based on the road attribute continuity rule, the intermediate marking result is obtained by correcting the initial marking result according to the gate information of the target area, and the initial marking result is obtained by marking the road type of the target area using the vehicle's navigation information, positioning information and self-vehicle information.

[0113] The above current position may be the real-time position of the vehicle in the target area, and the current position may be obtained by a vehicle-mounted GPS, a positioning system or a visual sensor, etc. The above target function module may be one or more function modules, and the target function module may include an automatic driving system module, a safety warning module, a vehicle entertainment device module or a vehicle power module, etc.

[0114] It is easy to understand that through the above-mentioned road interval division method, in the embodiment of the present application, by automatically identifying the scene road interval in which the vehicle is currently located, the vehicle can adjust the corresponding functional modules to a matching mode according to the characteristics of different road types, which not only improves the flexibility and intelligence of autonomous driving, reduces the need for manual operation, reduces driving pressure and potential safety risks, thereby improving the driving safety of the vehicle, but also can optimize the allocation of vehicle resources (such as power, energy, computing resources, etc.), improve the stability of vehicle driving, reduce energy consumption, and thus improve the user experience.

[0115] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0116] It should be noted that, for the above method embodiments, for the sake of simplicity, the technical solutions in the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of actions in the described action combinations, because according to the present application, some of the above steps can be performed in other orders or simultaneously. In addition, those skilled in the art should also be aware that the embodiments described in the specification of this application belong to preferred embodiments, and the actions and modules involved are not necessarily necessary to implement the technical solutions of the present application.

[0117] According to an embodiment of the present invention, a vehicle embodiment is also provided. The vehicle includes an on-board memory and an on-board processor. A computer program is stored in the on-board memory. The on-board processor is configured to run the computer program to implement the above-mentioned road section division method.

[0118] According to an embodiment of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to implement the above-mentioned road section division method.

[0119] Optionally, the above-mentioned computer storage media may include but are not limited to: hard disk drive (HDD), solid state drive (SSD), USB flash drive, optical disk, memory card, cloud storage media and network storage device (NAS).

[0120] Optionally, the computer-readable storage medium may be configured to store a computer program for executing the following steps: using the vehicle's navigation information, positioning information and vehicle information to mark the target area as a road type to obtain an initial marking result; correcting the initial marking result based on the gate information of the target area to obtain an intermediate marking result; supplementing the intermediate marking result based on the road attribute continuity rule to obtain a target marking result, wherein the target marking result is used to divide the scene road intervals in the target area into multiple driving permissions.

[0121] According to an embodiment of the present invention, a computer program product is also provided. The computer program product includes a computer program, and when the computer program is executed by a processor, the above-mentioned road section division method can be implemented.

[0122] Optionally, the computer program product may provide a road section division service based on the road section division method.

[0123] Optionally, in this embodiment, the computer program product may be a set of instructions and codes pre-written according to the road section division method. The computer program product may run on various computer platforms, including personal computers, servers, mobile devices, etc.

[0124] Optionally, in this embodiment, the instructions and codes corresponding to the computer program product are used to implement the following method steps: using the vehicle's navigation information, positioning information and vehicle information to mark the road type of the target area to obtain an initial marking result; based on the gate information of the target area, the initial marking result is corrected to obtain an intermediate marking result; based on the road attribute continuity rule, the intermediate marking result is supplemented to obtain a target marking result, wherein the target marking result is used to divide the scene road intervals of multiple driving permissions in the target area.

[0125] In the above-mentioned multiple embodiments of the present application, the description of each embodiment has different emphases. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of multiple modules can be a logical function division, and there can be any other possible division methods when actually implemented in the application scenario; for another example, multiple modules (or units or components in the modules) can be combined with each other and can be integrated into another system. For example, some features of the method embodiments described above can be ignored or skipped.

[0127] It should be noted that in the above-mentioned embodiments, the modules, components or units described as separate parts can be physically separated or physically integrated. The parts displayed as modules or units can be physical modules or physical units, or virtual modules or virtual units, that is, multiple modules or multiple units can be in the same position, or distributed in multiple positions or multiple spaces. In the application scenario, according to the actual needs of the scenario, some or all of the multiple modules or multiple units can be selected to implement the technical solutions of the embodiments of the present application, thereby achieving the corresponding technical objectives.

[0128] In particular, for an integrated functional module or functional unit, if it is implemented in the form of a software functional unit and sold or used as an independent product, the module or functional unit can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0129] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A road section division method, characterized in that: include: Using the vehicle's navigation information, positioning information and self-vehicle information, the target area is marked with road types to obtain an initial marking result; According to the gate information of the target area, the initial marking result is corrected to obtain an intermediate marking result; Based on the road attribute continuity rule, the intermediate marking result is supplementarily marked to obtain a target marking result, wherein the target marking result is used to divide the scene road sections of multiple driving permissions in the target area.

2. The road section division method according to claim 1, characterized in that: Using the navigation information, the positioning information and the vehicle information of the vehicle, marking the road type of the target area to obtain the initial marking result includes: Using the navigation information, marking a first track section in the target area with a road type to obtain a first partial marking result, wherein the first track section is a driving track section in the target area corresponding to the navigation track; Using the positioning information and the vehicle information, marking a second track section in the target area with a road type, to obtain a second partial marking result, wherein the second track section is a track section other than the first track section in the target area; The initial marking result is generated based on the first part of the marking result and the second part of the marking result.

3. The road section division method according to claim 2, characterized in that: Using the navigation information, marking the first track section in the target area with a road type, and obtaining the first partial marking result includes: Calculate the distance between the navigation information and the track point of the driving track in the target area to obtain distance data; Performing navigation reliability evaluation on the driving trajectory according to the distance data to determine the first trajectory interval; The first track section is marked with a road type according to the road type data in the navigation information to obtain the first partial marking result.

4. The road section division method according to claim 2, characterized in that: The second part of the marking results includes positioning marking results and vehicle marking results; Using the positioning information and the vehicle information, marking the road type of the second trajectory section in the target area, and obtaining the second part marking result includes: Determine the positioning signal strength corresponding to the trajectory point in the second trajectory interval using the positioning information; Based on the positioning signal strength, determining a positioning reliable sub-interval from the second trajectory interval; Using the positioning information and the geographical location data corresponding to the target area, marking the road type of the reliable positioning sub-interval to obtain the positioning marking result; The positioning signal strength and the own vehicle information are used to mark the road types of the other sub-intervals in the second trajectory interval except the reliable positioning sub-interval to obtain the own vehicle marking result.

5. The road section division method according to claim 1, characterized in that: The initial marking result includes a marked interval and an unmarked interval, and the marked interval includes a plurality of sub-intervals of a plurality of driving permissions; According to the gate information of the target area, the initial marking result is corrected to obtain the intermediate marking result including: According to the gate information, determine a target gate whose distance from an endpoint position of any sub-interval in the multiple sub-intervals is less than a preset threshold; Correcting the endpoint positions of the plurality of sub-intervals based on the position of the target gate to obtain a corrected marked interval; Inferring the road type of the unmarked section based on the position of the target gate to obtain a first inference result; Marking at least part of the unmarked sections as road types according to the first inference result to obtain an inferred marking result; The intermediate labeling result is generated by using the corrected labeling interval and the inferred labeling result.

6. The road section division method according to claim 5, characterized in that: The road section division method further includes: Using the parking space information and speed bump information of the target area, inferring the road type of the unmarked section to obtain a second inference result; At least part of the unmarked section is marked with a road type according to the second inference result, and the inference marking result is updated.

7. The road section division method according to claim 1, characterized in that: Based on the road attribute continuity rule, the intermediate marking result is supplemented with marking to obtain the target marking result, including: Based on the intermediate marking result, re-determine the marked interval and the unmarked interval; According to the road attribute continuity rule and the marked interval, the unmarked interval is supplemented with a road type mark to obtain the target marking result, wherein the road attribute continuity rule is used to constrain adjacent road intervals in the target area to have the same road type.

8. A vehicle, characterized in that: The invention comprises an on-board memory and an on-board processor, wherein the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the road section division method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the road section division method according to any one of claims 1 to 7.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the road section division method according to any one of claims 1 to 7.

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