Map data processing method and device, equipment, medium and program product

Abstract

The embodiment of the invention provides a map data processing method and device, equipment, a medium and a program product. The method comprises: according to a preset lane screening condition, obtaining to-be-processed first lane data from map data, the first lane data comprising: road data of a first road interval between at least two lanes combined with a single lane, and / or road data of a second road interval between at least two lanes branched from a single lane; changing a lane bifurcation point in the first lane data from a current position to a target position, the road width at the target position being smaller than the road width at the current position; and performing lane geometric adjustment based on the lane bifurcation point after position change to obtain processed second lane data. The method is used for achieving the effect of improving the driving experience and the driving safety of the user.

Description

Technical Field

[0001] The present application relates to data processing technology, and in particular to a method, device, equipment, medium and program product for processing map data. Background Art

[0002] With the rapid development of autonomous driving technology, reasonable lane geometry data has become the key. Lane geometry data can support autonomous vehicles in planning their driving paths and assist vehicles in driving safely, stably and quickly on the road.

[0003] In the prior art, road or lane geometry is usually generated in a unified mode. However, in the scenario where a lane is divided into multiple lanes, or multiple lanes are combined into one lane, the lane geometry generated by the unified mode may have a centerline angle that is too large. For autonomous driving vehicles that strongly rely on the centerline of the lane geometry, the vehicle is prone to significant left-right shaking during the lane change process, affecting the driver's driving experience. Summary of the invention

[0004] The map data processing method, device, equipment, medium and program product provided in the embodiments of the present application are used to achieve the technical effect of improving the user's driving experience and driving safety.

[0005] In a first aspect, an embodiment of the present application provides a method for processing map data, including:

[0006] According to a preset lane screening condition, first lane data to be processed is obtained from the map data, wherein the first lane data includes: road data of a first road section between at least two lanes merging into a single lane, and / or road data of a second road section between at least two lanes bifurcated into a single lane;

[0007] Changing a lane bifurcation point in the first lane data from a current position to a target position, wherein a road width at the target position is smaller than a road width at the current position;

[0008] The lane geometry is adjusted based on the lane bifurcation point after the change in position to obtain processed second lane data.

[0009] In a possible implementation, the method further includes:

[0010] According to the second lane data, lane data synchronization adjustment is performed on the layer related to the lane in the map data.

[0011] In a possible implementation manner, the lane screening condition includes at least one of the following conditions:

[0012] The bifurcated road section of the main road off-ramp section;

[0013] The merging road section where the ramp merges into the main road;

[0014] The road width at the lane bifurcation point of the merging road section is greater than or equal to the preset width;

[0015] The road width at the lane bifurcation point of the bifurcated road section is greater than or equal to the preset width;

[0016] The road section from non-highway main road to highway main road.

[0017] In a possible implementation manner, lane attributes between the current position and the target position are consistent.

[0018] In a possible implementation, the method further includes:

[0019] Determine the target position based on the road width in the first lane data; wherein the road width at the current position includes the sum of the distances from the current position to the dividing lines on both sides of the road, and the road width at the target position includes the sum of the distances from the target position to the dividing lines on both sides of the road; and / or

[0020] According to the second lane data, lane data synchronization adjustment is performed on the layer related to the lane in the map data.

[0021] In a possible implementation manner, changing the lane bifurcation point in the first lane data from a current position to a target position includes:

[0022] Determining a target adjustment direction corresponding to the lane bifurcation point based on the bifurcation point type of the lane bifurcation point;

[0023] The lane bifurcation point is moved along the target adjustment direction to the target position.

[0024] In a possible implementation, determining the target adjustment direction corresponding to the lane bifurcation point based on the bifurcation point type of the lane bifurcation point includes:

[0025] If the bifurcation point type of the lane bifurcation point is a lane merging type, determining the driving direction to be the target adjustment direction, the lane merging type indicating that the lane bifurcation point is a bifurcation point of the first road section;

[0026] If the lane bifurcation point type is a lane bifurcation type, the opposite direction of the driving direction is determined as the target adjustment direction, and the lane bifurcation type indicates that the lane bifurcation point is a bifurcation point of the second road section.

[0027] In a possible implementation manner, the lane-related layer includes at least one of the following:

[0028] Lane ADAS, lane dividers, lane interchange relationships, intersection functional surfaces, roads, road points, road overlays, road HD Links, road reference lines, road segments, road ADAS, physical separation objects, relationships between physical separations, dashed line segment objects, element position associations, and geo-fence lines.

[0029] In a second aspect, an embodiment of the present application provides a map data processing device, including:

[0030] an acquisition module, configured to acquire first lane data to be processed from the map data according to a preset lane screening condition, wherein the first lane data includes: road data of a first road section between at least two lanes merging into a single lane, and / or road data of a second road section between at least two lanes bifurcated into a single lane;

[0031] a position changing module, configured to change a lane bifurcation point in the first lane data from a current position to a target position, wherein a road width at the target position is smaller than a road width at the current position;

[0032] The geometry adjustment module is used to perform lane geometry adjustment based on the lane bifurcation point after the change of position to obtain processed second lane data.

[0033] In a possible implementation, the lane screening condition in the acquisition module includes one of the following:

[0034] The bifurcated road section of the main road off-ramp section;

[0035] The merging road section where the ramp merges into the main road;

[0036] The road width at the lane bifurcation point of the merging road section is greater than or equal to the preset width;

[0037] The road width at the lane bifurcation point of the bifurcated road section is greater than or equal to the preset width;

[0038] The road section from non-highway main road to highway main road.

[0039] In a possible implementation manner, lane attributes between the current position and the target position in the position change module are consistent.

[0040] In a possible implementation manner, a map data processing device provided in an embodiment of the present application further includes:

[0041] Position determination module: used to determine the target position based on the road width in the first lane data; wherein the road width at the current position includes the sum of the distances from the current position to the dividing lines on both sides of the road, and the road width at the target position includes the sum of the distances from the target position to the dividing lines on both sides of the road.

[0042] The layer adjustment module is used to synchronously adjust the lane data of the layer related to the lane in the map data according to the second lane data.

[0043] In a possible implementation manner, the position change module is specifically used to:

[0044] Determining a target adjustment direction corresponding to the lane bifurcation point based on the bifurcation point type of the lane bifurcation point;

[0045] The lane bifurcation point is moved along the target adjustment direction to the target position.

[0046] In a possible implementation manner, the position change module is specifically used to:

[0047] If the bifurcation point type of the lane bifurcation point is a lane merging type, determining the driving direction to be the target adjustment direction, the lane merging type indicating that the lane bifurcation point is a bifurcation point of the first road section;

[0048] If the lane bifurcation point type is a lane bifurcation type, the opposite direction of the driving direction is determined as the target adjustment direction, and the lane bifurcation type indicates that the lane bifurcation point is a bifurcation point of the second road section.

[0049] In a possible implementation manner, the lane-related layer in the layer adjustment module includes at least one of the following:

[0050] Lane ADAS, lane dividers, lane interchange relationships, intersection functional surfaces, roads, road points, road overlays, road HD Links, road reference lines, road segments, road ADAS, physical separation objects, relationships between physical separations, dashed line segment objects, element position associations, and geo-fence lines.

[0051] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0052] The memory stores computer-executable instructions;

[0053] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0054] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0055] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0056] The map data processing method, apparatus, device, medium and program product provided in the embodiments of the present application first obtain the lane data to be processed that meets the preset lane screening conditions from the map data, and adjust the position of the lane bifurcation point in the lane data to a position where the road width is less than the road width at the current position, and finally adjust the lane geometry based on the lane bifurcation point after the changed position to obtain the processed lane data, and adjust the lane geometry in the map data so that the lane corner of the adjusted lane geometry becomes smaller, thereby effectively avoiding the situation where the autonomous driving vehicle that strongly relies on the geometry of the lane centerline shakes significantly from side to side during the lane change process, thereby improving the user's driving experience and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0058] Figure 1 A flowchart of a method for processing map data provided in Example 1 of the present application;

[0059] Figure 2 A schematic diagram of a scenario of a method for processing map data provided in this application;

[0060] Figure 3 A schematic diagram of the road width at a lane bifurcation point in the map data processing method provided in this application;

[0061] Figure 4 A schematic diagram of the change of the element position associated layer in the map data processing method provided by this application;

[0062] Figure 5 A flowchart of a method for processing map data provided in Embodiment 5 of the present application;

[0063] Figure 6 A schematic diagram of the structure of a first embodiment of a map data processing device provided by the present application;

[0064] Figure 7A schematic diagram of the structure of a second embodiment of a map data processing device provided by the present application;

[0065] Figure 8 A schematic diagram of the structure of the electronic device provided in this application.

[0066] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0067] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0068] In order to clearly understand the technical solution of the present application, the background technology is introduced in detail below.

[0069] The geometry of the lane is generally generated in a unified pattern in the original mother library of the map data. The lane geometry generated by this unified pattern may have a large lane corner in the scenario where one lane is divided into multiple lanes, or multiple lanes are combined into one lane. In this case, vehicles with strong autonomous driving functions will not rely entirely on the center line of the lane geometry for path planning, and the vehicle can generally drive normally. However, for autonomous driving vehicles that strongly rely on the center line of the lane geometry, the vehicle is prone to swaying from side to side during the lane change process, affecting the driver's driving experience, especially in the application scenario of ultra-wide lanes, there are still driving risks. Therefore, generating lane geometry according to a unified pattern cannot meet the needs of all users.

[0070] Based on the above background technology description, the inventor discovered that the road data can be modified during the process of studying the processing of map data. The position of the bifurcation point in the road section where multiple lanes are merged into one lane or one lane is bifurcated into multiple lanes can be adjusted to reduce the corner of the center line and make the center line of the lane geometry smooth. Providing the optimized road data to users can meet the driving needs of various users.

[0071] Based on the inventor's technical conception, the present application provides a method for processing map data, by first obtaining lane data to be processed that meets preset lane screening conditions from the map data, and adjusting the position of the lane bifurcation point in the lane data to a position where the road width is less than the road width at the current position, and finally adjusting the lane geometry based on the lane bifurcation point after the changed position to obtain a means of processed lane data, adjusting the lane geometry in the map data so that the lane corner of the adjusted lane geometry becomes smaller. This method effectively avoids the situation where the autonomous driving vehicle, which is strongly dependent on the geometry of the lane centerline, sways significantly from side to side during the lane change process, thereby achieving the effect of improving the user's driving experience and driving safety.

[0072] The map data processing method provided in this application can be executed in a device with computing capabilities such as a server, and this application does not impose any restrictions on this.

[0073] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0074] Figure 1 A flowchart of a method for processing map data provided in the first embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes:

[0075] S101. According to a preset lane screening condition, first lane data to be processed is obtained from map data, wherein the first lane data includes: road data of a first road section between at least two lanes merging into a single lane, and / or road data of a second road section between at least two lanes bifurcated into a single lane.

[0076] In this step, in order to obtain lane data that needs to be adjusted, when processing map data, first, according to the preset lane screening conditions, the road sections that meet the screening conditions are determined as road sections that need to adjust the lane geometry; and in the map data, the first lane data corresponding to the road sections that need to adjust the lane geometry is obtained, wherein the first lane data may include: road data of a first road section between at least two lanes merging into a single lane, and / or road data of a second road section between a single lane bifurcating into at least two lanes.

[0077] Among them, road data refers to map data related to lane geometry. For example, road data may include but is not limited to any one or any combination of the following: the center line of lane geometry, the location of lane bifurcation points, road width, lane separators, etc.; in the embodiments of the present application, there are no excessive restrictions on road data, and those skilled in the art can obtain the required road data from the corresponding map data according to actual needs.

[0078] For example, the schematic diagram of the first road section and the second road section can refer to Figure 2 ,like Figure 2 As shown, Figure A shows a road schematic diagram of the first road section where two lanes merge into a single lane; Figure B shows a road schematic diagram of the second road section where a single lane splits into two lanes.

[0079] It should be understood that based on the pre-set lane filtering conditions, the road section that meets the lane filtering conditions is determined as a road section that requires lane geometry adjustment, and then the first lane data corresponding to the lane that meets the filtering conditions can be obtained in the map data to facilitate the subsequent execution of the corresponding adjustment strategy to adjust the lane geometry of the road section.

[0080] In a specific implementation, the lane screening condition may include any one of the following conditions or any combination of at least two conditions:

[0081] Condition 1: The bifurcated road section of the main road off-ramp section;

[0082] Condition 2: The merging road section where the ramp merges into the main road section;

[0083] Condition 3: The road width at the lane bifurcation point of the merging road section is greater than or equal to the preset width;

[0084] Condition 4: The road width at the lane bifurcation point of the bifurcated road section is greater than or equal to the preset width;

[0085] Condition 5: The section from non-highway main road to highway main road.

[0086] In actual applications, one of the above lane screening conditions can be selected as the lane screening condition, or at least two of the above lane screening conditions can be selected as the lane screening conditions, and this application does not impose any restrictions on this.

[0087] For example, when condition 1 in the filtering conditions is met, the forked road section of the main road off-ramp section can be determined as the road section where the lane geometry needs to be adjusted; when condition 2 in the filtering conditions is met, the merging road section where the ramp merges into the main road section can be determined as the road section where the lane geometry needs to be adjusted.

[0088] When condition 3 in the filtering conditions is met, the merging road section where the road width at the lane bifurcation point is greater than or equal to the preset width can be determined as the road section where the lane geometry needs to be adjusted; when condition 4 in the filtering conditions is met, the bifurcated road section where the road width at the lane bifurcation point is greater than or equal to the preset width can be determined as the road section where the lane geometry needs to be adjusted.

[0089] The road refers to the drivable area between two lane dividers in a lane; the road width at the lane bifurcation point can be the sum of the distances from the bifurcation point to the dividing lines on both sides of the road; or it can be the length of the shortest straight line between the dividing lines on both sides of the road, including the lane bifurcation point. The preset width can be determined according to actual conditions, and this application does not limit this. Preferably, the preset width can be 6 meters.

[0090] For example, Figure 3 is a schematic diagram of two situations of the road width at the lane bifurcation point, taking the current position of the lane bifurcation point in the first road section as an example, Figure 3 As shown in the figure, the solid line S1 and the solid line S2 are respectively perpendicular lines from the bifurcation point to the dividing lines on both sides of the road, and the dotted line S3 is the shortest straight line between the dividing lines on both sides of the road including the lane bifurcation point. Then, the road width at the lane bifurcation point can be the sum of the lengths of the solid line S1 and the solid line S2, or the length of the dotted line S3.

[0091] For condition 5 in the screening conditions, the road sections from the non-highway main road to the highway main road, the road sections where at least two lanes are merged into a single lane and the road sections where a single lane is bifurcated into at least two lanes are determined as road sections where lane geometry needs to be adjusted.

[0092] Among them, the section from non-highway main road to highway main road refers to all sections except the section from highway main road to highway main road, for example, the entrance ramp and exit ramp of the highway and other connecting sections between the highway and other roads.

[0093] For example, the lane screening condition may be that the bifurcated road section of the main road off-ramp section, or the road width at the lane bifurcation point of the merging road section is greater than or equal to the preset width. The first lane data determined based on the lane screening condition includes the road data of the first road section between at least two lanes merging into a single lane.

[0094] For another example, the lane screening condition may be the forked road section of the main road down-ramp section, and the merging road section where the ramp merges into the main road section. The first lane data determined based on the lane screening condition includes road data of a first road section where at least two lanes merge into a single lane, and road data of a second road section where a single lane is forked into at least two lanes.

[0095] For example, the lane screening condition may be that the road width at the lane bifurcation point of the merging road section is greater than or equal to 6 meters, and the road width at the lane bifurcation point of the bifurcated road section is greater than or equal to 6 meters. This screening condition requires that the screened road section is a merging road section where the ramp merges into the main road section, or a bifurcated road section where the main road goes down the ramp, and that the road width at the lane bifurcation point in the road section is greater than or equal to 6 meters. The lanes in the road section determined based on this screening condition belong to extra-wide lanes.

[0096] It should be understood that the lane geometry of an extra-wide lane in a scenario where one lane is divided into multiple lanes, or multiple lanes are merged into one lane, has a larger centerline turning angle during the lane changing process. Therefore, the need for lane geometry adjustment of the extra-wide lane is more urgent.

[0097] S102. Change a lane bifurcation point in the first lane data from a current position to a target position, wherein a road width at the target position is smaller than a road width at the current position.

[0098] In this step, in order to adjust the lane geometry of the lanes in the road section, this solution moves the lane bifurcation point. Specifically, according to the road width in the first lane data, the target position of the lane bifurcation point is determined, and the lane bifurcation point is changed from the current position to the target position, wherein the road width at the target position should be smaller than the road width at the current position, and the value of the road width at the target position is not limited in this embodiment.

[0099] Among them, the road refers to the drivable area between two lane dividing lines in the lane; the road width at the current position or target position of the lane bifurcation point can be the sum of the distances from the bifurcation point to the dividing lines on both sides of the road, or the length of the shortest straight line between the dividing lines on both sides of the road including the lane bifurcation point.

[0100] In a specific implementation, the lane bifurcation point in the first lane data may be changed from the current position to the target position in the following manner:

[0101] Based on the bifurcation point type of the lane bifurcation point, determine the target adjustment direction corresponding to the lane bifurcation point;

[0102] Move the lane split point to the target position along the target adjustment direction.

[0103] It should be understood that the target adjustment direction corresponding to the lane bifurcation point should be determined first according to the bifurcation point type of the lane bifurcation point; then, in the single lane where the lane bifurcation point is located, starting from the current position of the lane bifurcation point, on the geometric center line, along the target adjustment direction, the road width of each point at the position of the geometric center line is obtained, and the position of the point where the road width is less than the road width at the current position of the lane bifurcation point is determined as the target position, and then the lane bifurcation point is moved to the target position along the target adjustment direction. Among them, the bifurcation point type of the bifurcation point can include but is not limited to the bifurcation point of the first road section and the bifurcation point of the second road section.

[0104] Specifically, the target adjustment direction corresponding to the lane bifurcation point can be determined in the following manner:

[0105] If the lane bifurcation point is the bifurcation point of the first road section, the lane bifurcation point in the lane data of the first road section is moved to the target position along the driving direction; if the lane bifurcation point is the bifurcation point of the second road section, the lane bifurcation point in the road data of the second road section is moved to the target position in the opposite direction of the driving direction.

[0106] In this implementation, the moving direction of the lane bifurcation point is first determined based on the type of the road section where the lane bifurcation point is located. If the road section type where the lane bifurcation point is located is the first road section between at least two lanes merging into a single lane, the lane bifurcation point in the lane data is moved along the driving direction to a position where the road width is smaller than the road width of the current position; if the road section type where the lane bifurcation point is located is the second road section between a single lane bifurcating into at least two lanes, the lane bifurcation point in the lane data is moved in the opposite direction of the driving direction to a position where the road width is smaller than the road width of the current position.

[0107] Among them, for the first road section, the driving direction refers to the direction from one of the at least two lanes to the single lane; for the second road section, the driving direction refers to the direction from the single lane to one of the at least two lanes.

[0108] For example, please continue to refer to Figure 2 , Figure 2 Figures A and B in FIG. 1 are schematic diagrams of the movement of the lane bifurcation point in the first road section and the second road section, respectively. Point A represents the current position of the lane bifurcation point; point A' represents the target position of the lane bifurcation point. Figure 2 As shown in Figure A in , for the road data of the first road section included in the first lane data, the lane bifurcation point A is moved to the target position A' along the lane geometric center line according to the driving direction, wherein the road width at the target position A' of the lane bifurcation point is smaller than the road width at its current position A; Figure 2As shown in Figure B, for the road data of the second road section contained in the first lane data, the lane bifurcation point A is moved to the target position A' along the lane geometric center line in the opposite direction of the driving direction, wherein the road width at the target position A' of the lane bifurcation point is smaller than the road width at its current position A.

[0109] S103: Perform lane geometry adjustment based on the lane bifurcation point after the position change to obtain processed second lane data.

[0110] In this step, according to the lane bifurcation point after the change of position, the data related to the lane geometry in the first lane data is adjusted to obtain the processed second lane data, wherein the data related to the lane geometry in the second lane data has been optimized and adjusted.

[0111] In a specific implementation, lane geometry adjustment is performed based on the lane bifurcation point after the change of position, including: keeping the starting point and end point of the geometric center line in the first road section and / or the second road section unchanged, and redrawing the geometric center line of the lane according to the bifurcation point after the change of position.

[0112] For example, please continue to refer to Figure 2 , Figure 2 Figures A and B in FIG. 1 show schematic diagrams of lane geometry redrawn according to the changed position of the bifurcation point in the first road section and the second road section, respectively. Figure 2 In the first road section and the second road section shown, the target position A' of the lane bifurcation point is used as the new position of the lane bifurcation point, the start point and the end point of the geometric center line are kept unchanged, and the adjusted geometric center line is redrawn.

[0113] It should be understood that the processed second lane data can be applied to fields such as autonomous driving or human-machine co-driving, and this application does not limit the application field of the processed second lane data. In particular, in the application field of autonomous driving, based on the optimized lane geometry in the second lane data obtained by the map data processing method provided by this application, an autonomous driving vehicle that strongly relies on the center line of the lane geometry can effectively avoid the problem of obvious left-right shaking of the vehicle during lane changing in the scenario where one lane is divided into multiple lanes, or multiple lanes are combined into one lane.

[0114] The method for processing map data provided in the embodiment of the present application first obtains lane data to be processed that meets preset lane screening conditions from the map data, adjusts the position of the lane bifurcation point in the lane data to a position where the road width is smaller than the road width at the current position, and finally adjusts the lane geometry based on the lane bifurcation point after the position change to obtain the processed lane data, adjusts the lane geometry in the map data so that the lane corner of the adjusted lane geometry becomes smaller, and effectively avoids the situation where the autonomous driving vehicle that strongly relies on the geometry of the lane centerline shakes significantly from side to side during the lane change process, thereby achieving the effect of improving the user's driving experience and driving safety.

[0115] The map data processing method provided in the second embodiment of the present application, after the lane geometry adjustment is performed based on the lane bifurcation point after the position change in the above embodiment to obtain the processed second lane data, further includes:

[0116] According to the second lane data, lane data synchronization adjustment is performed on the layer related to the lane in the map data.

[0117] In this implementation, the layers in the map data define how to symbolize and annotate the data in the map view, and usually store the data in a table. Therefore, after adjusting the lane geometry in the map data, the layers related to the lane geometry in the map data should also be adjusted as the lane geometry changes.

[0118] In a specific implementation, the lane-related layers include at least one of the following:

[0119] Lane Advanced Driver Assistance System (ADAS), lane dividers, lane interchange relationships, intersection functional surfaces, roads, road points, road overlays, road HD Links, road reference lines, road segments, road ADAS, physical barrier objects, relationships between physical barriers, dashed line segment objects, element position associations, and geo-fence lines.

[0120] The above-mentioned layers can be determined based on the existing technology in the field, or can be designed by those skilled in the art according to actual needs. For ease of understanding, the specific meanings of the above-mentioned layers are given as follows:

[0121] The lane ADAS layer includes shape points used to represent the lane’s slope, curvature, and navigation information;

[0122] The lane dividing line layer includes the relevant information about the lane dividing lines and lane edges on both sides of the lane;

[0123] The lane interchange relationship layer includes points that indicate where lanes intersect;

[0124] The intersection functional surface layer includes the road surface design corresponding to the intersections divided into different functional areas (such as intersections, entrances and exits, and jump points);

[0125] The road layer includes vector lines that represent road geometry;

[0126] The road point layer includes one or more road connection nodes, which are used to form a road network;

[0127] The road overlay surface layer is used to indicate the overlay surface of the upper road and the lower road as well as the upper and lower layer relationship of the road when the road is layered (such as tunnels, overpasses, etc.);

[0128] The road HD Link layer includes the road centerline flush with the lane centerline and lane divider;

[0129] The lane reference line layer refers to the leftmost line of the leftmost lane;

[0130] The road segment layer includes the road surface composed of the leftmost boundary and the rightmost boundary of the road where the segment is located;

[0131] The road ADAS layer includes shape points used to represent the road’s slope, curvature, and navigation information;

[0132] The physical isolation object layer includes various physical separation facilities or means of distinguishing different ground elevations that divide the passage space of different vehicles on the road according to the speed, direction or function, such as guardrails, isolation piers, green belts, etc.

[0133] The physical barrier relationship layer includes the isolation belts that separate roads on the same road surface and are used to express the physical barrier relationship, such as the isolation belt between the expressway and the city main road, and the isolation belt between the expressway main road and the expressway main road;

[0134] The dashed line segment object layer includes dashed line segments whose geometry type is polygon geometry, such as dashed line segments on lane dividing lines;

[0135] The element location association layer includes information about the relationship between object elements such as traffic lights and stop lines and the nearest lanes or roads;

[0136] The geofence line layer includes road-level or lane-level geometric information used for Enhanced Height Precision (EHP) signal broadcasting, such as tunnel link strings, highway interchange ramp road chains (IC) and so on.

[0137] For example, since the lane dividers must be aligned with both ends of the lane, after adjusting the lane geometry in the map data, the lane divider layer needs to be adjusted accordingly.

[0138] For example, Figure 4 The following is a schematic diagram of the change of the element position association layer. Since the lane bifurcation point changes from the current position A to the target position A', the association relationship between the object and the road section also changes. Therefore, the element position association layer needs to be adjusted synchronously. Figure 4 As shown in the figure, before the layer is changed, object 1 is associated with lane R1 or road L1; object 2 is associated with lane R3 or road L3; after the layer is changed, object 1 is associated with lane R1 or road L1; object 2 is associated with lane R1 or road L1. The object can be anything associated with the lane in the layer, such as text on the ground, roadside traffic lights, etc.

[0139] The map data processing method provided in the embodiment of the present application is based on the above embodiment. After obtaining the processed second lane data, the lane data of the layer related to the lane in the map data is synchronously adjusted according to the second lane data, thereby ensuring the integrity of the map data update and facilitating the subsequent practical application of the adjusted map data.

[0140] The map data processing method provided in the third embodiment of the present application, based on the above embodiment, also includes a specific method for determining the target position of the lane bifurcation point:

[0141] The target position is determined based on the road width in the first lane data; wherein the road width at the current position includes the sum of the distances from the current position to the dividing lines on both sides of the road; and the road width at the target position includes the sum of the distances from the target position to the dividing lines on both sides of the road.

[0142] In this implementation, the road width at the current position or target position of the lane bifurcation refers to the sum of the distances between the bifurcation and the dividing lines on both sides of the road. In order to determine the specific target position of the lane bifurcation, the target position of the lane bifurcation can be determined based on the road width at the current position of the lane bifurcation and the road width at the preset target position. The preset road width at the target position can be determined according to actual conditions, and this application does not limit it.

[0143] In a specific implementation method, in a single lane where a lane bifurcation point is located, starting from the current position of the lane bifurcation point, on the geometric center line, along the target adjustment direction, the road width of each point on the geometric center line is obtained, and the position of the point where the road width is the preset target position is determined as the target position.

[0144] For example, if the sum of the distances from the current position of the lane bifurcation point to the dividing lines on both sides of the road is greater than or equal to 6 meters, and the sum of the distances from the preset target position to the dividing lines on both sides of the road is 4 meters, then a point at which the sum of the distances to the dividing lines on both sides of the road is 4 meters can be determined on the original geometric center line, and the position of this point can be used as the target position of the lane bifurcation point.

[0145] The map data processing method provided in the embodiment of the present application determines the target position of the lane bifurcation point based on the road width at the current position of the lane bifurcation point and the road width at the preset target position, and accurately locates the target position of the lane bifurcation point to ensure the smoothness of the lane geometric centerline determined according to the changed lane bifurcation point. This can ensure that autonomous driving vehicles that strongly rely on the geometric centerline can travel smoothly during lane changes, and effectively avoid the vehicle swaying from side to side, which may bring a bad driving experience to the driver and possible driving accidents.

[0146] Embodiment 4 of the present application provides a method for processing map data. Based on the above embodiment, the method further includes:

[0147] The lane attributes between the current position and the target position of the lane fork remain consistent.

[0148] In this implementation, the lane attributes between the two positions before and after the lane bifurcation point is changed should be consistent, and there should be no attribute change points in between. Lane attributes refer to features related to the lane's purpose and status; an attribute change point in a lane means that the lane attributes of the road section before and after the point are inconsistent.

[0149] It should be understood that when determining the target position of the lane bifurcation point, it is necessary to determine the target position of the lane bifurcation point in the lane between the current position of the lane bifurcation point and the position where the attribute change point is located.

[0150] Specifically, in the single lane where the lane bifurcation point is located, within the lane interval between the current position of the lane bifurcation point and the position of the attribute change point, starting from the current position of the lane bifurcation point, on the geometric center line, along the target adjustment direction, the road width of each point on the geometric center line is obtained, and the position of the point that meets the preset road width condition is determined as the target position; if there is no point that meets the preset road width condition in the lane interval to be determined as the target position, the position of the point that is closest to meeting the preset road width condition is used as the target position. Optionally, the preset road width condition can be: the road width at the point is less than the road width at the current position of the lane bifurcation point; or, the road width at the point is equal to the road width at the preset target position.

[0151] For example, the lane dividing line type must remain consistent between the current position of the lane bifurcation point and the target position; the road construction status must remain consistent between the current position of the lane bifurcation point and the target position.

[0152] It should be understood that if the lane attributes between the current position and the target position of the lane bifurcation point are inconsistent, then after the position of the lane bifurcation point is changed and the lane geometry is adjusted according to the changed position of the lane bifurcation point, a traffic accident may occur when the autonomous driving vehicle relies on the adjusted geometric center line for autonomous driving. For example, the lane attribute of the location of the lane bifurcation point before the change is a single dashed line (lane change is allowed), and the lane attribute of the location of the lane bifurcation point after the change is a single solid line (lane change is prohibited). If the autonomous driving vehicle performs autonomous driving based on the geometric center line adjusted based on the lane bifurcation point after the change, a traffic accident may occur.

[0153] Optionally, before changing the lane bifurcation point from the current position to the target position, the lane attributes between the current position of the lane bifurcation point and the target position are judged. If it is judged that the lane attributes between the current position of the lane bifurcation point and the target position are consistent, the lane bifurcation point is changed from the current position to the target position; otherwise, the target position of the lane bifurcation point needs to be re-determined.

[0154] Optionally, before changing the lane bifurcation point from the current position to the target position, it is determined whether there is an attribute change point between the current position of the lane bifurcation point and the target position. If it is determined that there is no attribute change point between the current position of the lane bifurcation point and the target position, the lane bifurcation point is changed from the current position to the target position; otherwise, the target position of the lane bifurcation point needs to be re-determined.

[0155] The map data processing method provided in the embodiment of the present application, based on the above embodiment, ensures the accuracy of the target position by ensuring the consistency of lane attributes between the current position and the target position, improves the reliability of the adjusted lane geometry, and thus improves driving safety.

[0156] Figure 5 A flowchart of a method for processing map data provided in Embodiment 5 of the present application is shown in FIG. Figure 5 As shown, based on the above embodiments, the map data processing method provided by the present application is applied to the map data production link, which specifically includes the following process:

[0157] S201. In the data master database, map data is exported to a map result database.

[0158] In this step, the map data needs to be exported from the dynamic data master database to the static results database.

[0159] S202: In response to the target item selected by the user, all data corresponding to the target item are screened out from the map result database to obtain map data.

[0160] In this step, each project that needs to be produced has its own project requirements. Therefore, in response to the target project selected by the user, all data corresponding to the target project is filtered out from the map result database to obtain map data.

[0161] For example, if the project A selected by the user to be produced is the production of national highways, then all data corresponding to the project A needs to be acquired to obtain map data for subsequent data processing.

[0162] S203: Based on the production task box list pre-configured by the production department, the task box is screened to select multiple regional ranges that need to be produced corresponding to the target project.

[0163] S204. For each area range that needs to be produced corresponding to the target project, in response to the project requirements corresponding to the target project selected by the user, determine whether the target project needs to perform lane geometry adjustment. If it is determined that the target project needs to perform lane geometry adjustment, execute steps S205-S207; if it is determined that the target project does not need lane geometry adjustment, directly execute step S208.

[0164] S205. Perform lane screening according to preset lane screening conditions to screen out lanes that meet the preset conditions.

[0165] Optionally, the lane filter criteria include one of the following:

[0166] The bifurcated road section of the main road off-ramp section; the merging road section where the ramp merges into the main road section; the road width at the lane bifurcation point of the merging road section is greater than or equal to the preset width; the road width at the lane bifurcation point of the bifurcated road section is greater than or equal to the preset width; the section from a non-highway main road to a highway main road.

[0167] S206: In the following manner, adjust the map data in the map data corresponding to the area to obtain the second lane data.

[0168] Step 1: Obtain first lane data to be processed from map data; the first lane data includes: road data of a first road section between at least two lanes merging into a single lane, and / or road data of a second road section between at least two lanes bifurcated into a single lane;

[0169] Step 2: changing the lane bifurcation point in the first lane data from the current position to the target position, wherein the road width at the target position is smaller than the road width at the current position;

[0170] Optionally, the target position can be determined based on the road width in the first lane data; wherein the road width at the current position includes the sum of the distances from the current position to the dividing lines on both sides of the road, and the road width at the target position includes the sum of the distances from the target position to the dividing lines on both sides of the road.

[0171] Optionally, the lane fork point can be changed from the current position to the target position in the following manner:

[0172] If the lane bifurcation point is the bifurcation point of the first road section, the lane bifurcation point in the lane data of the first road section is moved to the target position along the driving direction; and / or, if the lane bifurcation point is the bifurcation point of the second road section, the lane bifurcation point in the road data of the second road section is moved to the target position in the opposite direction of the driving direction.

[0173] Optionally, the lane attributes between the current position and the target position of the lane bifurcation point are consistent.

[0174] Step 3: Adjust the lane geometry based on the lane bifurcation point after the change position to obtain processed second lane data;

[0175] S207: According to the second lane data, synchronously adjust the lane data of the layer related to the lane in the map data.

[0176] Optionally, lane-related layers may include at least one of the following: lane ADAS, lane separators, lane interchange relationships, intersection functional surfaces, roads, road points, road overlay surfaces, road HD Links, road reference lines, road segments, road ADAS, physical isolation objects, relationships between physical isolations, dashed line segment objects, element position associations, and geographic fence lines.

[0177] S208: Convert the adjusted map data into a production format and convert it into product specifications.

[0178] In this step, according to the production process, the map data needs to be converted from the parent library specifications to the product specifications.

[0179] For example, converting map data from parent database specifications to product specifications usually requires field conversion and threshold adjustment. Specifically, according to the mapping relationship between parent database specification fields and product specification fields, the parent database specification fields are converted to product specification fields, for example, the "type" field in the parent database is converted to the "type_" field corresponding to the product; according to the requirements of the product specifications, the value range in the parent database is adjusted, for example, "type=1" and "type=3" in the parent database are converted to "type_=1" corresponding to the product.

[0180] S209: Repair the remaining data problems of the map data and obtain the repaired map data.

[0181] In this step, in order to ensure the accuracy and completeness of the produced data, it is necessary to perform a comprehensive repair of the data remaining in the map data in the parent database.

[0182] Specifically, it is necessary to conduct a comprehensive test on the mother database data to find out the data items with problems; design a suitable bottom-up repair plan for each problematic data item; repair the problematic data according to the repair plan and obtain the repaired map data.

[0183] Exemplarily, the missing lane topology left over from the map data in the mother library is supplemented; the missing lane speed limit record left over from the map data in the mother library is solved by supplementing the speed limit value of the lane where the speed limit record is missing according to the lane speed limit record of the lane in front or behind the missing position.

[0184] S209: Perform a production inspection on the repaired map data, modify the data with problems, and obtain production data.

[0185] In this step, in order to ensure data quality, meet product specifications, and reduce downstream or user usage problems, the map data needs to be further inspected before production.

[0186] Specifically, after the product data is inspected before production, the quality engineer analyzes the cause of the problem and gives a data evaluation opinion based on the inspection results; if the evaluation opinion indicates that the data problem will not affect the user's use, no repair is required; if the evaluation opinion indicates that the data problem will affect the user's use, it is necessary to give corresponding modification opinions on the data, and according to the data modification opinions, complete the modification of the problematic data to obtain the production data.

[0187] Exemplarily, the content of product inspection on product data may include: checking whether the tables corresponding to each layer in the map data exist; checking whether the fields that must exist in the table exist; checking whether the thresholds corresponding to each field in the table exceed the threshold range.

[0188] S210, submit the production data.

[0189] In this step, the output data that meets the above quality inspection requirements needs to be delivered to users for use. Alternatively, it can also be delivered to downstream research projects for compilation of autonomous driving and human-machine co-driving.

[0190] The map data processing method provided in the embodiment of the present application performs project geometry adjustment for projects that require lane geometry adjustment by executing an automated program in the data production link. After the produced data after adjusting the lane geometry is applied to the field of autonomous driving, autonomous driving vehicles that strongly rely on the geometric centerline can perform autonomous driving according to the adjusted lane geometry, which can effectively avoid the situation where the vehicle shakes significantly from side to side during the lane change process, thereby improving the user's driving experience and driving safety.

[0191] Figure 6 This is a structural diagram of a first embodiment of a map data processing device provided by the present application, as shown in FIG. Figure 6 As shown, the map data processing device 30 provided in this embodiment includes:

[0192] The acquisition module 301 is used to acquire first lane data to be processed from the map data according to a preset lane screening condition, wherein the first lane data includes: road data of a first road section between at least two lanes merging into a single lane, and / or road data of a second road section between at least two lanes bifurcated into a single lane;

[0193] A position changing module 302, configured to change a lane bifurcation point in the first lane data from a current position to a target position, wherein a road width at the target position is smaller than a road width at the current position;

[0194] The geometry adjustment module 303 is used to perform lane geometry adjustment based on the lane bifurcation point after the position change to obtain processed second lane data.

[0195] The map data processing device 30 provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0196] Figure 7 This is a structural diagram of a second embodiment of a map data processing device provided by the present application, as shown in FIG. Figure 7 As shown, based on the above embodiment, the present application embodiment provides a map data processing device 30, which also includes:

[0197] Position determination module 304: used to determine the target position based on the road width in the first lane data; wherein the road width at the current position includes the sum of the distances from the current position to the dividing lines on both sides of the road, wherein the road width at the target position includes the sum of the distances from the target position to the dividing lines on both sides of the road.

[0198] The layer adjustment module 305 is used to synchronously adjust the lane data of the layer related to the lane in the map data according to the second lane data.

[0199] In a possible implementation, the lane screening condition in the acquisition module 301 includes one of the following:

[0200] The bifurcated road section of the main road off-ramp section;

[0201] The merging road section where the ramp merges into the main road;

[0202] The road width at the lane bifurcation point of the merging road section is greater than or equal to the preset width;

[0203] The road width at the lane bifurcation point of the bifurcated road section is greater than or equal to the preset width;

[0204] The road section from non-highway main road to highway main road.

[0205] In a possible implementation, the lane attributes between the current position and the target position in the position change module 302 are consistent.

[0206] In a possible implementation, the position changing module 302 is specifically configured to:

[0207] Determining a target adjustment direction corresponding to the lane bifurcation point based on the bifurcation point type of the lane bifurcation point;

[0208] The lane bifurcation point is moved along the target adjustment direction to the target position.

[0209] In a possible implementation, the position changing module 302 is specifically configured to:

[0210] If the bifurcation point type of the lane bifurcation point is a lane merging type, determining the driving direction as the target adjustment direction, wherein the lane merging type indicates that the lane bifurcation point is a bifurcation point of the first road section;

[0211] If the lane divergence point type is a lane divergence type, the opposite direction of the driving direction is determined as the target adjustment direction, wherein the lane divergence type indicates that the lane divergence point is a divergence point of the second road section.

[0212] In a possible implementation, the lane-related layer in the layer adjustment module 305 includes at least one of the following:

[0213] Lane centerline, lane ADAS, lane divider, lane interchange relationship, intersection functional surface, road, road point, road overlay surface, road HD Link, road reference line, road segment, road ADAS, physical isolation object, relationship between physical isolation, dashed line segment object, element position association and geo-fence line.

[0214] The map data processing device 30 provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0215] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 8 As shown, the electronic device 40 provided in this embodiment includes: at least one processor 401 and a memory 402. Optionally, the device 40 also includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0216] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that at least one processor 401 executes the above method.

[0217] The specific implementation process of the processor 401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0218] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0219] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0220] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0221] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0222] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0223] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0224] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0225] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0226] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0227] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0228] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0229] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0230] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for processing map data, characterized in that: include: According to a preset lane screening condition, first lane data to be processed is obtained from the map data, wherein the first lane data includes: road data of a first road section between at least two lanes merging into a single lane, and / or road data of a second road section between at least two lanes bifurcated into a single lane; Changing a lane bifurcation point in the first lane data from a current position to a target position, wherein a road width at the target position is smaller than a road width at the current position; The lane geometry is adjusted based on the lane bifurcation point after the change in position to obtain processed second lane data.

2. The method according to claim 1, characterized in that The lane screening condition includes at least one of the following conditions: The bifurcated road section of the main road off-ramp section; The merging road section where the ramp merges into the main road; The road width at the lane bifurcation point of the merging road section is greater than or equal to the preset width; The road width at the lane bifurcation point of the bifurcated road section is greater than or equal to the preset width; The road section from non-highway main road to highway main road.

3. The method according to claim 1, characterized in that The lane attributes between the current position and the target position are consistent.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Determine the target position based on the road width in the first lane data; wherein the road width at the current position includes the sum of the distances from the current position to the dividing lines on both sides of the road, and the road width at the target position includes the sum of the distances from the target position to the dividing lines on both sides of the road; and / or According to the second lane data, lane data synchronization adjustment is performed on the layer related to the lane in the map data.

5. The method according to any one of claims 1 to 3, characterized in that: The changing the lane bifurcation point in the first lane data from a current position to a target position includes: Determining a target adjustment direction corresponding to the lane bifurcation point based on the bifurcation point type of the lane bifurcation point; The lane bifurcation point is moved along the target adjustment direction to the target position.

6. The method according to claim 5, characterized in that The determining, based on the bifurcation point type of the lane bifurcation point, a target adjustment direction corresponding to the lane bifurcation point includes: If the bifurcation point type of the lane bifurcation point is a lane merging type, determining the driving direction to be the target adjustment direction, the lane merging type indicating that the lane bifurcation point is a bifurcation point of the first road section; If the lane bifurcation point type is a lane bifurcation type, the opposite direction of the driving direction is determined as the target adjustment direction, and the lane bifurcation type indicates that the lane bifurcation point is a bifurcation point of the second road section.

7. The method according to claim 4, characterized in that The lane-related layer includes at least one of the following: Lane ADAS, lane dividers, lane interchange relationships, intersection functional surfaces, roads, road points, road overlays, road HDLinks, road reference lines, road segments, road ADAS, physical separation objects, relationships between physical separations, dashed line segment objects, element position associations, and geo-fence lines.

8. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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

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