Method and device for updating road acquisition area

Abstract

The invention relates to a method and a device for updating a road acquisition area. The method comprises the steps that after a first collection frame is determined, a first lane line is obtained, the end point of the first lane line is a line judgment point, and the end point of the edge, matched with the first lane line, in the first collection frame is a face judgment point; determining a first target lane line and a first target acquisition frame according to the intersection of the first lane line and the first acquisition frame; and judging that the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame do not meet the geometrical relationship, and prolonging the first target lane line or the first target acquisition frame until the prolonged first target lane line and / or the prolonged first target acquisition frame meet the relationship, and taking the extended first target lane line as a target boundary lane line, generating a second acquisition frame according to the target boundary lane line, and updating the road acquisition area by using the second acquisition frame. According to the scheme provided by the invention, the road acquisition region is quickly and specifically updated in the acquisition stage.

Description

Technical Field

[0001] The present application relates to the technical field of map image data processing, and in particular to a method and device for updating a road collection area. Background Art

[0002] Users have increasingly higher requirements for the accuracy and timeliness of electronic maps. If the electronic map information is too outdated, it will affect the user experience. During the data collection process, due to changes in lane lines, the road surface may need to be re-collected, so new collection tasks need to be issued and new collection areas need to be set. Related technologies can use the method of full data replacement to solve the problem of road collection area updates. However, this method is not suitable for real-world scenarios with large amounts of collected data and wide road areas. In addition, the collected data of most roads does not change much in the short term, which leads to many invalid updates. In addition, full data replacement also increases the load on the database and may cause long-term service suspension, which requires relatively high hardware resources. Summary of the invention

[0003] In order to solve or partially solve the problems existing in the related art, the present application provides a method and device for updating a road collection area, which can efficiently and specifically update the road collection area corresponding to the part of the road where the actual lane line has changed.

[0004] In a first aspect, the present application provides a method for updating a road acquisition area, comprising: after determining all first acquisition frames of the i-th time on a road in a set area, obtaining all first lane lines of the i+1-th time on the road in the set area, where i is a positive integer, the first lane line is a segment of a left boundary lane line or a right boundary lane line of the road in the set area, defining the endpoint of the first lane line as a line judgment point, and defining the endpoint of an edge matching the first lane line in the first acquisition frame as a surface judgment point; determining a first lane line intersecting with the first acquisition frame from all the first lane lines to obtain a first target lane line, and determining a first acquisition frame intersecting with the first target lane line as a first target acquisition frame; judging whether the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy a set geometric relationship; if not, extending the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame satisfy the geometric relationship, and using the extended first target lane line as a target boundary lane line, generating a second acquisition frame according to the target boundary lane line, and using the second acquisition frame to update the road acquisition area.

[0005] In an optional implementation, determining the first lane line intersecting the first acquisition frame from all the first lane lines includes: if at least one end of the first lane line extends out of the first acquisition frame, the first lane line intersects the first acquisition frame.

[0006] In an optional implementation, the geometric relationship includes: two of the line judgment points and two of the surface judgment points correspondingly coincide with each other.

[0007] In an optional embodiment, the first target lane line or the first target acquisition frame is extended until the extended first target lane line and / or the extended first target acquisition frame satisfies the geometric relationship, including: determining whether the line judgment point of the first target lane line is located between or outside the two surface judgment points of the first target acquisition frame; if located between, extending the first target lane line outward once with the line judgment point as the starting point, and determining whether the first target lane line after the extension currently satisfies the geometric relationship with the first target acquisition frame; if located outside, extending the first target acquisition frame outward once with the surface judgment point close to the line judgment point as the starting point, and determining whether the first target lane line and the first target acquisition frame after the extension currently satisfy the geometric relationship.

[0008] In an optional embodiment, extending the first target lane line outward once with the line judgment point as the starting point includes: connecting the first target lane line with the first lane line adjacent to the first target lane line, wherein the connection point of the two lines is the line judgment point corresponding to the first target lane line; or extending the first target acquisition frame outward once with the surface judgment point close to the line judgment point as the starting point includes: connecting the first target acquisition frame with the first acquisition frame adjacent to the first target acquisition frame, wherein the surface judgment point corresponding to the first target acquisition frame is on the connection line of the two frames.

[0009] In an optional embodiment, after taking the extended first target lane line as the target boundary lane line and before generating the second acquisition frame according to the target boundary lane line, it also includes: splitting the target boundary lane line to generate a corresponding second acquisition frame according to the split target boundary lane line.

[0010] In an optional implementation, generating a second acquisition frame according to the target boundary lane line includes: determining a second lane line opposite to the target boundary lane line; and connecting endpoints of the target boundary lane line and the second lane line at the same end to obtain a second acquisition frame.

[0011] In an optional implementation, the updating of the road collection area by using the second collection frame includes: using the second collection frame to replace the extended first target collection frame in all the first collection frames.

[0012] In an optional implementation, the method further includes: if the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy the geometric relationship, then the road acquisition area is not updated.

[0013] A second aspect of the present application provides a device for updating a road collection area, comprising: A lane line acquisition module is configured to acquire all first lane lines of the road in the set area for the i+1th time after determining all first acquisition frames of the road in the set area, where i is a positive integer, the first lane line is a segment of the left boundary lane line or the right boundary lane line of the road in the set area, and the endpoint of the first lane line is defined as a line judgment point, and the endpoint of an edge in the first acquisition frame that matches the first lane line is defined as a surface judgment point; a wireframe determination module, configured to determine a first lane line intersecting with the first acquisition frame from all the first lane lines, obtain a first target lane line, and determine the first acquisition frame intersecting with the first target lane line as a first target acquisition frame; A geometric relationship judgment module, configured to judge whether a line judgment point of the first target lane line and a surface judgment point of the first target acquisition frame satisfy a set geometric relationship; a wireframe extension module, which is configured to, if not, extend the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame satisfies the geometric relationship, and A collection frame generation module is configured to use the extended first target lane line as the target boundary lane line, and generate a second collection frame according to the target boundary lane line. A collection area updating module is configured to use the second collection frame to update the road collection area.

[0014] A third aspect of the present application provides a device for updating a road collection area, comprising: Processor; and The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0015] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0016] The technical solution provided by this application may have the following beneficial effects: The technical solution of the present application, after determining all the first acquisition frames of the current time on the road in the set area, obtains all the first lane lines of the road in the set area in the previous time, the first lane line is a segment of the left boundary lane line or the right boundary lane line of the road in the set area, the first acquisition frame is the road acquisition task frame, the endpoint of the first lane line is defined as the line judgment point, and the endpoint of an edge matching the first lane line in the first acquisition frame is the surface judgment point; considering that the lane line data of different versions of the map may change, the boundary lane line (first lane line) of the road in the same area of ​​different versions may not be completely without intersection or overlap with the acquisition task frame (first acquisition frame), so the first lane line intersecting with the first acquisition frame is determined from all the first lane lines, and the first The target lane line, and determine the first acquisition frame that intersects with the first target lane line as the first target acquisition frame; determine whether the lane line data of the two versions before and after are the same according to the positional relationship between the first lane line and the first acquisition frame, that is, determine whether the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame meet the set geometric relationship; if not, extend the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame meet the geometric relationship. When the positional relationship between the first lane line and the first acquisition frame meets the geometric relationship, the extended first target lane line is used as the target boundary lane line, and a second acquisition frame is generated according to the target boundary lane line. The second acquisition frame is used to update the road acquisition area. The present application can realize the update of the acquisition task area corresponding to the part where the lane line data has changed during the acquisition stage, and then the lane line data corresponding to the acquisition task area can be updated, thereby realizing efficient and targeted updates to the lane line data, and using the boundary lane line as the carrier of the operation, the amount of calculation is small, the resource requirements are small, and the interference with the operation of online services can also be reduced.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0019] Figure 1 is a flowchart of a method for updating a road collection area shown in an embodiment of the present application; Figure 2 is a schematic diagram showing a first lane line in an embodiment of the present application; Figure 3 is a schematic diagram of a first acquisition frame shown in an embodiment of the present application; Figure 4 is another flowchart of a method for updating a road collection area shown in an embodiment of the present application; Figure 5 is a schematic diagram of the structure of a device for updating a road collection area shown in an embodiment of the present application; Figure 6 It is another structural schematic diagram of the device for updating the road collection area shown in an embodiment of the present application. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0021] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0022] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0023] In the related technology, during the data collection process, due to changes in lane lines, the road surface may need to be re-collected, and a new collection task needs to be issued and a new collection area needs to be set. The related technology can use the method of full data replacement to solve the road area update. However, this method is not suitable for real-world scenarios with large collection data and wide road areas. In addition, the collected data of most roads does not change much in the short term, which leads to a lot of invalid updates. In addition, full data replacement also leads to an increase in the load on the database, and may also cause long-term service suspension, and the requirements for hardware resources are relatively high.

[0024] In view of the above problems, an embodiment of the present application provides a method for updating a road collection area, which can update the road collection area efficiently and specifically.

[0025] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0026] Figure 1 It is a flowchart of a method for updating a road collection area shown in an embodiment of the present application.

[0027] like Figure 1 As shown, the embodiment of the present application provides a method for updating a road collection area, which includes: Step S101: After determining all first acquisition frames of the i-th time of the road in the set area, obtain all first lane lines of the i+1-th time of the road in the set area, where i is a positive integer, and the first lane line is a segment of the left boundary lane line or the right boundary lane line of the road in the set area. The endpoint of the first lane line is defined as a line judgment point, and the endpoint of an edge in the first acquisition frame that matches the first lane line is defined as a surface judgment point.

[0028] Different versions of electronic maps are released at different times. For the update of urban roads, lane line data collected at different periods may be different. For example, if urban road data is fully collected every three months, it can be understood that the first lane line collected for the i+1th time is the current one collected by the collection vehicle, and the first collection frame for the ith time can be determined and released based on the lane line collection situation three months ago. Taking the lane line data collected by the collection vehicle for the i+1th time as an example, the left boundary lane is selected from the lane line data collected for the i+1th time as the first lane line obtained, such as Figure 2 shown.

[0029] Step S102: determining a first lane line intersecting with the first acquisition frame from all first lane lines, obtaining a first target lane line, and determining a first acquisition frame intersecting with the first target lane line as a first target acquisition frame.

[0030] In at least one embodiment, determining the first lane line intersecting with the first acquisition frame from all first lane lines includes: if at least one end of the first lane line extends out of the first acquisition frame, the first lane line intersects with the first acquisition frame. In this embodiment, through the positional relationship of the line frames, it is not difficult to find that when all the first lane lines are in the matching first acquisition frame, it can be considered that the judgment points of the two are coincident, and when any one or both ends of the first lane line extend out of the matching first acquisition frame, it can be considered that the two intersect.

[0031] Among them, for a first lane line (i.e., the boundary lane line) obtained for the i+1th time, all the first lane lines obtained for the ith time are traversed to find a lane line corresponding to the lane line data obtained for the ith time, that is, to obtain the traversal result, and then find the ith first collection frame according to the traversal result, that is, the road collection task frame, such as Figure 3 As shown, the first acquisition frame can be jointly determined by the left boundary lane line and the right boundary lane line obtained for the i-th time on both sides of the road. In practice, the boundary lane lines obtained for the i-th and i+1-th times on the same road will at least partially overlap, so the boundary lane line obtained for the i+1-th time will intersect with the first acquisition frame obtained for the i-th time. Among them, if the road acquisition task frames determined twice completely overlap, then it means that the first acquisition frame corresponding to the acquired boundary lane line has not changed, and the road acquisition task frame does not need to be updated, that is, the road acquisition area does not need to be updated, and then the lane line data in the road acquisition area does not need to be updated. Otherwise, the matching first acquisition frame needs to be updated.

[0032] It needs to be explained that in the relevant technology, after the road area collection task is released, due to some lane line merging, interruption and other reasons, the lane line data cannot be matched before and after (the ID will also change), resulting in the subsequent release of the same area The corresponding collection task box cannot be completely overlapped with the original collection task box, which may cause missed collection.

[0033] Step S103: Determine whether the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy the set geometric relationship.

[0034] Among them, the collection task frames corresponding to different periods of the same road section may not completely overlap. This embodiment uses the positional relationship, i.e., the geometric relationship, between the first lane line obtained for the i+1th time and the first collection frame determined for the ith time to determine whether the collection task frames for the i+1th time and the i+1th time completely overlap. The boundary lane line is used as a bridge for processing. Specifically, the line judgment point of the first target lane line and the surface judgment point of the first target collection frame can be used to determine whether the set geometric relationship is satisfied. The geometric relationship includes: two line judgment points and two surface judgment points overlap correspondingly.

[0035] Step S104: If not, extend the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame satisfies the geometric relationship.

[0036] In this embodiment, when the current position relationship between the first target lane line and the first target acquisition frame does not satisfy the set geometric relationship, it means that the acquisition task frames determined for the i-th and i+1-th times partially overlap, but not completely overlap. The first target lane line can be extended outward or the first target acquisition frame can be extended outward to make the geometric relationship of the final wireframe meet expectations.

[0037] In at least one embodiment, step S104 may further include: determining whether the line judgment point of the first target lane line is located between or outside the two surface judgment points of the first target acquisition frame; if located between, extending the first target lane line outward once with the line judgment point as the starting point, and determining whether the first target lane line and the first target acquisition frame after the extension currently satisfy a geometric relationship; if located outside, extending the first target acquisition frame outward once with the surface judgment point close to the line judgment point as the starting point, and determining whether the first target lane line and the first target acquisition frame after the extension currently satisfy a geometric relationship.

[0038] In this embodiment, according to the relative position relationship between the two line judgment points and the two surface judgment points, it can be determined whether to extend the boundary lane line or the collection task frame, and the extension is stopped when the boundary lane line is extended until the two end points on it are respectively the same as the final surface judgment points of the corresponding collection task frame. In this way, the extended wireframe can be quickly obtained according to the judgment points on the wireframe, and then it can be quickly determined which lane line data has changed, and the changed parts can be selected, that is, the boundary lane line that meets the geometric relationship is obtained, so as to generate the corresponding second collection frame according to the boundary lane line.

[0039] Further, in step S104, the first target lane line is extended outward once with the line judgment point as the starting point, including: connecting the first target lane line and the first lane line adjacent to the first target lane line, wherein the connection point of the two lines is the line judgment point corresponding to the first target lane line. And, in step S104, the first target acquisition frame is extended outward once with the surface judgment point close to the line judgment point as the starting point, including: connecting the first target acquisition frame and the first acquisition frame adjacent to the first target acquisition frame, wherein the surface judgment point corresponding to the first target acquisition frame is on the connection line of the two frames.

[0040] In this embodiment, the extension is to connect the current boundary lane line with the adjacent boundary lane line along the road direction, or to connect the current acquisition task frame with the adjacent acquisition task frame along the road direction. Assuming that the boundary lane line is extended once and the acquisition task frame is not extended, the connection line of the two boundary lane lines obtained after the extension is the extended first target lane line. Similarly, the outer contours of the two first target acquisition frames obtained after the extension are the extended first target acquisition frames.

[0041] Step S105: The extended first target lane line is used as the target boundary lane line, and a second acquisition frame is generated according to the target boundary lane line.

[0042] Among them, in step S105, a second acquisition frame is generated according to the target boundary lane line, including: determining the second lane line opposite to the target boundary lane line; connecting the endpoints of the target boundary lane line and the second lane line at the same end to obtain the second acquisition frame. In this embodiment, in this embodiment, the target boundary lane line can be the left boundary lane line of the road, and the second lane line is the right boundary lane line of the road. After determining the leftmost and rightmost lane lines, the endpoints of the two lane lines at the same end are connected to obtain a road area surface, that is, the second acquisition frame. From the above records, it can be known that the generated second acquisition frame and the first acquisition frame are both for the same road, and the acquisition task frames of the road initially compared twice do not completely overlap. After extension, the boundaries at both ends along the road direction overlap, which can avoid the situation where the acquisition task frames at different times do not match, and are more in line with actual operation needs.

[0043] As a preferred embodiment of the present application, after the extended first target lane line is used as the target boundary lane line, before the second acquisition frame is generated according to the target boundary lane line, it also includes: splitting the target boundary lane line to generate a corresponding second acquisition frame according to the split target boundary lane line. In this embodiment, when the length of the target boundary lane line is too long, the corresponding second acquisition frame may also be too long. The target boundary lane line can be split to convert the second acquisition frame corresponding to the changed road area into multiple ones, and the single processing amount can also be reduced in the later stage. In this embodiment, when the length of the target boundary lane line is too long, for example 100m, the target boundary lane line needs to be interrupted and split, and the length of the target boundary lane line obtained by the splitting is preferably about 50m.

[0044] Step S106: Use the second collection frame to update the road collection area.

[0045] In at least one embodiment, step S106 may further include: in all first collection frames, replacing the extended first target collection frame with the second collection frame. After determining the second collection frame, considering that the boundaries of the second collection frame and the extended first collection frame can match, the extended first collection frame can be updated to the second collection frame, that is, the corresponding first collection frame is replaced with the second collection frame, and the other first collection frames remain unchanged, which can solve the problem that the newly generated second collection frame cannot match the already released first collection frame during the update and replacement. It can be seen that the embodiment of the present application can perform targeted updates to the road collection area during the collection stage. When a new map is required, the lane line data in the second collection frame can be updated without the need to update the entire data, thereby reducing interference with the operation of online services.

[0046] In at least one embodiment, it also includes: if the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy the geometric relationship, the road acquisition area is not updated. Obviously, if the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame do not satisfy the geometric relationship, it means that the road has changed, so it is necessary to find a suitable road area involved in the acquisition task frame to update the acquisition task frame. When the geometric relationship is satisfied, it means that the lane line data of the two times before and after has not changed, and the road acquisition area can use the previous one, and the road acquisition area does not need to be updated. In this embodiment, when the current position relationship between the first lane line and the first acquisition frame satisfies the set geometric relationship, it means that the boundary lane lines obtained for the i-th and i+1-th times are consistent, then the road has not changed, no update is required, and no update of the acquisition task frame is required, which can avoid invalid updates.

[0047] It can be seen that in this embodiment, after determining all the first acquisition frames of the road in the set area at the current time, all the first lane lines of the road in the set area at the previous time are obtained, the first lane line is the left boundary lane line or the right boundary lane line of the road in the set area, the first acquisition frame is the acquisition task frame, the endpoint of the first lane line is defined as the line judgment point, and the endpoint of an edge matching the first lane line in the first acquisition frame is the surface judgment point; considering that the lane line data of different versions of the map may change, then the boundary lane line (first lane line) of the road in the same area of ​​different versions may not completely have no intersection or overlap with the acquisition task frame (first acquisition frame), so the first lane line intersecting with the first acquisition frame is determined from all the first lane lines to obtain the first target lane line, and the first acquisition frame intersecting with the first target lane line is determined as the first target acquisition frame; according to the positional relationship between the first lane line and the first acquisition frame, it is determined whether the lane line data of the previous and next versions are the same, that is, Determine whether the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy the set geometric relationship; if not, extend the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame satisfy the geometric relationship. When the positional relationship between the first lane line and the first acquisition frame satisfies the geometric relationship, use the extended first target lane line as the target boundary lane line, generate a second acquisition frame according to the target boundary lane line, and use the second acquisition frame to update the road acquisition area to update the lane line data in the second acquisition frame. The present application can update the acquisition task frame corresponding to the part where the lane line data has changed, and then update the lane line data in the acquisition task frame, so as to realize efficient and targeted update of the lane line data, and use the boundary lane line as the carrier of the operation, with small amount of calculation and small resource requirements, and can also reduce interference with online service operation.

[0048] Figure 4 It is another flowchart diagram of the method for updating the road collection area shown in the present application.

[0049] See also Figure 4 , a method for updating a road collection area shown in the present application includes: Step S401: Get the first lane line, and go to step S402; Step S402: Determine the first acquisition frame intersecting with the first lane line, and go to step S403; Step S403: Determine whether the current position relationship between the first lane line and the first acquisition frame meets the set conditions. If so, go to step S404; otherwise, go to step S405; Step S404: Extend the first lane line and / or expand the first acquisition frame until the set condition is met, and use the first lane line and the first acquisition frame corresponding to the set condition as the first target lane line and the first target acquisition frame, and go to step S406; Step S405: The first acquisition frame is not updated; Step S406: Split the extended first lane line into multiple first sub-lane lines, and go to step S407; Step S407: Generate a one-to-one corresponding second sub-collection frame according to the multiple first sub-lane lines, and then go to step S408; Step S408: Delete the extended first acquisition frame, and add the generated second sub-acquisition frame to update the lane line data in all the second sub-acquisition frames.

[0050] In order to better illustrate the present application, the present application is described below in conjunction with a specific embodiment.

[0051] According to the lane line data update cycle, obtain the latest lane line data of the city to be updated, especially the leftmost lane line data. Based on the obtained leftmost lane line data, loop or traverse the lane line data obtained last time, find the road collection task frame that intersects with the current leftmost lane line, and determine whether the two endpoints of the leftmost lane line are the same as the two endpoints of the left connecting line of the road collection task frame; assuming that the four endpoints are the same, then the current and previous lane lines or road collection task frames and other data are the same and do not need to be updated. When at least one end has different endpoints, it means that the current and previous collection task frames partially overlap. When the endpoints on one side are different, such as Figure 2As shown, assuming that the right end of the leftmost lane line is not the same, first determine the positional relationship between the leftmost lane line and the last published collection task frame, that is, first determine whether the right endpoint of the leftmost lane line is on the left or right of the right endpoint of the connecting line corresponding to the leftmost lane line in the last collection task frame. If it is on the left, it means that the right endpoint of the leftmost lane line is between the left and right endpoints of the corresponding connecting line. Then, the next leftmost lane line adjacent to the right endpoint of the leftmost lane line is searched outward, and then the positional relationship between the connecting line between the current leftmost lane line and the next leftmost lane line and the last collection task frame is determined until the set conditions are met; if it is on the right, the next adjacent collection task frame is searched outward at the right endpoint of the connecting line, and then the positional relationship between the current leftmost lane line and the connecting area of ​​the last collection task frame and the next collection task frame is determined until the set conditions are met. If the endpoints on both sides are not the same, the lane line or collection task frame can be searched outward from both ends until the set conditions are met. It should be noted that the leftmost lane line and the rightmost lane line are distinguished by the collection vehicle as a reference, and the left, right, left end point, right end point, etc. in this embodiment can refer to Figure 2 and Figure 3 to distinguish the left and right directions.

[0052] Among them, all the found lane lines are taken as a set 1, and all the acquired collection task frames are taken as a set 2. The length of all lane lines in set 1 is calculated according to the adjacency relationship. If it is greater than 100 meters, the lane lines are taken from the head end, and the length is calculated once for each lane line connected until the length of the lane line is more than 50 meters. The acquired lane lines are taken as a group, and then the adjacent lane line of the last lane line of the previous group is taken as the first lane line of the new group. The second group of lane lines is obtained in the same way until all lane lines are grouped. The lane lines of each group are looped, and the rightmost lane line corresponding to the lane line of each group is queried, and the leftmost and rightmost lane lines in the group are connected to form a road surface, that is, each group of lane lines can generate a collection subtask frame, so all the leftmost lane lines correspond to multiple collection subtask frames, delete all the collection task frames in set 2, and add the generated collection subtask frames. Finally, all the leftmost lane lines of the city to be updated are traversed, and the update of the collection task frame can be ended. After obtaining the updated collection task frame, the lane line data in the frame can be updated in a targeted manner without updating all lane line data. The embodiment of the present application can efficiently and specifically update the lane line data that has changed, and uses the boundary lane line as the carrier of the operation, which has a small amount of calculation, small resource requirements, and can also reduce interference with online service operations.

[0053] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a device for updating a road collection area, an electronic device and corresponding embodiments.

[0054] Figure 5 This is a schematic diagram of the structure of a device for updating a road collection area according to an embodiment of the present application.

[0055] like Figure 5 As shown, an embodiment of the present application provides a device for updating a road collection area, including: The lane line acquisition module 501 is configured to acquire all first lane lines of the road in the set area for the i+1th time after determining all first acquisition frames of the road in the set area, where i is a positive integer, the first lane line is a segment of the left boundary lane line or the right boundary lane line of the road in the set area, and the endpoint of the first lane line is defined as a line judgment point, and the endpoint of an edge in the first acquisition frame that matches the first lane line is defined as a surface judgment point; A wireframe determination module 502 is configured to determine a first lane line intersecting with a first acquisition frame from all first lane lines, obtain a first target lane line, and determine a first acquisition frame intersecting with the first target lane line as a first target acquisition frame; A geometric relationship judgment module 503 is configured to judge whether the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy a set geometric relationship; A wireframe extension module 504 is configured to, if not, extend the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame satisfies the geometric relationship, and The acquisition frame generation module 505 is configured to use the extended first target lane line as the target boundary lane line, and generate a second acquisition frame according to the target boundary lane line. The collection area updating module 506 is configured to use the second collection frame to update the road collection area.

[0056] Further, in the wireframe determination module 502, a first lane line intersecting with the first acquisition frame is determined from all first lane lines, including: if at least one end of the first lane line extends out of the first acquisition frame, the first lane line intersects with the first acquisition frame.

[0057] Furthermore, the geometric relationship includes: two line judgment points and two surface judgment points correspond to and coincide with each other.

[0058] Further, in the wireframe extension module 504, the first target lane line or the first target acquisition frame is extended until the extended first target lane line and / or the extended first target acquisition frame satisfies the geometric relationship, including: determining whether the line judgment point of the first target lane line is located between or outside the two surface judgment points of the first target acquisition frame; if located between, extending the first target lane line outward once with the line judgment point as the starting point, and determining whether the first target lane line after being extended once and the first target acquisition frame currently satisfy the geometric relationship; if located outside, extending the first target acquisition frame outward once with the surface judgment point close to the line judgment point as the starting point, and determining whether the first target lane line and the first target acquisition frame after being extended once currently satisfy the geometric relationship.

[0059] In an optional embodiment, in the wireframe extension module 504, the first target lane line is extended outward once with the line judgment point as the starting point, including: connecting the first target lane line and the first lane line adjacent to the first target lane line, wherein the connection point of the two lines is the line judgment point corresponding to the first target lane line; or, the first target acquisition frame is extended outward once with the surface judgment point close to the line judgment point as the starting point, including: connecting the first target acquisition frame and the first acquisition frame adjacent to the first target acquisition frame, wherein the surface judgment point corresponding to the first target acquisition frame is on the connection line of the two frames.

[0060] In an optional embodiment, the system further includes: a lane line splitting module. The lane line splitting module is configured to split the target boundary lane line after taking the extended first target lane line as the target boundary lane line and before generating the second acquisition frame according to the target boundary lane line, so as to generate the corresponding second acquisition frame according to the split target boundary lane line.

[0061] In an optional embodiment, in the acquisition frame generation module 505, a second acquisition frame is generated according to the target boundary lane line, including: determining a second lane line opposite to the target boundary lane line; connecting the endpoints of the target boundary lane line and the second lane line at the same end to obtain a second acquisition frame.

[0062] In an optional implementation, in the collection area updating module 506, the second collection frame is used to update the road collection area, including: in all first collection frames, the second collection frame is used to replace the extended first target collection frame.

[0063] In an optional implementation, the acquisition area updating module 506 further includes: if the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy a geometric relationship, then the road acquisition area is not updated.

[0064] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0065] Figure 6 It is a schematic diagram of the structure of the device for updating the road collection area shown in an embodiment of the present application.

[0066] See also Figure 6 The device for updating the road collection area includes a memory 601 and a processor 602.

[0067] The processor 602 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0068] The memory 601 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 602 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, an optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 601 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 601 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0069] The memory 601 stores executable codes, and when the executable codes are processed by the processor 602 , the processor 602 can execute part or all of the above-mentioned methods.

[0070] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0071] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0072] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for updating a road collection area, characterized in that: include: After determining all first acquisition frames of the i-th time on the road in the set area, obtain all first lane lines of the i+1-th time on the road in the set area, where i is a positive integer, the first lane line is a segment of the left boundary lane line or the right boundary lane line of the road in the set area, define the endpoint of the first lane line as a line judgment point, and define the endpoint of an edge in the first acquisition frame that matches the first lane line as a surface judgment point; Determine a first lane line intersecting with the first acquisition frame from all the first lane lines to obtain a first target lane line, and determine a first acquisition frame intersecting with the first target lane line as a first target acquisition frame; Determine whether the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy a set geometric relationship; If not, extending the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame satisfies the geometric relationship, and The extended first target lane line is used as the target boundary lane line, and a second acquisition frame is generated according to the target boundary lane line. The second collection frame is used to update the road collection area.

2. The method according to claim 1, characterized in that The determining, from all the first lane lines, a first lane line intersecting with the first acquisition frame comprises: If at least one end of the first lane line extends out of the first collection frame, the first lane line intersects with the first collection frame.

3. The method according to claim 1, characterized in that The geometric relationship includes: The two line judgment points correspond to and coincide with the two surface judgment points.

4. The method according to claim 1, characterized in that: The step of extending the first target lane line or the first target acquisition frame until the extended first target lane line and / or the extended first target acquisition frame satisfies the geometric relationship includes: Determine whether the line judgment point of the first target lane line is between or outside the two surface judgment points of the first target acquisition frame; If it is between, extending the first target lane line outward once from the judgment point of the line as the starting point, and determining whether the first target lane line after the extension currently satisfies the geometric relationship with the first target acquisition frame; If it is outside, the first target acquisition frame is extended outward once starting from the surface judgment point close to the line judgment point to determine whether the first target lane line and the first target acquisition frame after the extension currently satisfy the geometric relationship.

5. The method according to claim 4, characterized in that The step of extending the first target lane line outward once from the line judgment point as a starting point includes: Connecting the first target lane line and the first lane line adjacent to the first target lane line, wherein the connection point of the two lines is the line judgment point corresponding to the first target lane line; or The step of extending the first target acquisition frame outward once starting from the surface judgment point close to the line judgment point comprises: The first target acquisition frame is connected to a first acquisition frame adjacent to the first target acquisition frame, wherein a surface judgment point corresponding to the first target acquisition frame is located on a connection line between the two frames.

6. The method according to claim 1, characterized in that After taking the extended first target lane line as the target boundary lane line and before generating the second acquisition frame according to the target boundary lane line, the method further includes: The target boundary lane line is split to generate a corresponding second acquisition frame according to the split target boundary lane line.

7. The method according to claim 1 or 6, characterized in that: The generating a second acquisition frame according to the target boundary lane line includes: Determine a second lane line opposite to the target boundary lane line; Connect the target boundary lane line and the endpoints of the second lane line at the same end to obtain a second acquisition frame.

8. The method according to claim 1, characterized in that: The updating of the road collection area using the second collection frame includes: In all the first acquisition frames, the second acquisition frame is used to replace the extended first target acquisition frame.

9. The method according to claim 1, characterized in that: Also includes: If the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame satisfy the geometric relationship, the road acquisition area is not updated.

10. A device for updating a road collection area, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method as claimed in any one of claims 1 to 9.

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