Method and apparatus for updating a road acquisition area

Abstract

The present application relates to a method and device for updating a road acquisition area. The method includes: after determining a first acquisition frame, obtaining a first lane line, the endpoints of the first lane line being line judgment points, and the endpoints of the side of the first acquisition frame that matches the first lane line being surface judgment points; 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; determining that the line judgment points of the first target lane line and the surface judgment points of the first target acquisition frame do not satisfy the geometric relationship, 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 relationship, taking the extended first target lane line as the target boundary lane line, generating a second acquisition frame according to the target boundary lane line, and updating the road acquisition area using the second acquisition frame. The solution provided by the present application quickly and specifically updates the road acquisition area during the acquisition stage.

Description

Technical Field

[0001] This application relates to the technical field of map image data processing, and particularly to a method and device for updating a road acquisition area. Background Art

[0002] Users have higher and higher requirements for the accuracy and timeliness of electronic maps. If the electronic map information is too old, it will affect the user experience. During data acquisition, due to changes in lane lines, it may be necessary to re-acquire the road surface, and new acquisition tasks need to be issued and new acquisition areas need to be set. Related technologies can adopt the method of full replacement of data to solve the update of the road acquisition area. However, this method is not applicable to the actual scenario with large acquisition data and wide road areas, and the acquisition data of most roads does not change much in the short term, resulting in a lot of ineffective updates. Moreover, full replacement of data also increases the load on the database, may cause long-term service interruption, and has relatively high requirements for hardware resources. Summary of the Invention

[0003] To solve or partially solve the problems existing in the related technologies, this application provides a method and device for updating a road acquisition area, which can efficiently and specifically update the road acquisition area corresponding to the part where the actual lane lines in the road change.

[0004] The first aspect of this application provides a method for updating a road acquisition area, including: after determining all the first acquisition frames of the road in the set area for the i-th time, obtaining all the first lane lines of the road in the set area for the (i + 1)-th time, 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. Define the endpoint of the first lane line as the line judgment point, and the endpoint of a side of the first acquisition frame that matches the first lane line as the surface judgment point; determine the first lane lines that intersect with the first acquisition frame from all the first lane lines to obtain the first target lane lines, and determine the first acquisition frames that intersect with the first target lane lines as the first target acquisition frames; judge whether the line judgment points of the first target lane lines and the surface judgment points of the first target acquisition frames satisfy the set geometric relationship; if not, extend the first target lane lines or the first target acquisition frames until the extended first target lane lines and / or the extended first target acquisition frames satisfy the geometric relationship, and use the extended first target lane lines as the target boundary lane lines, generate the second acquisition frames according to the target boundary lane lines, and use the second acquisition frames to update the road acquisition area.

[0005] In an optional implementation manner, determining the first lane line that intersects with 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 with the first acquisition frame.

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

[0007] In an optional implementation manner, 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 includes: determining 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 with this line judgment point as the starting point, and judging whether the extended first target lane line and the first target acquisition frame currently satisfy the geometric relationship; if it is outside, extending the first target acquisition frame outward once with the surface judgment point close to this line judgment point as the starting point, and judging whether the first target lane line and the extended first target acquisition frame currently satisfy the geometric relationship.

[0008] In an optional implementation manner, extending the first target lane line outward once with this line judgment point as the starting point includes: connecting the first target lane line and the first lane line adjacent to the first target lane line, where 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 this line judgment point as the starting point includes: connecting the first target acquisition frame and the first acquisition frame adjacent to the first target acquisition frame, where there is the surface judgment point corresponding to the first target acquisition frame on the connection line of the two frames.

[0009] In an optional implementation manner, after using 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 further includes: splitting the target boundary lane line for generating the corresponding second acquisition frame according to the split target boundary lane line.

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

[0011] In an alternative embodiment, the updating of the road acquisition area using the second acquisition frame includes: among all the first acquisition frames, replacing the extended first target acquisition frame with the second acquisition frame.

[0012] In an alternative embodiment, it further includes: if the line judgment point of the first target lane line and the plane 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 acquisition area, including:

[0014] A lane line acquisition module, which is configured to, after determining all the first acquisition frames of the i-th time of the road in a set area, acquire all the first lane lines of the (i + 1)-th time 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, defining the endpoint of the first lane line as the line judgment point, and the endpoint of a side of the first acquisition frame that matches the first lane line as the plane judgment point;

[0015] A line-frame determination module, which is configured to determine the first lane line that intersects the first acquisition frame from all the first lane lines to obtain the first target lane line, and determine the first acquisition frame that intersects the first target lane line as the first target acquisition frame;

[0016] A geometric relationship judgment module, which is configured to judge whether the line judgment point of the first target lane line and the plane judgment point of the first target acquisition frame satisfy a set geometric relationship;

[0017] A line-frame 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 satisfy the geometric relationship, and

[0018] An acquisition frame generation module, which 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,

[0019] An acquisition area update module, which is configured to update the road acquisition area using the second acquisition frame.

[0020] A third aspect of the present application provides a device for updating a road acquisition area, including:

[0021] A processor; and

[0022] A memory, on which executable code is stored, and when the executable code is executed by the processor, the processor is made to execute the method as described above.

[0023] The fourth aspect of this application provides a computer-readable storage medium, on which executable code is stored. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0024] The technical solution provided by this application may include the following beneficial effects:

[0025] In the technical solution of this application, after determining all the first acquisition frames of the current time of the road in the set area, all the first lane lines of the previous time of the road in the set area are obtained. 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. Define the end point of the first lane line as the line judgment point, and the end point of one side of the first acquisition frame that matches the first lane line as the surface judgment point. Considering that the lane line data of different versions of the map may change, then the boundary lane lines (first lane lines) of the same area road in different versions may not completely intersect or coincide with the acquisition task frame (first acquisition frame). Therefore, determine the first lane lines that intersect the first acquisition frame from all the first lane lines to obtain the first target lane lines, and determine the first acquisition frames that intersect the first target lane lines as the first target acquisition frames. Determine whether the lane line data of the previous and current versions is 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 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. This 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. After that, the lane line data corresponding to the acquisition task area can be updated, thereby realizing the efficient and targeted update of the lane line data. Moreover, using the boundary lane line as the carrier for calculation, the amount of calculation is small, the resource requirements are small, and the interference to the online service operation can also be reduced.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. Description of the Drawings

[0027] By describing the exemplary embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. Among them, in the exemplary embodiments of the present application, the same reference numerals generally represent the same components.

[0028] Figure 1 is a schematic flowchart of a method for updating a road acquisition area shown in an embodiment of the present application;

[0029] Figure 2 is a schematic diagram of a first lane line shown in an embodiment of the present application;

[0030] Figure 3 is a schematic diagram of a first acquisition frame shown in an embodiment of the present application;

[0031] Figure 4 is another schematic flowchart of a method for updating a road acquisition area shown in an embodiment of the present application;

[0032] Figure 5 is a schematic structural diagram of a device for updating a road acquisition area shown in an embodiment of the present application;

[0033] Figure 6 is another schematic structural diagram of a device for updating a road acquisition area shown in an embodiment of the present application. Detailed implementation manners

[0034] 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 drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth 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.

[0035] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0036] It should be understood that although the terms "first", "second", "third", etc. may be used in the present application to describe various information, such 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 the present 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 with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0037] In the related art, during the data collection process, due to the change of lane lines, it may be necessary to re-collect the road surface, which requires issuing a new collection task and setting a new collection area. The related art can adopt the method of full replacement of data to solve the road area update. However, this method is not applicable to the actual scenario with large collection data and wide road areas. Moreover, the collection data of most roads does not change significantly in the short term, which leads to a lot of ineffective updates. In addition, the full replacement of data also increases the load of the database and may cause the service to stop for a long time, and has relatively high requirements for hardware resources.

[0038] In view of the above problems, the embodiments of the present application provide a method for updating a road collection area, which can efficiently and specifically update the road collection area.

[0039] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0040] Figure 1 It is a schematic flowchart of the method for updating a road collection area shown in the embodiments of the present application.

[0041] As Figure 1 shown, the embodiments of the present application provide a method for updating a road collection area, which includes:

[0042] Step S101: After determining all the first collection frames of the road in the set area for the i-th time, obtain all the first lane lines of the road in the set area for the (i + 1)-th time, 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 the line judgment point, and the endpoint of a side of the first collection frame that matches the first lane line as the surface judgment point.

[0043] Among them, the online time of different versions of electronic maps is different. In terms of the update of urban roads, the lane line data collected in different cycles may be different. For example, if the urban road data is comprehensively collected every three months, then it can be understood that the first lane line collected for the (i + 1)-th time is the one currently collected by the collection vehicle, while the first collection frame for the i-th time can be determined and issued according to the lane line collection situation three months ago. Taking the lane line data collected by the collection vehicle for the (i + 1)-th time as an example, select the left boundary lane from the lane line data collected for the (i + 1)-th time as the obtained first lane line, as Figure 2 shown.

[0044] Step S102: Determine the first lane lines that intersect with the first collection frame from all the first lane lines to obtain the first target lane lines, and determine the first collection frames that intersect with the first target lane lines as the first target collection frames.

[0045] In at least one embodiment, determining the first lane lines that intersect with the first acquisition frame from all the first lane lines includes: if at least one end of a first lane line extends out of the first acquisition frame, then the first lane line intersects with the first acquisition frame. In this embodiment, through the positional relationship between the line and the frame, it is not difficult to find that when all of a first lane line is within the matching first acquisition frame, it can be considered that the respective judgment points of the two coincide, 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.

[0046] Among them, for a certain first lane line (i.e., the boundary lane line) obtained in the (i + 1)-th acquisition, all the first lane lines obtained in the i-th acquisition are traversed to find a corresponding lane line in the lane line data obtained in the i-th acquisition, that is, the traversal result is obtained. Then, according to the traversal result, the first acquisition frame in the i-th acquisition is found, that is, the road acquisition task frame, as Figure 3 shown. Among them, the first acquisition frame can be jointly determined by the left and right boundary lane lines obtained in the i-th acquisition on both sides of the road. In practice, there will be at least partial overlap between the boundary lane lines obtained in the i-th and (i + 1)-th acquisitions of the same road. Therefore, the boundary lane line obtained in the (i + 1)-th acquisition will intersect with the first acquisition frame obtained in the i-th acquisition. Among them, if the road acquisition task frames determined in these two times completely overlap, then it means that the first acquisition frame corresponding to the obtained 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. Furthermore, the lane line data in this road acquisition area does not need to be updated either. Otherwise, the matching first acquisition frame needs to be updated.

[0047] It should be explained that in the related art, after the road area acquisition task is released, due to reasons such as lane line merging and interruption, the lane line data before and after cannot be matched (the ID will also change), resulting in the fact that the road corresponding acquisition task frame in the same area released subsequently cannot completely overlap with the original acquisition task frame, which may lead to the situation of missed acquisition.

[0048] 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 a set geometric relationship.

[0049] Among them, the acquisition task frames corresponding to different periods of the same road section may not completely overlap. In this embodiment, the positional relationship, that is, the geometric relationship, between the first lane line obtained in the (i + 1)-th acquisition and the first acquisition frame determined in the i-th acquisition is used to determine whether the acquisition task frames in the i-th and (i + 1)-th acquisitions completely overlap. Among them, the boundary lane line is used as a bridge for processing. Specifically, it can be determined whether the geometric relationship is satisfied through the line judgment point of the first target lane line and the surface judgment point of the first target acquisition frame. The geometric relationship therein includes: the two line judgment points and the two surface judgment points corresponding and coinciding.

[0050] 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 satisfy the geometric relationship.

[0051] In this embodiment, when the current positional relationship between the first target lane line and the first target acquisition frame does not satisfy the set geometric relationship, it indicates that there is partial overlap but not complete overlap between the acquisition task frames determined in the i-th and (i + 1)-th times. The geometric relationship of the final line frame can be made to meet the expectation by extending the first target lane line outward or extending the first target acquisition frame outward.

[0052] In at least one embodiment, step S104 may further include: determining 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 them, extending the first target lane line outward once with this line judgment point as the starting point, and determining whether the extended first target lane line and the first target acquisition frame currently satisfy the geometric relationship; if it is outside, extending the first target acquisition frame outward once with the surface judgment point close to this line judgment point as the starting point, and determining whether the first target lane line and the extended first target acquisition frame currently satisfy the geometric relationship.

[0053] In this embodiment, according to the relative positional 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 acquisition task frame. When extending the boundary lane line, stop extending until the two endpoints on it are respectively the same as the final surface judgment points of the corresponding acquisition task frame. In this way, the extended line frame can be quickly obtained based on the judgment points on the line frame, and then it can be quickly determined which lane line data has changed, and the changed part can be selected, that is, the boundary lane line that satisfies the geometric relationship can be obtained for generating the corresponding second acquisition frame according to this boundary lane line.

[0054] Further, in step S104, extending the first target lane line outward once with this line judgment point as the starting point includes: connecting the first target lane line and the first lane line adjacent to this first target lane line, where the connection point of the two lines is the line judgment point corresponding to the first target lane line. And, in step S104, extending the first target acquisition frame outward once with the surface judgment point close to this line judgment point as the starting point includes: connecting the first target acquisition frame and the first acquisition frame adjacent to this first target acquisition frame, where there is a surface judgment point corresponding to the first target acquisition frame on the connection line of the two frames.

[0055] In this embodiment, extending means connecting the current boundary lane line with the adjacent boundary lane line along the road direction, or connecting the current acquisition task box with the adjacent acquisition task box along the road direction. Assume that the boundary lane line is extended once and the acquisition task box is not extended. Then, the connection line of the two boundary lane lines obtained after the extension of once is the first target lane line after the extension. Similarly, the outer contour of the two first target acquisition boxes obtained after the extension of once is the first target acquisition box after the extension.

[0056] Step S105: Use the first target lane line after the extension as the target boundary lane line, and generate a second acquisition box according to the target boundary lane line.

[0057] Among them, in step S105, generating a second acquisition box according to the target boundary lane line includes: determining the second lane line opposite to the target boundary lane line; connecting the endpoints at the same end of the target boundary lane line and the second lane line to obtain the second acquisition box. In this embodiment, in this embodiment, the target boundary lane line may 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 two lane lines, connecting the endpoints at the same end of the two lane lines can obtain a road area surface, that is, the second acquisition box. From the above description, it can be known that both the generated second acquisition box and the first acquisition box are for the same road, and the two initially compared acquisition task boxes of the road do not completely overlap. After the extension, the two ends along the road direction are overlapped, which can avoid the mismatch of acquisition task boxes in different periods and better meet the actual operation requirements.

[0058] As a preferred embodiment of the present application, after using the first target lane line after the extension as the target boundary lane line and before generating a second acquisition box according to the target boundary lane line, it further includes: splitting the target boundary lane line to generate corresponding second acquisition boxes 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 box may also be too long. By splitting the target boundary lane line, the second acquisition boxes corresponding to the changed road areas can be converted 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, 100 m, then the target boundary lane line needs to be interrupted and split, and the length of the split target boundary lane line is preferably about 50 m.

[0059] Step S106: Use the second acquisition box to update the road acquisition area.

[0060] In at least one embodiment, step S106 may further include: in all the first acquisition frames, replacing the extended first target acquisition frame with a second acquisition frame. After determining the second acquisition frame, considering that the boundaries of the second acquisition frame and the extended first acquisition frame can match, the extended first acquisition frame can be updated to the second acquisition frame, that is, using the second acquisition frame to replace the corresponding first acquisition frame, and the rest of the first acquisition frames remain unchanged, which can solve the problem that the newly generated second acquisition frame cannot match the already released first acquisition frame during the update and replacement. It can be seen that the embodiment of the present application can perform targeted updates on the road acquisition area during the acquisition stage. When new data is needed on the new map, only the lane line data in the second acquisition frame needs to be updated, without the need for full-scale data update, reducing the interference to the online service operation.

[0061] In at least one embodiment, it further includes: if the line judgment point of the first target lane line and the plane 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 plane judgment point of the first target acquisition frame do not satisfy the geometric relationship, it indicates that the road has changed. Therefore, it is necessary to find out the road area involved in the appropriate acquisition task frame to update the acquisition task frame. When the geometric relationship is satisfied, it indicates that the lane line data has not changed before and after, and the road acquisition area can continue to 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 indicates that the boundary lane lines obtained in the i-th and (i + 1)-th times are the same, so the road has not changed and does not need to be updated, and there is no need to update the acquisition task frame again, which can avoid invalid updates.

[0062] It can be seen that in this embodiment, after determining all the first acquisition frames of the current time of the road in the set area, all the first lane lines of the previous time of the road in the set area 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. Define the end point of the first lane line as the line judgment point, and the end point of one side of the first acquisition frame that matches the first lane line as the surface judgment point. Considering that the lane line data of different versions of the map may change, then the boundary lane lines (first lane lines) of the same area road in different versions may not completely intersect or coincide with the acquisition task frame (first acquisition frame). Therefore, determine the first lane line that intersects the first acquisition frame from all the first lane lines to obtain the first target lane line, and determine the first acquisition frame that intersects the first target lane line as the first target acquisition frame. Determine whether the lane line data of the previous and current versions is the same according to the positional relationship between the first lane line and the first acquisition frame, that is, judge 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. This 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 achieve efficient and targeted update of the lane line data. Moreover, using the boundary lane line as the operation carrier, the calculation amount is small, the resource requirement is small, and the interference to the online service operation can also be reduced.

[0063] Figure 4 It is another flowchart of the method for updating the road acquisition area shown in this application.

[0064] See Figure 4 , a method for updating the road acquisition area shown in this application, includes:

[0065] Step S401: Obtain the first lane line, and go to step S402;

[0066] Step S402: Determine the first acquisition frame that intersects the first lane line, and go to step S403;

[0067] Step S403: Judge whether the current positional relationship between the first lane line and the first acquisition frame satisfies the set condition. If so, go to step S404; otherwise, go to step S405;

[0068] Step S404: Extend the first lane line and / or expand the first acquisition frame until the set conditions are met, and use the first lane line and the first acquisition frame corresponding to when the set conditions are met as the first target lane line and the first target acquisition frame, then go to step S406;

[0069] Step S405: Do not update the first acquisition frame;

[0070] Step S406: Split the extended first lane line into multiple first sub-lane lines, then go to step S407;

[0071] Step S407: Generate corresponding second sub-acquisition frames according to the multiple first sub-lane lines, then go to step S408;

[0072] Step S408: Delete the extended first acquisition frame and add the newly generated second sub-acquisition frames to update the lane line data in all the second sub-acquisition frames.

[0073] To better illustrate the present application, the present application will be described below with a specific embodiment.

[0074] According to the update period of the lane line data, obtain the latest lane line data of the city to be updated for the last time, especially obtain the leftmost lane line data. Cycle or traverse the lane line data obtained last time according to the obtained leftmost lane line data, search for the road acquisition task frame that intersects the leftmost lane line of the current time, and judge whether the two endpoints of the left connection line between the two endpoints of the leftmost lane line and the road acquisition task frame are the same; assume that the four endpoints are pairwise the same, then it means that the lane line or road acquisition task frame data of the current time and the last time are the same and no update is required. When at least one end has different endpoints, it means that there is partial overlap between the acquisition task frames of the current time and the last time. When one side of the endpoints is different, such as Figure 2As shown, assuming that the right endpoints of the leftmost lane lines are different, first determine the positional relationship between the leftmost lane line and the position of the acquisition task box released last time, that is, first determine whether the right endpoint of the leftmost lane line is to the left or right of the right endpoint of the connection line corresponding to the leftmost lane line in the acquisition task box released last time. If it is to the left, it means that the right endpoint of the leftmost lane line is between the left and right endpoints of the corresponding connection line. Then, search for the next adjacent leftmost lane line outward from the right endpoint of the leftmost lane line, and then determine the positional relationship between the connection line of the current leftmost lane line and the next leftmost lane line and the acquisition task box released last time until the set conditions are met. If it is to the right, search for the next adjacent acquisition task box outward from the right endpoint of the connection line, and then determine the positional relationship between the current leftmost lane line and the connection area between the acquisition task box released last time and the next acquisition task box until the set conditions are met. If both endpoints are different, lane lines or acquisition task boxes can be searched outward from both ends respectively until the set conditions are met. It should be noted that the leftmost lane line and the rightmost lane line are distinguished as left and right with the acquisition vehicle as a reference, while the left, right, left endpoint, right endpoint, etc. in this embodiment can be distinguished with reference to the left and right directions of Figure 2 and Figure 3 for distinction.

[0075] Among them, all the found lane lines are taken as a set 1, and all the obtained acquisition task boxes are taken as a set 2. Calculate the lengths of all the lane lines in set 1 according to the adjacency relationship. If it is greater than 100 meters, start taking lane lines from the head end, calculate the length each time a lane line is connected until the lane line length is more than 50 meters, and take this part of the lane lines as a group. Then, take the lane line adjacent to the last lane line in the previous group as the first lane line of the new group, and obtain the second group of lane lines in the same way until all lane lines are grouped. Loop through the lane lines in each group, query the rightmost lane line corresponding to the lane lines in each group, and connect the leftmost and rightmost lane lines in the group to form a road surface. That is, each group of lane lines can correspond to generating an acquisition subtask box. Then, all the leftmost lane lines correspond to multiple acquisition subtask boxes. Delete all the acquisition task boxes in set 2 and add the newly generated acquisition subtask boxes. Finally, when all the leftmost lane lines of the city to be updated are traversed, the update of the acquisition task box can be ended. After obtaining the updated acquisition task box, the lane line data in the box can be updated specifically, without updating all the lane line data. The embodiment of the present application can achieve efficient and targeted update of the part where the lane line data has changed, and uses the boundary lane line as the carrier for operation, with a small amount of calculation, low resource requirements, and can also reduce the interference to the online service operation.

[0076] Corresponding to the foregoing embodiments of the method for implementing application functions, the present application further provides a device for updating a road acquisition area, an electronic device, and corresponding embodiments.

[0077] Figure 5 It is a schematic structural diagram of the device for updating a road acquisition area shown in the embodiments of the present application.

[0078] As Figure 5 shown, the embodiments of the present application provide a device for updating a road acquisition area, including:

[0079] A lane line acquisition module 501, which is configured to, after determining all first acquisition frames of the road in the i-th time of a set area, acquire all first lane lines of the road in the (i + 1)-th time of 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 a side of the first acquisition frame that matches the first lane line as a surface judgment point;

[0080] A line frame determination module 502, which is configured to determine, from all the first lane lines, the first lane lines that intersect the first acquisition frame to obtain first target lane lines, and determine the first acquisition frames that intersect the first target lane lines as first target acquisition frames;

[0081] A geometric relationship judgment module 503, which is configured to judge whether the line judgment points of the first target lane lines and the surface judgment points of the first target acquisition frames satisfy a set geometric relationship;

[0082] A line frame extension module 504, 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 satisfy the geometric relationship, and

[0083] An acquisition frame generation module 505, which is configured to use the extended first target lane line as a target boundary lane line and generate a second acquisition frame according to the target boundary lane line,

[0084] An acquisition area update module 506, which is configured to update the road acquisition area using the second acquisition frame.

[0085] Further, in the line frame determination module 502, determining, from all the first lane lines, the first lane lines that intersect the first acquisition frame 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.

[0086] Further, the geometric relationship includes: the two line judgment points and the two surface judgment points correspond and coincide.

[0087] 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 satisfy the geometric relationship, including: determining 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 with this line judgment point as the starting point, and determining whether the extended first target lane line and the first target acquisition frame currently satisfy the geometric relationship; if it is outside, extending the first target acquisition frame outward once with the surface judgment point close to this line judgment point as the starting point, and determining whether the first target lane line and the extended first target acquisition frame currently satisfy the geometric relationship.

[0088] In an alternative embodiment, in the wireframe extension module 504, extending the first target lane line outward once with this line judgment point as the starting point includes: connecting the first target lane line and the first lane line adjacent to the first target lane line, where 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 this line judgment point as the starting point includes: connecting the first target acquisition frame and the first acquisition frame adjacent to the first target acquisition frame, where there is a surface judgment point corresponding to the first target acquisition frame on the connection line of the two frames.

[0089] In an alternative embodiment, it further includes: a lane line splitting module. The lane line splitting module is configured to split the target boundary lane line after using 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, for generating the corresponding second acquisition frame according to the split target boundary lane line.

[0090] In an alternative embodiment, in the acquisition frame generation module 505, generating the second acquisition frame according to the target boundary lane line includes: determining the second lane line opposite to the target boundary lane line; connecting the endpoints at the same end of the target boundary lane line and the second lane line to obtain the second acquisition frame.

[0091] In an alternative embodiment, in the acquisition area update module 506, updating the road acquisition area using the second acquisition frame includes: in all the first acquisition frames, replacing the extended first target acquisition frame with the second acquisition frame.

[0092] In an alternative embodiment, in the acquisition area update module 506, it 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.

[0093] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0094] Figure 6 It is a schematic structural diagram of a device for updating a road acquisition area shown in an embodiment of the present application.

[0095] Refer to Figure 6 , the device for updating a road acquisition area includes a memory 601 and a processor 602.

[0096] The processor 602 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0097] The memory 601 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, the ROM may 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 when the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory may store some or all of the instructions and data required by the processor during operation. 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 magnetic disks and / or optical disks may also be used. In some embodiments, the memory 601 may include removable storage devices that are readable and / or writable, such as compact discs (CDs), read-only digital versatile discs (such as DVD-ROM, dual-layer DVD-ROM), read-only Blu-ray discs, ultra density discs, flash memory cards (such as SD cards, min SD cards, Micro-SD cards, etc.), magnetic floppy disks, etc. Computer-readable storage media do not include carrier waves and instantaneous electronic signals transmitted wirelessly or wired.

[0098] Executable code is stored on the memory 601, and when the executable code is processed by the processor 602, it can cause the processor 602 to execute some or all of the methods described above.

[0099] In addition, the method according to the present application can also be implemented as a computer program or computer program product, which includes computer program code instructions for executing some or all of the above steps of the method according to the present application.

[0100] 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 the processor of an electronic device (or a server, etc.), it causes the processor to execute some or all of the steps of the method according to the present application.

[0101] The embodiments of the present application have been described above. The above description is exemplary and not exhaustive, and is also not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to technologies in the market, or to enable other ordinary skilled persons 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, wherein the geometric relationship includes: two of the line judgment points and two of the surface judgment points coincide with each other; 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 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.

4. The method according to claim 3, 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.

5. 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.

6. The method according to claim 1 or 5, 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.

7. 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.

8. 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.

9. 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 8.

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