Road detection method and device, vehicle and storage medium

Abstract

The invention discloses a road detection method and device, a vehicle and a storage medium. The road detection method comprises the steps that a first road grade corresponding to a first road connected with one end of a target toll station and a second road grade corresponding to a second road connected with the other end of the target toll station are acquired from map data; according to the first road grade and the second road grade, the detection result of the first road and the detection result of the second road are determined, and the closed detection result represents whether the road is a passable road in long-term full-closed management or not. According to the method, whether the road is a passable road subjected to long-term full-closed management can be identified, the traffic environment of the first road and the traffic environment of the second road can be judged according to the closed detection result, deeper road information support is provided for the automatic driving technology, and the experience feeling of a user on the automatic driving technology is improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and more specifically, to a road detection method, device, vehicle and storage medium. Background Art

[0002] Autonomous driving technology relies on a variety of technologies such as high-precision maps, sensors, and machine learning algorithms to achieve autonomous navigation and decision-making of vehicles. As one of the infrastructures of the autonomous driving system, high-precision maps provide key information such as detailed geometric information of roads, traffic signs, and traffic lights, which is crucial for path planning, navigation, and decision-making of autonomous vehicles.

[0003] However, it is currently impossible to directly determine the closure properties of a road (whether it is a passable road that is closed and managed for a long time) from high-precision maps, and thus it is impossible to provide in-depth road information support for autonomous driving technology based on high-precision maps. Summary of the invention

[0004] In view of the above problems, the present application proposes a road detection method, device, vehicle and storage medium.

[0005] In a first aspect, an embodiment of the present application provides a road detection method, the method comprising: obtaining from map data a first road grade corresponding to a first road connected to one end of a target toll station, and a second road grade corresponding to a second road connected to the other end of the target toll station; determining a detection result of the first road and a detection result of the second road based on the first road grade and the second road grade, the closed detection result indicating whether the road is a passable road under long-term fully closed management.

[0006] In a second aspect, an embodiment of the present application provides a road detection device, the device comprising: a road information acquisition module, used to obtain from map data a first road grade corresponding to a first road connected to one end of a target toll station, and a second road grade corresponding to a second road connected to the other end of the target toll station; a closed detection result determination module, used to determine the detection result of the first road and the detection result of the second road based on the first road grade and the second road grade, the closed detection result indicating whether the road is a passable road under long-term fully closed management.

[0007] In a third aspect, an embodiment of the present application provides a vehicle, comprising: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the road detection method provided in the first aspect above.

[0008] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a program code is stored. The program code can be called by a processor to execute the road detection method provided in the first aspect above.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a program code, and the program code can be called by a processor to execute the road detection method provided in the first aspect above.

[0010] The solution provided in the present application obtains the first road grade of the first road connected to both ends of the target toll station and the second road grade of the second road from the map data, and determines the detection result of the first road and the detection result of the second road according to the first road grade and the second road grade, so as to realize the identification of whether the road is a passable road under long-term fully closed management, and then the traffic environment of the first road and the second road can be judged according to the closed detection results, thereby providing deeper road information support for autonomous driving technology and improving the user experience of autonomous driving technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 A schematic flow chart of a road detection method provided in an embodiment of the present application is shown.

[0013] Figure 2 A schematic flow chart of a road detection method provided in another embodiment of the present application is shown.

[0014] Figure 3 A structural block diagram of a road detection device provided in one embodiment of the present application is shown.

[0015] Figure 4 A structural block diagram of a vehicle provided in an embodiment of the present application for executing a road detection method according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0017] In response to the technical problems raised by the background technology, the inventor proposed a road detection method, device, vehicle and storage medium. By obtaining the first road grade of the first road connected to the two ends of the target toll station and the second road grade of the second road from the map data, and determining the detection result of the first road and the detection result of the second road according to the first road grade and the second road grade, it is possible to identify whether the road is a passable road under long-term fully closed management, and then judge the traffic environment of the first road and the second road according to the closed detection results, thereby providing deeper road information support for autonomous driving technology and improving users' experience of autonomous driving technology.

[0018] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a road detection method provided by an embodiment of the present application. In a specific embodiment, the road detection method is applied to Figure 3 Shown is a road detection device 200 and a vehicle equipped with the road detection device 200.

[0019] The following will focus on Figure 1 The process shown is described in detail, and the road detection method may specifically include the following steps:

[0020] Step S110: Acquire from the map data a first road grade corresponding to a first road connected to one end of the target toll station and a second road grade corresponding to a second road connected to the other end of the target toll station.

[0021] The map data may be the map currently used by the vehicle, or a map determined based on the user's selection instruction. The map data contains a variety of map information, including but not limited to geometric information of roads, location information of various road signs, coordinate information of each toll station, road grade of each road, connection relationship between each road, detour road and other information. The map information in the map data can be identified and obtained through corresponding parameters or identifiers. For example, the identifier of a toll station can be "toll station". The map information, identifiers or parameters in the map data are not specifically limited here.

[0022] In this embodiment, in order to ensure the compatibility of the vehicle system with different autonomous driving platforms and map data provided by various high-precision map providers, the autonomous driving platform and map data can be connected by using a compatible interface, which can adapt to the needs of different autonomous driving platforms and high-precision map providers.

[0023] The road grade can be the functional grade of the highway, the administrative grade, or the speed grade. Roads can be divided into expressways, first-class highways, second-class highways, third-class highways, and fourth-class highways according to their functional grades. Roads can be divided into national highways, provincial highways, and county highways according to their administrative grades. Roads can be divided into expressways, expressways, and ordinary highways according to their speed grades. The specific road grade categories in the map data can be selected by the user or can be fixed road grade categories in the map data, which are not specifically limited here.

[0024] Furthermore, the target toll station may be determined based on a selection instruction of a user in the map data, or may be any toll station determined based on an identification corresponding to the toll station in the map data. The target toll station is not limited herein.

[0025] In some implementations, to ensure the real-time nature of the map data, the update cycle of the map data may be set to ensure that the data obtained from the map data is the latest data. The map data may also be updated based on information such as road construction and newly added toll stations reported by users. In order to ensure the accuracy of the updated map data, a data verification mechanism may be set. Only when the verification is passed, the updated map data is determined to be accurate and usable.

[0026] Step S120: Determine the detection result of the first road and the detection result of the second road according to the first road grade and the second road grade, and the closure detection result indicates whether the road is a passable road under long-term full closure management.

[0027] Among them, the long-term fully closed and accessible roads refer to those on which pedestrians and non-motor vehicles are strictly controlled, which can reduce the impact of pedestrians and non-motor vehicles on the driving of motor vehicles. Long-term fully closed and accessible roads can be highways, on which only motor vehicles are allowed to drive.

[0028] In this embodiment, since the toll station is a management station that conducts closed management of the passable roads that are fully closed for a long time, the closure monitoring result of the first road and the detection result of the second road can be determined based on the first road grade of the first road connected at both ends of the toll station and the second road grade of the second road.

[0029] For example, if the first road is a highway and the second road is a first-class highway, the first road grade is higher than the second road grade, and it can be determined that the first road is a long-term closed and managed passable road, and the second road is a non-long-term closed and managed passable road.

[0030] The road detection method provided in the embodiment of the present application obtains the first road grade of the first road connected to both ends of the target toll station and the second road grade of the second road from the map data, and determines the detection result of the first road and the detection result of the second road according to the first road grade and the second road grade, so as to realize the identification of whether the road is a passable road under long-term fully closed management, and then the traffic environment of the first road and the second road can be judged according to the closed detection result, thereby providing deeper road information support for autonomous driving technology and improving the user experience of autonomous driving technology.

[0031] See also Figure 2 , Figure 2 A schematic diagram of a road detection method provided by another embodiment of the present application is shown below. Figure 2 The process shown is described in detail, and the road detection method may specifically include the following steps:

[0032] Step S210: Acquire the location information of the target toll station from the map data.

[0033] Step S220: Determine the first road and the second road respectively connected to two ends of the target toll station according to the location information and the search range.

[0034] In this embodiment, since the roads in the square of the target toll station are all of lower grade, even the road grades of the roads at both ends of the toll station may be the same. At this time, if the road grade of the roads connected at both ends is directly used to determine the closed monitoring result of the road, it is not accurate. Therefore, the first road and the second road can be determined according to a certain search range, and the search range is larger than the square range of the target toll station, according to the location information of the target toll station in the map data. The search range can be to search around the target toll station with a certain search distance with the target toll station as the search center. It can also be to search at both ends of the toll station with a certain search distance with the target toll station as the search center. The search distance and search method are not limited here.

[0035] Furthermore, one end of the target toll station within the search range may be connected to more than one road. At this time, any road may be determined as the first road or the second road, or the first road or the second road may be determined based on the user's determination instruction. The method of determining the first road and the second road is not limited herein.

[0036] For example, if the diameter of the square range of the target toll station is 10m, the search distance of the search range can be 20m, and the search range is proportionally reduced according to the corresponding ratio of the map data. According to the location information of the target toll station in the map data and the proportionally reduced search range, the lanes connected to both ends of the target toll station are searched, and the first road and the second road are determined from the searched roads.

[0037] Step S230: If the first road grade is higher than the second road grade, it is determined that the first road is a passable road under long-term fully closed management, and the second road is a passable road under non-long-term fully closed management.

[0038] Step S240: If the first road grade is the same as the second road grade, obtaining road connection information of the first road within a preset search distance and road connection information of the second road within the preset search distance along the first road and the second road.

[0039] Step S250: If, based on the road connection information, it is determined that within the preset search distance, the first road is connected to a road lower than the first road level, and the second road is not connected to a road lower than the second road level, then the first road is determined to be a passable road that is not under long-term fully closed management, and the second road is a passable road that is under long-term fully closed management.

[0040] In this embodiment, when the first road grade is higher than the second road grade, the higher grade road is determined as a passable road under long-term fully closed management, and vice versa, the lower grade road is a passable road under non-long-term fully closed management. That is, if the first road grade is higher than the second road grade, the first road is determined as a passable road under long-term fully closed management, and the second road is determined as a passable road under non-long-term fully closed management.

[0041] When the first road grade is the same as the second road grade, it is impossible to perform closure detection based on the road grade. Then, the first road and the second road are searched at a preset search distance, and the road connection information of the first road and the connection information of the second road are obtained. The connection information includes the road grade of the connected road. Within the preset search distance, the first road is connected to a road with a lower grade than the first road, and the second road is not connected to a road with a lower grade than the second road. At this time, it is determined that the second road is a passable road under long-term full closure management, and the first road is a passable road that is not under long-term full closure management.

[0042] In some embodiments, after determining the detection result of the first road and the detection result of the second road, the current positioning information and the current driving plan of the vehicle are obtained. If it is determined based on the current positioning information and the current driving plan that the vehicle is about to enter a target road, an automatic driving decision matching the closed detection result of the target road is executed, and the target road is the first road or the second road.

[0043] The current positioning information can be obtained from the map data or through the vehicle's positioning system. The current driving plan can be obtained from the map data or after the driving plan is made according to the vehicle's destination. The acquisition of the positioning information and the acquisition of the current driving plan are not limited here.

[0044] Furthermore, the autonomous driving decision includes but is not limited to enabling a higher-level autonomous driving function, disabling all or part of the currently executed autonomous driving function, sending a prompt message to the user to prompt the user to take over the vehicle, and setting safety parameters for autonomous driving, such as speed limit, vehicle distance, etc. The information in the autonomous driving decision is not limited here.

[0045] In this embodiment, based on the vehicle's positioning information and the current driving plan, the target lane that the vehicle is about to enter can be determined, and then the corresponding automatic driving decision is executed according to the target lane.

[0046] In an optional implementation, if the current positioning information and the current driving plan indicate that the vehicle is about to enter the target road, executing an autonomous driving decision that matches the closed detection result of the target road includes: if the current positioning information and the current driving plan indicate that the vehicle is about to enter the target road, and the detection result of the target road indicates that the target road is a passable road under long-term fully closed management, then increasing the current autonomous driving level of the vehicle. If the current positioning information and the current driving plan indicate that the vehicle is about to enter the target road, and the detection result of the target road indicates that the target road is a passable road that is not under long-term fully closed management, then reducing the current autonomous driving level of the vehicle, or outputting a prompt message, the prompt message being used to prompt the driver to take over the vehicle.

[0047] Among them, the levels of autonomous driving include but are not limited to L0, L1, L2, L3, L4 and L5. L0 refers to no automation, also known as pure manual driving, and all driving operations are judged and performed by the driver. L1 refers to driving assistance. The system provides automatic operation of a single function, such as adaptive cruise function, to help the driver complete certain driving tasks, but the driver is still responsible for the main driving operations. L2 refers to partial automation. The driver and the car share control and can automatically complete certain driving tasks. L3 refers to conditional automation, which realizes automatic control under limited circumstances, such as automatic driving on a specific road section can be fully responsible for the control of the entire vehicle, but the driver needs to take over when necessary. L4 refers to high automation. Automatic driving can be highly automated under specific road conditions, such as closed parks, highways, etc., and human drivers can be fully autonomous. L5 refers to full automation, without restrictions on the driving environment, and can automatically cope with various complex traffic conditions and road environments, etc., without human assistance from the departure point to the destination, only the starting point and end point information is required, and the car will be responsible for driving safety throughout the journey and does not rely on driver intervention at all.

[0048] In this embodiment, when the target road is a passable road that is fully closed for a long time, it means that there is no interference from non-motor vehicles and pedestrians on the target road. At this time, the vehicle's automatic driving level can be improved to improve the user's experience of the automatic driving function, and the efficient operation of the automatic driving vehicle can reduce traffic congestion on the passable road that is fully closed for a long time, reduce energy consumption, and thus bring economic benefits. When the target road is a passable road that is not fully closed for a long time, it indicates that there may be interference from pedestrians or other non-motor vehicles on the road, and the traffic situation is more complicated. Therefore, the current automatic driving level of the vehicle can be reduced, or a prompt message can be output to prompt the driver to take over the vehicle to adapt to the complex traffic environment.

[0049] For example, if the current autonomous driving level of the vehicle is L1, when the target road is a long-term fully closed and passable road, the autonomous driving level is upgraded from L1 to L2, or to other autonomous driving levels. When the target road is a long-term fully closed and passable road, the L1 is downgraded to L0, or a prompt message is output to allow the driver to take over the vehicle.

[0050] In other embodiments, in response to a query instruction for the target road, at least one of the closed detection result corresponding to the target road and a suggestion for using the autonomous driving function on the target road is output.

[0051] In this embodiment, when the user sends a query command for a target road in the first road and the second road, the detection result of the target road and / or the usage suggestion of the automatic driving function are fed back to the user. The query command can be sent in response to the user's confirmation command of the map data on the terminal, or in response to the target road input by the user. The feedback method can be feedback through the vehicle terminal or through the mobile phone terminal connected to the vehicle. The query command sending method and the feedback method are not limited here.

[0052] For example, the first road is a long-term fully closed and passable road. When the user selects the first road on the terminal, a query instruction for the first road is generated, and at least one of the detection result of the first road and the use suggestion of the automatic driving function of the vehicle on the first road is displayed on the vehicle terminal.

[0053] In some other implementations, an identification corresponding to the closure detection result may also be displayed to the user, so that the user can determine whether the road is a passable road under long-term full closure management based on the identification.

[0054] Exemplarily, the mark of a passable road under long-term fully closed management is "1", and the mark of a passable road that is not under long-term fully closed management is "2". When the first road is a passable road under long-term fully closed management, the mark of the first road is "1", and when the second road is a passable road that is not under long-term fully closed management, the mark of the second road is "2".

[0055] The road detection method provided in the embodiment of the present application determines the first road grade of the first road and the second road grade of the second road by acquiring the connection relationship between the road and the target toll station and the connection status of the first road and the second road with other roads from the map data, and further determines the detection result of the first road and the detection result of the second road according to the first road grade and the second road grade, so as to realize the identification of whether the road is a passable road under long-term fully closed management, and then the traffic environment of the first road and the second road can be judged according to the closed detection result, so as to provide deeper road information support for autonomous driving technology and improve the user experience of autonomous driving technology.

[0056] See also Figure 3, which shows a structural block diagram of a road detection device 200 provided in an embodiment of the present application. The road detection device 200 is applied to a vehicle, and a road information acquisition module 210 is used to obtain from map data a first road level corresponding to a first road connected to one end of a target toll station, and a second road level corresponding to a second road connected to the other end of the target toll station; a closed detection result determination module 220 is used to determine the detection result of the first road and the detection result of the second road according to the first road level and the second road level, and the closed detection result indicates whether the road is a passable road under long-term full closure management.

[0057] In some embodiments of the present application, the closed detection result determination module 220 includes: a first determination submodule, which is used to determine that the first road is a passable road under long-term fully closed management, and the second road is a passable road under non-long-term fully closed management, if the first road grade is higher than the second road grade; a road connection information acquisition submodule, which is used to obtain road connection information of the first road within a preset search distance and road connection information of the second road within the preset search distance along the first road and the second road if the first road grade is the same as the second road grade; a second determination submodule, which is used to determine that the first road is a passable road under non-long-term fully closed management, and the second road is a passable road under long-term fully closed management, if it is determined based on the road connection information that the first road is connected to a road lower than the first road grade within the preset search distance, and the second road is not connected to a road lower than the second road grade.

[0058] In some embodiments of the present application, the road detection device 200 also includes: a vehicle information acquisition module, used to obtain the current positioning information and the current driving plan of the vehicle; an autonomous driving decision execution module, used to execute an autonomous driving decision that matches the closed detection result of the target road if it is determined based on the current positioning information and the current driving plan that the vehicle is about to enter the target road, and the target road is the first road or the second road.

[0059] In some embodiments of the present application, the autonomous driving decision execution module includes: a first execution submodule, which is used to increase the current autonomous driving level of the vehicle if the current positioning information and the current driving plan indicate that the vehicle is about to enter the target road, and the detection result of the target road indicates that the target road is a passable road under long-term fully closed management; a second execution submodule, which is used to reduce the current autonomous driving level of the vehicle or output a prompt message if the current positioning information and the current driving plan indicate that the vehicle is about to enter the target road among the first road and the second road, and the detection result of the target road indicates that the target road is a passable road that is not under long-term fully closed management. The prompt message is used to prompt the driver to take over the vehicle.

[0060] In some embodiments of the present application, the road detection device 200 also includes: an information output module, which is used to respond to a query instruction for a target road in the first road and the second road, and output at least one of the closed detection result corresponding to the target road and the usage suggestion of the automatic driving function on the target road.

[0061] In some embodiments of the present application, the road detection device 200 includes: a location information acquisition module, used to obtain the location information of the target toll station from the map data; a road determination module, used to determine the first road and the second road respectively connected to the two ends of the target toll station based on the location information and the search range.

[0062] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0063] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0064] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0065] Please refer to Figure 4, which shows a structural block diagram of a vehicle provided by an embodiment of the present application. The vehicle 100 in the present application may include one or more of the following components: a processor 110, a memory 120, and one or more applications, wherein the one or more applications may be stored in the memory 120 and configured to be executed by one or more processors 110, and the one or more programs are configured to execute the method described in the aforementioned method embodiment.

[0066] The processor 110 may include one or more processing cores. The processor 110 uses various interfaces and lines to connect various parts of the entire vehicle 100, and executes various functions and processes data of the vehicle 100 by running or executing instructions, programs, code sets or instruction sets stored in the memory 120, and calling data stored in the memory 120. Optionally, the processor 110 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 110 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 110, but may be implemented separately through a communication chip.

[0067] The memory 120 may include a random access memory (RAM) or a read-only memory (ROM). The memory 120 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the vehicle 100 during use (such as a phone book, audio and video data, chat record data), etc.

[0068] A computer-readable storage medium is also provided in an embodiment of the present application. A program code is stored in the computer-readable storage medium. The program code can be called by a processor to execute the method described in the above method embodiment.

[0069] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0070] A computer program product is also provided in an embodiment of the present application. The computer program product includes program code, and when the program code is executed by a processor, the method described in the above method embodiment is implemented.

[0071] To summarize, the solution provided by the present application first determines the driver's first driving state based on the image information in the vehicle, then determines the driver's second driving state based on the driver's corresponding breathing sound in the sound information in the vehicle, and finally determines the driver's driving fatigue state based on the first driving state and the second driving state. The driving states determined from multiple aspects are comprehensively utilized to determine the driver's driving fatigue state, thereby improving the accuracy of determining the driving fatigue state.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A road detection method, characterized in that: The method comprises: Acquire from the map data a first road grade corresponding to a first road connected to one end of the target toll station, and a second road grade corresponding to a second road connected to the other end of the target toll station; The detection result of the first road and the detection result of the second road are determined according to the first road grade and the second road grade, and the closure detection result indicates whether the road is a passable road under long-term full closure management.

2. The method according to claim 1, characterized in that The determining, according to the first road grade and the second road grade, respectively, a detection result of the first road and a detection result of the second road comprises: If the first road grade is higher than the second road grade, it is determined that the first road is a passable road under long-term fully closed management, and the second road is a passable road not under long-term fully closed management; If the first road grade is the same as the second road grade, obtaining road connection information of the first road within a preset search distance and road connection information of the second road within the preset search distance along the first road and the second road; If, based on the road connection information, it is determined that within the preset search distance, the first road is connected to a road lower than the first road level, and the second road is not connected to a road lower than the second road level, then the first road is determined to be a passable road that is not under long-term fully closed management, and the second road is a passable road that is under long-term fully closed management.

3. The method according to claim 1, characterized in that The method further comprises: Get the vehicle's current location information and current driving plan; If it is determined based on the current positioning information and the current driving plan that the vehicle is about to enter a target road, an automatic driving decision is executed that matches the closed detection result of the target road, and the target road is the first road or the second road.

4. The method according to claim 3, characterized in that If it is determined based on the current positioning information and the current driving plan that the vehicle is about to enter a target road, executing an automatic driving decision that matches the closed detection result of the target road includes: If the current positioning information and the current driving plan indicate that the vehicle is about to enter the target road, and the detection result of the target road indicates that the target road is a passable road under long-term fully closed management, then the current autonomous driving level of the vehicle is increased; If the current positioning information and the current driving plan indicate that the vehicle is about to enter the target road, and the detection result of the target road indicates that the target road is a passable road that is not under long-term fully closed management, the current autonomous driving level of the vehicle is reduced, or a prompt message is output, wherein the prompt message is used to prompt the driver to take over the vehicle.

5. The method according to claim 3, characterized in that The method further comprises: In response to a query instruction for the target road, at least one of the closed detection result corresponding to the target road and a suggestion for using the automatic driving function on the target road is output.

6. The method according to any one of claims 1 to 5, characterized in that: Before acquiring from the map data a first road grade corresponding to a first road connected to one end of the target toll station and a second road grade corresponding to a second road connected to the other end of the target toll station, the method further includes: Acquiring the location information of the target toll station from the map data; The first road and the second road respectively connected to both ends of the target toll station are determined according to the location information and the search range.

7. A road detection device, characterized in that: include: A road information acquisition module, used to acquire from map data a first road grade corresponding to a first road connected to one end of a target toll station, and a second road grade corresponding to a second road connected to the other end of the target toll station; The closed detection result determination module is used to determine the detection result of the first road and the detection result of the second road according to the first road grade and the second road grade, and the closed detection result indicates whether the road is a passable road under long-term full closure management.

8. A vehicle, characterized in that: include: one or more processors; Memory; One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product includes program code, and when the program code is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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