Intersection position determination method and device, computer equipment and storage medium

Abstract

The invention relates to an intersection position determination method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a track center line corresponding to a bifurcated road; wherein the track center line corresponding to the bifurcated road comprises a main road center line corresponding to the main road and a branch road center line corresponding to the branch road; determining a projection distance between at least one sampling point in the center line of the branch and the center line of the main path; determining an intersection index point in each sampling point according to the change condition of the projection distance corresponding to each sampling point; and determining the intersection point of the bifurcated road according to the intersection index point. By adopting the method, the position difference between the intersection index point and the actual intersection point can be reduced, the accuracy of the determination result of the intersection point of the bifurcated road is improved, and further, the accuracy of navigation reminding is improved on the basis of the more accurate intersection point.

Description

Technical Field

[0001] This application relates to the technical field of high-precision maps, and particularly to a method, device, computer device, and storage medium for determining intersection positions. Background Art

[0002] Diverging-converging intersections are common intersection forms in road networks. The accuracy of intersection positions affects the accuracy of navigation announcements. Therefore, it is crucial to accurately determine intersection positions.

[0003] In traditional technologies, the trajectories at diverging-converging points are usually divided into two groups. For each group of trajectory lines, the corresponding center line of the group is generated, and the intersection of the clustering boundaries between the corresponding center lines of the two groups of trajectory lines is taken as the diverging-converging intersection point.

[0004] Although this method can determine the intersection positions of diverging-converging intersections, there is generally a single lane at the positions before divergence and after convergence, and vehicles can merge into the main road through this single lane, which may cause a deviation between the determined diverging-converging intersection positions and the actual positions, resulting in inaccurate determination of diverging-converging intersection positions. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a method, device, computer device, and storage medium for determining intersection positions that can accurately determine the positions of diverging-converging intersections.

[0006] In a first aspect, this application provides a method for determining intersection positions, including:

[0007] Obtain the trajectory center lines corresponding to the bifurcated roads; wherein, the trajectory center lines corresponding to the bifurcated roads include the main road center line corresponding to the main road and the branch road center line corresponding to the branch road;

[0008] Determine the projection distances between at least one sampling point in the branch road center line and the main road center line;

[0009] Determine the intersection index points among the sampling points according to the change conditions of the projection distances corresponding to the sampling points;

[0010] Determine the intersection points of the bifurcated roads according to the intersection index points.

[0011] In one embodiment, determining the intersection index points among the sampling points according to the variation of the projection distances corresponding to the sampling points includes: for each sampling point, determining a front window of the sampling point in a first direction and a rear window of the sampling point in a second direction according to a preset window length; wherein, the first direction is the opposite direction of the extension direction of the branch road; the second direction is the extension direction of the branch road; determining whether the sampling point belongs to an intersection index point according to the relative variation between the projection distances of the front sampling points in the front window and the projection distances of the rear sampling points in the rear window.

[0012] In one embodiment, determining whether the sampling point belongs to an intersection index point according to the relative variation between the projection distances of the front sampling points in the front window and the projection distances of the rear sampling points in the rear window includes: if the bifurcated road is a diverging road, determining a distance fluctuation range according to the projection distances of the front sampling points in the front window; determining whether the sampling point belongs to an intersection index point according to the situation that the projection distances of the rear sampling points in the rear window exceed the distance fluctuation range.

[0013] In one embodiment, determining whether the sampling point belongs to an intersection index point according to the relative variation between the projection distances of the front sampling points in the front window and the projection distances of the rear sampling points in the rear window includes: if the bifurcated road is a confluent road, determining a distance fluctuation range according to the projection distances of the rear sampling points in the rear window; determining whether the sampling point belongs to a reference index point according to the situation that the projection distances of the front sampling points in the front window exceed the distance fluctuation range; taking the reference index point adjacent to the first sampling point that does not belong to the reference index point as the intersection index point.

[0014] In one embodiment, determining the intersection index points among the sampling points according to the variation of the projection distances corresponding to the sampling points includes: for each sampling point, updating the projection distance of the sampling point according to the projection distances of the adjacent sampling points within the neighborhood area to which the sampling point belongs; determining the intersection index points among the sampling points according to the variation of the updated projection distances corresponding to the sampling points.

[0015] In one embodiment, obtaining the trajectory center line corresponding to the bifurcated road includes: if the bifurcated road is a diverging road, directly obtaining the trajectory center line corresponding to the diverging road; if the bifurcated road is a confluent road, obtaining the trajectory center line corresponding to the confluent road and converting the trajectory center line corresponding to the confluent road into the trajectory center line corresponding to the diverging road.

[0016] In one embodiment, the method further includes: for each trajectory centerline, determining a reference angle of the trajectory centerline according to the starting direction and the ending direction of the trajectory centerline; taking the trajectory centerline with a smaller reference angle as the main road in the forked road; and taking the trajectory centerline with a larger reference angle as the branch road in the forked road.

[0017] In a second aspect, the present application further provides an intersection position determination device, including:

[0018] An acquisition module, configured to acquire the trajectory centerlines corresponding to the forked road; wherein, the trajectory centerlines corresponding to the forked road include the main road centerline corresponding to the main road and the branch road centerline corresponding to the branch road;

[0019] A first determination module, configured to determine the projection distance between at least one sampling point in the branch road centerline and the main road centerline;

[0020] A second determination module, configured to determine the intersection index points among the sampling points according to the change condition of the projection distances corresponding to the sampling points;

[0021] A third determination module, configured to determine the intersection points of the forked road according to the intersection index points.

[0022] In a third aspect, the present application further provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0023] Acquiring the trajectory centerlines corresponding to the forked road; wherein, the trajectory centerlines corresponding to the forked road include the main road centerline corresponding to the main road and the branch road centerline corresponding to the branch road;

[0024] Determining the projection distance between at least one sampling point in the branch road centerline and the main road centerline;

[0025] Determining the intersection index points among the sampling points according to the change condition of the projection distances corresponding to the sampling points;

[0026] Determining the intersection points of the forked road according to the intersection index points.

[0027] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0028] Acquiring the trajectory centerlines corresponding to the forked road; wherein, the trajectory centerlines corresponding to the forked road include the main road centerline corresponding to the main road and the branch road centerline corresponding to the branch road;

[0029] Determining the projection distance between at least one sampling point in the branch road centerline and the main road centerline;

[0030] Determine the intersection index points among the sampling points according to the change situation of the projection distances corresponding to the respective sampling points;

[0031] Determine the intersection points of the forked roads according to the intersection index points.

[0032] In a fifth aspect, the present application further provides a computer program product, including a computer program, which when executed by a processor implements the following steps:

[0033] Obtain the trajectory center line corresponding to the forked road; wherein, the trajectory center line corresponding to the forked road includes the main road center line corresponding to the main road and the branch road center line corresponding to the branch road;

[0034] Determine the projection distances between at least one sampling point in the branch road center line and the main road center line;

[0035] Determine the intersection index points among the sampling points according to the change situation of the projection distances corresponding to the respective sampling points;

[0036] Determine the intersection points of the forked roads according to the intersection index points.

[0037] For the above intersection position determination method, device, computer device and storage medium, by obtaining the trajectory center line corresponding to the forked road; wherein, the trajectory center line corresponding to the forked road includes the main road center line corresponding to the main road and the branch road center line corresponding to the branch road; determining the projection distances between at least one sampling point in the branch road center line and the main road center line; determining the intersection index points among the sampling points according to the change situation of the projection distances corresponding to the respective sampling points; determining the intersection points of the forked roads according to the intersection index points. In the above technical solution, taking the main road center line corresponding to the main road with a relatively smoother road shape change in the forked road as a reference, determining the projection distances between the sampling points in the branch road center line and the main road center line, making the determined projection distances unique and clear, and avoiding the situation where the projection distances change erratically when projecting the sampling points in the main road center line onto the branch road center line; by the change situation of the projection distances corresponding to the respective sampling points, selecting the sampling points close to the actual intersection points as the intersection index points, reducing the position difference between the intersection index points and the actual intersection points, so that the intersection points determined according to the intersection index points are more accurate, further improving the accuracy of the determination result of the intersection points of the forked roads, and further improving the accuracy of the navigation reminder based on the more accurate intersection points. Description of the Drawings

[0038] To more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the related art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0039] Figure 1A Flow chart of a method for determining intersection positions provided in this embodiment;

[0040] Figure 1B Schematic diagram of a forked road provided in this embodiment;

[0041] Figure 1C Schematic diagram of a sampling projection provided in this embodiment;

[0042] Figure 1D Schematic diagram of determining intersection points provided in this embodiment;

[0043] Figure 2 Flow chart of the first step for determining intersection index points provided in this embodiment;

[0044] Figure 3 Flow chart of the second step for determining intersection index points provided in this embodiment;

[0045] Figure 4 Flow chart of the steps for determining the main road and branch roads provided in this embodiment;

[0046] Figure 5 Structural block diagram of a device for determining intersection positions provided in this embodiment;

[0047] Figure 6 Internal structure diagram of a computer device provided in this embodiment. Detailed implementation manners

[0048] In order to make the objectives, technical solutions, and advantages of the present application more clearly understood, the following further details the present application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] In an exemplary embodiment, as Figure 1A shown, a method for determining intersection positions is provided. In this embodiment, it is exemplified that the method is applied to a terminal. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0050] S110. Obtain the trajectory centerline corresponding to the forked road.

[0051] Among them, the forked road can be understood as a road that divides into two or more roads with different driving directions at a certain place. The trajectory centerline can be understood as the centerline that describes the driving trajectory of the vehicle in the forked road. The trajectory centerline corresponding to the forked road includes the main road centerline corresponding to the main road and the branch road centerline corresponding to the branch road.

[0052] Among them, the main road can be understood as the road that undertakes the main traffic flow in the forked road. The main road is usually a straight road or a road with relatively gentle shape changes. The main road centerline can be understood as the centerline that describes the driving trajectory of the vehicle in the main road. The branch road can be understood as the secondary road connected to the main road in the forked road. The branch road is usually a curved road or a road with relatively drastic shape changes. The branch road centerline can be understood as the centerline that describes the driving trajectory of the vehicle in the branch road.

[0053] In one optional implementation, for the trajectory centerline of any forked section on the forked road, determine the angular difference between the upper endpoints (such as the starting point and the ending point) on the trajectory centerline; select the trajectory centerline with the smallest absolute value of the corresponding angular difference as the main road centerline, and use the other trajectory centerlines as the branch road centerlines.

[0054] Exemplarily, the method for determining the angular difference between the endpoints of the trajectory centerline: It can be to determine the starting direction of the starting point and the ending direction of the ending point on the trajectory centerline; use the included angle value between the starting direction and the ending direction as the angular difference.

[0055] Optionally, the direction from the starting point on the trajectory centerline to its adjacent position point or adjacent sampling point can be used as the starting direction; and, the direction from the adjacent position point or adjacent sampling point of the ending point on the trajectory centerline to the ending point can be used as the ending direction.

[0056] In another optional implementation, determine the road type of the forked road; if the forked road is a diverging road, directly obtain the trajectory centerline corresponding to the diverging road; if the forked road is a merging road, obtain the trajectory centerline corresponding to the merging road, and convert the trajectory centerline corresponding to the merging road into the trajectory centerline corresponding to the diverging road. The advantage of such a setting is that since the directions of the trajectory centerlines in the diverging road and the merging road are different, therefore, the determination methods of the intersection points also have deviations. And converting the merging road into a diverging road can enable the subsequent determination of intersection points to be completed in the diverging scenario, without the need to differentially set the intersection position determination method for different types of forked roads, improving the universality of the intersection position determination method. In addition, the above method also simplifies the complexity of determining intersection points in different road scenarios, reduces the computational amount of determining intersection points, and further improves the work efficiency of determining intersection points.

[0057] Specifically, the method for determining the road type of a forked road can be: setting the road type for each forked road in advance and directly obtaining the road type of the forked road. It can also be to determine the connection relationship between the main road and the branch road along the driving direction on the forked road; if the connection relationship is that the main road comes first and the branch road comes later, it is determined that the forked road is a diverging road; if the connection relationship is that the branch road comes first and the main road comes later, it is determined that the forked road is a merging road. Exemplarily, as Figure 1B shown in the schematic diagram of the forked road, in which the connection relationship between the center line A of the main road and the center line of the branch road along the driving direction is "the branch road comes first and the main road comes later", so it can be determined that this forked road is a merging road. Among them, the connection relationship between the center line B of the main road and the center line of the branch road along the driving direction is "the main road comes first and the branch road comes later", so it can be determined that this forked road is a diverging road.

[0058] Specifically, the method for converting the trajectory center line corresponding to the merging road into the trajectory center line corresponding to the diverging road is: for each trajectory center line corresponding to the merging road, reverse the point order of each trajectory point on the trajectory center line; use the trajectory center line after the reverse processing as the trajectory center line corresponding to the diverging road.

[0059] S120. Determine the projection distance between at least one sampling point on the center line of the branch road and the center line of the main road.

[0060] Among them, the sampling point can be understood as the position point obtained by uniformly sampling the trajectory center line according to a preset length; this preset length can be set by those skilled in the art according to needs or experience, or determined through a large number of experiments repeatedly, and the present application does not limit this. Exemplarily, this preset length can be 1 meter. The projection distance can be understood as the spatial distance corresponding to the projection of each sampling point on the center line of the branch road onto the center line of the main road.

[0061] One optional implementation method is: for each sampling point on the center line of the branch road, determine the projection point of this sampling point on the center line of the main road; use the distance between the sampling point and the projection point as the projection distance between the sampling point and the center line of the main road.

[0062] Specifically, this embodiment can also determine the projection distance from the sampling point to the projection point through the following formula (1-1).

[0063] (1-1)

[0064] Among them, w represents the projection distance, the coordinates of the sampling point are (x1, y1), and the coordinates of the projection point corresponding to the sampling point are (x2, y2).

[0065] Another optional implementation method is as follows: sample the common line segments in the branch center line to obtain at least one sampling point, and determine the projection distance between each sampling point and the main road center line; wherein, the common line segments are determined according to the projection range obtained by the mutual projection of the branch center line and the main road center line. Exemplarily, as Figure 1C shown in the sampling projection schematic diagram, sample the common line segments (shown as dotted lines in the figure) in the branch center line to obtain at least one sampling point (shown as black dots in the figure); determine the projection distance between each sampling point and the main road center line.

[0066] Specifically, determine the common line segments of the branch center line and the main road center line; perform sampling processing at a preset length on the common line segments of the branch center line to obtain at least one sampling point; determine the projection distance between this sampling point and the main road center line. The advantage of such a setting is that the common line segments on the branch center line are clarified according to the mutual projection of the branch center line and the main road center line, so that the sampling processing of the branch center line can be concentrated on specific sections, avoiding obtaining useless sampling points during the sampling of the branch center line, thereby reducing the computational amount of the sampling processing, further improving the sampling processing efficiency, and thus improving the efficiency and accuracy of determining the projection distance.

[0067] Exemplarily, the method for determining the common line segments: it can be to project the main road center line onto the branch center line to obtain the first projected section; and project the branch center line onto the main road center line to obtain the second projected section; the line segments where the first projected section and the second projected section overlap or intersect with each other are used as the common line segments on the corresponding center lines.

[0068] S130. Determine the intersection index points among the sampling points according to the change situation of the projection distances corresponding to the sampling points.

[0069] Among them, the intersection index point can be understood as a sampling point used to identify and locate the position of the intersection in the forked road.

[0070] One optional implementation method is as follows: for each sampling point on the branch center line, determine the projection difference between the projection distance corresponding to this sampling point and the projection distance corresponding to the adjacent sampling point in the driving direction; select the sampling points with the projection difference less than the preset difference threshold as the reference index points; use the reference index point adjacent to the first sampling point that does not belong to the reference index points as the intersection index point. Among them, the reference index point can be understood as a sampling point used to assist in determining the position of the intersection index point. Among them, the preset difference threshold can be set by those skilled in the art according to needs or experience, or determined repeatedly through a large number of experiments, and the present application does not limit this.

[0071] Another optional implementation method is as follows: for each sampling point, according to a preset window length (such as 10 sampling points), determine the sampling window of the sampling point in the driving direction; if the number of sampling points in the sampling window whose projection distance exceeds the preset distance threshold is greater than the preset quantity threshold, then determine this sampling point as an intersection index point. Among them, the preset window length can be set by technicians according to needs or experience, or determined repeatedly through a large number of experiments, and this application does not limit it.

[0072] S140, determine the intersection point of the bifurcated road according to the intersection index point.

[0073] Specifically, the intersection index point can be directly used as the intersection point of the bifurcated road. It is also possible to determine the intersection point of the bifurcated road according to the intersection index point and the index projection point of the intersection index point on the branch road center line.

[0074] Exemplarily, as Figure 1D shown in the schematic diagram of intersection point determination, determine the index projection point of the intersection index point on the branch road center line on the main road center line; determine the center point between the intersection index point and the index projection point of the intersection index point on the branch road center line, and use this center point as the intersection point of the bifurcated road.

[0075] In the above method for determining the intersection position, by obtaining the trajectory center line corresponding to the bifurcated road; among them, the trajectory center line corresponding to the bifurcated road includes the main road center line corresponding to the main road and the branch road center line corresponding to the branch road; determine the projection distance between at least one sampling point in the branch road center line and the main road center line; according to the change situation of the projection distance corresponding to each sampling point, determine the intersection index point among each sampling point; according to the intersection index point, determine the intersection point of the bifurcated road. In the above technical solution, taking the main road center line corresponding to the main road with a more gentle road shape change in the bifurcated road as a reference, determine the projection distance between the sampling point in the branch road center line and the main road center line, so that the determined projection distance is unique and clear, avoiding the situation where the projection distance changes erratically when the sampling point in the main road center line is projected onto the branch road center line; by the change situation of the projection distance corresponding to each sampling point, select the sampling point close to the actual intersection point as the intersection index point, reducing the position difference between the intersection index point and the actual intersection point, so that the intersection point determined according to the intersection index point is more accurate, further improving the accuracy of the determination result of the intersection point of the bifurcated road, and further, based on the more accurate intersection point, improving the accuracy of the navigation reminder.

[0076] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the intersection index point determination step in S130 is refined. Refer to Figure 2 shown in the intersection index point determination step, which includes:

[0077] S210. For each sampling point, determine a pre-window in the first direction and a post-window in the second direction according to a preset window length.

[0078] Among them, the first direction is the opposite direction of the extension direction of the branch; the second direction is the extension direction of the branch. The preset window length can be understood as the number of sampling points included in the window. This preset window length can be set by those skilled in the art according to needs or experience, or determined repeatedly through a large number of experiments. This application does not limit it.

[0079] Specifically, for each sampling point, take this sampling point as the current sampling point; along the opposite direction of the extension direction of the branch center line, according to the preset window length, select the corresponding number of sampling points adjacent to the current sampling point to obtain a pre-window; along the extension direction of the branch center line, according to the preset window length, select the corresponding number of sampling points adjacent to the current sampling point to obtain a post-window. It should be noted that the current sampling point can either belong to the pre-window or the post-window. This application does not limit it.

[0080] Exemplarily, taking the preset window length set to 10 as an example, if the current sampling point is sampling point 15, along the opposite direction of the extension direction of the center line, select 10 sampling points before sampling point 15 (such as sampling points 5 - sampling point 14) to form a pre-window; along the extension direction of the road center line, select 10 sampling points after sampling point 15 (such as sampling points 15 - sampling point 24) to form a post-window.

[0081] S220. Determine whether the sampling point belongs to an intersection index point according to the relative change situation between the projection distances of the pre-sampling points in the pre-window and the projection distances of the post-sampling points in the post-window.

[0082] One optional implementation manner is to determine a pre-projection mean value corresponding to the pre-window according to the projection distances of the pre-sampling points in the pre-window; determine a post-projection mean value corresponding to the post-window according to the projection distances of the post-sampling points in the post-window; determine the relative change difference between the pre-projection mean value and the post-projection mean value; if the relative change difference is less than a preset change threshold, determine that the sampling point belongs to an intersection index point.

[0083] Another optional implementation method is to determine the road type of the forked road; determine the distance fluctuation range according to the projection distances of the sampling points in the first window corresponding to the road type; determine whether the sampling point belongs to the intersection index point according to the situation that the projection distances of the sampling points in the second window corresponding to the road type exceed the distance fluctuation range. Among them, if the forked road is a diverging road, the first window is the front window and the second window is the rear window; if the forked road is a converging road, the first window is the rear window and the second window is the front window.

[0084] Specifically, if the forked road is a diverging road, determine the distance fluctuation range according to the projection distances of the front sampling points in the front window; determine whether the sampling point belongs to the intersection index point according to the situation that the projection distances of the rear sampling points in the rear window exceed the distance fluctuation range.

[0085] Among them, the distance fluctuation range can be understood as the change range representing the reasonable change of the projection distance determined based on the projection distances of the sampling points in the front window. The distance fluctuation range can be either a determined value (such as 5) or a change interval (such as [4, 6]), and the present application does not limit this.

[0086] Exemplarily, determine the distance mean value and the distance standard deviation of the projection distances of the front sampling points in the front window; determine the distance fluctuation range according to the distance mean value and the distance standard deviation; if the number of rear sampling points in the rear window whose projection distances exceed the distance fluctuation range is greater than the preset number threshold, determine that the sampling point belongs to the intersection index point; otherwise, determine that the sampling point does not belong to the intersection index point, and slide a preset step length (such as 1) along the second direction to obtain a new front window, and return to execute the step of determining the distance mean value and the distance standard deviation of the projection distances of the front sampling points in the front window until the intersection index point is determined.

[0087] Optionally, the distance fluctuation range can be determined according to the sum value between the distance mean value and the distance standard deviation of the preset multiple. The preset multiple can be set by those skilled in the art according to needs or experience, or determined through a large number of experiments repeatedly, and the present application does not limit this. For example, it can be 1 times.

[0088] Exemplarily, taking the preset number threshold as 7 as an example, determine the distance fluctuation range according to the projection distances of the front sampling points in the front window; if the number of rear sampling points in the rear window whose projection distances exceed the distance fluctuation range is 8, determine that the sampling point belongs to the intersection index point; if the number of rear sampling points in the rear window whose projection distances exceed the distance fluctuation range is 5, determine that the sampling point does not belong to the intersection index point, then slide a step length of 1 along the second direction to obtain a new front window, and re - execute the step of determining the distance mean value and the distance standard deviation according to the projection distances of the front sampling points in the front window.

[0089] Specifically, if the forked road is a confluent road, determine the distance fluctuation range according to the projection distances of the post-sampling points in the post-window; determine whether a sampling point belongs to a reference index point according to the situation that the projection distances of the pre-sampling points in the pre-window exceed the distance fluctuation range; use the reference index point adjacent to the first sampling point that does not belong to the reference index point as the intersection index point.

[0090] Exemplarily, determine the distance mean value and distance standard deviation of the projection distances of the post-sampling points in the post-window; determine the distance fluctuation range according to the distance mean value and distance standard deviation; if the number of pre-sampling points in the pre-window whose projection distances exceed the distance fluctuation range is greater than the preset number threshold, determine that the sampling point belongs to the reference index point; otherwise, determine that the sampling point does not belong to the reference index point, slide a preset step length along the first direction to obtain a new post-window, and return to execute the step of determining the distance mean value and distance standard deviation of the projection distances of the post-sampling points in the post-window until a sampling point that does not belong to the reference index point is determined; select the first reference index point adjacent to the sampling point that does not belong to the reference index point as the intersection index point.

[0091] In this embodiment, a pre-window and a post-window are introduced. During the window sliding process, only the sampling points within the window are processed, avoiding processing all sampling points uniformly, reducing the amount of single processing operations; according to the relative change situation between the projection distances of the pre-sampling points in the pre-window and the projection distances of the post-sampling points in the post-window, a relatively simple judgment logic is selected to determine whether a sampling point belongs to the intersection index point, reducing the calculation amount for determining the intersection index point. At the same time, the determination efficiency of the intersection index point and the accuracy of the determination result are improved.

[0092] Based on the technical solutions of the above embodiments, the present application also provides an alternative embodiment. In this alternative embodiment, the intersection index point determination step in S130 is refined. Refer to Figure 3 The intersection index point determination step shown includes:

[0093] S310, for each sampling point, update the projection distance of the sampling point according to the projection distances of the adjacent sampling points within the neighborhood area to which the sampling point belongs.

[0094] Among them, the neighborhood area can be understood as an area formed by selecting a preset number of adjacent sampling points based on the sampling point. This preset number can be set by those skilled in the art according to needs or experience, or determined repeatedly through a large number of experiments. The present application does not limit this.

[0095] Specifically, for each sampling point, determine the neighborhood area to which the sampling point belongs; determine the average distance between adjacent sampling points within the neighborhood area and the projection distance corresponding to the sampling point; update the average distance as the projection distance of the sampling point.

[0096] Exemplarily, this embodiment can also determine the average distance through the following formula (1-2).

[0097] (1-2)

[0098] Where W k can be understood as the average distance of the k-th sampling point, k represents the k-th sampling point, m represents the number of adjacent sampling points within the neighborhood area, and w i represents the projection distance.

[0099] S320. According to the change situation of the updated projection distances corresponding to each sampling point, determine the intersection index points among each sampling point.

[0100] Specifically, the implementation manner of determining the intersection index points among each sampling point according to the change situation of the updated projection distances corresponding to each sampling point is the same as or similar to the implementation manner of determining the intersection index points among each sampling point according to the change situation of the projection distances corresponding to each sampling point in the above embodiment, and this embodiment will not be elaborated here.

[0101] In this embodiment, by using the projection distances of adjacent sampling points within the neighborhood area to which the sampling point belongs to update the projection distance of the sampling point, the deviation of the projection distance caused by the error of individual sampling points is reduced, the accuracy of the projection distance corresponding to the sampling point is improved, and further it is ensured that according to the change situation of the updated projection distances corresponding to each sampling point, the intersection index points can be determined more accurately.

[0102] Based on the technical solutions of the above embodiments, the present application also provides an alternative embodiment. In this alternative embodiment, the determination steps of the main road and the branch road are refined. Refer to Figure 4 the shown determination steps of the bifurcated road type, including

[0103] S410. For each trajectory centerline, determine the reference angle of the trajectory centerline according to the starting direction and the ending direction of the trajectory centerline.

[0104] Specifically, for each trajectory centerline, the included angle between the starting direction and the ending direction of the trajectory centerline can be used as the reference angle of the trajectory centerline. It can also be that for each trajectory centerline, determine the included angle between the starting direction and the reference direction as the starting angle of the starting point; determine the included angle between the ending direction and the reference direction as the ending angle of the ending point; and use the difference between the starting angle and the ending angle as the reference angle of the trajectory centerline.

[0105] S420, use the trajectory center line with a smaller reference angle as the main road in the forked road; and use the trajectory center line with a larger reference angle as the branch road in the forked road.

[0106] Specifically, for the reference angles of each trajectory center line, compare the magnitude relationship between the reference angles; select the trajectory center line with a smaller reference angle as the main road in the forked road; select the trajectory center line with a larger reference angle as the branch road in the forked road.

[0107] In this embodiment, according to the starting direction and ending direction of the trajectory center line, the reference angle of the trajectory center line is determined in a manner with less computational effort, improving the work efficiency of determining the reference angle; using the magnitude of the reference angle as the criterion for determining the main road and the branch road reduces the complexity of determining the main road and the branch road, and improves the convenience and work efficiency of determining the main road and the branch road.

[0108] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0109] Based on the same inventive concept, the embodiment of the present application also provides an intersection position determination device for implementing the intersection position determination method described above. The implementation solutions provided by this device to solve problems are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the intersection position determination device provided below can refer to the limitations on the intersection position determination method in the above text, and will not be repeated here.

[0110] In an exemplary embodiment, as Figure 5 shown, an intersection position determination device is provided, including: an acquisition module 510, a first determination module 520, a second determination module 530, and a third determination module 540, where:

[0111] The acquisition module 510 is used to acquire the trajectory center line corresponding to the forked road; where the trajectory center line corresponding to the forked road includes the main road center line corresponding to the main road and the branch road center line corresponding to the branch road;

[0112] The first determination module 520 is configured to determine the projection distance between at least one sampling point on the branch center line and the main road center line;

[0113] The second determination module 530 is configured to determine the intersection index points among the sampling points according to the change of the projection distances corresponding to the sampling points;

[0114] The third determination module 540 is configured to determine the intersection points of the bifurcated roads according to the intersection index points.

[0115] In some embodiments, the second determination module 530 further includes: a window determination unit configured to, for each sampling point, determine a front window of the sampling point in the first direction and a rear window of the sampling point in the second direction according to a preset window length; wherein, the first direction is the opposite direction of the extension direction of the branch; the second direction is the extension direction of the branch; an index determination unit configured to determine whether the sampling point belongs to an intersection index point according to the relative change between the projection distances of the front sampling points in the front window and the projection distances of the rear sampling points in the rear window.

[0116] In some embodiments, the index determination unit is further configured to, if the bifurcated road is a diverging road, determine a distance fluctuation range according to the projection distances of the front sampling points in the front window; determine whether the sampling point belongs to an intersection index point according to the situation that the projection distances of the rear sampling points in the rear window exceed the distance fluctuation range.

[0117] In some embodiments, the index determination unit is further configured to, if the bifurcated road is a merging road, determine a distance fluctuation range according to the projection distances of the rear sampling points in the rear window; determine whether the sampling point belongs to a reference index point according to the situation that the projection distances of the front sampling points in the front window exceed the distance fluctuation range; use the reference index point adjacent to the first sampling point that does not belong to the reference index point as the intersection index point.

[0118] In some embodiments, the second determination module 530 is further configured to, for each sampling point, update the projection distance of the sampling point according to the projection distances of the adjacent sampling points within the neighborhood area to which the sampling point belongs; determine the intersection index points among the sampling points according to the change of the updated projection distances corresponding to the sampling points.

[0119] In some embodiments, the acquisition module 510 is further configured to, if the bifurcated road is a diverging road, directly acquire the trajectory center line corresponding to the diverging road; if the bifurcated road is a merging road, acquire the trajectory center line corresponding to the merging road and convert the trajectory center line corresponding to the merging road into the trajectory center line corresponding to the diverging road.

[0120] In some embodiments, the intersection position determination device further includes: a type determination module, configured to, for each trajectory centerline, determine a reference angle of the trajectory centerline according to the starting direction and the ending direction of the trajectory centerline; use the trajectory centerline with a smaller reference angle as the main road in the forked road; and use the trajectory centerline with a larger reference angle as the branch road in the forked road.

[0121] Each module in the above intersection position determination device can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or stored in a memory in the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0122] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 6 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements an intersection position determination method.

[0123] Those skilled in the art can understand that Figure 6 the structure shown in

[0124] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0125] Obtain the trajectory centerlines corresponding to the forked road; wherein, the trajectory centerlines corresponding to the forked road include the main road centerline corresponding to the main road and the branch road centerline corresponding to the branch road;

[0126] Determine the projection distance between at least one sampling point on the branch center line and the main road center line;

[0127] Determine the intersection index points among the sampling points according to the change situation of the projection distances corresponding to the sampling points;

[0128] Determine the intersection points of the bifurcated roads according to the intersection index points.

[0129] In one embodiment, when the processor executes the computer program, the following steps are further implemented: for each sampling point, determine the pre-window in the first direction and the post-window in the second direction of the sampling point according to the preset window length; wherein, the first direction is the opposite direction of the extension direction of the branch; the second direction is the extension direction of the branch; determine whether the sampling point belongs to the intersection index point according to the relative change situation between the projection distances of the pre-sampling points in the pre-window and the projection distances of the post-sampling points in the post-window.

[0130] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the bifurcated road is a diverging road, determine the distance fluctuation range according to the projection distances of the pre-sampling points in the pre-window; determine whether the sampling point belongs to the intersection index point according to the situation that the projection distances of the post-sampling points in the post-window exceed the distance fluctuation range.

[0131] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the bifurcated road is a confluent road, determine the distance fluctuation range according to the projection distances of the post-sampling points in the post-window; determine whether the sampling point belongs to the reference index point according to the situation that the projection distances of the pre-sampling points in the pre-window exceed the distance fluctuation range; use the reference index point adjacent to the first sampling point that does not belong to the reference index point as the intersection index point.

[0132] In one embodiment, when the processor executes the computer program, the following steps are further implemented: for each sampling point, update the projection distance of the sampling point according to the projection distances of the adjacent sampling points within the neighborhood area to which the sampling point belongs; determine the intersection index points among the sampling points according to the change situation of the updated projection distances corresponding to the sampling points.

[0133] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the bifurcated road is a diverging road, directly obtain the trajectory center line corresponding to the diverging road; if the bifurcated road is a confluent road, obtain the trajectory center line corresponding to the confluent road and convert the trajectory center line corresponding to the confluent road into the trajectory center line corresponding to the diverging road.

[0134] In one embodiment, when the processor executes the computer program, the following steps are further implemented: for each trajectory centerline, determine the reference angle of the trajectory centerline according to the starting direction and the ending direction of the trajectory centerline; use the trajectory centerline with a smaller reference angle as the main road in the bifurcated road; and use the trajectory centerline with a larger reference angle as the branch road in the bifurcated road.

[0135] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0136] Obtain the trajectory centerlines corresponding to the bifurcated road; wherein, the trajectory centerlines corresponding to the bifurcated road include the main road centerline corresponding to the main road and the branch road centerline corresponding to the branch road;

[0137] Determine the projection distance between at least one sampling point in the branch road centerline and the main road centerline;

[0138] Determine the intersection index points among the sampling points according to the change situation of the projection distances corresponding to the sampling points;

[0139] Determine the intersection points of the bifurcated road according to the intersection index points.

[0140] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: for each sampling point, determine the pre-window in the first direction and the post-window in the second direction of the sampling point according to the preset window length; wherein, the first direction is the opposite direction of the extension direction of the branch road; the second direction is the extension direction of the branch road; determine whether the sampling point belongs to the intersection index point according to the relative change situation between the projection distances of the pre-sampling points in the pre-window and the projection distances of the post-sampling points in the post-window.

[0141] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the bifurcated road is a diverging road, determine the distance fluctuation range according to the projection distances of the pre-sampling points in the pre-window; determine whether the sampling point belongs to the intersection index point according to the situation that the projection distances of the post-sampling points in the post-window exceed the distance fluctuation range.

[0142] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the bifurcated road is a confluent road, determine the distance fluctuation range according to the projection distances of the post-sampling points in the post-window; determine whether the sampling point belongs to the reference index point according to the situation that the projection distances of the pre-sampling points in the pre-window exceed the distance fluctuation range; use the reference index point adjacent to the first sampling point that does not belong to the reference index point as the intersection index point.

[0143] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: for each sampling point, update the projection distance of the sampling point according to the projection distances of adjacent sampling points within the neighborhood area to which the sampling point belongs; and determine the intersection index points among the sampling points according to the change conditions of the updated projection distances corresponding to the respective sampling points.

[0144] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: if the forked road is a diverging road, directly obtain the trajectory center line corresponding to the diverging road; if the forked road is a merging road, obtain the trajectory center line corresponding to the merging road, and convert the trajectory center line corresponding to the merging road into the trajectory center line corresponding to the diverging road.

[0145] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: for each trajectory center line, determine the reference angle of the trajectory center line according to the starting direction and the ending direction of the trajectory center line; use the trajectory center line with a smaller reference angle as the main road in the forked road; and use the trajectory center line with a larger reference angle as the branch road in the forked road.

[0146] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor, implements the following steps:

[0147] Obtain the trajectory center line corresponding to the forked road; wherein, the trajectory center line corresponding to the forked road includes the main road center line corresponding to the main road and the branch road center line corresponding to the branch road;

[0148] Determine the projection distances between at least one sampling point in the branch road center line and the main road center line;

[0149] Determine the intersection index points among the sampling points according to the change conditions of the projection distances corresponding to the respective sampling points;

[0150] Determine the intersection points of the forked road according to the intersection index points.

[0151] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: for each sampling point, determine the front window of the sampling point in the first direction and the rear window of the sampling point in the second direction according to a preset window length; wherein, the first direction is the opposite direction of the extension direction of the branch road; the second direction is the extension direction of the branch road; and determine whether the sampling point belongs to the intersection index point according to the relative change conditions between the projection distances of the respective front sampling points in the front window and the projection distances of the respective rear sampling points in the rear window.

[0152] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the bifurcated road is a diverging road, determine the distance fluctuation range according to the projected distances of the pre-sampling points in the pre-window; Determine whether the sampling point belongs to the intersection index point according to the situation that the projected distances of the post-sampling points in the post-window exceed the distance fluctuation range.

[0153] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the bifurcated road is a confluent road, determine the distance fluctuation range according to the projected distances of the post-sampling points in the post-window; Determine whether the sampling point belongs to the reference index point according to the situation that the projected distances of the pre-sampling points in the pre-window exceed the distance fluctuation range; Use the reference index point adjacent to the first sampling point that does not belong to the reference index point as the intersection index point.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: For each sampling point, update the projected distance of the sampling point according to the projected distances of the adjacent sampling points in the neighborhood area to which the sampling point belongs; Determine the intersection index points among the sampling points according to the change situation of the updated projected distances corresponding to the sampling points.

[0155] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: If the bifurcated road is a diverging road, directly obtain the trajectory center line corresponding to the diverging road; If the bifurcated road is a confluent road, obtain the trajectory center line corresponding to the confluent road and convert the trajectory center line corresponding to the confluent road into the trajectory center line corresponding to the diverging road.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: For each trajectory center line, determine the reference angle of the trajectory center line according to the starting direction and the ending direction of the trajectory center line; Use the trajectory center line with a smaller reference angle as the main road in the bifurcated road; And use the trajectory center line with a larger reference angle as the branch road in the bifurcated road.

[0157] It should be noted that the data involved in this application (including but not limited to the data for analysis, the stored data, the displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data need to comply with the relevant regulations.

[0158] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0159] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0160] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for determining the position of an intersection, characterized in that Including: Obtain the trajectory center line corresponding to the forked road; wherein, the trajectory center line corresponding to the forked road includes the main road center line corresponding to the main road and the branch road center line corresponding to the branch road; Determine the projection distance between at least one sampling point in the branch road center line and the main road center line; Determine the intersection index point among the sampling points according to the change condition of the projection distance corresponding to each sampling point; Determine the intersection point of the forked road according to the intersection index point; 2. The method according to claim 1, wherein The determining the intersection index point among the sampling points according to the change condition of the projection distance corresponding to each sampling point includes: For each sampling point, determine the front window in the first direction and the rear window in the second direction of the sampling point according to the preset window length; wherein, the first direction is the opposite direction of the extension direction of the branch road; the second direction is the extension direction of the branch road; Determine whether the sampling point belongs to the intersection index point according to the relative change condition between the projection distances of the front sampling points in the front window and the projection distances of the rear sampling points in the rear window; 3. The method according to claim 2, wherein The determining whether the sampling point belongs to the intersection index point according to the relative change condition between the projection distances of the front sampling points in the front window and the projection distances of the rear sampling points in the rear window includes: If the forked road is a diverging road, determine the distance fluctuation range according to the projection distances of the front sampling points in the front window; Determine whether the sampling point belongs to the intersection index point according to the situation that the projection distances of the rear sampling points in the rear window exceed the distance fluctuation range; 4. The method according to claim 2, wherein The determining whether the sampling point belongs to the intersection index point according to the relative change condition between the projection distances of the front sampling points in the front window and the projection distances of the rear sampling points in the rear window includes: If the forked road is a confluent road, determine the distance fluctuation range according to the projection distances of the rear sampling points in the rear window; Determine whether the sampling point belongs to the reference index point according to the situation that the projection distances of the front sampling points in the front window exceed the distance fluctuation range; Take the reference index point adjacent to the first sampling point that does not belong to the reference index point as the intersection index point; 5. The method according to any one of claims 1 to 4, characterized in that The determining the intersection index point among the sampling points according to the change condition of the projection distance corresponding to each sampling point includes: For each sampling point, update the projection distance of the sampling point according to the projection distances of the adjacent sampling points within the neighborhood area to which the sampling point belongs; Determine the intersection index point among the sampling points according to the change condition of the updated projection distances corresponding to each sampling point; 6. The method according to any one of claims 1-4, characterized in that, The obtaining the trajectory center line corresponding to the forked road includes: If the forked road is a diverging road, directly obtain the trajectory center line corresponding to the diverging road; If the forked road is a confluent road, obtain the trajectory center line corresponding to the confluent road, and convert the trajectory center line corresponding to the confluent road into the trajectory center line corresponding to the diverging road; 7. The method according to any one of claims 1-4, characterized in that, The method further includes: For each center line of the trajectory, determine the reference angle of the center line of the trajectory according to the starting direction and the ending direction of the center line of the trajectory; Take the center line of the trajectory with a smaller reference angle as the main road in the forked road; and, Take the center line of the trajectory with a larger reference angle as the branch road in the forked road.

8. An intersection location determination device, characterized in that, It includes: An acquisition module, configured to acquire the center line of the trajectory corresponding to the forked road; wherein, the center line of the trajectory corresponding to the forked road includes the main road center line corresponding to the main road and the branch road center line corresponding to the branch road; A first determination module, configured to determine the projection distance between at least one sampling point in the branch road center line and the main road center line; A second determination module, configured to determine the intersection index point among the sampling points according to the change condition of the projection distance corresponding to each sampling point; A third determination module, configured to determine the intersection point of the forked road according to the intersection index point.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1-7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1-7 are implemented.

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