Data association method and device and storage medium

Abstract

The invention provides a data association method and device and a storage medium, and the method comprises the steps: obtaining the attribute information of a road traffic sign, and the attribute information at least comprises the geographic position, orientation and sign content of the road traffic sign; determining a target road associated with the road traffic sign from pre-made road network data according to the attribute information of the road traffic sign; determining a sign action position of the road traffic sign on the target road according to the geographic position and sign content of the road traffic sign; and at least carrying out association storage on the geographic position of the road traffic sign and the corresponding sign action position.

Description

Technical Field

[0001] This application relates to the technical field of map data, and particularly to a data association method, apparatus, and storage medium. Background Art

[0002] With the development of technology, electronic maps are evolving from ordinary road-level electronic maps (ordinary maps) to lane-level high-precision electronic maps (high-precision maps). Compared with ordinary maps, high-precision maps express road elements more richly, more precisely, and with higher accuracy. For example, high-precision maps express each lane line of the road, the line type of the lane line, lane restriction information, etc.

[0003] High-precision maps can be used to support intelligent driving vehicles to achieve assisted driving or advanced assisted driving functions. To ensure the safety of intelligent driving vehicles, it is necessary to promptly incorporate changes in the road into the high-precision map. For example, if a speed limit sign is newly added to a certain lane of a certain road in the real world, this change needs to be incorporated into the high-precision map. However, due to the huge number of roads in the real world and the large number of road elements expressed in high-precision maps, how to update road elements at low cost and efficiently when road elements in the real world change is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] Embodiments of this application provide a data association method, apparatus, and storage medium.

[0005] In a first aspect, embodiments of this application provide a data association method, including: obtaining attribute information of a road traffic sign, where the attribute information at least includes: the geographical location, orientation, and sign content of the road traffic sign; determining a target road associated with the road traffic sign from pre-made road network data according to the attribute information of the road traffic sign; determining a sign action position of the road traffic sign on the target road according to the geographical location and sign content of the road traffic sign; and associatively storing at least the geographical location of the road traffic sign and its corresponding sign action position.

[0006] In a second aspect, embodiments of this application provide a data association apparatus, including: an attribute information obtaining module, configured to obtain attribute information of a road traffic sign, where the attribute information at least includes: the geographical location, orientation, and sign content of the road traffic sign; a target road determining module, configured to determine a target road associated with the road traffic sign from pre-made road network data according to the attribute information of the road traffic sign; a sign action position determining module, configured to determine a sign action position of the road traffic sign on the target road according to the geographical location and sign content of the road traffic sign; and an associative storage module, configured to associatively store at least the geographical location of the road traffic sign and its corresponding sign action position.

[0007] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method according to any one of the above is implemented.

[0008] Compared with the prior art, the present application determines the sign action position of a road traffic sign on a target road based on the geographical location and sign content of the road traffic sign; at least associates and stores the geographical location of the road traffic sign and its corresponding sign action position. Since the present application associates and stores the road traffic sign and its sign action position on the target road, whether a new road traffic sign is added or a road traffic sign is reduced on the road, or the content of the road traffic sign is modified, only the associated storage relationship of the road needs to be updated, thereby achieving low-cost and efficient update of road traffic signs.

[0009] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In the drawings, unless otherwise specified, the same reference numerals throughout the drawings denote the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments according to the present application and should not be regarded as a limitation on the scope of the present application.

[0011] Figure 1 It is a schematic diagram of the application scenario of the data association method provided by the embodiment of the present application;

[0012] Figure 2 It is a schematic diagram of the data association method flow provided by the embodiment of the present application;

[0013] Figure 3 It is a schematic diagram of determining the acting road according to the angle in the embodiment of the present application;

[0014] Figure 4 It is a schematic diagram of the acting relationship provided by the embodiment of the present application;

[0015] Figures 5 - 7 It is a schematic diagram of the association relationship and its included attributes provided by the example of the present application;

[0016] Figures 8 - 10 It is a schematic diagram of the data association method of the example of the present application;

[0017] Figure 11 It is a schematic diagram of the data association device of the embodiment of the present application; and

[0018] Figure 12 It is a block diagram of an electronic device for implementing the embodiments of the present application. Detailed implementation manners

[0019] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the concept or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature and not restrictive.

[0020] To facilitate the understanding of the technical solutions of the embodiments of the present application, the related technologies of the embodiments of the present application are described below. The following related technologies can be arbitrarily combined with the technical solutions of the embodiments of the present application as optional solutions, and they all fall within the protection scope of the embodiments of the present application.

[0021] Figure 1 It is a schematic diagram of the application scenario of the method provided by the embodiments of the present application. As Figure 1 shown, the data association method provided by the embodiments of the present application can be applied to a system including a map data processing device 101 and a map database 102. The map data processing device 101 can be a device with computing capabilities such as a desktop computer, a mainframe computer, a dedicated computer, an in-vehicle computer, or a server. The map database 102 stores at least map data, and the map data can include high-precision map data and standard-precision map data. The map data processing device 101 can obtain the made road traffic signs and their attribute information from the map database 102 or the upstream data production link, and establish an association relationship between the road traffic signs and the specific roads based on the road network data recorded in the map database 102, and store the association relationship as a separate layer in the map database 102. The embodiments of the present application do not impose any restrictions on the technical solutions for making road traffic signs and their attribute information.

[0022] The data association method provided by the embodiments of the present application, as Figure 2 shown, includes steps S201 - S204, and steps S201 - S204 are executed by the geographic data processing device 101.

[0023] In step S201, obtain the attribute information of the road traffic signs, and the attribute information at least includes: the geographical location, orientation, and sign content of the road traffic signs.

[0024] Among them, the road traffic signs refer to the signs used in the real world to indicate road traffic rules, which include road signs, traffic signs, traffic direction signs, or signs hanging above the road on both sides of the road, etc. The road traffic signs can express road traffic rules through text, symbols, or graphics.

[0025] Since road traffic signs are usually higher than the ground, in the embodiments of the present application, the geographical location of a road traffic sign is a three-dimensional geographical location, and the orientation of the road traffic sign refers to the opposite direction of the visible direction of the road traffic sign, and the visible direction refers to the direction in which the road traffic sign can be seen on the road.

[0026] In one embodiment, the sign content may include other information in addition to the geographical location and orientation of the road traffic sign. For example, the type of the road traffic sign, the traffic rules expressed by the road traffic sign through words, symbols or graphics, the color of the road traffic sign, etc. Taking a speed limit sign as an example, the sign content may include a speed limit sign, 80, blue, etc.

[0027] In step S202, according to the attribute information of the road traffic sign, the target road associated with the road traffic sign is determined from the pre-made road network data.

[0028] In this embodiment, the pre-made road network data records the attribute information of the road. The attributes of the road may include: the position points constituting the road, the lanes included in the road, the position points of the lane lines constituting the lanes, the connection relationship between roads, the connection relationship between lanes, etc.

[0029] The target road associated with the road traffic sign, that is, in the real world, the road on which the road traffic sign acts. Vehicles driving on the target road need to drive according to the traffic rules indicated by the road traffic sign.

[0030] In step S203, according to the geographical location and sign content of the road traffic sign, the sign action position of the road traffic sign is determined on the target road.

[0031] In this embodiment, the sign action position of the road traffic sign refers to the position where the road traffic sign acts on the target road, and this position is used to associate the road traffic sign with the target road. Since the setting of road traffic signs in the real world is complex. For example, road traffic signs are set on both sides of the road, but the lane on which they play a role is a certain lane of the road. Therefore, the geographical location of the road traffic sign, that is, the setting position of the road traffic sign in the real world, does not necessarily equal the sign action position. In this embodiment, in order to associate the road traffic sign with the position where it really plays a role, the sign action position of the road traffic sign is determined on the target road.

[0032] In step S204, at least the geographical location of the road traffic sign and its corresponding sign action position are stored in an associated manner.

[0033] Associatively storing the geographical location of a road traffic sign and its corresponding sign function location means associatively storing the geographical location of the road traffic sign (a combination of planar coordinate information and height information) with the location where the road traffic sign actually functions on the target road. Subsequently, when displaying the road traffic sign, a line can be drawn between the road traffic sign and the sign function location where it functions on the target road, which can clearly indicate the location where the road traffic sign functions on the road.

[0034] In an embodiment of the present application, based on the geographical location and sign content of the road traffic sign, on the target road, the sign function location of the road traffic sign is determined, and the geographical location of the road traffic sign and its corresponding sign function location are associatively stored, establishing an association relationship between the road traffic sign and the location where it actually functions on the target road. This can not only clearly indicate the location where the road traffic sign functions on the road, but further, whether a new road traffic sign is added or an existing one is removed on the road, or the content of the road traffic sign is modified, only the associative storage relationship needs to be updated, thereby achieving low-cost and efficient update of road traffic signs.

[0035] In one implementation manner, based on the attribute information of the road traffic sign, from the pre-made road network data, the target road associated with the road traffic sign is determined, including: based on the geographical location of the road traffic sign, from the pre-made road network data, obtaining the roads within a set distance range around the road traffic sign as comparison roads; based on the attribute information of the road traffic sign and the attribute information of the comparison roads, determining the target road associated with the road traffic sign.

[0036] Among them, the set distance range around the road traffic sign may include distance ranges such as 5 meters, 10 meters, or 15 meters around the road traffic sign. The specific size of the distance range can be set according to the actual situation and is not limited in this embodiment.

[0037] Since there are a large number of roads recorded in the road network data, in this embodiment, based on the geographical location of the road traffic sign, from the pre-made road network data, obtaining the roads within a set distance range around the road traffic sign as comparison roads greatly reduces the number of roads to be processed and improves the calculation efficiency.

[0038] In one implementation manner, based on the attribute information of the road traffic sign and the attribute information of the comparison roads, determining the target road associated with the road traffic sign includes: determining the distance between the road traffic sign and the comparison road based on the geographical location of the road traffic sign and the position data of the comparison road; determining the included angle between the road traffic sign and the comparison road based on the orientation of the road traffic sign and the driving direction of the comparison road. Among them, as Figure 3The driving direction is the driving direction of the comparison road. Figure 3 The angle D shown is the included angle between the road traffic sign and the comparison road, and the orientation of the road traffic sign and the driving direction of the road can be pre-made.

[0039] Determine the target road associated with the road traffic sign according to the distance and included angle between the road traffic sign and the comparison road.

[0040] In this embodiment, there may be multiple roads around the road traffic sign. To more accurately determine the target road, this application determines the target road from two dimensions of distance and included angle, and realizes more accurately screening out the target road associated with the road traffic sign from the comparison roads.

[0041] In one implementation manner, the distance between the aforementioned road traffic sign and the comparison road includes: horizontal distance, longitudinal distance, and vertical distance. According to the geographical location of the road traffic sign and the position data of the comparison road, determine the distance from the road traffic sign to the comparison road, specifically including: project the geographical location of the road traffic sign onto the horizontal plane to obtain the projection coordinates of the road traffic sign; determine the perpendicular distance from the projection coordinates of the road traffic sign to the side line of the comparison road as the horizontal distance, and the side line is the side line close to the road traffic sign; according to the starting position of the comparison road and the projection coordinates of the road traffic sign, determine the distance from the starting point of the comparison road to the road traffic sign as the longitudinal distance; wherein, the starting point of the comparison road refers to the first position point along the driving direction of the comparison road.

[0042] Those skilled in the art know that roads are stored in segments in map data. Here, the starting point refers to the starting point of the road segment represented by the comparison road (such as a fork, a flat intersection, an entrance), rather than the starting point of the complete road to which the comparison road belongs;

[0043] Obtain the height difference between the geographical location of the road traffic sign and the geographical location of the target position of the comparison road as the vertical distance, and the target position is the position on the side line closest to the road traffic sign.

[0044] In this embodiment, since the geographical location of the road traffic sign is a three-dimensional geographical location, while the comparison road is on a two-dimensional plane, it is necessary to project the geographical location of the road traffic sign onto the horizontal plane to obtain the projection coordinates of the road traffic sign for distance calculation with the comparison road. In order to ensure the accuracy of the finally determined target road in this embodiment, the horizontal distance, longitudinal distance, and vertical distance are calculated (such as Figure 3 the distance E shown, of course, the vertical distance can be the height from the center of the road traffic sign to the ground), and these three distances can more accurately represent the spatial relative position between the road traffic sign and the comparison road.

[0045] In one embodiment, determining a target road associated with a road traffic sign based on the distance and angle between the road traffic sign and a comparison road includes: comparing the distance and angle between the road traffic sign and the comparison road with a preset distance range and angle range, and obtaining a comparison road whose distance and angle both fall within the preset distance range and angle range as the target road associated with the road traffic sign.

[0046] In one embodiment, the distance between the road traffic sign and the comparison road includes: a horizontal distance, a vertical distance, and a perpendicular distance, and each of these three distances has a set distance range. Comparing the distance and angle between the road traffic sign and the comparison road with a preset distance range and angle range, and obtaining a comparison road whose distance and angle both fall within the preset distance range and angle range as the target road associated with the road traffic sign. Specifically: comparing the horizontal distance, vertical distance, perpendicular distance, and angle between the road traffic sign and the comparison road with the preset distance ranges and angle ranges corresponding to the horizontal distance, vertical distance, and perpendicular distance respectively, and obtaining a comparison road whose horizontal distance, vertical distance, perpendicular distance, and angle all fall within the corresponding preset distance ranges and angle ranges as the target road associated with the road traffic sign.

[0047] In one embodiment, determining the sign function position of a road traffic sign on a target road based on the geographical location and sign content of the road traffic sign includes: determining the action range of the road traffic sign according to the sign content of the road traffic sign; if the action range is a road, projecting the geographical location of the road traffic sign onto the center line of the target road to obtain the sign function position of the road traffic sign; if the action range is a lane, determining the lane associated with the road traffic sign on the comparison road according to the sign content of the road traffic sign and the lane information of the comparison road, and projecting the geographical location of the road traffic sign onto the center line of the lane to obtain the sign function position of the road traffic sign.

[0048] In this embodiment, the sign content of a road traffic sign can be text information, digital information, symbol information, icon information, direction information, etc. recorded on the road traffic sign. According to the sign content of the road traffic sign, the action range of the road traffic sign can be judged. For example, if the sign content of a road traffic sign is a straight lane with a speed limit of 100, it can be judged that the action range of the road traffic sign is the lane with a straight traffic direction on the target road; for another example, if the sign content of a road traffic sign is no honking, it can be judged that the action range of the road traffic sign is the target road.

[0049] In this embodiment, on the basis of determining the target road associated with the road traffic sign, the action range of the road traffic sign is further determined, and then, based on the action range of the road traffic sign, the sign action position is determined on the target road or lane, so that the sign action position of the road traffic sign is more accurate.

[0050] In this embodiment, at least the geographical location of the road traffic sign and its corresponding sign action position are associated and stored, including: if the geographical location of the road traffic sign corresponds to one sign action position, a data record is created in the road traffic sign relationship layer for associatively storing the geographical location of the road traffic sign and its corresponding sign action position; if the geographical location of the road traffic sign corresponds to more than two sign action positions, more than two data records are created in the road traffic sign relationship layer, and each record is used for associatively storing the geographical location of the road traffic sign and its corresponding one sign action position; the encoding of each data record is unique and non-repetitive.

[0051] In one implementation, the data record can be further used to store the sign content, action range and associated target road of the road traffic sign. By further recording the sign content, action range and target road of the road traffic sign, more complete information of the road traffic sign can be obtained at one time through the data record. At the same time, using the independent layer data to express the relationship between the road traffic sign and the road realizes the decoupling of the data of the newly added road traffic sign and the original data in the map data, reduces the unnecessary maintenance and update of the action relationship, and makes the rendering and display of the electronic map more intuitive, convenient for editing and viewing.

[0052] In this embodiment, if a road traffic sign acts on two lanes, but the action range of the road traffic sign is not the whole road, then the road traffic sign corresponds to two data records, and each data record corresponds to a unique encoding, so that the subsequent query of the data record can be performed through the unique encoding, improving the data query efficiency.

[0053] The following table shows the data records stored in this application. Among them, the Geometry records the geographical location of the road traffic sign and its corresponding one sign action position. As is well known, two points can determine a line. Therefore, the geographical location of the road traffic sign and its corresponding one sign action position need to be stored through Linestring.

[0054] Unique ID Geometry Scope of action Restricted vehicle types Other attributes 1 Linestring Road Car 2 Linestring Lane None

[0055] The embodiment of the present application further provides a method for processing a map service request, which is applied to the server side. The method includes: receiving a map data request sent by a client, where the request carries map sheet information; according to the map sheet information, obtaining the map data corresponding to the map sheet in a map database, and the map data includes: road network data, and data records of road traffic signs of the roads included in the road network data; wherein, the data records of road traffic signs are generated according to the data association method provided in any embodiment of the present application; returning the map data to the client.

[0056] If the client is an application software with a map navigation function installed on a user terminal device, then the application software displays a visual electronic map on the screen of the user terminal device according to the map data. Among them, in the electronic map, the road traffic signs are displayed at the screen positions corresponding to their geographical positions, and a connection line is drawn between the road traffic sign and its sign action position.

[0057] If the client is a computing device for making an electronic map, then the computing device displays a visual electronic map on its screen according to the map data. Among them, in the electronic map, the road traffic signs are displayed at the screen positions corresponding to their geographical positions, and a connection line is drawn between the road traffic sign and its sign action position.

[0058] The following further details the data association method provided in the embodiment of the present application with high-precision map data as the map data. The high-precision map data includes lane information of the road. If the sign action position of a road traffic sign is some lanes where it acts, then the sign action position can be accurate to the lane. Further, the relationship between HDObject (High Definition Object, such as a road traffic sign) and HDRoad (High Definition Road, the lane of the high-precision road) in the high-precision map data can be expressed by drawing a connection line. As Figure 4 shown, an arrowed indication line 401 can be used to indicate the relationship between the road traffic sign and the lane. The road traffic signs drawn on the screen are usually a planar object. As Figure 4 shown, "Stop", therefore, the starting point of the arrow can be a three-dimensional coordinate point on the geometric surface of the road traffic sign, and the ending point of the arrow is the sign action position of the road traffic sign in the lane. As Figure 5 shown is a road traffic sign for speed limits of small cars and large cars. The action range of this road traffic sign is the road. Again, as Figure 6 shown, four road traffic signs respectively correspond to the four lanes below. The action ranges of these four road traffic signs are the lanes. Again, as Figure 7As shown, a road traffic sign records three traffic rules, and each traffic rule corresponds to at least one lane. This road traffic sign will correspond to three data records. Based on the data records stored in this application, the indication lines of the road traffic sign and the lanes it affects can be drawn as shown in Figures 4 - 7 The information that appears in Figures 4 - 7 can be recorded in the data records of this application.

[0059] Figures 8 - 10 This is an illustrated example of the data association method provided by the embodiments of this application.

[0060] As shown in Figures 8 - 10 First, calculate the included angle D between the driving direction of the road and the orientation of the road traffic sign; calculate the distance E between the road and the road traffic sign (including the distances in three directions as described above). According to the preset ranges of the included angle and the distance, determine whether this road is the target road associated with this road traffic sign. For example, the range of the included angle can be 0 - 60 degrees or other appropriate angles; the range of the distance can be 0 - 5 meters or other appropriate ranges. For the embodiment shown in Figure 8 According to the included angle and the distance, it is obvious that the interfering road A can be excluded, and the target road B associated with the road traffic sign can be obtained. For the embodiment shown in Figure 9 the interfering road 1 can be excluded to obtain the target road 2. After excluding the interfering roads, other road traffic signs belonging to the same group as the road traffic sign can be found, such as the signs 1, 2, 3, and 4 shown in Figure 10 In this way, the target roads can be determined for other road traffic signs. For traffic signs in the same group, based on their acting ranges, the corresponding sign acting positions are determined. As shown in Figure 10 The sign acting position of sign 2 is on lane 2. Project the geographical position C of sign 2 onto the center line of lane 2 to obtain the projection point V, and store the geographical position C and the projection point V in an associated manner.

[0061] Correspondingly, the embodiments of this application also provide a data association device. As shown in Figure 11 it includes an attribute information acquisition module 1101, a target road determination module 1102, a sign acting position determination module 1103, and an associated storage module 1104.

[0062] Among them, the attribute information acquisition module 1101 is used to acquire the attribute information of the road traffic sign, and the attribute information at least includes: the geographical position, orientation, and sign content of the road traffic sign.

[0063] The target road determination module 1102 is used to determine the target road associated with the road traffic sign from the pre-made road network data according to the attribute information of the road traffic sign.

[0064] A sign action position determination module 1103, configured to determine a sign action position of a road traffic sign on a target road according to the geographical location and sign content of the road traffic sign.

[0065] An associated storage module 1104, configured to at least associate and store the geographical location of the road traffic sign and its corresponding sign action position.

[0066] In one embodiment, the target road determination module is further configured to: obtain, from pre-made road network data, a road within a preset distance range around the road traffic sign as a comparison road according to the geographical location of the road traffic sign; determine a target road associated with the road traffic sign according to the attribute information of the road traffic sign and the attribute information of the comparison road.

[0067] In one embodiment, the target road determination module is further configured to: determine the distance between the road traffic sign and the comparison road according to the geographical location of the road traffic sign and the position data of the comparison road; determine the included angle between the road traffic sign and the comparison road according to the orientation of the road traffic sign and the driving direction of the comparison road; determine a target road associated with the road traffic sign according to the distance and included angle between the road traffic sign and the comparison road.

[0068] In one embodiment, the target road determination module is further configured to: compare the distance and included angle between the road traffic sign and the comparison road with a preset distance range and included angle range, and obtain a comparison road whose distance and included angle both fall within the preset distance range and included angle range as a target road associated with the road traffic sign.

[0069] In one embodiment, the sign action position determination module is further configured to: determine the action range of the road traffic sign according to the sign content of the road traffic sign; if the action range is a road, project the geographical location of the road traffic sign onto the center line of the target road to obtain the sign action position of the road traffic sign; if the action range is a lane, determine the lane associated with the road traffic sign on the comparison road according to the sign content of the road traffic sign and the lane information of the comparison road, and project the geographical location of the road traffic sign onto the center line of the lane to obtain the sign action position of the road traffic sign.

[0070] In one embodiment, the distance includes a lateral distance, a longitudinal distance, and a vertical distance. The target road determination module is further configured to project the geographical location of the road traffic sign onto a horizontal plane to obtain the projection coordinates of the road traffic sign; determine the perpendicular distance from the projection coordinates of the road traffic sign to the side line of the comparison road as the lateral distance, where the side line is the side line close to the road traffic sign; determine the distance from the starting point of the comparison road to the road traffic sign as the longitudinal distance according to the starting point position of the comparison road and the projection coordinates of the road traffic sign; and obtain the height difference between the geographical location of the road traffic sign and the geographical location of the target position of the comparison road as the vertical distance, where the target position is the position on the side line closest to the road traffic sign.

[0071] In one embodiment, the associated storage module is further configured to: if the geographical location of the road traffic sign corresponds to one sign action position, create a data record in the road traffic sign relationship layer for associatively storing the geographical location of the road traffic sign and its corresponding sign action position; if the geographical location of the road traffic sign corresponds to two or more sign action positions, create two or more data records in the road traffic sign relationship layer, and each record is used for associatively storing the geographical location of the road traffic sign and its corresponding one action position; the encoding of each data record is unique and non-repeating.

[0072] For the specific implementation manners of the modules in each device of the embodiments of the present application, reference may be made to the relevant embodiments of the method, which will not be elaborated herein.

[0073] Figure 12 It is a block diagram of an electronic device for implementing the embodiments of the present application. As Figure 12 shown, the electronic device includes a memory 610 and a processor 620. The memory 610 stores a computer program that can run on the processor 620. When the processor 620 executes the computer program, the method in the above embodiments is implemented. The number of the memory 610 and the processor 620 can be one or more.

[0074] The electronic device further includes:

[0075] a communication interface 630, configured to communicate with external devices for data interaction and transmission.

[0076] If the memory 610, the processor 620, and the communication interface 630 are implemented independently, the memory 610, the processor 620, and the communication interface 630 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 12 only a thick line is used to represent it in Figure 12 , but it does not mean that there is only one bus or one type of bus.

[0077] Optionally, in a specific implementation, if the memory 610, the processor 620, and the communication interface 630 are integrated on a single chip, the memory 610, the processor 620, and the communication interface 630 can communicate with each other through an internal interface.

[0078] An embodiment of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the method provided in the embodiment of the present application.

[0079] An embodiment of the present application further provides a chip, which includes a processor for calling and running instructions stored in a memory, so that a communication device installed with the chip executes the method provided in the embodiment of the present application.

[0080] An embodiment of the present application further provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, the output interface, the processor, and the memory are connected through an internal connection path. The processor is configured to execute code in the memory, and when the code is executed, the processor is configured to execute the method provided in the embodiment of the application.

[0081] It should be understood that the above-mentioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. It is worth noting that the processor can be a processor that supports the Advanced RISC Machines (ARM) architecture.

[0082] Further, optionally, the above-mentioned memory can include a read-only memory and a random access memory. The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can include a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can include a Random Access Memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Sync link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0083] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium.

[0084] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0085] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0086] Any process or method described in the flowchart or otherwise described herein can be understood to represent a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed.

[0087] The logic and / or steps described in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in connection with these instruction execution systems, apparatus, or devices.

[0088] It should be understood that each part of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the method in the above embodiments can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0089] In addition, in each embodiment of the present application, each functional unit can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. If the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium can be a read-only memory, a magnetic disk or an optical disc, etc.

[0090] As described above, only the exemplary embodiments of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope recorded in the present application can easily think of various changes or substitutions, and these should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A data association method, characterized in that, Including: Obtain the attribute information of the road traffic sign, where the attribute information at least includes: the geographical location, orientation, and sign content of the road traffic sign; Determine the target road associated with the road traffic sign from the pre-made road network data according to the attribute information of the road traffic sign; Determine the sign action position of the road traffic sign on the target road according to the geographical location and sign content of the road traffic sign; At least store the geographical location of the road traffic sign and its corresponding sign action position in an associated manner.

2. The method according to claim 1, wherein The step of determining the target road associated with the road traffic sign from the pre-made road network data according to the attribute information of the road traffic sign includes: Obtain the roads within a set distance range around the road traffic sign from the pre-made road network data according to the geographical location of the road traffic sign as comparison roads; Determine the target road associated with the road traffic sign according to the attribute information of the road traffic sign and the attribute information of the comparison roads.

3. The method according to claim 2, characterized in that, The step of determining the target road associated with the road traffic sign according to the attribute information of the road traffic sign and the attribute information of the comparison roads includes: Determine the distance between the road traffic sign and the comparison road according to the geographical location of the road traffic sign and the position data of the comparison road; Determine the included angle between the road traffic sign and the comparison road according to the orientation of the road traffic sign and the driving direction of the comparison road; Determine the target road associated with the road traffic sign according to the distance and included angle between the road traffic sign and the comparison road.

4. The method according to claim 3, wherein The step of determining the target road associated with the road traffic sign according to the distance and included angle between the road traffic sign and the comparison road includes: Compare the distance and included angle between the road traffic sign and the comparison road with the preset distance range and included angle range, and obtain the comparison road whose distance and included angle both fall within the preset distance range and included angle range as the target road associated with the road traffic sign.

5. The method according to claim 3, wherein The distance includes: horizontal distance, longitudinal distance, and vertical distance. The step of determining the distance from the road traffic sign to the comparison road according to the geographical location of the road traffic sign and the position data of the comparison road specifically includes: Project the geographical location of the road traffic sign onto the horizontal plane to obtain the projection coordinates of the road traffic sign; Determine the perpendicular distance from the projection coordinates of the road traffic sign to the side line of the comparison road as the horizontal distance, where the side line is the side line close to the road traffic sign; Determine the distance from the starting point of the comparison road to the road traffic sign as the longitudinal distance according to the starting point position of the comparison road and the projection coordinates of the road traffic sign; Obtain the height difference between the geographical location of the road traffic sign and the geographical location of the target position of the comparison road as the vertical distance, where the target position is the position on the side line closest to the road traffic sign.

6. The method according to any one of claims 1-5, characterized in that, The step of determining the sign action position of the road traffic sign on the target road according to the geographical location and sign content of the road traffic sign includes: Determine the action range of the road traffic sign according to the sign content of the road traffic sign; If the scope of action is a road, project the geographical location of the road traffic sign onto the center line of the target road to obtain the sign action position of the road traffic sign; If the scope of action is a lane, determine the lane associated with the road traffic sign on the comparison road according to the sign content of the road traffic sign and the lane information of the comparison road, and project the geographical location of the road traffic sign onto the center line of the lane to obtain the sign action position of the road traffic sign.

7. The method according to any one of claims 1-5, characterized in that, The at least associatively storing the geographical location of the road traffic sign and its corresponding sign action position includes: If the geographical location of the road traffic sign corresponds to one sign action position, create a data record in the road traffic sign relationship layer for associatively storing the geographical location of the road traffic sign and its corresponding sign action position; If the geographical location of the road traffic sign corresponds to more than two sign action positions, create more than two data records in the road traffic sign relationship layer, and each record is used for associatively storing the geographical location of the road traffic sign and its corresponding one sign action position; The encoding of each data record is unique and non-repeating.

8. The method according to claim 7, characterized in that, The data record is further used to store the sign content and scope of action of the road traffic sign.

9. A data association device, characterized in that, Including: An attribute information acquisition module, configured to acquire attribute information of a road traffic sign, where the attribute information at least includes: the geographical location, orientation, and sign content of the road traffic sign; A target road determination module, configured to determine a target road associated with the road traffic sign from pre-made road network data according to the attribute information of the road traffic sign; A sign action position determination module, configured to determine the sign action position of the road traffic sign on the target road according to the geographical location and sign content of the road traffic sign; An associative storage module, configured to at least associatively store the geographical location of the road traffic sign and its corresponding sign action position.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1-8 is implemented.

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