Grouping method and device for ground road components, equipment and medium

Abstract

The invention relates to the technical field of electronic maps, in particular to a ground road component grouping method and device, equipment and a medium, and the method comprises the steps: obtaining map data and track data of a to-be-processed road section; determining a target ground road component from map data based on track points included in the track data; expanding the surrounding frame of the target ground road component to obtain an expanded surrounding frame; in the map data, determining other ground road components intersecting with the extended bounding box; and dividing the other ground road components and the target ground road component into one group. Based on the scheme, the ground road components in the same group can be uniformly maintained, data corresponding to single ground road component does not need to be searched repeatedly, the generation efficiency of the ground road components in the high-precision map is improved, and the cost of manufacturing the high-precision map is reduced.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of map, in particular to a grouping method, device, equipment and medium for ground road components. BACKGROUND

[0002] With the development of technology, electronic maps are evolving from standard maps to high-precision (high-quality) maps, which can be used in smart city management or intelligent driving of vehicles and other scenarios. High-precision maps include road elements such as lane lines and ground road components. Among them, ground road components refer to elements laid on the road to convey traffic management rules through characters or graphics, such as zebra crossings, driving direction markers, speed limit values, etc. The ground road components in the high-precision map are usually generated based on pre-collected road material data, which is data recording road elements in the real world, usually including road point cloud data, road images and road trajectory data, etc.

[0003] Since the distribution of ground road components laid on the road is discrete (independent or in groups within a certain range of the road), the material data of the ground road components is also discrete in the road material data. Therefore, in the prior art, for each ground road component data generated or updated in the high-precision map, the corresponding material data of the ground road component needs to be repeatedly searched from the pre-collected road material data, and a large amount of time is consumed in searching for the corresponding material data of the ground road component, resulting in low efficiency in generating or updating the data corresponding to the ground road component in the high-precision map. SUMMARY

[0004] To solve the problems in the related art, the present disclosure provides a grouping method, device, equipment and medium for ground road components.

[0005] In a first aspect, the present disclosure provides a grouping method for ground road components, comprising:

[0006] obtaining map data and trajectory data of a road section to be processed;

[0007] determining a target ground road component from the map data based on a trajectory point included in the trajectory data, the shortest distance between the target ground road component and the trajectory point being less than or equal to a preset trajectory distance threshold;

[0008] extending the bounding box of the target ground road component to obtain an extended bounding box;

[0009] determining other ground road components intersecting with the extended bounding box in the map data;

[0010] dividing the other ground road components and the target ground road component into one group.

[0011] In an embodiment of the present disclosure, based on the track points included in the track data, the target ground road components are determined from the map data, comprising:

[0012] The ground road components with the facility type belonging to the preset target type are obtained from the ground road components recorded in the map data;

[0013] The target ground road components with the minimum distance to the track points in the track data being less than or equal to the track distance threshold are determined from the ground road components with the facility type belonging to the preset target type;

[0014] The other ground road components intersecting with the extended bounding box are determined from the map data, specifically comprising:

[0015] The other ground road components intersecting with the extended bounding box are determined from the ground road components recorded in the map data with the facility type belonging to the preset target type.

[0016] In an embodiment of the present disclosure, the length of the first side of the extended bounding box is equal to the preset extension length, and the first side refers to the side of the extended bounding box intersecting with the line connecting the track points.

[0017] In an embodiment of the present disclosure, the method further comprises:

[0018] The ground road components in the grouping are divided into sub-groupings based on the facility type of each ground road component in the grouping, and the facility types of the ground road components in each sub-grouping are the same.

[0019] In an embodiment of the present disclosure, the method further comprises:

[0020] The consistency of the line drawing directions of the ground road components in the sub-grouping is judged, and if the line drawing directions are consistent, the sub-grouping is retained.

[0021] In an embodiment of the present disclosure, the method further comprises:

[0022] The ground road components in different sub-groupings are subjected to coincidence detection, and if the coincidence area of two ground road components is greater than the preset area threshold, and the sub-groupings to which the two ground road components belong are different, the ground road component with smaller area is moved into the sub-grouping to which the ground road component with larger area belongs.

[0023] In an embodiment of the present disclosure, the method further comprises:

[0024] The distance between any two ground road components in the same sub-group is obtained, and if the distance is greater than or equal to a preset clustering distance threshold, the ground road components in the sub-group are divided into at least two sub-groups, and the distance between any two ground road components in each sub-group is less than the clustering distance threshold.

[0025] In a second aspect, the disclosure provides a grouping device of ground road components, comprising:

[0026] The data acquisition module is configured to obtain map data and trajectory data of a to-be-processed road segment.

[0027] The road component determination module is configured to determine, from the map data, a target ground road component based on a trajectory point included in the trajectory data, and the shortest distance between the target ground road component and the trajectory point is less than or equal to a preset trajectory distance threshold.

[0028] The expansion module is configured to expand the bounding box of the target ground road component outward to obtain an expanded bounding box.

[0029] The intersection determination module is configured to determine, in the map data, other ground road components intersecting the expanded bounding box.

[0030] The division module is configured to divide the other ground road components and the target ground road component into one group.

[0031] In a third aspect, the disclosure provides an electronic device, comprising a memory and a processor, wherein the memory is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the method of any one of the first aspect.

[0032] In a fourth aspect, the disclosure provides a computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are executed by a processor to implement the method of any one of the first aspect.

[0033] According to the technical scheme provided by the embodiment of the present disclosure, by acquiring the map data and the trajectory data of the to-be-processed road section, based on the trajectory points included in the trajectory data, the target ground road component is determined from the map data. Because the vehicle usually travels in the middle position of the road, if the shortest distance between the target ground road component and the trajectory point is less than or equal to the preset trajectory distance threshold, it indicates that the target ground road component is close to the middle position of the road. Therefore, after the bounding box of the target ground road component is expanded to obtain an expanded bounding box, when the other ground road components intersecting with the expanded bounding box of the target ground road component are determined in the map data, the ground road components appearing in groups within a certain range of the road can be divided into the same group. The ground road components in the same group can be uniformly maintained subsequently, without the need to repeatedly find the corresponding data of a single ground road component, thereby improving the efficiency of generating or updating the data corresponding to the ground road components in the high-precision map and reducing the cost of producing the high-precision map.

[0034] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0035] Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0036] Figure 1 A flowchart of a grouping method of a ground road component according to an embodiment of the present disclosure is shown.

[0037] Figure 2 A schematic diagram of a ground road component according to an embodiment of the present disclosure is shown.

[0038] Figure 3 A schematic diagram of a ground road component according to an embodiment of the present disclosure is shown.

[0039] Figure 4 A structural block diagram of a grouping device of a ground road component according to an embodiment of the present disclosure is shown.

[0040] Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0041] Figure 6 A structural schematic diagram of a computer system suitable for implementing the method according to the embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0042] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so as to be easily implemented by those skilled in the art. Also, portions unrelated to describing the exemplary embodiments are omitted in the accompanying drawings for the sake of clarity.

[0043] In the present disclosure, it should be understood that terms such as "include" or "have" are intended to indicate that there are features, numbers, steps, actions, components, parts or combinations thereof disclosed in the specification, and do not exclude the presence or addition of one or more other features, numbers, steps, actions, components, parts or combinations thereof.

[0044] It is additionally noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0045] In the present disclosure, as related to the acquisition operation of user information or user data or the operation of showing user information or user data to others, the operation is an operation authorized, confirmed by the user, or actively selected by the user.

[0046] In the related art, in a high-definition map, each time a ground road component is generated or updated, the corresponding data of the ground road component needs to be repeatedly searched from the pre-collected road material data, resulting in low efficiency of generating or updating the ground road component.

[0047] For example, when generating or updating the data corresponding to a ground road component in a high-definition map, it is necessary to search for image data or point cloud data recording the ground road component in road material data (including image data and point cloud data). Since the number of ground road components is large, the above search operation is performed once for each ground road component generated or maintained, which consumes a large amount of time, resulting in low efficiency of generating or updating the data corresponding to the ground road component.

[0048] To solve the above problems, in the technical scheme provided in the present disclosure, by acquiring map data and trajectory data of a to-be-processed road section, based on a trajectory point included in the trajectory data, a target ground road component is determined from the map data. Since vehicles usually travel in the middle position of the road, if the shortest distance between the target ground road component and the trajectory point is less than or equal to a preset trajectory distance threshold, it indicates that the target ground road component is close to the middle position of the road. Therefore, after the bounding box of the target ground road component is expanded to obtain an expanded bounding box, when other ground road components intersecting with the expanded bounding box are determined in the map data through the expanded bounding box of the target ground road component, ground road components appearing in groups within a certain range of the road can be divided into the same group, and the ground road components in the same group can be uniformly maintained subsequently, without the need to repeatedly find the corresponding data of a single ground road component, thereby improving the efficiency of generating or updating data corresponding to ground road components in a high-precision map and reducing the cost of producing a high-precision map.

[0049] Figure 1 A flowchart of a grouping method of a ground road component according to an embodiment of the present disclosure is shown. As shown in the flowchart, the grouping method of the ground road component includes the following steps S101-S105: Figure 1

[0050] In step S101, map data and trajectory data of a to-be-processed road section are acquired.

[0051] In step S102, based on a trajectory point included in the trajectory data, a target ground road component is determined from the map data.

[0052] It can be understood that, since the value of the trajectory distance threshold can be adjusted, the condition for screening the target ground road component can also be set as the shortest distance being less than the preset trajectory distance threshold. For example, the maximum value of the shortest distance between the target ground road component and the trajectory point can be 0.5 meters. If the trajectory distance threshold is set to 0.5 meters, the screening condition for the target ground road component is that the shortest distance to the trajectory point is less than or equal to the preset trajectory distance threshold. If the trajectory distance threshold is set to 0.51 meters, the screening condition for the target ground road component is that the shortest distance to the trajectory point is less than the preset trajectory distance threshold.

[0053] In step S103, the bounding box of the target ground road component is expanded to obtain an expanded bounding box.

[0054] In step S104, other ground road components intersecting with the expanded bounding box are determined in the map data.

[0055] ​In step S105, other ground road components are divided into a group with the target ground road component.

[0056] In an implementation of the present disclosure, the map data can be locally stored, pre-made map data, or data acquired from other devices or systems. The map data of the road section to be processed can include map elements related to the road section to be processed, the map elements including ground road components, the attributes of the ground road components including position information of the ground road components on the road, based on which the distance between the ground road components and the trajectory data can be calculated, in addition, the ground road components are usually elements that convey traffic management rules by characters or graphics, etc., therefore, the attributes of the ground road components further include contour positions of the ground road components, through which the shape of the ground road components can be restored, and based on the contour positions of the ground road components, a bounding box surrounding the ground road components can be obtained.

[0057] In an implementation of the present disclosure, the trajectory data of the road section to be processed is composed of trajectory points generated by a special collection vehicle driving on the road section to be processed, or composed of trajectory points of other vehicles driving on the road section to be processed, which is not limited by the present disclosure.

[0058] In an implementation of the present disclosure, when the shortest distance between the ground road component and the trajectory points included in the trajectory data is acquired, in order to improve the calculation efficiency, the position of the ground road component can be projected to the trajectory data to obtain a projection point, then the trajectory points within a certain distance range before and after the projection point are acquired from the trajectory data, and the distance between the ground road component and the trajectory points is calculated to determine the shortest distance between the ground road component and the trajectory points.

[0059] In an implementation of the present disclosure, the bounding box of the target ground road component is expanded to obtain an expanded bounding box, the purpose of which is to divide the ground road components appearing in a certain range of the road into the same group, therefore, when the bounding box of the target ground road component is expanded, at least the edges of the bounding box intersecting with the trajectory data can be stretched, that is, the bounding box is stretched to the side direction of the road, because the ground road components appearing in a certain range of the road are usually side by side on the road.

[0060] In an implementation of the present disclosure, the length of the first edge of the expanded bounding box can be equal to a preset expansion length, the first edge being the edge intersecting with the connecting line of the expanded bounding box and the trajectory points.

[0061] In an implementation form of the present disclosure, the preset extension length can be understood as a preset extension width, or can also be understood as a preset extension width corresponding to the road level of the to-be-processed road section, wherein the extension width can be positively correlated with the road level.

[0062] By limiting the length of the edge intersecting the line of the trajectory point, the extension bounding box can be ensured to intersect other ground road components in a certain range of the road, and the process of obtaining the extension bounding box is simplified, thereby reducing the occupation of processing resources and helping to reduce the cost of producing a high-definition map.

[0063] An exemplary, Figure 2 A schematic diagram of a ground road component according to an embodiment of the present disclosure is shown as follows, Figure 2 As shown, the map data of the to-be-processed road section includes ground road components 101-105, wherein the ground road component 101 has a shortest distance to the trajectory point 106 in the trajectory data of the to-be-processed road section less than or equal to a preset trajectory distance threshold, and thus the ground road component 101 can be determined as a target ground road component. In the bounding box 107 of the ground road component 101, the edges 1073 and 1074 intersect the line 1061 of the trajectory point, and the edges 1071 and 1072 do not intersect the line 1061 of the trajectory point. When the bounding box 107 is extended outward, the edges 1073 and 1074 can be stretched, i.e., the bounding box 107 is stretched in the direction of the road side, so that the length of the edges intersecting the line 1061 of the trajectory point in the extension bounding box 118 obtained by stretching is equal to a preset first extension length, and the edges 1071 and 1072 can also be stretched, thereby obtaining the extension bounding box 118; or the edges 1073 and 1074 can be stretched, i.e., the bounding box 107 is stretched in the direction of the road side, so that the length of the edges intersecting the line 1061 of the trajectory point in the extension bounding box 118 is equal to a preset second extension length, and the edges 1071 and 1072 can also be contracted, thereby obtaining the extension bounding box 128. In the map data of the to-be-processed road section, the ground road components intersecting the extension bounding box 118 or the extension bounding box 128 include the ground road components 102-104, and the ground road component 105 does not intersect the extension bounding box 118 and the extension bounding box 128, and thus the ground road components 102-104 and the ground road component 101 can be divided into a group.

[0064] According to the technical scheme provided by the embodiment of the present disclosure, by obtaining the map data and the trajectory data of the to-be-processed road section, the target ground road component is determined from the map data based on the trajectory points included in the trajectory data. Because the vehicle usually travels in the middle position of the road, if the shortest distance between the target ground road component and the trajectory point is less than or equal to the preset trajectory distance threshold, it indicates that the target ground road component is close to the middle position of the road. Therefore, after the bounding box of the target ground road component is expanded to obtain the expanded bounding box, when the other ground road components intersecting with the expanded bounding box are determined in the map data through the expanded bounding box of the target ground road component, the ground road components appearing in groups within a certain range of the road can be divided into the same group. The ground road components in the same group can be uniformly maintained subsequently, without the need to repeatedly find the corresponding data of a single ground road component, thereby improving the efficiency of generating or updating the data corresponding to the ground road component in the high-precision map and reducing the cost of producing the high-precision map.

[0065] In view of the fact that in the real world, only some ground road components of specific facility types have a high probability of appearing in groups within a certain range of the road, in order to ensure the effectiveness of the grouping and enable subsequent batch maintenance of the ground road components in the group, in an embodiment of the present disclosure, only the ground road components of the facility types belonging to the preset target type in the map data can be grouped, instead of analyzing all the ground road components recorded in the map data. Specifically:

[0066] In this implementation of the present disclosure, the target ground road component is determined from the map data based on the trajectory points included in the trajectory data, including:

[0067] The ground road components of the facility types belonging to the preset target type are obtained from the ground road components recorded in the map data;

[0068] The map data records the type information of the ground road components, and the present disclosure can obtain the ground road components of the facility types belonging to the preset target type from the ground road components recorded in the map data;

[0069] The target ground road component whose minimum distance to the trajectory point in the trajectory data is less than or equal to the trajectory distance threshold is determined from the ground road components of the facility types belonging to the preset target type;

[0070] The other ground road components intersecting with the expanded bounding box are determined from the map data, specifically including:

[0071] The other ground road components intersecting with the expanded bounding box are determined from the ground road components of the facility types belonging to the preset target type recorded in the map data.

[0072] In an implementation form of the present disclosure, the facility type belongs to a ground road component of a preset target type, which can be understood as an arrow type ground traffic sign, a character type ground traffic sign, or the like, and the ground road components of these types have a high probability of appearing in groups within a certain range of the road.

[0073] According to the technical scheme provided by the embodiment of the present disclosure, since the ground road components of the facility type belonging to the preset target type have a high probability of appearing in groups within a certain range of the road, the efficiency of determining the target ground road component can be improved by determining the target ground road component with a minimum distance to the trajectory point in the trajectory data being less than or equal to the trajectory distance threshold from the ground road components of the facility type belonging to the preset target type recorded in the map data. In the subsequent step, the ground road components of the facility type belonging to the preset target type appearing in groups within a certain range of the road can be divided into the same group, thereby facilitating the unified maintenance of the ground road components in the same group and helping to reduce the cost of producing a high-definition map.

[0074] Since the present disclosure sets more than one preset target type, the group obtained based on the foregoing embodiment can contain ground traffic facilities of multiple target types, although these traffic facilities all meet the condition of appearing in groups within a certain range of the road. Considering that the purpose of grouping is to batch maintain the attributes of ground traffic facilities, in order to ensure the effectiveness of batch operations, in an implementation form of the present disclosure, the method further comprises:

[0075] Based on the facility type of each ground road component in the group, the ground road components in the group are divided into subgroups, and the facility types of the ground road components in each subgroup are the same.

[0076] For example, if the ground road components in a group include ground traffic signs of the arrow type, ground traffic signs of the character type, and ground traffic signs of the symbol type, the ground traffic signs of the arrow type can be divided into a first subgroup, the ground traffic signs of the character type can be divided into a second subgroup, and the ground traffic signs of the symbol type can be divided into a third subgroup.

[0077] According to the technical scheme provided by the embodiment of the present disclosure, by dividing the ground road components in the group into subgroups based on the facility type of each ground road component in the group, it can be ensured that the facility types of the ground road components in each subgroup are the same, thereby facilitating the unified maintenance of the ground road components in the same subgroup and helping to reduce the cost of producing a high-definition map.

[0078] In the real world, roads are usually divided into different driving directions. The other ground road components obtained by the extended bounding box of the target ground road component are most likely to be ground road components in different driving directions of the same road. The ground road components in different driving directions of the road correspond to different road data. In order to be able to batch maintain the attributes of ground traffic facilities according to the road data corresponding to the ground road components, and ensure the accuracy of the batch maintenance result, in an implementation manner of the present disclosure, the method further comprises:

[0079] The consistency of the drawing directions of the ground road components in the sub-group is judged. If the drawing directions are consistent, the sub-group is retained.

[0080] In an implementation manner of the present disclosure, the drawing direction of the ground road component can be understood as the indicating direction of the ground road component. For example, if the ground road component is the indicating arrow shown in the figure, the drawing direction is usually the same as the passing direction indicated by the arrow, that is, the drawing direction of the ground road component is usually the same as the passing direction of the lane where the ground road component is located. Figure 3

[0081] In an implementation manner of the present disclosure, the drawing direction of the ground road component can correspond to the driving direction of the lane where the ground road component is located. If the drawing directions of the ground road components in the sub-group are consistent, the driving directions of the lanes where the ground road components in the sub-group are located are the same.

[0082] For example, Figure 3 The schematic diagram of the ground road component according to the embodiment of the present disclosure is shown in the figure. As shown in the figure, Figure 3 When the ground road component 101 is drawn, the top point 117 of the bounding box 107 of the ground road component 101 can be started, and then the top point 127, the top point 137 and the top point 147 are sequentially passed, so that the drawing direction can be understood as the top point 117-top point 147. According to the drawing direction, the driving direction 109 of the lane where the ground road component 101 is located can be determined.

[0083] According to the technical scheme provided by the embodiment of the present disclosure, the consistency of the drawing directions of the ground road components in the sub-group is judged. If the drawing directions are consistent, the sub-group is retained. It can be ensured that the driving directions of the lanes where the ground road components in the same sub-group are located are the same, so that batch operations and maintenance can be performed on the ground road components in the sub-group according to the data corresponding to any ground road component in the sub-group, and the accuracy of the batch operation and maintenance result is high.

[0084] In an implementation manner of the present disclosure, the method further comprises:

[0085] ​The ground road components in different subgroups are subjected to overlap detection, if the overlap area of two ground road components is greater than a preset area threshold, and the subgroups to which the two ground road components belong are different, the ground road component with smaller area is moved into the subgroup to which the ground road component with larger area belongs.

[0086] In an implementation manner of the present disclosure, the preset area threshold can be understood as a pre-stored area threshold, or can also be understood as a pre-stored area threshold corresponding to the road level of the road segment to be processed.

[0087] According to the technical scheme provided by the embodiment of the present disclosure, considering that the large overlap area of two ground road components may be caused by data collection error, in reality, the two ground road components may correspond to the same element in the road segment to be processed, therefore, by subjecting the ground road components in different subgroups to overlap detection, if the overlap area of two ground road components is greater than a preset area threshold, and the subgroups to which the two ground road components belong are different, the ground road component with smaller area can be moved into the subgroup to which the ground road component with larger area belongs, so as to ensure that the ground road components possibly corresponding to the same element in the road segment to be processed are in the same subgroup, which is helpful to find redundant ground road components and ensure the accuracy of ground road components in the high-precision map.

[0088] In an implementation manner of the present disclosure, the method further comprises:

[0089] The distance between any two ground road components in the same subgroup is obtained, if the distance is greater than or equal to a preset clustering distance threshold, the ground road components in the subgroup are divided into at least two subgroups, and the distance between any two ground road components in each subgroup is less than the clustering distance threshold.

[0090] In an implementation manner of the present disclosure, obtaining the distance between any two ground road components in the same subgroup can be understood as calculating the shortest distance between any two ground road components in the same subgroup according to the position information of the two ground road components, that is, the distance between the two ground road components.

[0091] According to the technical scheme provided by the embodiment of the present disclosure, when the to-be-processed road section is a road section with large curvature (such as a roundabout), two ground road components with a large distance in the to-be-processed road section may be divided into the same sub-group. If the data corresponding to the other ground road component in the high-precision map is generated or updated according to the data of one of the two ground road components with a large distance, the accuracy of the other ground road component may be low. In order to avoid this situation, the distance between any two ground road components in the same sub-group is obtained. If the distance is greater than or equal to a preset clustering distance threshold, the ground road components in the sub-group are divided into at least two sub-groups, and the distance between any two ground road components in each sub-group is ensured to be less than the clustering distance threshold, which can help to ensure the accuracy of the ground road components in the high-precision map.

[0092] Figure 4 A structural block diagram of a grouping apparatus of a ground road component according to an embodiment of the present disclosure is shown. The apparatus can be implemented by software, hardware, or a combination of both as part of or all of an electronic device.

[0093] As shown in Figure 4 The grouping apparatus 200 of the ground road component includes:

[0094] A data acquisition module 201 configured to acquire map data and trajectory data of a to-be-processed road section;

[0095] A road component determination module 202 configured to determine, from the map data, a target ground road component based on a trajectory point included in the trajectory data, the target ground road component having a shortest distance to the trajectory point less than or equal to a preset trajectory distance threshold;

[0096] An expansion module 203 configured to expand outwardly a bounding box of the target ground road component to obtain an expanded bounding box;

[0097] An intersection determination module 204 configured to determine, in the map data, other ground road components intersecting the expanded bounding box;

[0098] A division module 205 configured to divide the other ground road components and the target ground road component into one group.

[0099] According to the technical scheme provided by the embodiment of the present disclosure, by obtaining the map data and the trajectory data of the to-be-processed road section, based on the trajectory points included in the trajectory data, the target ground road component is determined from the map data. Because the vehicle usually travels in the middle position of the road, if the shortest distance between the target ground road component and the trajectory point is less than or equal to the preset trajectory distance threshold, it indicates that the target ground road component is close to the middle position of the road. Therefore, after the bounding box of the target ground road component is expanded to obtain an expanded bounding box, when the other ground road components intersecting with the expanded bounding box are determined in the map data through the expanded bounding box of the target ground road component, the ground road components appearing in a group within a certain range of the road can be divided into the same group. The ground road components in the same group can be uniformly maintained subsequently, without the need to repeatedly find the corresponding data of a single ground road component, thereby improving the efficiency of generating or updating the data corresponding to the ground road component in the high-precision map and reducing the cost of producing the high-precision map

[0100] The present disclosure also discloses an electronic device, Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0101] As Figure 5 shown, the electronic device includes a memory and a processor, wherein the memory is configured to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the method according to the embodiment of the present disclosure.

[0102] In the embodiment of the present disclosure, a grouping method of a ground road component is provided, including:

[0103] In order to solve the problems in the related art, the embodiment of the present disclosure provides a grouping method, device, equipment and medium of a ground road component.

[0104] In the first aspect, the embodiment of the present disclosure provides a grouping method of a ground road component, including:

[0105] Obtaining map data and trajectory data of a to-be-processed road section;

[0106] Based on the trajectory points included in the trajectory data, a target ground road component is determined from the map data, and the shortest distance between the target ground road component and the trajectory point is less than or equal to a preset trajectory distance threshold;

[0107] The bounding box of the target ground road component is expanded to obtain an expanded bounding box;

[0108] In the map data, other ground road components intersecting with the expanded bounding box are determined;

[0109] The other ground road components and the target ground road component are divided into one group.

[0110] In an embodiment of the present disclosure, based on the trajectory points included in the trajectory data, the target ground road component is determined from the map data, including:

[0111] The ground road component whose facility type belongs to the preset target type is obtained from the ground road components recorded in the map data.

[0112] The target ground road component whose minimum distance to the trajectory point in the trajectory data is less than or equal to the trajectory distance threshold is determined from the ground road component whose facility type belongs to the preset target type.

[0113] The other ground road component intersecting with the extended bounding box is determined from the map data, specifically including:

[0114] The other ground road component intersecting with the extended bounding box is determined from the ground road component recorded in the map data whose facility type belongs to the preset target type.

[0115] In an embodiment of the present disclosure, the length of the first side of the extended bounding box is equal to the preset extension length, and the first side refers to the side of the extended bounding box intersecting with the line connecting the trajectory point.

[0116] In an embodiment of the present disclosure, the method further includes:

[0117] The ground road components in the group are divided into subgroups based on the facility types of the ground road components in the group, and the facility types of the ground road components in each subgroup are the same.

[0118] In an embodiment of the present disclosure, the method further includes:

[0119] The consistency of the line drawing directions of the ground road components in the subgroup is judged, and if the line drawing directions are consistent, the subgroup is retained.

[0120] In an embodiment of the present disclosure, the method further includes:

[0121] The ground road components in different subgroups are subjected to coincidence detection, and if the coincidence area of two ground road components is greater than a preset area threshold, and the subgroups to which the two ground road components belong are different, the ground road component with smaller area is moved into the subgroup to which the ground road component with larger area belongs.

[0122] In an embodiment of the present disclosure, the method further includes:

[0123] The distance between any two ground road components in the same sub-group is obtained, and if the distance is greater than or equal to a preset clustering distance threshold, the ground road components in the sub-group are divided into at least two sub-groups, and the distance between any two ground road components in each sub-group is less than the clustering distance threshold.

[0124] Figure 6 A structural diagram of a computer system suitable for implementing the method according to the embodiments of the present disclosure is shown.

[0125] As shown in Figure 6 The computer system includes a processing unit which can execute various methods in the above embodiments according to programs stored in a read-only memory (ROM) or loaded from a storage portion into a random access memory (RAM). Various programs and data required for the operation of the computer system are also stored in the RAM. The processing unit, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0126] The following components are connected to the I / O interface: an input portion including a keyboard, a mouse, etc.; an output portion including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion including a hard disk, etc.; and a communication portion including a network interface card such as a LAN card, a modem, etc. The communication portion performs a communication process via a network such as the Internet. A drive is also connected to the I / O interface as needed. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is mounted on the drive as needed, so that a computer program read therefrom is installed in the storage portion as needed. The processing unit can be implemented as a CPU, a GPU, a TPU, a FPGA, a NPU, etc.

[0127] In particular, the method described above can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for executing the method described above. In such embodiments, the computer program can be downloaded and installed from a network via the communication portion, and / or installed from a removable medium.

[0128] The flow and block diagrams in the drawings represent possible architectural, functional, and operational architectures of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block can represent a module, a segment, or a portion of code that comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0129] The units or modules described in the embodiments of the present disclosure can be implemented by software, or by programmable hardware. The described units or modules can also be arranged in a processor, and the names of the units or modules do not constitute a limitation on the units or modules themselves in some cases.

[0130] As another aspect, the present disclosure also provides a computer readable storage medium, which can be the computer readable storage medium included in the electronic device or the computer system in the above embodiments, or can exist separately from the device and not be assembled into the device. The computer readable storage medium stores one or more programs for execution by one or more processors to perform the methods described in the present disclosure.

[0131] The above description is merely preferred embodiments of the present disclosure and a description of the applied technical principles. Those skilled in the art should understand that the scope of the application involved in the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by the arbitrary combinations of the above technical features or equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features disclosed in the present disclosure (but not limited to) having similar functions to form technical solutions.

Claims

1. A grouping method of ground road components, wherein, The method comprises the following steps: obtaining map data and trajectory data of a road section to be processed; determining a target ground road component from the map data based on a trajectory point included in the trajectory data, the target ground road component having a shortest distance to the trajectory point less than or equal to a preset trajectory distance threshold; extending a bounding box of the target ground road component to obtain an extended bounding box; determining other ground road components intersecting the extended bounding box in the map data; dividing the other ground road components and the target ground road component into a group.

2. The grouping method of ground road components according to claim 1, wherein, The method further comprises the following steps: obtaining ground road components of a preset target type from ground road components recorded in the map data; determining a target ground road component from the ground road components of the preset target type, the target ground road component having a minimum distance to a trajectory point in the trajectory data less than or equal to a trajectory distance threshold; The method further comprises the following steps: determining other ground road components intersecting the extended bounding box from the ground road components of the preset target type recorded in the map data.

3. The grouping method of ground road components according to claim 1, wherein, The first side of the extended bounding box has a length equal to a preset extension length, and the first side is a side intersecting a line connecting the extended bounding box and the trajectory point.

4. The grouping method of ground road components according to any one of claims 1-3, wherein, The method further comprises the following steps: dividing ground road components in the group into subgroups based on the types of the ground road components in the group, the types of the ground road components in each subgroup being the same.

5. The grouping method of ground road components according to claim 4, wherein, The method further comprises the following steps: judging the consistency of the drawing directions of the ground road components in a subgroup, and retaining the subgroup if the drawing directions are consistent.

6. The grouping method of ground road components according to claim 5, wherein, The method further comprises the following steps: detecting the coincidence of ground road components in different subgroups, and moving a ground road component having a smaller area into a subgroup of a ground road component having a larger area if the ground road component having the smaller area and the ground road component having the larger area have a coincidence area greater than a preset area threshold and belong to different subgroups.

7. The grouping method of ground road components according to claim 6, wherein, The method further comprises the following steps: obtaining the distance between any two ground road components in a subgroup, and dividing the ground road components in the subgroup into at least two groups if the distance between any two ground road components in the subgroup is greater than or equal to a preset clustering distance threshold, the distance between any two ground road components in each subgroup being less than the clustering distance threshold.

8. A grouping device for ground road components, wherein, The method comprises the following steps: a data acquisition module configured to obtain map data and trajectory data of a road section to be processed; a road component determination module configured to determine a target ground road component from the map data based on a trajectory point included in the trajectory data, the target ground road component having a shortest distance to the trajectory point less than or equal to a preset trajectory distance threshold; an extension module configured to extend a bounding box of the target ground road component to obtain an extended bounding box. An intersection determining module, configured to determine, in the map data, other ground road components intersecting with the extended bounding box; A dividing module, configured to divide the other ground road components and the target ground road component into one group.

9. An electronic device comprising a memory and a processor; wherein, The memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of any one of claims 1-7.

10. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions, when executed by the processor, implement the method steps of any one of claims 1-7.

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