POI visibility recognition method and device, computer equipment, medium and product

Abstract

The invention relates to a POI visibility recognition method and device, computer equipment, a medium and a product, in particular to the technical field of information. The method comprises the following steps: acquiring a target point of interest POI in an area to which a target road belongs; the target POI comprises at least one POI point; acquiring rays emitted from each POI point to the surrounding; and determining the visibility of the target POI relative to the target road according to the intersection condition of the emergent ray of each POI point and the target road and / or the obstacle shielding condition between the intersection ray and the target road. Based on the method provided by the invention, the visibility of the target POI relative to the target road under the current position and the driving state of the vehicle can be accurately identified, so that the display of the visible POI is more referential when the map is displayed.

Description

Technical Field

[0001] This application relates to the field of information technology, and in particular to a method, apparatus, computer equipment, medium, and product for POI visibility identification. Background Technology

[0002] With the development of intelligent transportation and vehicle-to-everything (V2X) technologies, people's demand for information access during driving is increasing. When driving, passengers not only want accurate navigation to their destination but also expect to access various information along the way. Among these, information on points of interest (POIs) along the route, such as gas stations, restaurants, parking lots, and tourist attractions, is crucial for passengers to plan their trips effectively and meet their information needs.

[0003] Most navigation systems typically recommend Points of Interest (POIs) to occupants based on map data and certain rules (such as distance and category preference). However, they rarely consider the "visibility" of POIs to occupants during actual driving. This can easily lead to occupants being unable to see the recommended POIs due to factors such as building obstructions and road curvature, even at their current location and while the vehicle is in motion. Therefore, accurately identifying the visibility of POIs is a problem that urgently needs to be solved. Summary of the Invention

[0004] Therefore, it is necessary to provide a POI visibility identification method, apparatus, computer equipment, medium, and product that can accurately identify the visibility of POIs in response to the above-mentioned technical problems.

[0005] Firstly, this application provides a method for identifying the visibility of a Point of Interest (POI), including:

[0006] Obtain the Points of Interest (POIs) within the area where the target road is located; each POI must include at least one POI point.

[0007] Obtain the rays emitted from each POI point to its surroundings;

[0008] The visibility of the target POI relative to the target road is determined based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

[0009] In one embodiment, the visibility of a target POI relative to a target road is determined based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles. This includes: for any POI, determining the visibility of the POI relative to the target road based on the intersection of the POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles; if there is a POI that is visible relative to the target road, then the target POI is determined to be visible relative to the target road.

[0010] In one embodiment, the visibility of a POI relative to a target road is determined based on the intersection between the POI and the target road, and / or the obstruction of the intersecting ray between the POI and the target road by obstacles. This includes: if the POI has a ray that intersects with the target road and there are no obstacles obstructing the POI, then the POI is determined to be visible relative to the target road; if the POI has at least two rays that intersect with the target road, then the visibility of the POI relative to the target road is determined based on the distance between consecutive first intersection points; the first intersection point is the intersection point corresponding to the intersecting ray that is not obstructed by obstacles from the target road; if the POI has only one ray that intersects with the target road, then the visibility of the POI relative to the target road is determined based on the position of the corresponding intersection point on the target road.

[0011] In one embodiment, determining the visibility of a POI relative to a target road based on the distance between consecutive first intersection points includes: determining the cumulative distance corresponding to each consecutive first intersection point; if there is a cumulative distance greater than a first distance threshold, then determining that the POI is visible relative to the target road.

[0012] In one embodiment, the above-mentioned POI visibility recognition method further includes: if there is no cumulative distance greater than a first distance threshold, determining a reference connection between each road point in the target road and the POI point; and determining the visibility of the POI point relative to the target road based on the intersection of each reference connection with an obstacle.

[0013] In one embodiment, determining the visibility of a POI relative to a target road based on the position of the corresponding intersection point on the target road includes: determining at least two extension points of the intersection point on the target road based on the position of the corresponding intersection point on the target road; determining reference lines between each extension point and the POI point; and determining the visibility of the POI relative to the target road based on the intersection of each reference line with an obstacle.

[0014] In one embodiment, acquiring the rays emitted by each POI point to the surroundings includes: if the target road is greater than a first length threshold, acquiring the rays emitted by each POI point to the surroundings; correspondingly, the above-mentioned POI visibility recognition method further includes: if the target road is not greater than the first length threshold, determining the reference connection between each road point in the target road and the POI point; and determining the visibility of the POI point relative to the target road based on the intersection of each reference connection with obstacles.

[0015] In one embodiment, the visibility of a POI relative to a target road is determined based on the intersection of each reference line with an obstacle, including: if none of the reference lines intersect with an obstacle, the POI is determined to be visible relative to the target road; if any reference line intersects with an obstacle, the POI is determined to be invisible relative to the target road.

[0016] In one embodiment, the above-mentioned POI visibility recognition method further includes: if it is determined that the target POI is not visible relative to the target road, then for the point-type target POI, determine the road extension lines corresponding to each adjacent road point in the target road; and re-determine the visibility of the target POI relative to the target road based on the intersection between each road extension line and the POI point, and / or the intersection between the intersecting road extension lines and obstacles.

[0017] In one embodiment, the visibility of a target POI relative to a target road is re-determined based on the intersection of each road extension with a POI and / or the intersection of intersecting road extensions with obstacles. This includes: if there is a road extension intersecting with a POI and the corresponding road extension does not intersect with an obstacle, then the target POI is determined to be visible relative to the target road; if there is no road extension intersecting with a POI, or if there is a road extension intersecting with a POI but the corresponding road extension intersects with an obstacle, then the target POI is determined to be invisible relative to the target road.

[0018] In one embodiment, the above-mentioned POI visibility recognition method further includes: if it is determined that the target POI is not visible relative to the target road, then for the non-point type target POI, if the target road is a straight road, the road extension line of the target road is determined; based on the intersection of the road extension line with the target POI, and / or the intersection of the road extension line with obstacles, the visibility of the target POI relative to the target road is re-determined.

[0019] In one embodiment, the visibility of the target POI relative to the target road is re-determined based on the intersection of the road extension with the target POI and / or the intersection of the road extension with an obstacle. This includes: if the road extension intersects with the target POI and does not intersect with an obstacle, then the target POI is determined to be visible relative to the target road; if the road extension does not intersect with the target POI, or if the road extension intersects with the target POI but intersects with an obstacle, then the target POI is determined to be invisible relative to the target road.

[0020] Secondly, this application also provides a POI visibility identification device, comprising:

[0021] The first acquisition module is used to acquire target points of interest (POIs) within the area to which the target road belongs; the target POI includes at least one POI point.

[0022] The second acquisition module is used to acquire the rays emitted by each POI point to its surroundings;

[0023] The first determining module is used to determine the visibility of the target POI relative to the target road based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

[0024] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0025] Obtain the points of interest (POIs) within the area where the target road is located; each target POI includes at least one POI point.

[0026] Obtain the rays emitted from each POI point to its surroundings;

[0027] The visibility of the target POI relative to the target road is determined based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

[0028] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0029] Obtain the Points of Interest (POIs) within the area where the target road is located; each POI must include at least one POI point.

[0030] Obtain the rays emitted from each POI point to its surroundings;

[0031] The visibility of the target POI relative to the target road is determined based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

[0032] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0033] Obtain the Points of Interest (POIs) within the area where the target road is located; each POI must include at least one POI point.

[0034] Obtain the rays emitted from each POI point to its surroundings;

[0035] The visibility of the target POI relative to the target road is determined based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

[0036] The aforementioned POI visibility identification method, apparatus, computer equipment, medium, and product can acquire target points of interest (POIs) within the area to which the target road belongs, as well as the rays emitted by each POI within the target POI to its surroundings. Then, based on the intersection of the rays emitted by each POI with the target road, and / or the obstruction of obstacles between the intersecting rays and the target road, the visibility of the target POI relative to the target road is determined. In this process, the intersection of the rays emitted by the POI with the target road, and / or the obstruction of obstacles between the intersecting rays and the target road, corresponds to the vehicle's current position and driving state. Therefore, based on the intersection of the rays emitted by the POI with the target road, and / or the obstruction of obstacles between the intersecting rays and the target road, the visibility of the target POI relative to the target road at the vehicle's current position and driving state can be identified relatively accurately, making the display of visible POIs more reliable when displaying maps. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating a POI visibility identification method in one embodiment;

[0039] Figure 2This is a flowchart illustrating the steps for determining the visibility of a target POI relative to a target road in one embodiment.

[0040] Figure 3 This is a flowchart illustrating the steps for re-determining the visibility of a target POI relative to a target road in one embodiment.

[0041] Figure 4 This is a flowchart illustrating the steps for re-determining the visibility of a target POI relative to a target road in another embodiment.

[0042] Figure 5 This is a flowchart illustrating the POI visibility identification method in another embodiment;

[0043] Figure 6 This is a schematic diagram of a point type POI in one embodiment;

[0044] Figure 7 This is a schematic diagram of a line type POI in one embodiment;

[0045] Figure 8 This is a schematic diagram of a face type POI in one embodiment;

[0046] Figure 9 This is a schematic diagram of a ray emitted from a POI point toward a target road in one embodiment;

[0047] Figure 10 This is a schematic diagram of the intersection point obtained by the ray and the target road in one embodiment;

[0048] Figure 11 This is a schematic diagram of a ray emitted from a POI point toward the target road in another embodiment;

[0049] Figure 12 This is a schematic diagram of the expansion points obtained in one embodiment;

[0050] Figure 13 This is a structural block diagram of a POI visibility recognition device in one embodiment;

[0051] Figure 14 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] In one exemplary embodiment, a POI visibility identification method is provided. This embodiment illustrates the application of this method to a server. It is understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and implemented through the interaction between the terminal and the server. Figure 1 As shown, the POI visibility identification method provided in this embodiment includes steps S110 to S130. Wherein:

[0054] S110, Obtain the target point of interest (POI) within the area where the target road is located; the target POI includes at least one POI point.

[0055] The area to which the target road belongs can be understood as at least one of the following: administrative division, functional area, or geographical area. The administrative division to which the target road belongs can be determined based on the administrative boundaries to which the target road belongs. The functional area to which the target road belongs can be determined based on the functional zone served by the target road; for example, the functional area to which the target road belongs can be at least one of commercial, industrial, residential, or educational zones. The geographical area to which the target road belongs can be defined based on geographical space.

[0056] The target POI may include at least one POI under at least one POI type.

[0057] The POI type can include at least one of the following: point type POI, line type POI, and area type POI. A point type POI can be understood as a POI consisting of only one POI point. A line type POI can be understood as a POI consisting of multiple POI points forming a line. An area type POI can be understood as a POI that forms a closed area enclosed by multiple POI points.

[0058] S120: Obtain the rays emitted by each POI point to its surroundings.

[0059] In one optional embodiment, for each POI in the target POI, the rays emitted by that POI to the surroundings in a preset manner can be acquired. For example, the rays emitted by that POI to the surroundings within a 360° range can be acquired, with one ray emitted every 2°.

[0060] S130, based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles, determine the visibility of the target POI relative to the target road.

[0061] The intersection of a ray with the target road can include the following situations: the ray intersects the target road line, only one ray intersects a point on the target road, and at least two rays intersect a point on the target road. The intersection of a ray with the target road line can be understood as the ray partially coinciding with the target road. Only one ray intersecting a point on the target road can be understood as only one ray intersecting the target road at a single point. At least two rays intersecting a point on the target road can be understood as at least two rays each intersecting the target road at a single point. It should be understood that in this application, the target road can be understood as a line segment; that is, only the length of the target road can be considered, without considering its width.

[0062] Intersecting rays can be understood as rays emitted from a point of interest (POI) that intersect with the target road. Optionally, intersecting rays may include at least one of line intersecting rays and point intersecting rays.

[0063] The obstacle occlusion between the intersecting ray and the target road can include: there is obstacle occlusion between the intersecting ray and the target road, or there is no obstacle occlusion between the intersecting ray and the target road.

[0064] In an alternative embodiment, the visibility of a target POI relative to a target road can be determined solely based on the intersection of the ray with the target road.

[0065] In an alternative embodiment, the visibility of a target POI relative to a target road can be determined solely based on the obstruction caused by obstacles between the intersecting rays and the target road.

[0066] In an alternative embodiment, the visibility of a target POI relative to the target road can be determined based on the intersection of the rays emitted from each POI with the target road and the obstruction of obstacles between the intersecting rays and the target road.

[0067] In the above-mentioned POI visibility recognition method, the intersection of the ray emitted from the POI point with the target road, and / or the occlusion of the intersecting ray with the target road by obstacles, corresponds to the vehicle's current position and driving state. Therefore, based on the intersection of the ray emitted from the POI point with the target road, and / or the occlusion of the intersecting ray with the target road by obstacles, the visibility of the target POI relative to the target road at the vehicle's current position and driving state can be identified more accurately, thus making the display of visible POIs more reliable when displaying maps.

[0068] It's important to note that when the target POI includes another POI point, the visibility of the target POI relative to the target road can be determined if that POI point is visible relative to the target road. Conversely, if the POI point is not visible relative to the target road, then the visibility of the target POI relative to the target road is determined.

[0069] When a target POI includes multiple POIs, the visibility of the target POI relative to the target road can be determined if at least one POI is visible relative to the target road.

[0070] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment, in which the visibility determination step of the target POI relative to the target road in S130 is refined.

[0071] See Figure 2 The steps for determining the visibility of a target POI relative to a target road, as shown, include:

[0072] S210, For any POI point, determine the visibility of the POI point relative to the target road based on the intersection between the POI point and the target road, and / or the obstruction between the intersecting ray and the target road.

[0073] The intersection between a POI and the target road can be understood as the intersection between the ray emitted from the POI and the target road.

[0074] The following section describes the process of determining the visibility of a POI relative to the target road, considering various intersection scenarios between the POI and the target road.

[0075] (1) Regarding the situation where the ray emitted from the POI intersects with the target road line:

[0076] In an alternative embodiment, if a POI has a ray that intersects with the target road line and is not obstructed by any obstacle between it and the target road, then the POI is determined to be visible relative to the target road.

[0077] If any ray emitted from a POI (Point of Interest) partially overlaps with the target road and is not obstructed by any obstacles between it and the target road, then the POI is considered visible relative to the target road.

[0078] (2) For cases where at least two rays emitted from the POI intersect with the target road line:

[0079] In one optional embodiment, if a POI has at least two rays intersecting with a target road point, the visibility of the POI relative to the target road is determined based on the distance between consecutive first intersection points; the first intersection point is the intersection point corresponding to an intersecting ray that is unobstructed from the target road.

[0080] Among them, the first consecutive intersection point can be understood as the intersection point obtained by the continuous adjacent rays intersecting with the target road point.

[0081] The distance between consecutive first intersection points can be understood as the distance between the starting point and the ending point of consecutive first intersection points.

[0082] In one embodiment, the visibility of a POI relative to a target road is determined based on the distance between consecutive first intersection points. This can be achieved by the following steps: determining the cumulative distance corresponding to each consecutive first intersection point; if there is a cumulative distance greater than a first distance threshold, then the POI is determined to be visible relative to the target road.

[0083] The cumulative distance corresponding to each consecutive first intersection point can be understood as the sum of the distances between any two adjacent first intersection points. The distance between any two adjacent first intersection points can be determined based on the location information of the two first intersection points. This location information can be understood as latitude and longitude information. In an optional embodiment, the latitude and longitude information of the two first intersection points can be converted from angles to radians, and then the spherical distance between the two first intersection points can be calculated. The spherical distance between the two first intersection points can be obtained according to the following formula:

[0084]

[0085] Where d represents the spherical distance between the two first intersection points; R represents the Earth's radius; and These represent the latitude information of the two first intersection points; and These represent the precision information of the two first intersection points.

[0086] In another embodiment, after determining the cumulative distance corresponding to each consecutive first intersection point, the visibility of the POI point relative to the target road is determined based on the distance between the consecutive first intersection points. This can also be achieved by the following steps: if there is no cumulative distance greater than a first distance threshold, then a reference line is determined between each road point in the target road and the POI point; the visibility of the POI point relative to the target road is determined based on the intersection of each reference line with the obstacle.

[0087] The reference connection between each road point and POI point can be understood as the connection between each road point and POI point.

[0088] In cases where the cumulative distance does not exceed the first distance threshold, the target road may be short, resulting in a cumulative distance to each consecutive first intersection point not exceeding the first distance threshold. Therefore, to avoid missing short roads, the visibility of the POI relative to the target road can be determined based on the intersection of each reference line with obstacles. In one embodiment, if none of the reference lines intersect with obstacles, the POI is determined to be visible relative to the target road. If any reference line intersects with an obstacle, the POI is determined to be invisible relative to the target road.

[0089] (3) For the case where only one ray from the POI intersects with the target road line:

[0090] In one alternative embodiment, if a POI point has only one ray intersecting with a target road point, the visibility of the POI point relative to the target road is determined based on the position of the corresponding intersection point on the target road.

[0091] In some cases, a POI may have only one ray intersecting with the target road point. This could be because the target road is short, making it impossible for other rays from the POI to intersect with the target road point.

[0092] To avoid missing short roads, in one optional embodiment, the visibility of a Point of Interest (POI) relative to the target road is determined based on the position of the corresponding intersection point on the target road. This can be achieved by the following steps: determining at least two extension points of the intersection point on the target road based on the position of the corresponding intersection point on the target road; determining reference lines between each extension point and the POI point; and determining the visibility of the POI point relative to the target road based on the intersection of each reference line with obstacles.

[0093] The extension point can be understood as the point obtained by shifting the intersection point a preset distance on the target road.

[0094] The reference line between the extension point and the POI point can be understood as the line connecting the extension point and the POI point.

[0095] In one embodiment, based on the positions of the corresponding intersection points on the target road, at least two extension points can be obtained by translating them by preset distances in different directions on the target road. Optionally, the preset translation distances corresponding to the at least two extension points can be the same. Alternatively, the preset translation distances corresponding to the at least two extension points can be different.

[0096] In one embodiment, if none of the reference lines intersect with any obstacle, the POI is determined to be visible relative to the target road. If any reference line intersects with an obstacle, the POI is determined to be invisible relative to the target road.

[0097] S220, if there is a POI that is visible relative to the target road, then determine that the target POI is visible relative to the target road.

[0098] The existing POIs can include at least one. That is, if there is at least one POI that is visible relative to the target road, then the target POI is determined to be visible relative to the target road.

[0099] In this embodiment, by determining the visibility of a POI relative to a target road, and in the case where there is a POI visible relative to the target road, the visibility of the target POI relative to the target road can be determined quickly, thus improving the efficiency of identifying the visibility of the target POI.

[0100] In one optional embodiment, acquiring the rays emitted by each POI point to its surroundings can be achieved as follows: if the target road is larger than a first length threshold, then the rays emitted by each POI point to its surroundings are acquired. Correspondingly, the above-described POI visibility recognition method may include: if the target road is not larger than the first length threshold, then determining reference lines between each road point in the target road and the POI point; and determining the visibility of the POI point relative to the target road based on the intersection of each reference line with obstacles.

[0101] The first length threshold can be understood as the length threshold used to determine whether the target road is a short road.

[0102] If the target road is longer than the first length threshold, it indicates that the target road is not a short road. In this case, step S130 can be executed, which is to obtain the rays emitted by each POI point to the surrounding area.

[0103] If the target road is not greater than a first length threshold, it can be indicated that the target road is a short road. In this case, reference lines between each road point and the POI point can be determined. In one embodiment, if none of the reference lines intersect with any obstacle, the POI point is determined to be visible relative to the target road; if any reference line intersects with an obstacle, the POI point is determined to be invisible relative to the target road.

[0104] In this embodiment of the application, by using a first length threshold to determine whether the target road is a short road, a more accurate POI visibility identification result can be obtained for both short and non-short roads.

[0105] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment, which refines the steps for determining the visibility of a target POI relative to a target road after determining the visibility of the target POI relative to the target road for point-type target POIs.

[0106] See Figure 3 The steps shown for redetermining the visibility of a target POI relative to a target road include:

[0107] S310, if it is determined that the target POI is not visible relative to the target road, then for the point-type target POI, determine the road extension line corresponding to each adjacent road point in the target road.

[0108] S320, based on the intersection of each road extension with the POI point, and / or the intersection of the intersecting road extension with obstacles, redetermine the visibility of the target POI relative to the target road.

[0109] The intersection status between each road extension and a POI point can include whether the road extension intersects with the POI point or not.

[0110] In one alternative embodiment, if there is a road extension that intersects with the POI and the corresponding road extension does not intersect with the obstacle, then the target POI is determined to be visible relative to the target road.

[0111] If there is no road extension intersecting with the POI, or if there is a road extension intersecting with the POI but the corresponding road extension intersects with an obstacle, then the target POI is determined to be invisible relative to the target road.

[0112] In this embodiment, when it is determined that the target POI is not visible relative to the target road, for point-type target POIs, the intersection of each road extension line with the POI point can be used to determine whether the POI point is on the road extension line. Combined with the intersection of the intersecting road extension lines with obstacles, the visibility of the target POI relative to the target road can be re-determined. This can avoid misjudgment of POI visibility identification results when the target road is perpendicular to the point-type target POI (the rays emitted by the POI point may not hit the target road, or the intersection distance obtained when hitting the road will be very short, and the result is easily judged as invisible). Thus, a more accurate POI visibility identification result can be obtained.

[0113] Based on the technical solutions of the above embodiments, this application also provides another optional embodiment, which refines the steps for determining the visibility of a target POI relative to a target road after determining the visibility of the target POI relative to the target road for non-point type target POIs.

[0114] See Figure 4 The steps shown for redetermining the visibility of a target POI relative to a target road include:

[0115] S410, if it is determined that the target POI is not visible relative to the target road, then for non-point type target POIs, if the target road is a straight road, determine the road extension line of the target road.

[0116] Among them, non-point type target POIs can be understood as line type target POIs or area type target POIs.

[0117] In one alternative embodiment, it can be determined whether the target road is a straight road based on whether all road points on the target road are on the same straight line.

[0118] In one alternative embodiment, a straight line can be fitted using the least squares method to obtain an approximate linear relationship between each road point, i.e.: y = mx + c; where m represents the slope of the straight line and c represents the intercept of the straight line.

[0119] Based on the coordinates (x0, y0) of each road point and the expression for the line, the distance from each road point to the line can be obtained: .

[0120] S420, based on the intersection between the road extension and the POI, and / or the intersection between the road extension and obstacles, redetermine the visibility of the target POI relative to the target road.

[0121] In one alternative embodiment, if the road extension intersects the target POI and does not intersect with an obstacle, then the target POI is determined to be visible relative to the target road. If the road extension does not intersect the target POI, or if the road extension intersects the target POI but intersects with an obstacle, then the target POI is determined to be invisible relative to the target road.

[0122] In this embodiment of the application, when it is determined that the target POI is not visible relative to the target road, for non-point type target POIs, if the target road is a straight road, the visibility of the target POI relative to the target road is re-determined by the intersection between the road extension line and the POI point, and / or the intersection between the road extension line and the obstacle. This can avoid misjudgment of POI visibility identification results when the target road is perpendicular to the non-point type target POI, thereby obtaining more accurate POI visibility identification results.

[0123] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment in which the POI visibility recognition method is described in detail.

[0124] See Figure 5 The POI visibility identification method shown includes:

[0125] S501, Obtain the target point of interest (POI) within the area where the target road is located; the target POI includes at least one POI point.

[0126] The target POI may include at least one POI under at least one POI type.

[0127] The POI type can include at least one of point type POI, line type POI, and polygon type POI. A point type POI can be understood as a POI that includes only one POI point, such as... Figure 6 In the diagram illustrating a point-type POI, blue dots represent point-type POIs that consist of only one POI point. Line-type POIs can be understood as line-shaped POIs composed of multiple POI points, such as... Figure 7 In the schematic diagram of a line-type POI, the curve formed by multiple blue dots represents a line POI composed of multiple POI points. A surface-type POI can be understood as a POI that is a closed region enclosed by multiple POI points, such as... Figure 8 In the schematic diagram of a face type POI shown, the polygon formed by multiple blue dots represents a face type POI that is a closed region enclosed by multiple POIs.

[0128] S502, determine whether the target road is greater than the first length threshold; if yes, proceed to S503; if no, proceed to S514.

[0129] S503, obtain the rays emitted by each POI point to the surrounding area.

[0130] S504: For any POI point, if the POI point has a ray that intersects with the target road line and there are no obstacles obstructing the target road, then the POI point is determined to be visible relative to the target road, and the target POI is determined to be visible relative to the target road; otherwise, the target POI is determined to be invisible relative to the target road, and for point-type target POIs, S518 is executed, and for non-point-type target POIs, S521 is executed.

[0131] S505, for any POI point, if there are at least two rays intersecting with the target road point, determine the cumulative distance corresponding to each consecutive first intersection point.

[0132] The first intersection point is the intersection point corresponding to the intersecting ray that is unobstructed between the target road and the intersecting ray.

[0133] In one alternative embodiment, such as Figure 9 This diagram illustrates a ray emitted from a Point of Interest (POI) towards a target road. The dashed line represents the ray emitted from the POI towards the target road, and the solid black line represents the target road. Assume... Figure 9 The intersections of the four rays with the target road are A, B, C, and D, respectively, from left to right. Figure 10 As shown. The cumulative distance *dis* corresponding to consecutive intersection points AD can be calculated. Assuming there is a ray between B and C that does not intersect, the cumulative distances corresponding to consecutive intersection points AB and CD can be calculated separately.

[0134] In one alternative embodiment, such as Figure 11 This diagram illustrates a ray emitted from a Point of Interest (POI) towards a target road. Rays emitted from the POI strike the target road; red rays indicate buildings obstructing the path between the POI and the target road, while green rays indicate no such obstruction. We need to calculate the distance range of the intersection points corresponding to the green rays. We can record the intersection of each ray with the road, marking a 1 for no obstruction and a 0 for obstruction. During the calculation, we obtain similar flags: [0,0,0,1,1,1,0,1,1,0,...]. We can then calculate the actual distance of the intersection points corresponding to consecutive 1s.

[0135] In an optional embodiment, the latitude and longitude information of the two first intersection points can be converted from angles to radians, and then the spherical distance between the two first intersection points can be calculated. The spherical distance between the two first intersection points can be obtained according to the following formula:

[0136]

[0137] Where d represents the spherical distance between the two first intersection points; R represents the Earth's radius; and These represent the latitude information of the two first intersection points; and These represent the precision information of the two first intersection points.

[0138] S506, determine whether the cumulative distance corresponding to each consecutive first intersection point is greater than the first distance threshold; if yes, execute S507; if no, execute S508.

[0139] S507, Determine that the POI is visible relative to the target road, and determine that the target POI is visible relative to the target road.

[0140] S508, determine the reference connection between each road point and POI point in the target road.

[0141] S509, if none of the reference lines intersect with the obstacle, then the POI is determined to be visible relative to the target road, and the target POI is determined to be visible relative to the target road.

[0142] S510, if there is a reference line that intersects with an obstacle, then determine that the POI is not visible relative to the target road, and determine that the target POI is not visible relative to the target road. For point-type target POIs, execute S518, and for non-point-type target POIs, execute S521.

[0143] S511, for any POI point, if there is only one ray intersecting the target road point, then determine at least two extension points of the intersection point on the target road based on the position of the corresponding intersection point on the target road.

[0144] If a POI has only one ray intersecting the target road point, the intersection of that ray and the target road can be extended to the left and right by a preset distance along the direction of the road, resulting in two extended points. Figure 12 The intersection points of the two rays shown are the two expansion points obtained by expansion.

[0145] In one optional embodiment, the extension point can be determined by the following steps: based on the intersection of the ray and the road, obtain the linear reference position of the intersection point on the road, determine the direction of the road at the intersection point, and finally calculate the latitude and longitude coordinates of the points at preset distances along the road from the intersection point.

[0146] Define the latitude and longitude coordinates of the first point as (lon1, lat1) and the latitude and longitude coordinates of the second point as (lon2, lat2).

[0147] First, calculate the azimuth using the following formula:

[0148]

[0149] Then, the expansion point can be calculated based on the preset distance and azimuth angle:

[0150] The angle vector obtained by converting based on the preset distance is: .

[0151] The calculated latitude of the extension point is:

[0152]

[0153] The calculated longitude of the extension point is:

[0154]

[0155] Where lon1 is the longitude of the first point on the road segment, lat1 is the latitude of the first point, lon2 is the longitude of the second point, lat2 is the latitude of the second point, and x and y are variables generated during the intermediate calculation process. This is an angular measurement for distance conversion, in radians; distance is the left / right distance setting, and R is the average radius of the Earth. The latitude of the newly calculated point. To calculate the longitude of the new point.

[0156] S512, determine the reference connection between each extension point and the POI point.

[0157] S513, if none of the reference lines intersect with the obstacle, then the POI is determined to be visible relative to the target road, and the target POI is determined to be visible relative to the target road.

[0158] S514, if there is a reference line intersecting with an obstacle, then determine that the POI is not visible relative to the target road, and determine that the target POI is not visible relative to the target road. For point-type target POIs, execute S517, and for non-point-type target POIs, execute S521.

[0159] S515, determine the reference connection between each road point and POI point in the target road.

[0160] S516, if none of the reference lines intersect with the obstacles, then the POI is determined to be visible relative to the target road, and the target POI is determined to be visible relative to the target road.

[0161] S517 If there is a reference line that intersects with an obstacle, then determine that the POI is not visible relative to the target road, and determine that the target POI is not visible relative to the target road. For point-type target POIs, execute S518; for non-point-type target POIs, execute S520.

[0162] S518, determine the road extension line corresponding to each adjacent road point in the target road.

[0163] S519. If there is a road extension that intersects with the POI, and the corresponding road extension does not intersect with the obstacle, then the target POI is determined to be visible relative to the target road.

[0164] S520 If there is no road extension intersecting with the POI, or if there is a road extension intersecting with the POI but the corresponding road extension intersects with an obstacle, then the target POI is determined to be invisible relative to the target road.

[0165] S521, when the target road is a straight road, determine the road extension line of the target road.

[0166] S522, if the road extension intersects with the target POI and the road extension does not intersect with the obstacle, then the target POI is determined to be visible relative to the target road.

[0167] S523, if the road extension does not intersect with the target POI, or if the road extension intersects with the target POI but intersects with an obstacle, then the target POI is determined to be invisible relative to the target road.

[0168] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0169] Based on the same inventive concept, this application also provides a POI visibility recognition device for implementing the POI visibility recognition method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more POI visibility recognition device embodiments provided below can be found in the limitations of the POI visibility recognition method described above, and will not be repeated here.

[0170] In one exemplary embodiment, such as Figure 13 As shown, a POI visibility recognition device is provided, including: a first acquisition module 1310, a second acquisition module 1320, and a first determination module 1330, wherein:

[0171] The first acquisition module 1310 is used to acquire target points of interest (POIs) within the area to which the target road belongs; the target POI includes at least one POI point.

[0172] The second acquisition module 1320 is used to acquire the rays emitted by each POI point to the surrounding area;

[0173] The first determining module 1330 is used to determine the visibility of the target POI relative to the target road based on the intersection of the rays emitted from each POI point with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

[0174] In one embodiment, the first determining module 1330 is specifically configured to: determine that the POI is visible relative to the target road if the POI has a ray that intersects with the target road line and there are no obstacles obstructing the POI from the target road; determine the visibility of the POI relative to the target road based on the distance between consecutive first intersection points if the POI has at least two rays that intersect with the target road; the first intersection point is the intersection point corresponding to the intersecting ray that is not obstructed by any obstacles from the target road; and determine the visibility of the POI relative to the target road based on the position of the corresponding intersection point on the target road if the POI has only one ray that intersects with the target road.

[0175] In one embodiment, the first determining module 1330 is specifically used to: determine the cumulative distance corresponding to each consecutive first intersection point; if there is a cumulative distance greater than the first distance threshold, then determine that the POI point is visible relative to the target road.

[0176] In one embodiment, the POI visibility recognition device further includes a second determining module, configured to: if there is no cumulative distance greater than a first distance threshold, determine a reference connection between each road point in the target road and the POI point; and determine the visibility of the POI point relative to the target road based on the intersection of each reference connection with an obstacle.

[0177] In one embodiment, the first determining module 1330 is specifically used to: determine at least two extension points of the intersection point on the target road based on the position of the corresponding intersection point on the target road; determine the reference connection between each extension point and the POI point; and determine the visibility of the POI point relative to the target road based on the intersection of each reference connection with the obstacle.

[0178] In one embodiment, the second acquisition module 1320 is specifically used to: if the target road is greater than a first length threshold, acquire the rays emitted by each POI point to the surrounding area; correspondingly, the above-mentioned POI visibility recognition device further includes: a third determination module, used to: if the target road is not greater than the first length threshold, determine the reference connection between each road point in the target road and the POI point; and a fourth determination module, used to determine the visibility of the POI point relative to the target road based on the intersection of each reference connection with the obstacle.

[0179] In one embodiment, the fourth determining module is specifically used to: determine that the POI is visible relative to the target road if none of the reference lines intersect with the obstacle; and determine that the POI is not visible relative to the target road if there is a reference line intersecting with the obstacle.

[0180] In one embodiment, the POI visibility recognition device further includes: a fifth determining module, configured to: if it is determined that the target POI is not visible relative to the target road, determine the road extension lines corresponding to each adjacent road point in the target road for the point-type target POI; and a sixth determining module, configured to: re-determine the visibility of the target POI relative to the target road based on the intersection between each road extension line and the POI point, and / or the intersection between the intersecting road extension lines and obstacles.

[0181] In one embodiment, the sixth determining module is specifically used to: if there is a road extension line intersecting with the POI point, and the corresponding road extension line does not intersect with the obstacle, then determine that the target POI is visible relative to the target road; if there is no road extension line intersecting with the POI point, or if there is a road extension line intersecting with the POI point but the corresponding road extension line intersects with the obstacle, then determine that the target POI is not visible relative to the target road.

[0182] In one embodiment, the POI visibility recognition device further includes: a seventh determining module, configured to: if it is determined that the target POI is not visible relative to the target road, then for a non-point type target POI, if the target road is a straight road, determine the road extension line of the target road; and an eighth determining module, configured to: re-determine the visibility of the target POI relative to the target road based on the intersection of the road extension line and the target POI, and / or the intersection of the road extension line and obstacles.

[0183] In one embodiment, the eighth determining module is specifically used to: determine that the target POI is visible relative to the target road if the road extension intersects with the target POI and the road extension does not intersect with the obstacle; determine that the target POI is not visible relative to the target road if the road extension does not intersect with the target POI, or if the road extension intersects with the target POI but the road extension intersects with the obstacle.

[0184] Each module in the aforementioned POI visibility recognition device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0185] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 14 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores relevant data for the POI visibility identification method. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a POI visibility identification method.

[0186] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0187] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the POI visibility recognition method provided in any of the above embodiments.

[0188] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the POI visibility identification method provided in any of the above embodiments.

[0189] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the POI visibility identification method provided in any of the above embodiments.

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for identifying the visibility of Points of Interest (POIs), characterized in that, include: Obtain target points of interest (POIs) within the area where the target road is located; each target POI includes at least one POI point. Obtain the rays emitted from each of the POI points to the surrounding area; The visibility of the target POI relative to the target road is determined based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

2. The method according to claim 1, characterized in that, The step of determining the visibility of the target POI relative to the target road based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of obstacles between the intersecting rays and the target road, includes: For any POI, the visibility of the POI relative to the target road is determined based on the intersection between the POI and the target road, and / or the obstruction between the intersecting ray and the target road. If there exists a POI that is visible relative to the target road, then the target POI is determined to be visible relative to the target road.

3. The method according to claim 2, characterized in that, Determining the visibility of a POI relative to the target road based on the intersection between the POI and the target road, and / or the obstruction of obstacles between the intersecting ray and the target road, includes: If the POI has a ray that intersects the target road line and is not obstructed by any obstacle between it and the target road, then the POI is determined to be visible relative to the target road. If at least two rays from the POI intersect with the target road point, the visibility of the POI relative to the target road is determined based on the distance between consecutive first intersection points; the first intersection point is the intersection point corresponding to an intersecting ray that is unobstructed from the target road. If a POI has only one ray intersecting with the target road point, the visibility of the POI relative to the target road is determined based on the position of the corresponding intersection point on the target road.

4. The method according to claim 3, characterized in that, Determining the visibility of the POI relative to the target road based on the distance between consecutive first intersection points includes: Determine the cumulative distance corresponding to each consecutive first intersection point; If there is a cumulative distance greater than the first distance threshold, then the POI is determined to be visible relative to the target road.

5. The method according to claim 4, characterized in that, The method further includes: If there is no cumulative distance greater than the first distance threshold, then a reference connection between each road point in the target road and the POI point is determined; The visibility of the POI relative to the target road is determined based on the intersection of each of the reference lines with the obstacles.

6. The method according to claim 3, characterized in that, Determining the visibility of the POI relative to the target road based on the position of the corresponding intersection point on the target road includes: Based on the position of the corresponding intersection point on the target road, determine at least two extension points of the intersection point on the target road; Determine the reference connection between each of the extended points and the POI points; The visibility of the POI relative to the target road is determined based on the intersection of each of the reference lines with the obstacles.

7. The method according to claim 1, characterized in that, The step of obtaining the rays emitted from each of the POI points to the surrounding area includes: If the target road is greater than the first length threshold, then obtain the rays emitted by each POI point to the surrounding area; Accordingly, the method further includes: If the target road is not greater than the first length threshold, then a reference connection between each road point in the target road and the POI point is determined; The visibility of the POI relative to the target road is determined based on the intersection of each of the reference lines with the obstacles.

8. The method according to any one of claims 1-7, characterized in that, The method further includes: If it is determined that the target POI is not visible relative to the target road, then for the point-type target POI, determine the road extension line corresponding to each adjacent road point in the target road; The visibility of the target POI relative to the target road is re-determined based on the intersection of each road extension with the POI and / or the intersection of the intersecting road extension with obstacles.

9. The method according to any one of claims 1-7, characterized in that, The method further includes: If it is determined that the target POI is not visible relative to the target road, then for non-point type target POIs, if the target road is a straight road, the road extension line of the target road is determined; The visibility of the target POI relative to the target road is re-determined based on the intersection of the road extension with the target POI and / or the intersection of the road extension with obstacles.

10. A POI visibility identification device, characterized in that, include: The first acquisition module is used to acquire the points of interest (POIs) within the area where the target road is located. The target POI includes at least one POI point; The second acquisition module is used to acquire the rays emitted by each POI point to the surrounding area; The first determining module is used to determine the visibility of the target POI relative to the target road based on the intersection of the rays emitted from each POI with the target road, and / or the obstruction of the intersecting rays with the target road by obstacles.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-9.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-9.

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