Intersection type determination method and related apparatus
By filtering and selecting road segment nodes in a standard defined map, the type of under-bridge intersection can be automatically determined, solving the problems of low efficiency and high cost in existing technologies for under-bridge intersection recognition, and achieving efficient and accurate under-bridge intersection recognition.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING CO WHEELS TECH CO LTD
- Filing Date
- 2024-12-11
- Publication Date
- 2026-06-12
AI Technical Summary
Existing technologies are inefficient and prone to omissions and labeling errors when identifying intersections under bridges in urban roads, requiring significant manpower and time costs.
By acquiring standard-defined map data, the system filters out target road segment node subsets, determines the road segment set, and automatically determines the type of underpass intersection based on the underpass intersection judgment strategy. This includes filtering, determining and filtering the road segment set, reducing reliance on manual annotation.
It has achieved efficient and automatic identification of under-bridge intersection types, reducing manpower and time costs and improving identification accuracy and efficiency.
Smart Images
Figure CN122196050A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of scene recognition technology, and in particular to a method and related apparatus for determining intersection type. Background Technology
[0002] Currently, the identification of traffic scenarios such as underpass intersections on urban roads mainly relies on manual data collection and labeling. This labeling process requires manually traversing the entire road network to locate underpass intersections, which is not only prone to omissions and labeling errors but also inefficient, requiring significant manpower and time investment. Summary of the Invention
[0003] In view of the above problems, this application provides a method and related apparatus for determining intersection types, so as to improve recognition accuracy and efficiency while reducing investment costs. The specific solution is as follows:
[0004] The first aspect of this application provides a method for determining intersection type, including:
[0005] Obtain map data for the area to be mined from the standard definition map;
[0006] Based on the filtering strategy, a target road segment node subset is selected from the road segment node set of the map data;
[0007] Based on the road segment determination strategy, a set of road segments for each target road segment node in the target road segment node subset is determined. Each road segment in the set of road segments is a road segment that intersects with the coverage area of the target road segment node and does not pass through the target road segment node.
[0008] After filtering each set of road segments according to the filtering strategy, it is determined whether there is still a set of target road segments containing road segments.
[0009] If so, then each set of target road segments is judged according to the underpass intersection judgment strategy to determine whether the type of the target road segment node corresponding to each set of target road segments is an underpass intersection.
[0010] In one possible implementation, the intersection type determination method further includes:
[0011] In the standard definition map, the location of the target road segment node of type under-bridge intersection and its corresponding coverage area are marked.
[0012] In one possible implementation, the intersection type determination method further includes:
[0013] In the standard defined map, the mileage of the associated road segments of the target road segment node of the underpass intersection type is summarized and marked. The associated road segments are the road segments that pass through the target road segment node.
[0014] In one possible implementation, the step of judging each set of target road segments according to the underpass intersection judgment strategy to determine whether the type of the target road segment node corresponding to each set of target road segments is an underpass intersection includes:
[0015] Determine whether there exists a target road segment in the set of target road segments where the distance between the endpoint of the target road segment and the corresponding target road segment node is greater than a first distance value;
[0016] If so, the type of the corresponding target road segment node is determined to be the underpass intersection.
[0017] In one possible implementation, the step of filtering a target road segment node subset from the set of road segment nodes in the map data according to a filtering strategy includes:
[0018] The target road segment node subset is obtained by selecting road segment nodes from the set of road segment nodes that contain no less than 3 road segments.
[0019] In one possible implementation, determining the road segment set for each target road segment node in the target road segment node subset according to the road segment determination strategy includes:
[0020] The circular area defined by taking the target road segment node as the center and the second distance as the radius is the coverage area of the target road segment node.
[0021] The road segments that intersect with the coverage area but do not pass through the target road segment node are identified to obtain the road segment set.
[0022] In one possible implementation, after filtering each set of road segments according to the filtering strategy, determining whether there is still a target road segment set containing road segments includes:
[0023] According to the filtering feature value of each filtering feature in the filtering feature set, the road segments in each of the road segment sets are filtered respectively, and after the filtering is completed, it is determined whether there is still a target road segment set containing the road segments.
[0024] A second aspect of this application provides an intersection type determination device, comprising:
[0025] The map data acquisition module is used to acquire map data of the area to be mined in a standard defined map;
[0026] The road node filtering module is used to filter out a target road segment node subset from the road segment node set of the map data according to the filtering strategy.
[0027] The road segment set determination module is used to determine the road segment set of each target road segment node in the target road segment node subset according to the road segment determination strategy. Each road segment in the road segment set is a road segment that intersects with the coverage area of the target road segment node and does not pass through the target road segment node.
[0028] The road segment set filtering module is used to filter each road segment set according to the filtering strategy, and then determine whether there is still a target road segment set containing the road segment; and,
[0029] The intersection type determination module is used to determine whether the type of the target road segment node corresponding to each target road segment set is an under-bridge intersection when the road segment set filtering module determines that there is a target road segment set containing road segments.
[0030] A third aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the intersection type determination method of the first aspect or any implementation thereof.
[0031] A fourth aspect of this application provides an electronic device, including at least one processor and a memory connected to the processor, wherein:
[0032] The memory is used to store computer programs;
[0033] The processor is used to execute the computer program so that the electronic device can implement the intersection type determination method of the first aspect or any implementation thereof.
[0034] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the intersection type determination method of the first aspect or any implementation thereof.
[0035] By employing the above technical solution, the intersection type determination method provided in this application, after obtaining the map data of the area to be excavated in the standard definition map, first filters out the target road segment node subset from the road segment node set of the map data according to a filtering strategy. According to the road segment determination strategy, the road segment set of each target road segment node in the target road segment node subset is determined, wherein each road segment in the road segment set is a road segment that intersects with the coverage area of the target road segment node but does not pass through the target road segment node. Then, after filtering each road segment set according to a filtering strategy, for the target road segment sets that still contain road segments, each target road segment set is judged according to the underpass intersection judgment strategy to determine whether the type of the target road segment node corresponding to each target road segment set is an underpass intersection. By considering the characteristics of underpass intersections, and through road segment node filtering, road segment set determination, road segment filtering, and underpass intersection type judgment, automatic determination of underpass intersection types is achieved. Compared with manual underpass intersection type labeling, this method is not only more efficient but also reduces investment costs. Attached Figure Description
[0036] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.
[0037] Figure 1 A structural diagram of an intersection type determination system provided in this application;
[0038] Figure 2 A structural diagram of a terminal provided in this application;
[0039] Figure 3 A structural diagram of a server provided in this application;
[0040] Figure 4 A flowchart of a method for determining intersection type provided in this application;
[0041] Figure 5 A flowchart illustrating the application of the intersection type determination method provided in this application;
[0042] Figure 6 A structural diagram of an intersection type determination device provided in this application;
[0043] Figure 7 A structural diagram of the electronic device provided in this application. Detailed Implementation
[0044] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.
[0045] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.
[0046] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.
[0047] This application can be applied to the field of autonomous driving, providing a data foundation for urban autonomous driving operations.
[0048] See Figure 1 , Figure 1 A schematic diagram of the architecture of an intersection type determination system is shown. The system may include a terminal 100 and a server 200. The server 200 may include one or more servers (…). Figure 1 (The example includes a server), and the server 200 can provide the method provided in the embodiments of this application to one or more terminals.
[0049] The terminal 100 may be equipped with an application for identifying the type of underpass intersection. The application and webpage can provide an interface. The terminal 100 can receive relevant parameters input by the user on the excavation area selection interface and send the parameters to the server 200. The server 200 can obtain the processing result based on the received parameters and return the processing result to the terminal 100.
[0050] It should be understood that in some optional implementations, the terminal 100 can also complete the action of obtaining the processing result based on the received parameters on its own, without the need for the server to cooperate. This application embodiment is not limited to this.
[0051] The following description Figure 1 The product form of the mid-terminal 100;
[0052] The terminal 100 in this application embodiment can be a mobile phone, tablet computer, wearable device, vehicle device, augmented reality (AR) / virtual reality (VR) device, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA), etc., and this application embodiment does not impose any restrictions on it.
[0053] Figure 2 A schematic diagram of an optional hardware structure for terminal 100 is shown.
[0054] refer to Figure 2 As shown, the terminal 100 may include a radio frequency unit 110, a memory 120, an input unit 130, a display unit 140, a camera 150 (optional), an audio circuit 160 (optional), a speaker 161 (optional), a microphone 162 (optional), a headphone jack 163 (optional), a processor 170, an external interface 180, a power supply 190, and other components. Those skilled in the art will understand that... Figure 2 These are merely examples of terminals or multi-functional devices and do not constitute a limitation on terminals or multi-functional devices. They may include more or fewer components than shown in the illustration, or combine certain components, or use different components.
[0055] The input unit 130 can be used to receive input numerical or character information, and to generate key signal inputs related to user settings and function control of the portable multi-functional device. Specifically, the input unit 130 may include a touchscreen 131 (optional) and / or other input devices 132. The touchscreen 131 can collect touch operations performed by the user on or near it (such as operations performed by the user using fingers, knuckles, styluses, or any suitable object on or near the touchscreen), and drive the corresponding connection devices according to a pre-set program. The touchscreen can detect the user's touch actions, convert the touch actions into touch signals and send them to the processor 170, and can receive and execute commands sent by the processor 170; the touch signal includes at least touch point coordinate information. The touchscreen 131 can provide an input interface and an output interface between the terminal 100 and the user. In addition, various types of touchscreens, such as resistive, capacitive, infrared, and surface acoustic wave, can be used to implement the touchscreen. Besides the touchscreen 131, the input unit 130 may also include other input devices. Specifically, other input devices 132 may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.
[0056] Among them, the input device 132 can receive input data, etc.
[0057] The display unit 140 can be used to display information input by the user or information provided to the user, various menus of the terminal 100, interactive interfaces, file display, and / or playback of any multimedia file. In this embodiment, the display unit 140 can be used to display the interface for selecting the mining area, processing results, etc.
[0058] The memory 120 can be used to store instructions and data. The memory 120 may primarily include an instruction storage area and a data storage area. The data storage area can store various types of data, such as multimedia files and text. The instruction storage area can store software units such as operating systems, applications, and instructions required for at least one function, or subsets or extended sets thereof. It may also include non-volatile random access memory. It provides the processor 170 with hardware, software, and data resources for managing the computing device, supporting control software and applications. It is also used for storing multimedia files, as well as storing running programs and applications.
[0059] The processor 170 is the control center of the terminal 100. It connects various parts of the terminal 100 via various interfaces and lines. By running or executing instructions stored in the memory 120 and calling data stored in the memory 120, it performs various functions and processes data of the terminal 100, thereby controlling the terminal device as a whole. Optionally, the processor 170 may include one or more processing units; preferably, the processor 170 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 170. In some embodiments, the processor and memory can be implemented on a single chip; in some embodiments, they can also be implemented separately on independent chips. The processor 170 can also be used to generate corresponding operation control signals, send them to the corresponding components of the computing processing device, read and process data in the software, especially read and process data and programs in the memory 120, so that the various functional modules therein perform corresponding functions, thereby controlling the corresponding components to act according to the instructions.
[0060] The memory 120 can be used to store software code related to the intersection type determination method, and the processor 170 can execute the steps of the intersection type determination method, and can also schedule other units (such as the above-mentioned input unit 130 and display unit 140) to achieve the corresponding functions.
[0061] The radio frequency unit 110 (optional) can be used for receiving and transmitting signals during information transmission or calls. For example, it can receive downlink information from the base station and process it for the processor 170; additionally, it can transmit uplink data to the base station. Typically, the RF circuit includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier (LNA), a duplexer, etc. Furthermore, the radio frequency unit 110 can also communicate wirelessly with network devices and other devices. This wireless communication can use any communication standard or protocol, including but not limited to Global System for Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), etc.
[0062] In this embodiment of the application, the radio frequency unit 110 can send the data of the selected area to be excavated to the server 200 and receive the processing result of the underpass intersection identification sent by the server 200.
[0063] It should be understood that the radio frequency unit 110 is optional and can be replaced with other communication interfaces, such as a network port.
[0064] The terminal 100 also includes a power supply 190 (such as a battery) that supplies power to various components. Preferably, the power supply can be logically connected to the processor 170 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.
[0065] Terminal 100 also includes an external interface 180, which can be a standard Micro USB interface or a multi-pin connector, which can be used to connect terminal 100 to other devices for communication or to connect a charger to charge terminal 100.
[0066] Although not shown, terminal 100 may also include a flash, a wireless fidelity (WiFi) module, a Bluetooth module, sensors with various functions, etc., which will not be described in detail here. Some or all of the methods described below can be applied to, for example... Figure 2 In the terminal 100 shown.
[0067] The following description Figure 1 The product form of the mid-range server 200;
[0068] Figure 3 A structural diagram of a server 200 is provided, as follows: Figure 3 As shown, server 200 includes bus 201, processor 202, communication interface 203, and memory 204. Processor 202, memory 204, and communication interface 203 communicate with each other via bus 201.
[0069] Bus 201 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0070] The processor 202 can be any one or more of the following processors: central processing unit (CPU), graphics processing unit (GPU), microprocessor (MP), or digital signal processor (DSP).
[0071] Memory 204 may include volatile memory, such as random access memory (RAM). Memory 204 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).
[0072] The memory 204 can be used to store software code related to the intersection type recognition method, and the processor 202 can execute the steps of the chip's intersection type recognition method, and can also schedule other units to achieve the corresponding functions.
[0073] It should be understood that the aforementioned terminal 100 and server 200 can be centralized or distributed devices. The processors (e.g., processor 170 and processor 202) in the aforementioned terminal 100 and server 200 can be hardware circuits (such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), general-purpose processors, digital signal processors (DSPs), microprocessors or microcontrollers, etc.) or combinations of these hardware circuits. For example, the processor can be a hardware system with instruction execution capabilities, such as a CPU or DSP, or a hardware system without instruction execution capabilities, such as an ASIC or FPGA, or a combination of the aforementioned hardware systems without instruction execution capabilities and hardware systems with instruction execution capabilities.
[0074] This application provides a method for determining intersection types. The method for determining intersection types according to this application will be described in detail below with reference to the accompanying drawings.
[0075] Reference Figure 4 , Figure 4 This application provides a flowchart illustrating a method for determining intersection types, as shown in the embodiments below. Figure 4 As shown in the embodiment of this application, a method for determining the type of an intersection may include steps 401 to 405, which are described in detail below.
[0076] 401. Obtain map data for the area to be mined in the standard definition map.
[0077] Specifically, a Standard Definition Map (SD Map), compared to a high-precision map, is a map with relatively lower precision, typically around meter-level, but sufficient for daily vehicle navigation needs. The area to be explored can be a user-specified region, represented by latitude and longitude, or determined by administrative divisions on the map, or by street boundaries, etc. Those skilled in the art can choose the appropriate method for determining the area to be explored as needed. The user-selected area to be explored is matched against the Standard Definition Map to obtain the map data for that area.
[0078] 402. Based on the filtering strategy, select the target road segment node subset from the set of road segment nodes in the map data.
[0079] Specifically, a road segment in a standard definition map is formed by connecting two endpoints or intersections. A link in the standard definition map represents a specific road segment and is the basic unit of the road model in a navigation system built upon the standard definition map. A set of road segment nodes can be obtained by statistically analyzing all intersections of road segments in the area to be excavated. Then, the number of road segments contained in each intersection point in the road segment node set is counted, and nodes containing at least three road segments are selected to obtain the target road segment node subset.
[0080] The nodes that contain at least 3 road segments are selected here, mainly because for the scenario of an intersection under a bridge on an urban road, at least two road segments will pass under the bridge, and the intersection will be associated with at least three road segments. Therefore, nodes that contain at least 3 road segments are selected here.
[0081] It is understood that those skilled in the art can filter the set of road segment nodes according to the different numbers of road segments included in the underpass intersection as needed, to obtain a subset of target road segment nodes, without any restrictions.
[0082] 403. Based on the road segment determination strategy, determine the road segment set of each target road segment node in the target road segment node subset. Each road segment in the road segment set is a road segment that intersects with the coverage area of the target road segment node and does not pass through the target road segment node.
[0083] Specifically, the target road segment node can be used as the center, and then a circular, square, or other shaped intersection area can be expanded outward from the center. Road segments that intersect with this intersection area but do not pass through the target road segment node are then considered as the target road segment set for that target road segment node. Bridges do not intersect with the target road segment node, but they may intersect with road segments associated with the target road segment node; therefore, the intersection of the target road segment node's intersection area is used as the criterion for selection.
[0084] For example, the target road segment node can be used as the center of a circle, and a second distance I (e.g., 100 meters) can be used as the radius to define a circular area as the coverage area of the target road segment node. Then, road segments that intersect with the coverage area but do not pass through the target road segment node are identified, resulting in a set of road segments.
[0085] 404. After filtering each set of road segments according to the filtering strategy, determine whether there is still a set of target road segments that contains road segments.
[0086] Specifically, considering that the road segment set may include other types of roads besides bridges, it is necessary to filter each road segment set to eliminate the influence of other roads.
[0087] The system can filter road segments within each road segment set according to the filter feature values of each filter feature in the filter feature set. These filter features can include road characteristics such as road grade, road length, and road type, and the corresponding filter feature values include preset grade, preset length, and preset type. When filtering according to these filter feature values, a determination can be made by checking whether the road segment meets the requirements of these filter feature values.
[0088] For example, each set of road segments can be filtered out according to its road level, removing road segments that are higher than a preset level, such as highways and urban expressways.
[0089] For each set of road segments, filter out road segments with a length less than a preset length, such as removing road segments with a length less than 10 meters.
[0090] For each set of road segments, filter out road segments of the tunnel type according to road type, and then determine whether there is still a target set of road segments containing road segments.
[0091] It is understood that those skilled in the art can adjust the above filtering strategy according to the different road types in the area to be excavated, which will not be elaborated here. Furthermore, the order of filtering of the above filtering features can be adjusted, as long as the target road segment set is determined after all filtering features have been filtered.
[0092] 405. If so, then each target road segment set is judged and processed according to the underpass intersection judgment strategy to determine whether the type of the target road segment node corresponding to each target road segment set is an underpass intersection.
[0093] Specifically, given the characteristics of bridges and roads, which pass over intersections, we can determine whether there exists a target road segment in the target road segment set whose endpoint is at a distance greater than a first distance value from its corresponding node. Here, the endpoint of the target road segment can be either of its two endpoints.
[0094] For example, if the distance between the endpoint of a road segment and the target road segment node is greater than 150 meters, then the intersection of the target road segment node is an underpass intersection.
[0095] It can be seen that this intersection type determination method, for the scenario of determining the type of under-bridge intersection, achieves automatic determination of the type of under-bridge intersection through the screening of road segment nodes, the determination of road segment sets, the filtering of road segments, and the judgment of under-bridge intersection type. Compared with the manual under-bridge intersection type labeling method, it is not only more efficient, but also reduces the investment cost.
[0096] In one possible implementation, to facilitate the development and use of subsequent autonomous driving functions, the intersection type determination method also includes the following processing steps:
[0097] In the standard definition map, the location of the target road segment node of type under-bridge intersection and its corresponding coverage area are marked.
[0098] In addition, the mileage of the associated road segments of the target road segment node of type under-bridge intersection is summarized and marked. The associated road segments are the road segments that pass through the target road segment node.
[0099] The associated road segments of the target road segment node are the road segments that intersect with the target road segment node. The total mileage of the road segments that intersect with the target road segment node is obtained by summing them up.
[0100] As a specific application of the above-mentioned method for determining intersection types, refer to Figure 5 As shown, the specific processing steps may include the following:
[0101] Region matching: Spatial matching of SD map data and selected mining area data to obtain SD map data to be mined.
[0102] Node data mining: Count the intersection points of all links (road segments) in the SD map data to be mined. Then calculate the number of road segments contained in the intersection points of the road segments, filter the intersection points with 3 or more, and take the filtered intersection points as node data. Take the intersecting road segments associated with each node data as the dataset associated with the node data, and obtain the target road segment node subset.
[0103] Intersection mining: The node data and the target road segment node subset associated with each node data are used as the intersection data set.
[0104] Link mining within the intersection area: Using a radius of 100 meters, generate a circle with the node as the center and l as the radius for each node in the intersection dataset to obtain the intersection range of each node.
[0105] Link data within the intersection range: Links that intersect with the intersection range but are not within the subset of target road segment nodes associated with the node are taken as the set of road segments within the intersection range.
[0106] Filtering low-level roads: Road segments in the road segment set are filtered to filter high-level roads according to their road level.
[0107] Filter short links: Filter links in the road segment set whose length is less than 10 meters based on the road segment length.
[0108] Filtered Tunnels: Road segments in the road segment set are filtered according to the road segment type and the tunnel type.
[0109] Underpass intersection discovery: If, after filtering, there are road segments in the remaining road segment set where the endpoint of a road segment is more than 150 meters away from the node, then the intersection type of that node is an underpass intersection.
[0110] Data decomposition and statistics: The location of the node is the location of the intersection under the bridge, and the range of the intersection is the range of the intersection under the bridge.
[0111] The summation of the lengths of the road segments associated with each node is used to quantify the journey of the intersection under the bridge.
[0112] The above describes a method for determining the intersection type provided by the embodiments of this application. The following describes the apparatus for performing the above-described method for determining the intersection type.
[0113] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of an intersection type determination device provided in an embodiment of this application. Figure 6 As shown, the intersection type determination device includes:
[0114] The map data acquisition module 601 is used to acquire map data of the area to be excavated in the standard defined map.
[0115] The road node filtering module 602 is used to filter out a target road segment node subset from the road segment node set in the map data according to the filtering strategy.
[0116] The road segment set determination module 603 is used to determine the road segment set of each target road segment node in the target road segment node subset according to the road segment determination strategy. Each road segment in the road segment set is a road segment that intersects with the coverage area of the target road segment node and does not pass through the target road segment node.
[0117] The road segment set filtering module 604 is used to filter each road segment set according to the filtering strategy and then determine whether there is still a target road segment set containing the road segment. And,
[0118] The intersection type judgment module 605 is used to judge each target road segment set according to the underpass intersection judgment strategy when the road segment set filtering module 604 judges that there is a target road segment set containing road segments, so as to determine whether the type of the target road segment node corresponding to each target road segment set is an underpass intersection.
[0119] In one possible implementation, it also includes: an underpass intersection labeling module for labeling the location and corresponding coverage area of target road segment nodes of type underpass intersection in the standard defined map.
[0120] In one possible implementation, the underpass intersection labeling module is also used to summarize and label the mileage of the associated road segments of the target road segment node of type underpass intersection in the standard defined map, wherein the associated road segments are the road segments that pass through the target road segment node.
[0121] In one possible implementation, the intersection type determination module 605 performs a determination process on each set of target road segments according to the underpass intersection determination strategy to determine whether the type of the target road segment node corresponding to each set of target road segments is an underpass intersection, including:
[0122] Determine whether there exists a target road segment in the set of target road segments where the distance between the endpoint of the target road segment and the corresponding target road segment node is greater than a first distance value;
[0123] If so, the type of the corresponding target road segment node is determined to be the underpass intersection.
[0124] In one possible implementation, the process by which the road node filtering module 602 filters a subset of target road segment nodes from the set of road segment nodes in the map data according to a filtering strategy includes:
[0125] The target road segment node subset is obtained by selecting road segment nodes from the set of road segment nodes that contain no less than 3 road segments.
[0126] In one possible implementation, the process by which the road segment set determination module 603 determines the road segment set for each target road segment node in the target road segment node subset according to the road segment determination strategy includes:
[0127] The circular area defined by taking the target road segment node as the center and the second distance as the radius is the coverage area of the target road segment node.
[0128] The road segments that intersect with the coverage area but do not pass through the target road segment node are identified to obtain the road segment set.
[0129] In one possible implementation, the process by which the road segment set filtering module 604 filters each road segment set according to a filtering strategy and then determines whether there is still a target road segment set containing road segments includes:
[0130] According to the filtering feature value of each filtering feature in the filtering feature set, the road segments in each of the road segment sets are filtered respectively, and after the filtering is completed, it is determined whether there is still a target road segment set containing the road segments.
[0131] This application also provides an electronic device in its embodiments. (See reference...) Figure 7 The diagram illustrates a structural schematic suitable for implementing the electronic device in the embodiments of this application. The electronic device in the embodiments of this application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0132] like Figure 7 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. When the electronic device is powered on, the RAM 703 also stores various programs and data required for the operation of the electronic device. The processing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.
[0133] Typically, the following devices can be connected to I / O interface 705: input devices 706 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 707 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 708 including, for example, memory cards, hard drives, etc.; and communication devices 709. Communication device 709 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 7 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.
[0134] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the intersection type determination methods provided in this application.
[0135] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the intersection type determination methods provided in this application.
[0136] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.
[0137] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0138] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.
[0139] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).
Claims
1. A method for determining intersection type, characterized in that, include: Obtain map data for the area to be mined from the standard definition map; Based on the filtering strategy, a target road segment node subset is selected from the road segment node set of the map data; Based on the road segment determination strategy, a set of road segments for each target road segment node in the target road segment node subset is determined. Each road segment in the set of road segments is a road segment that intersects with the coverage area of the target road segment node and does not pass through the target road segment node. After filtering each set of road segments according to the filtering strategy, it is determined whether there is still a set of target road segments containing road segments. If so, then each set of target road segments is judged according to the underpass intersection judgment strategy to determine whether the type of the target road segment node corresponding to each set of target road segments is an underpass intersection.
2. The method for determining intersection type according to claim 1, characterized in that, Also includes: In the standard definition map, the location of the target road segment node of type under-bridge intersection and its corresponding coverage area are marked.
3. The method for determining intersection type according to claim 1 or 2, characterized in that, Also includes: In the standard defined map, the mileage of the associated road segments of the target road segment node of the underpass intersection type is summarized and marked. The associated road segments are the road segments that pass through the target road segment node.
4. The method for determining intersection type according to claim 1, characterized in that, The step of judging each set of target road segments according to the underpass intersection judgment strategy to determine whether the type of the target road segment node corresponding to each set of target road segments is an underpass intersection includes: Determine whether there exists a target road segment in the set of target road segments where the distance between the endpoint of the target road segment and the corresponding target road segment node is greater than a first distance value; If so, the type of the corresponding target road segment node is determined to be the underpass intersection.
5. The method for determining intersection type according to claim 1, characterized in that, The step of filtering the target road segment node subset from the road segment node set of the map data according to the filtering strategy includes: The target road segment node subset is obtained by selecting road segment nodes from the set of road segment nodes that contain no less than 3 road segments.
6. The method for determining intersection type according to claim 1, characterized in that, The step of determining the road segment set for each target road segment node in the target road segment node subset according to the road segment determination strategy includes: The circular area defined by taking the target road segment node as the center and the second distance as the radius is the coverage area of the target road segment node. The road segments that intersect with the coverage area but do not pass through the target road segment node are identified to obtain the road segment set.
7. The method for determining intersection type according to claim 1, characterized in that, After filtering each set of road segments according to the filtering strategy, determining whether there is still a target road segment set containing road segments includes: According to the filtering feature value of each filtering feature in the filtering feature set, the road segments in each of the road segment sets are filtered respectively, and after the filtering is completed, it is determined whether there is still a target road segment set containing the road segments.
8. A device for determining intersection type, characterized in that, include: The map data acquisition module is used to acquire map data of the area to be mined in a standard defined map; The road node filtering module is used to filter out a target road segment node subset from the road segment node set of the map data according to the filtering strategy. The road segment set determination module is used to determine the road segment set of each target road segment node in the target road segment node subset according to the road segment determination strategy. Each road segment in the road segment set is a road segment that intersects with the coverage area of the target road segment node and does not pass through the target road segment node. The road segment set filtering module is used to filter each road segment set according to the filtering strategy and then determine whether there is still a target road segment set containing the road segment. as well as, The intersection type determination module is used to determine whether the type of the target road segment node corresponding to each target road segment set is an under-bridge intersection when the road segment set filtering module determines that there is a target road segment set containing road segments.
9. A computer program product, characterized in that, Includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the intersection type determination method as described in any one of claims 1 to 7.
10. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program to enable the electronic device to implement the intersection type determination method as described in any one of claims 1 to 7.
11. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the intersection type determination method as described in any one of claims 1 to 7.