CN112797993A - Method, device and storage medium for determining maximum likelihood path - Google Patents
Method, device and storage medium for determining maximum likelihood path Download PDFInfo
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- CN112797993A CN112797993A CN201911114073.2A CN201911114073A CN112797993A CN 112797993 A CN112797993 A CN 112797993A CN 201911114073 A CN201911114073 A CN 201911114073A CN 112797993 A CN112797993 A CN 112797993A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000007476 Maximum Likelihood Methods 0.000 title claims description 24
- 238000004891 communication Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
The embodiment of the invention provides a method, a device and a storage medium for determining a maximum possible path, wherein the method is used for expanding MPP in a cruising state and comprises the following steps: when the MPP is expanded to the roundabout, searching a section of the roundabout exiting the roundabout in preset road network data according to the passing direction of the MPP leaf section; acquiring a target exit rotary island road section which is most likely to be driven by the vehicle from the exit rotary island road section; acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the roundabout road section of the roundabout; and determining the target roundabout road section and the target exit roundabout road section as the MPP road section. According to the embodiment of the invention, when the MPP is expanded to the roundabout, the error of the MPP is reduced, and the accuracy of the MPP is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of auxiliary driving, in particular to a method and a device for determining a maximum possibility path and a storage medium.
Background
In an aided driving scene such as ADAS (Advanced Driver Assistance Systems), over-the-horizon information exceeding the distance of a field of view is provided for a vehicle, so that normal operation of an aided driving function of the vehicle is guaranteed, and safety and comfort of the vehicle are improved. As the basis of beyond visual range information, the road network prediction tree can describe the road network topological structure of a certain geographic area range through a tree-shaped data structure, so that a basis is provided for the driving decision and control of vehicles.
The road network prediction tree may include MPP (Most Probable Path) and non-MPP, and the inventor of the present invention finds in the research process that: when the MPP is expanded to the roundabout, the roundabout road sections on the roundabout are communicated with each other along the driving direction of the roundabout, so that the expanded MPP can not exit the roundabout; to illustrate this situation, as shown in fig. 1, the road segments 2, 3, 4 and 5 are roundabout road segments on the roundabout, the road segments 2, 3, 4 and 5 are communicated with each other along the driving direction of the roundabout (as shown by the counterclockwise arrow in fig. 1), the road segment 1 is an MPP leaf road segment of the road network forecast tree, the arrow of the road segment 1 indicates the passing direction of the road segment, and when the MPP is extended to the roundabout in the cruising state, since the destination of the vehicle is not clear by the vehicle-mounted navigation on the vehicle, according to the conventional way of determining the MPP road segments, it is very likely that the determined MPP road segments are roundabout road segments, for example, the road segments 2, 3, 4 and 5 in fig. 1 are all determined to be MPP road segments, which certainly makes the extended MPP unable to.
The extended MPP cannot exit the roundabout and is certainly not consistent with the actual driving condition of the vehicle, and it can be seen that when the MPP is extended to the roundabout at present, the problem that the error between the determined maximum possible path and the actual maximum possible path of the vehicle is large exists, so that how to extend the MPP to the roundabout, the accuracy of the determined MPP is improved, and the problem needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, and a storage medium for determining a maximum likelihood path, so as to improve accuracy of the determined MPP when the MPP extends to a roundabout.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
a method of determining a most likely path for extending MPP at cruise, the method comprising:
when the MPP is expanded to the roundabout, searching a section of the roundabout exiting the roundabout in preset road network data according to the passing direction of the MPP leaf section;
acquiring a target exit rotary island road section which is most likely to be driven by the vehicle from the exit rotary island road section;
acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the roundabout road section of the roundabout;
and determining the target roundabout road section and the target exit roundabout road section as the MPP road section.
Optionally, the expanding the MPP to the roundabout includes:
searching a road section communicated with the MPP leaf road section in preset road network data according to the passing direction of the MPP leaf road section from the MPP leaf road section, and when the searched road section is a roundabout road section, expanding the MPP to the roundabout;
the step of searching the exit rotary island road section of the rotary island in preset road network data according to the passing direction of the MPP leaf road section comprises the following steps:
and acquiring a roundabout intersection running along a roundabout road section of the roundabout and a roundabout exit road section capable of exiting the roundabout road section in the road network data according to the passing direction of the MPP leaf road section.
Optionally, the method further includes:
and when the searched road sections are non-roundabout road sections, if the road sections of the searched road sections are the same in grade, determining the road section with the minimum included angle with the MPP leaf road section in the searched road sections as the MPP road section.
Optionally, in the road network data, according to the passing direction of the MPP leaf road segment, acquiring roundabout intersection driving corresponding to the roundabout road segment along the roundabout, where the roundabout exit road segment capable of exiting the roundabout road segment includes:
and according to the passing direction of the MPP leaf road sections, acquiring the roundabout road sections of the roundabout and exit roundabout road sections which are communicated with the roundabout road sections and can exit the roundabout road sections in the road network data until the acquired roundabout road sections are communicated with each other in the driving direction of the roundabout.
Optionally, the obtaining, according to the passing direction of the MPP leaf road segment, a roundabout road segment of the roundabout and a roundabout road segment which is communicated with the roundabout road segment and can exit the roundabout road segment in the road network data until the obtained roundabout road segments are communicated with each other in the driving direction of the roundabout includes:
and starting from the MPP leaf road section, progressively acquiring a roundabout road section communicated with the previous acquired roundabout road section and a roundabout exit road section communicated with each acquired roundabout road section and capable of exiting the acquired roundabout road section in the road network data along the passing direction of the MPP leaf road section until the acquired roundabout road sections are communicated with each other in the driving direction of the roundabout.
Optionally, the obtaining, from the roundabout road segment of the roundabout, a target roundabout road segment communicated between the MPP leaf road segment and the target exit roundabout road segment includes:
and acquiring a target roundabout road section which is communicated from the MPP leaf road section to the target exit roundabout road section from the acquired roundabout road sections.
Optionally, the obtaining, from the exit rotary island section, a target exit rotary island section where the vehicle is most likely to travel includes:
determining a target exit rotary island section which is most likely to be driven by the vehicle from the exit rotary island section according to the historical driving track of the vehicle;
or determining a target exit rotary island section with the optimal road condition from the exit rotary island section according to the real-time traffic data;
or determining a target exit rotary island road section of which the road section attribute meets the preset road section attribute condition from the exit rotary island road section according to the road section attribute of the exit rotary island road section.
Optionally, the road segment attributes include: a road segment class of the road segment, and/or a degree of turning of the road segment; in the exit roundabout road sections, the exit roundabout road sections of the targets with the road section attributes meeting the preset road section attribute conditions include:
in the roundabout exit sections, the target with the highest section grade exits the roundabout section;
and/or the target with the lowest turning degree in the roundabout road sections exits the roundabout road sections.
Optionally, the determining, according to the link attribute of the link exiting from the roundabout, the target link exiting from the roundabout link whose link attribute meets the preset link attribute condition includes:
judging whether the road sections exiting the roundabout are the same in grade or not;
if the road sections exiting the rotary island are different in grade, determining the road section exiting the rotary island with the highest grade as a target road section exiting the rotary island; if the road sections exiting the roundabout road section are the same in grade, judging whether the turning degrees of the road sections exiting the roundabout are the same or not;
if the exit rotary island road sections have different turning degrees, determining the exit rotary island road section with the lowest turning degree as a target exit rotary island road section; and if the turning degrees of the sections exiting the rotary island are the same, selecting one section from the sections exiting the rotary island as a target section exiting the rotary island.
An embodiment of the present invention further provides a device for determining a maximum possible path, which is used for expanding MPP in a cruise state, and the device includes:
the road section searching module is used for searching a roundabout exit road section of the roundabout in preset road network data according to the passing direction of the MPP leaf road section when the MPP is expanded to the roundabout;
the target exit rotary island section acquisition module is used for acquiring a target exit rotary island section which is most likely to be driven by a vehicle from the exit rotary island section;
the target roundabout road section acquisition module is used for acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the roundabout road section of the roundabout;
and the MPP section determining module is used for determining the target roundabout section and the target exit roundabout section as the MPP section.
Embodiments of the present invention also provide a storage medium storing one or more computer-executable instructions for performing any one of the above methods for determining a most probable path.
The method for determining the maximum possible path provided by the embodiment of the invention can be used for expanding the MPP in a cruising state, and when the MPP is expanded to a roundabout, the embodiment of the invention can search a roundabout exit road section of the roundabout in preset road network data according to the passing direction of a leaf road section of the MPP; therefore, the target roundabout exit road section where the vehicle is most likely to run can be obtained from the searched roundabout exit road sections, and the roundabout road section communicated between the MPP leaf road section and the target roundabout exit road section is used as the target roundabout road section; and then, the target roundabout road section and the target exit roundabout road section are determined as MPP road sections, so that when the MPP is expanded to the roundabout, the MPP is efficiently and accurately determined.
Therefore, when the MPP of the road network prediction tree is expanded to the roundabout, the exit roundabout road section of the roundabout is determined according to the passing direction of the MPP leaf road section, so that the target exit roundabout road section where the vehicle is most likely to run is obtained from the exit roundabout road section, and the target exit roundabout road section is used as the MPP road section; and then, a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section is obtained from the roundabout road section of the roundabout, the target roundabout road section is used as the MPP road section, the MPP road section is expanded, the condition that the expanded MPP cannot exit the roundabout is avoided, and the aims of reducing the error of the MPP and improving the accuracy of the MPP are fulfilled when the MPP of the road network prediction tree is expanded to the roundabout.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is an exemplary diagram of the inability of an extended MPP to exit a roundabout;
FIG. 2 is an exemplary graph of a road network prediction tree;
FIG. 3 is a hardware block diagram of an electronic device provided for implementing an embodiment of the invention;
FIG. 4 is a block diagram of an EHP system;
FIG. 5 is a flowchart of a method for determining a most probable path according to an embodiment of the present invention;
FIG. 6 is an exemplary diagram of a roundabout segment and an exit roundabout segment;
FIG. 7 is an exemplary diagram of MPP leaf segments connected to exit rotary island segments by rotary islands;
fig. 8 is an exemplary diagram of MPP expanding a road network prediction tree according to an embodiment of the present invention;
FIG. 9 is another flowchart of a method for determining a most probable path according to an embodiment of the present invention;
fig. 10 is a block diagram of an apparatus for determining a most probable path according to an embodiment of the present invention.
Detailed Description
The road network prediction tree is a tree-shaped data structure and can describe a road network topological structure of a certain geographic area range; as an example, the road network prediction tree mainly includes: MPP and non-MPP. Referring to fig. 2, which is an alternative example of the road network prediction tree, the solid line of fig. 2 may represent MPP, which may be a predicted maximum likelihood driving path of a vehicle, and one path may include at least one road segment; for example, the MPP may include at least one MPP section (a solid line connecting two points in fig. 1 may represent one MPP section), each MPP section is connected to form an MPP, and an MPP section at the end of the MPP may be referred to as an MPP leaf section;
fig. 2 is a dashed line which may represent a non-MPP, where the non-MPP may be a predicted Path on which the vehicle is not likely to travel to the maximum, and the non-MPP may be extended from an MPP section of the MPP, that is, the non-MPP may be a Sub-Path (Sub Path) connected to the MPP section in the road network prediction tree; a non-MPP may include at least one non-MPP segment (a dashed line connecting two points in the figure may represent a non-MPP segment).
It can be seen that the depth of the road network forecast tree is in a positive correlation with the length of the MPP, that is, the deeper the MPP is, the deeper the depth of the road network forecast tree is, and the extent of the road network forecast tree is in a positive correlation with the length of the non-MPP, that is, the wider the non-MPP is, the wider the extent of the road network forecast tree is; the depth of the road network prediction tree represents the farthest visual field distance of the vehicle, and the breadth can represent the road section branching level.
In the process of expanding the MPP in the cruising state, when the MPP is expanded to the roundabout, because the roundabout road sections are mutually communicated along the driving direction of the roundabout and the vehicle-mounted navigation on the vehicle is not clear about the destination of the vehicle in the cruising state, the expanded MPP can not exit the roundabout, so that the error of the expanded MPP is larger and the accuracy is lower; further referring to the example of fig. 1, when the MPP is extended to the roundabout, because the destination of the vehicle is not clear by the vehicle navigation on the vehicle in the cruising state, the conventional way of determining the MPP road segment is generally to determine the MPP road segment according to the road segment class of the road segment and the included angle with the previous road segment, and in the case that the road segment classes of the road segments are the same, the road segment with the smaller included angle is generally selected as the MPP road segment, and because the included angle of the roundabout road segment in the roundabout is the smallest, according to the conventional way of determining the MPP road segment, when the MPP is extended to the roundabout, the roundabout road segment on the roundabout may be determined as the MPP road segment, that is, the determined MPP road segments are the roundabout road segments, for example, the road segments 2, 3, 4 and 5 in fig. 1 are all extended MPP road segments, which results in the extended MPP cannot exit the roundabout, so that the extended MPP circles around the roundabout, and the actual maximum path of the vehicle, the accuracy is low.
Based on this, embodiments of the present invention provide a method, an apparatus, and a storage medium for determining a maximum likelihood path, so as to reduce an error of an extended MPP when the MPP is extended to a roundabout, and improve accuracy of the extended MPP. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As an alternative implementation of the disclosure of the embodiment of the present invention, fig. 3 illustrates an alternative hardware block diagram of an electronic device implementing the method for determining a maximum likelihood path provided by the embodiment of the present invention; in the embodiment of the invention, the hardware system framework can be applied to an electronic device for expanding the MPP, and the electronic device can be a vehicle-mounted device or a server device communicated with the vehicle-mounted device.
Referring to fig. 3, the electronic device may include: at least one processor 10, at least one communication interface 20, at least one memory 30 and at least one communication bus 40;
in the embodiment of the present invention, the number of the processor 10, the communication interface 20, the memory 30 and the communication bus 40 is at least one, and the processor 10, the communication interface 20 and the memory 30 complete the communication with each other through the communication bus 40;
alternatively, the communication interface 20 may be an interface of a communication module;
the processor 10 may be a central processing unit CPU or a Specific Integrated circuit asic (application Specific Integrated circuit) or one or more Integrated circuits configured to implement an embodiment of the invention.
in embodiments of the present invention, memory 30 may store one or more computer-executable instructions that implement the method for determining a most probable path provided by embodiments of the present invention and that may be invoked by processor 10 to perform the method for determining a most probable path provided by embodiments of the present invention.
Optionally, the hardware framework shown in fig. 3 may be a hardware framework of a vehicle-mounted device interconnected with a vehicle, and the vehicle-mounted device may execute the method for determining the maximum likelihood path provided by the embodiment of the present invention to implement extended MPP; for example, the vehicle-mounted equipment can perform information interaction and control with a vehicle through a vehicle body communication bus, and can also perform information interaction with a network through a communication module;
in an optional implementation, the vehicle-mounted device may be a vehicle-mounted navigation device (such as a vehicle-mounted smart navigation device, etc.), that is, the hardware frame may be a hardware frame of the vehicle-mounted navigation device, and on a vehicle, the vehicle-mounted navigation device may support front loading or rear loading;
in another optional implementation, the vehicle-mounted device may also be a terminal device interconnected with a vehicle, and the terminal device may be a smart phone, a tablet computer, or the like;
in another optional implementation, the vehicle-mounted device may also be an independent hardware device independent of the vehicle-mounted navigation device, and the independent hardware device may be used to construct a road network prediction tree, expand the MPP in the process of constructing the road network prediction tree, and provide the road network prediction tree to the ADAS system for assisting the driving decision; optionally, the independent hardware device may be an EHP terminal (Electronic Horizon Provider); in an alternative implementation, the EHP function may also be implemented by the vehicle navigation device, for example, the EHP function may be integrated on the vehicle navigation device.
Optionally, in another implementation, the hardware framework shown in fig. 3 may be a server device in communication with the vehicle-mounted device, and the server device may receive a road network prediction tree construction request from the vehicle-mounted device, construct a road network prediction tree, and expand the MPP in the process of constructing the road network prediction tree;
in one example, the server device may be an EHP cloud server in communication with the EHP terminal, and the EHP terminal may implement building of the road network prediction tree by sending a road network prediction tree building request to the EHP cloud server; optionally, the EHP terminal may be an independent hardware device independent of the vehicle-mounted navigation device, or may be a vehicle-mounted navigation device with an EHP function.
As an alternative example, the electronic device provided in the embodiment of the present invention may be an EHP cloud server in an EHP system, and an alternative structure of the EHP system may be as shown in fig. 4, where the alternative structure includes: the EHP system comprises an EHP terminal 01 and an EHP cloud server 02, wherein the EHP terminal 01 can be arranged on a vehicle;
in an example, the EHP terminal 01 may send a request for constructing a road network prediction tree to the EHP cloud server 02, so that the EHP cloud server 02 constructs the road network prediction tree (e.g., initially constructs the road network prediction tree and updates the road network prediction tree after constructing the road network prediction tree), and expands the MPP in the process of constructing the road network prediction tree; the road network prediction tree constructed by the EHP cloud server 02 may be fed back to the EHP terminal 01, so that the EHP terminal 01 provides the road network prediction tree to a vehicle (e.g., an ADAS system of the vehicle).
In another example, the EHP terminal 01 may also implement the construction of the road network prediction tree independently.
Having described possible forms of the electronic device for performing the method for determining a maximum likelihood path according to the embodiment of the present invention, the method for determining a maximum likelihood path according to the embodiment of the present invention will be described in terms of a flow of the method for determining a maximum likelihood path.
The method for determining the maximum possible path provided by the embodiment of the invention can be suitable for expanding the MPP under the vehicle cruising state, and can realize accurate expansion of the MPP when the MMP is expanded to the rotary island. The method for determining the most probable path provided by the embodiment of the present invention can be performed by an electronic device, and the possible forms of the electronic device can refer to the description of the corresponding parts above.
As an optional implementation of the disclosure of the embodiment of the present invention, fig. 5 shows a flowchart of a method for determining a maximum likelihood path according to the embodiment of the present invention, and optionally, the method may be used to extend the MPP of the road network prediction tree in the cruise state; referring to fig. 5, the method flow may include:
and step S10, when the MPP is expanded to the roundabout, searching the exit roundabout road section of the roundabout in preset road network data according to the passing direction of the MPP leaf road section.
Due to the limitations of system memory and capacity, the size of the road network prediction tree is set, so that no matter whether MPP and non-MPP exist extension cut-off conditions and extension conditions, in one example, by setting a length threshold of MPP and a length threshold of non-MPP, the MPP and the non-MPP can be set with extension cut-off conditions and extension conditions; the embodiment of the invention can set the MPP expansion cut-off condition and the MPP expansion condition in the road network prediction tree in the cruising state, thereby expanding the MPP when the MPP in the road network prediction tree meets the MPP expansion condition and stopping expanding the MPP when the MPP in the road network prediction tree meets the MPP expansion cut-off condition.
For example, the MPP expansion cutoff condition and the MPP expansion condition set in the cruise state may be, for example:
MPP extended cut-off condition: a Horizon length of the MPP is not less than an MPP cruise length threshold; namely, the Horizon length of the MPP leaf road section of the MPP is not less than the MPP cruising length threshold value; the Horizon length of a road segment may be a distance of a terminal position of the road segment to a vehicle position;
MPP extension conditions are as follows: the Horizon length of the MPP is smaller than the MPP cruising length threshold; that is, the Horizon length of the MPP leaf segment is less than the MPP cruise length threshold.
Under the cruising state, the expansion cut-off condition and the expansion condition of the non-MPP of the road network prediction tree are set in the same way.
When a road network prediction tree is initially constructed in a cruising state, the embodiment of the invention can expand the MPP from the road section where the vehicle is located until the Horizon length of the MPP is not less than the MPP cruising length threshold value; and in the driving process of the vehicle, the Horizon length of the MPP of the road network prediction tree is adjusted along with the change of the position of the vehicle, and when the Horizon length of the MPP is smaller than the MPP cruising length threshold value, the embodiment of the invention can expand the MPP from the MPP leaf road section until the Horizon length of the MPP is not smaller than the MPP cruising length threshold value. It is understood that, when initially building the road network prediction tree, the road segment where the vehicle is located may be considered as the initial MPP leaf road segment.
In the process of expanding the MPP of the road network prediction tree, the MPP is expanded to a roundabout, for example: according to the passing direction of the MPP leaf road section, the next communicating road section communicated with the MPP leaf road section is a roundabout road section; optionally, in the embodiment of the present invention, whether the road segment is an roundabout road segment may be determined according to a road segment field of the road segment, where the road segment field may identify a road segment type of the road segment in the road network, and when the road segment field of the road segment is identified as the roundabout road segment, the road segment is considered as the roundabout road segment.
When the MPP is expanded to the roundabout, the embodiment of the invention can search the roundabout exit road section of the roundabout in the preset road network data according to the passing direction of the MPP leaf road section; the section exiting the roundabout can be considered as a section which runs along the roundabout intersection corresponding to the roundabout section and can exit the roundabout section, namely the section exiting the roundabout is a section which runs away from the roundabout;
for example, taking the roundabout road segment and the exit roundabout road segment shown in fig. 6 as an example, in fig. 6, the counterclockwise direction is the roundabout driving direction, the road segment arrow indicates the driving direction of the road segment, road segment 1 is the MPP leaf road segment of the road network forecast tree, road segments 2, 3, 4 and 5 are the roundabout road segments, roundabout road segments 2, 3, 4 and 5 form a roundabout, and road segments 6, 7 and 8 are the exit roundabout road segments of the roundabout; the road section 2 communicated with the MPP leaf road section 1 in the passing direction of the MPP leaf road section 1 is an roundabout road section, and the MPP is considered to be expanded to the roundabout, so that the embodiment of the invention can acquire the roundabout exit road sections 6, 7 and 8 of the roundabout from the road network data according to the passing direction of the MPP leaf road section 1, for example, the roundabout exit road section 6 runs along the roundabout intersection corresponding to the roundabout road section 2 in the running direction of the roundabout shown in the counterclockwise direction, the roundabout exit road section 2 can be exited, the roundabout exit road section 7 runs along the roundabout intersection corresponding to the roundabout road section 3 can be exited, the roundabout exit road section 8 runs along the roundabout intersection corresponding to the roundabout road section 4, and the roundabout exit road section 4 can be exited.
And step S11, acquiring the target exit rotary island road section which is most likely to be driven by the vehicle from the exit rotary island road section.
Through the step S10, when the MPP is expanded to the roundabout, the embodiment of the invention can find the exit roundabout road section of the roundabout; aiming at the found section of the roundabout to exit, the embodiment of the invention can acquire the section of the roundabout to exit from which the vehicle is most likely to travel from the section of the roundabout to exit, and the section of the roundabout to exit from the target can be used as the MPP section of the road network prediction tree.
Optionally, in the multiple exit rotary island sections, the obtaining of the target exit rotary island section where the vehicle is most likely to travel may be: determining the driving possibility of the vehicle driving on each section of the roundabout, and taking the section of the roundabout with the maximum driving possibility or meeting the preset conditions as a target section of the roundabout; the implementation manner of determining the target exit roundabout segment may be various, and the embodiments of the present invention are not limited thereto, and the following examples illustrate several implementation manners that may be adopted, and it should be noted that these implementation manners are only for convenience of describing possible manners of determining the target exit roundabout segment, and should not limit the scope of the present invention.
In an optional implementation, the embodiment of the invention can determine a target exit rotary island section where the vehicle is most likely to travel from the exit rotary island section according to the historical travel track of the vehicle;
for example, according to the historical driving track of the vehicle, determining the historical driving times of the vehicle from the historical driving of the MPP leaf road section to each exit rotary island road section, and taking the exit rotary island road section with the largest historical driving times as a target exit rotary island road section;
for example, based on fig. 6, assuming that a roundabout is regarded as one point, for example, a roundabout formed by the roundabout segments 2, 3, 4 and 5 connected to each other is regarded as one point, as shown in fig. 7, the MPP leaf segment 1 may be connected to the roundabout segments 6, 7 and 8 through the roundabout, and according to the historical driving trajectory of the vehicle, the embodiments of the present invention may respectively determine the historical driving times of the vehicle from the MPP leaf segment 1 to the roundabout segments 6, 7 and 8, thereby taking the roundabout segment with the largest historical driving times as the target roundabout segment.
In another optional implementation, the embodiment of the invention can determine a target exit rotary island section with the optimal road condition from the exit rotary island section according to the real-time traffic data; for example, referring to fig. 7, according to the embodiment of the present invention, the exit rotary road segment with the optimal road condition is determined as the target exit rotary road segment from the exit rotary road segments 6, 7, and 8 according to the real-time traffic data.
In another optional implementation, the embodiment of the present invention may determine, from the exit roundabout road segments according to the road segment attributes of the exit roundabout road segments, a target exit roundabout road segment whose road segment attribute meets the preset road segment attribute condition; for example, referring to fig. 7, in the embodiment of the present invention, according to the link attribute of the exit roundabout link, a target exit roundabout link whose link attribute meets the preset link attribute condition is determined from the exit roundabout links 6, 7, and 8;
optionally, the road segment attributes may include: a road segment class of the road segment, and/or a degree of turning of the road segment; the road segment with the road segment attribute meeting the preset road segment attribute condition in the roundabout road segment exiting may include: the road section with the highest road section grade and/or the road section with the lowest turning degree in the roundabout road sections is withdrawn;
in an optional implementation, the embodiment of the invention can judge whether the road sections exiting the roundabout are the same in grade; if the road sections exiting the rotary island are different in grade, determining the road section exiting the rotary island with the highest grade as a target road section exiting the rotary island; if the road sections exiting the roundabout road section are the same in grade, judging whether the turning degrees of the road sections exiting the roundabout are the same or not; if the exit rotary island road sections have different turning degrees, determining the exit rotary island road section with the lowest turning degree as a target exit rotary island road section; and if the turning degrees of the sections exiting the rotary island are the same, selecting one section from the sections exiting the rotary island as a target section exiting the rotary island.
And step S12, acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the roundabout road section of the roundabout.
And step S13, determining the target roundabout road segment and the target exit roundabout road segment as the MPP road segment.
After the target quitting roundabout road section is determined, the target quitting roundabout road section can be used as an MPP road section, and the roundabout road section communicated between the MPP leaf road section and the target quitting roundabout road section can be considered as a road section through which a vehicle runs from the MPP leaf road section to the target quitting roundabout road section, so that the target roundabout road section communicated between the MPP leaf road section and the target quitting roundabout road section can be further obtained from the roundabout road section of the roundabout, and the target roundabout road section can be used as the MPP road section; optionally, in the embodiment of the present invention, an roundabout road segment which is communicated from the MPP leaf road segment to the target exit roundabout road segment may be acquired from the roundabout road segment of the roundabout, and the acquired roundabout road segment is used as the target roundabout road segment.
For example, as shown in fig. 8, based on the example of fig. 6, after finding the exit rotary island segments 6, 7, and 8 and determining the target exit rotary island segment 7 from the exit rotary island segments 6, 7, and 8, the embodiment of the present invention may determine the rotary island segments 2 and 3 communicated between the MPP leaf segment 1 and the target exit rotary island segment 7 from the rotary island segments 2, 3, 4, and 5 as the target rotary island segments, so that the target rotary island segments 2, 3 and the target exit rotary island segment 7 are the MPP segments.
The method for determining the maximum possible path provided by the embodiment of the invention can be used for expanding the MPP in a cruising state, and when the MPP is expanded to a roundabout, the embodiment of the invention can search a roundabout exit road section of the roundabout in preset road network data according to the passing direction of a leaf road section of the MPP; therefore, the target roundabout exit road section where the vehicle is most likely to run can be obtained from the searched roundabout exit road sections, and the roundabout road section communicated between the MPP leaf road section and the target roundabout exit road section is used as the target roundabout road section; and then, the target roundabout road section and the target exit roundabout road section are determined as MPP road sections, so that when the MPP is expanded to the roundabout, the MPP is efficiently and accurately determined.
Therefore, when the MPP of the road network prediction tree is expanded to the roundabout, the exit roundabout road section of the roundabout is determined according to the passing direction of the MPP leaf road section, so that the target exit roundabout road section where the vehicle is most likely to run is obtained from the exit roundabout road section, and the target exit roundabout road section is used as the MPP road section; and then, a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section is obtained from the roundabout road section of the roundabout, the target roundabout road section is used as the MPP road section, the MPP road section is expanded, the condition that the expanded MPP cannot exit the roundabout is avoided, and the aims of reducing the error of the MPP and improving the accuracy of the MPP are fulfilled when the MPP of the road network prediction tree is expanded to the roundabout.
As an optional implementation of the disclosure of the embodiment of the present invention, in the MPP expansion process, the embodiment of the present invention may search a road segment communicated with the MPP leaf road segment from the MPP leaf road segment according to the passing direction of the MPP leaf road segment, so that when the searched road segment is the roundabout road segment, it is determined that the MPP is expanded to the roundabout; based on this, optionally, fig. 9 shows another flow of the method for determining the maximum likelihood path according to the embodiment of the present invention, and referring to fig. 9, the flow may include:
and step S20, starting from the MPP leaf road section, searching a road section communicated with the MPP leaf road section in preset road network data according to the passing direction of the MPP leaf road section, and when the searched road section is a roundabout road section, expanding the MPP to the roundabout.
The extension of MPP to the rotary island may be: when a road section communicated with the MPP leaf road section is searched according to the passing direction of the MPP leaf road section, the searched road section is a roundabout road section; if the next connecting road section communicated with the MPP leaf road section in the road network data is a roundabout road section, the MPP can be considered to be extended to the roundabout.
And step S21, acquiring a roundabout intersection driving along the roundabout road section of the roundabout and a roundabout exit road section capable of exiting the roundabout road section according to the passing direction of the MPP leaf road section in the road network data.
Under the condition that the MPP is expanded to the roundabout, the embodiment of the invention can search the section of the roundabout where the roundabout exits according to the passing direction of the MPP leaf section; optionally, in the embodiment of the present invention, in the road network data, according to the passing direction of the MPP leaf road segment, the embodiment of the present invention may obtain a roundabout intersection corresponding to the roundabout road segment along the roundabout, and may obtain a roundabout exit road segment that can exit the roundabout road segment; optionally, the obtained exit rotary island segment may be: and according to the passing direction of the MPP leaf road sections, the roundabout sections corresponding to the roundabout sections of the roundabout are withdrawn.
In optional implementation, the embodiment of the invention can search the roundabout road sections on the roundabout and exit roundabout road sections which are communicated with each roundabout road section and can exit the roundabout road section in a traversing way in the preset road network data, so that the exit roundabout road sections of the roundabout can be obtained when the MPP is expanded to the roundabout;
optionally, when the MPP is extended to the roundabout, the embodiment of the present invention may obtain, from the MPP leaf road segment, the roundabout road segment of the roundabout and the exit roundabout road segment which is communicated with the roundabout road segment and can exit the roundabout road segment in the road network data according to the passing direction of the MPP leaf road segment until the obtained roundabout road segments are communicated with each other in the driving direction of the roundabout; for example, according to the embodiment of the invention, the roundabout road section on the roundabout and the exit roundabout road section communicated with each roundabout road section can be searched in the preset road network data in a traversing manner according to the passing direction of the MPP leaf road section, so that the exit roundabout road section of the roundabout is searched;
in a more specific optional implementation, the embodiment of the present invention may progressively acquire, from the MPP leaf road segment, according to the passing direction of the MPP leaf road segment, an roundabout road segment communicated with the last acquired roundabout road segment and an exit roundabout road segment communicated with each acquired roundabout road segment and capable of exiting the acquired roundabout road segment, in the preset road network data, until the acquired roundabout road segments are communicated with each other in the roundabout driving direction; the next road section communicated with the MPP leaf road section can be used as the first acquired roundabout road section;
for example, taking the roundabout road segment and the exit roundabout road segment shown in fig. 6 as an example, the road segment 2 communicated with the MPP leaf road segment 1 in the passing direction of the MPP leaf road segment 1 is the roundabout road segment, and at this time, the MPP is extended to the roundabout, and in the embodiment of the present invention, the roundabout road segment 2 and the exit roundabout road segment 6 communicated with the roundabout road segment 2 can be obtained from the MPP leaf road segment 1 in the preset road network data along the passing direction of the MPP leaf road segment 1; progressively searching a rotary island section 3 communicated with the rotary island section 2 and an exit rotary island section 7 communicated with the rotary island section 3 from the rotary island section 2; progressively finding a rotary island section 4 communicated with the rotary island section 3 and an exit rotary island section 8 communicated with the rotary island section 4 from the rotary island section 3; progressively finding a rotary island section 5 communicated with the rotary island section 4 from the rotary island section 4; because the roundabout road section 5 is communicated with the roundabout road section 2, the searched roundabout road sections 2, 3, 4 and 5 are communicated with each other in the driving direction of the roundabout (anticlockwise direction shown in figure 6), and the roundabout road sections on the roundabout are searched in a traversing manner; in this process, embodiments of the present invention may find the roundabout segments 2, 3, 4, and 5 and exit the roundabout segments 6, 7, and 8.
And step S22, acquiring the target exit rotary island road section which is most likely to be driven by the vehicle from the exit rotary island road section.
Alternatively, the introduction of step S22 may refer to step S11.
And step S23, acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the searched roundabout road sections.
After the target quitting roundabout road section is determined, the target quitting roundabout road section can be used as the MPP road section, and the roundabout road section communicated between the MPP leaf road section and the target quitting roundabout road section can be considered as a road section through which a vehicle runs from the MPP leaf road section to the target quitting roundabout road section.
And step S24, determining the target roundabout road segment and the target exit roundabout road segment as the MPP road segment.
Optionally, the road segment searched in step S20 may not be a roundabout road segment, for example, the MPP is not extended to the roundabout, in this case, starting from the MPP leaf road segment, according to the passing direction of the MPP leaf road segment, in the process of searching a road segment in preset road network data, which is communicated with the MPP leaf road segment, the searched road segment is a non-roundabout road segment, and at this time, the embodiment of the present invention may determine the MPP road segment according to the road segment level of the searched road segment and the included angle between the road segment and the MPP leaf road segment; and if the road sections of the searched road sections have the same road section grade, determining the road section with the minimum included angle with the MPP leaf road section in the searched road sections as the MPP road section.
The embodiment of the invention can search the roundabout road section of the roundabout and the exit roundabout road section communicated with each roundabout road section in a traversing way when the MPP of the road network prediction tree is expanded to the roundabout; therefore, a target roundabout exit road section where the vehicle is most likely to run is obtained from a roundabout exit road section communicated with the roundabout, and the target roundabout exit road section is used as an MPP road section; and then, acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the searched roundabout road section, and taking the target roundabout road section as the MPP road section, so that the MPP road section can be determined from the roundabout road section, and meanwhile, the condition that the expanded MPP cannot exit the roundabout is avoided, so that the aims of reducing the error of the MPP and improving the accuracy of the MPP are fulfilled when the MPP of the road network prediction tree is expanded to the roundabout.
Optionally, in the method for determining the maximum likelihood path provided by the embodiment of the present invention, the MPP leaf segment may be a segment where the vehicle is located (for example, when the road network prediction tree is initially constructed, the MPP is extended from the segment where the vehicle is located), or may be an end MPP segment directly or indirectly connected to the segment where the vehicle is located.
Optionally, the method for determining the maximum likelihood path provided by the embodiment of the present invention may be used to expand the MPP in the cruise state, and is applicable when the MPP is expanded to the roundabout. Of course, cruise status is only one alternative applicable scenario for the method of determining the most likely path provided by embodiments of the present invention.
While various embodiments of the present invention have been described above, various alternatives described in the various embodiments can be combined and cross-referenced without conflict to extend the variety of possible embodiments that can be considered disclosed and disclosed in connection with the embodiments of the present invention.
The apparatus for determining a maximum likelihood path according to the embodiment of the present invention is described below, and the apparatus for determining a maximum likelihood path described below may be considered as a functional module that is required to be configured by the electronic device according to the embodiment of the present invention to implement the method for determining a maximum likelihood path according to the embodiment of the present invention. The contents of the apparatus for determining the most probable path described below may be referred to in correspondence with the contents of the method for determining the most probable path described above.
Fig. 10 is a block diagram of an apparatus for determining a most probable path, which may be used to extend MPP in a cruise condition according to an embodiment of the present invention, and referring to fig. 10, the apparatus may include:
the road section searching module 100 is configured to search a roundabout exit road section of the roundabout in preset road network data according to a passing direction of the MPP leaf road section when the MPP is extended to the roundabout;
a target exit rotary island section acquiring module 110, configured to acquire a target exit rotary island section where a vehicle is most likely to travel from the exit rotary island section;
a target roundabout section acquiring module 120, configured to acquire, from a roundabout section of the roundabout, a target roundabout section communicated between the MPP leaf section and the target exit roundabout section;
an MPP section determining module 130, configured to determine the target roundabout section and the target exit roundabout section as an MPP section.
Optionally, the expanding the MPP to the roundabout may include:
and searching a road section communicated with the MPP leaf road section in preset road network data according to the passing direction of the MPP leaf road section from the MPP leaf road section, and when the searched road section is a roundabout road section, expanding the MPP to the roundabout.
Optionally, the apparatus for determining a maximum likelihood path provided in the embodiment of the present invention may further be configured to:
and when the searched road sections are non-roundabout road sections, if the road sections of the searched road sections are the same in grade, determining the road section with the minimum included angle with the MPP leaf road section in the searched road sections as the MPP road section.
Optionally, when the MPP is extended to the roundabout, the road section searching module 100 is configured to search, according to a passing direction of the MPP leaf road section, a section of the roundabout exiting from the roundabout in preset road network data, and may specifically include:
and acquiring a roundabout intersection running along a roundabout road section of the roundabout and a roundabout exit road section capable of exiting the roundabout road section in the road network data according to the passing direction of the MPP leaf road section.
Optionally, the road section searching module 100 is configured to obtain, in the road network data, a roundabout intersection driving along the roundabout road section of the roundabout according to the passing direction of the MPP leaf road section, and obtain a roundabout exit road section capable of exiting the roundabout road section, and may specifically include:
and according to the passing direction of the MPP leaf road sections, acquiring the roundabout road sections of the roundabout and exit roundabout road sections which are communicated with the roundabout road sections and can exit the roundabout road sections in the road network data until the acquired roundabout road sections are communicated with each other in the driving direction of the roundabout.
Optionally, the road section searching module 100 is configured to obtain, in the road network data, a roundabout road section of the roundabout and a roundabout road section which is communicated with the roundabout road section and can exit the roundabout road section according to the passing direction of the MPP leaf road section, until the obtained roundabout road sections are communicated with each other in the driving direction of the roundabout, and may specifically include:
and starting from the MPP leaf road section, progressively acquiring a roundabout road section communicated with the previous acquired roundabout road section and a roundabout exit road section communicated with each acquired roundabout road section and capable of exiting the acquired roundabout road section in the road network data along the passing direction of the MPP leaf road section until the acquired roundabout road sections are communicated with each other in the driving direction of the roundabout.
Optionally, the target roundabout road segment obtaining module 120 is configured to obtain, from the roundabout road segment of the roundabout, a target roundabout road segment communicated between the MPP leaf road segment and the target exit roundabout road segment, and may specifically include:
and acquiring a target roundabout road section which is communicated from the MPP leaf road section to the target exit roundabout road section from the acquired roundabout road sections.
Optionally, the target exit rotary island section obtaining module 110 is configured to obtain, from the exit rotary island section, a target exit rotary island section where the vehicle is most likely to travel, and may specifically include:
determining a target exit rotary island section which is most likely to be driven by the vehicle from the exit rotary island section according to the historical driving track of the vehicle;
or determining a target exit rotary island section with the optimal road condition from the exit rotary island section according to the real-time traffic data;
or determining a target exit rotary island road section of which the road section attribute meets the preset road section attribute condition from the exit rotary island road section according to the road section attribute of the exit rotary island road section.
Optionally, the road segment attributes include: a road segment class of the road segment, and/or a degree of turning of the road segment; in the exit roundabout road sections, the exit roundabout road sections of the targets with the road section attributes meeting the preset road section attribute conditions include:
in the roundabout exit sections, the target with the highest section grade exits the roundabout section;
and/or the target with the lowest turning degree in the roundabout road sections exits the roundabout road sections.
Optionally, the target exit roundabout road segment obtaining module 110 is configured to determine, according to the road segment attribute of the exit roundabout road segment, a target exit roundabout road segment of which the road segment attribute meets the preset road segment attribute condition from the exit roundabout road segment, and may specifically include:
judging whether the road sections exiting the roundabout are the same in grade or not;
if the road sections exiting the rotary island are different in grade, determining the road section exiting the rotary island with the highest grade as a target road section exiting the rotary island; if the road sections exiting the roundabout road section are the same in grade, judging whether the turning degrees of the road sections exiting the roundabout are the same or not;
if the exit rotary island road sections have different turning degrees, determining the exit rotary island road section with the lowest turning degree as a target exit rotary island road section; and if the turning degrees of the sections exiting the rotary island are the same, selecting one section from the sections exiting the rotary island as a target section exiting the rotary island.
The apparatus for determining the maximum likelihood path provided by the embodiment of the present invention may be loaded in the electronic device according to the embodiment of the present invention in the form of a computer-executable instruction (e.g., a program). The hardware structure of the electronic device may be as shown in fig. 3, and includes at least one memory and at least one processor, where the memory stores one or more computer-executable instructions, and the processor calls the one or more computer-executable instructions to perform the method for determining the most probable path provided by the embodiment of the present invention.
Embodiments of the present invention also provide a storage medium storing one or more computer-executable instructions for performing the method for determining a maximum likelihood path provided in an embodiment of the present invention.
Optionally, the one or more computer-executable instructions may be specifically configured to:
when the MPP is expanded to the roundabout, searching a section of the roundabout exiting the roundabout in preset road network data according to the passing direction of the MPP leaf section;
acquiring a target exit rotary island road section which is most likely to be driven by the vehicle from the exit rotary island road section;
acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the roundabout road section of the roundabout;
and determining the target roundabout road section and the target exit roundabout road section as the MPP road section.
Although the embodiments of the present invention have been disclosed, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. A method for determining a maximum likelihood path MPP for extending the maximum likelihood path MPP during cruise conditions, the method comprising:
when the MPP is expanded to the roundabout, searching a section of the roundabout exiting the roundabout in preset road network data according to the passing direction of the MPP leaf section;
acquiring a target exit rotary island road section which is most likely to be driven by the vehicle from the exit rotary island road section;
acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the roundabout road section of the roundabout;
and determining the target roundabout road section and the target exit roundabout road section as the MPP road section.
2. The method of claim 1, wherein extending the MPP to a rotary comprises:
searching a road section communicated with the MPP leaf road section in preset road network data according to the passing direction of the MPP leaf road section from the MPP leaf road section, and when the searched road section is a roundabout road section, expanding the MPP to the roundabout;
the step of searching the exit rotary island road section of the rotary island in preset road network data according to the passing direction of the MPP leaf road section comprises the following steps:
and acquiring a roundabout intersection running along a roundabout road section of the roundabout and a roundabout exit road section capable of exiting the roundabout road section in the road network data according to the passing direction of the MPP leaf road section.
3. The method of claim 2, further comprising:
and when the searched road sections are non-roundabout road sections, if the road sections of the searched road sections are the same in grade, determining the road section with the minimum included angle with the MPP leaf road section in the searched road sections as the MPP road section.
4. The method according to claim 2, wherein the obtaining of roundabout intersection driving along the roundabout section of the roundabout according to the passing direction of the MPP leaf section in the road network data comprises:
and according to the passing direction of the MPP leaf road sections, acquiring the roundabout road sections of the roundabout and exit roundabout road sections which are communicated with the roundabout road sections and can exit the roundabout road sections in the road network data until the acquired roundabout road sections are communicated with each other in the driving direction of the roundabout.
5. The method of claim 2, wherein the obtaining of the roundabout segments of the roundabout and the exit roundabout segments capable of exiting the roundabout segments communicated with the roundabout segments in the road network data according to the passing direction of the MPP leaf segments comprises:
and starting from the MPP leaf road section, progressively acquiring a roundabout road section communicated with the previous acquired roundabout road section and a roundabout exit road section communicated with each acquired roundabout road section and capable of exiting the acquired roundabout road section in the road network data along the passing direction of the MPP leaf road section until the acquired roundabout road sections are communicated with each other in the driving direction of the roundabout.
6. The method of claim 4 or 5, wherein the obtaining, from the roundabout segment of the roundabout, a target roundabout segment communicating between the MPP leaf segment and the target exit roundabout segment comprises:
and acquiring a target roundabout road section which is communicated from the MPP leaf road section to the target exit roundabout road section from the acquired roundabout road sections.
7. The method according to claim 1, wherein the obtaining of the target exit rotary section on which the vehicle is most likely to travel from the exit rotary section comprises:
determining a target exit rotary island section which is most likely to be driven by the vehicle from the exit rotary island section according to the historical driving track of the vehicle;
or determining a target exit rotary island section with the optimal road condition from the exit rotary island section according to the real-time traffic data;
or determining a target exit rotary island road section of which the road section attribute meets the preset road section attribute condition from the exit rotary island road section according to the road section attribute of the exit rotary island road section.
8. The method of claim 7, wherein the segment attributes comprise: a road segment class of the road segment, and/or a degree of turning of the road segment; in the exit roundabout road sections, the exit roundabout road sections of the targets with the road section attributes meeting the preset road section attribute conditions include:
in the roundabout exit sections, the target with the highest section grade exits the roundabout section;
and/or the target with the lowest turning degree in the roundabout road sections exits the roundabout road sections.
9. The method according to claim 8, wherein the determining, from the exit rotary road segments according to the road segment attributes of the exit rotary road segments, a target exit rotary road segment with a road segment attribute meeting a preset road segment attribute condition comprises:
judging whether the road sections exiting the roundabout are the same in grade or not;
if the road sections exiting the rotary island are different in grade, determining the road section exiting the rotary island with the highest grade as a target road section exiting the rotary island; if the road sections exiting the roundabout road section are the same in grade, judging whether the turning degrees of the road sections exiting the roundabout are the same or not;
if the exit rotary island road sections have different turning degrees, determining the exit rotary island road section with the lowest turning degree as a target exit rotary island road section; and if the turning degrees of the sections exiting the rotary island are the same, selecting one section from the sections exiting the rotary island as a target section exiting the rotary island.
10. An apparatus for determining a maximum likelihood path MPP for extending the maximum likelihood path MPP during cruise conditions, the apparatus comprising:
the road section searching module is used for searching a roundabout exit road section of the roundabout in preset road network data according to the passing direction of the MPP leaf road section when the MPP is expanded to the roundabout;
the target exit rotary island section acquisition module is used for acquiring a target exit rotary island section which is most likely to be driven by a vehicle from the exit rotary island section;
the target roundabout road section acquisition module is used for acquiring a target roundabout road section communicated between the MPP leaf road section and the target exit roundabout road section from the roundabout road section of the roundabout;
and the MPP section determining module is used for determining the target roundabout section and the target exit roundabout section as the MPP section.
11. A storage medium storing one or more computer-executable instructions for performing the method of determining a most probable path of any of claims 1-9.
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| CN201911114073.2A CN112797993A (en) | 2019-11-14 | 2019-11-14 | Method, device and storage medium for determining maximum likelihood path |
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| CN201911114073.2A CN112797993A (en) | 2019-11-14 | 2019-11-14 | Method, device and storage medium for determining maximum likelihood path |
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