CN114067020A

CN114067020A - Road shape adjusting method, device, equipment and storage medium

Info

Publication number: CN114067020A
Application number: CN202111322058.4A
Authority: CN
Inventors: 孟张伟; 孔繁轩
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-02-18

Abstract

The present disclosure provides a method, an apparatus, a device and a storage medium for adjusting a road shape, which relate to the technical field of computers, and in particular to the technical field of electronic maps, intelligent transportation and automatic driving. The specific implementation scheme is as follows: selecting a road to be adjusted from an original road network according to a road starting point and a road end point of the road to be adjusted; determining a target vehicle track matched with the road to be adjusted; and determining the shape of the target road according to the target vehicle track as a shape adjustment result of the road to be adjusted. The embodiment of the disclosure can improve the adjustment efficiency and accuracy of the road shape.

Description

Road shape adjusting method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to the field of electronic maps, intelligent transportation, and automatic driving technologies, and in particular, to a method and an apparatus for adjusting a road shape, an electronic device, and a computer-readable storage medium.

Background

With the continuous development of information technology, electronic maps gradually become one of indispensable tools in people's daily life, and in order to provide accurate information for users, especially high-precision maps are the key points for realizing automatic driving and intelligent transportation.

Roads in the electronic map can be drawn based on an electronic map drawing tool, and the shapes of the roads need to be adjusted under the condition that the drawing of the road shapes is not accurate.

Disclosure of Invention

The present disclosure provides a method, apparatus, device, and storage medium for adjusting a road shape.

According to an aspect of the present disclosure, there is provided a road shape adjustment method including:

selecting a road to be adjusted from an original road network according to a road starting point and a road end point of the road to be adjusted;

determining a target vehicle track matched with the road to be adjusted;

and determining the shape of the target road according to the target vehicle track as a shape adjustment result of the road to be adjusted.

According to still another aspect of the present disclosure, there is provided an adjustment device of a road shape, including:

the road to be adjusted module is used for selecting a road to be adjusted from an original road network according to a road starting point and a road end point of the road to be adjusted;

the target vehicle track module is used for determining a target vehicle track matched with the road to be adjusted; and the shape adjusting module is used for determining the shape of the target road according to the target vehicle track as the shape adjusting result of the road to be adjusted.

According to still another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of adjusting a shape of a road provided by any embodiment of the present disclosure.

According to still another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for adjusting a road shape provided in any of the embodiments of the present disclosure.

According to yet another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of adjusting a road shape provided by any of the embodiments of the present disclosure.

According to the technology of the present disclosure, the adjustment efficiency and accuracy of the road shape can be improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1a is a schematic diagram of a method for adjusting a road shape according to an embodiment of the disclosure;

FIG. 1b is a schematic diagram of a road to be adjusted according to an embodiment of the present disclosure;

FIG. 1c is a schematic illustration of a target road shape provided in accordance with an embodiment of the present disclosure;

FIG. 2a is a schematic diagram of another method for adjusting a road shape according to an embodiment of the disclosure;

FIG. 2b is a schematic diagram illustrating a selection of a start point and an end point of a road to be adjusted according to an embodiment of the disclosure;

fig. 3a is a schematic diagram of another method for adjusting a road shape according to an embodiment of the disclosure;

FIG. 3b is a schematic illustration of a trace line provided in accordance with an embodiment of the present disclosure;

FIG. 3c is a schematic illustration of a new road shape provided in accordance with an embodiment of the present disclosure;

FIG. 3d is a schematic illustration of a target road shape provided in accordance with an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of an adjustment device for road shape provided in accordance with an embodiment of the present disclosure;

fig. 5 is a block diagram of an electronic device for implementing the road shape adjustment method according to the embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The scheme provided by the embodiment of the disclosure is described in detail below with reference to the accompanying drawings.

Fig. 1a is a schematic diagram of an adjustment method of a road shape according to an embodiment of the present disclosure, which is applicable to a case of adjusting a road shape in an original road network. The method can be executed by a road shape adjusting device, which can be implemented in hardware and/or software and can be configured in electronic equipment. Referring to fig. 1a, the method specifically includes the following:

s110, selecting a road to be adjusted from an original road network according to a road starting point and a road end point of the road to be adjusted;

s120, determining a target vehicle track matched with the road to be adjusted;

and S130, determining the shape of the target road according to the target vehicle track as a shape adjusting result of the road to be adjusted.

The original road network can be obtained by drawing through an electronic mapping tool, and the original road network can comprise at least two road segments (links), road segment nodes (nodes) between adjacent road segments, and topological relations between the road segments. The start and end points of the road to be adjusted can be determined manually by the map operator. Specifically, a manually selected road starting point and a manually selected road ending point may be obtained, and a road to be adjusted may be selected from the original road network according to the road starting point and the road ending point. It should be noted that the road to be adjusted may include at least one road segment, or may include at least two road segments, and the starting point of the road may be an end point of the head road segment, or may be located in the head road segment, but is not an end point; the start and end points of the road may be end points of the tail section, or may be located in the tail section instead of the end points.

In the embodiment of the disclosure, at least one candidate vehicle track may also be obtained, and the candidate vehicle track may be obtained by collecting actual driving of the vehicle in the road. For convenience of description, the position points in the road to be adjusted may be referred to as shape points, and the acquisition points in the vehicle trajectory may be referred to as trajectory points. And matching the shape points in the road to be adjusted with the track points in the candidate vehicle tracks, and selecting the target vehicle track matched with the road to be adjusted from the candidate vehicle tracks according to the matching relation.

And the target road shape is the shape adjustment result of the road to be adjusted. Specifically, the road shape of the road to be adjusted may be adjusted based on the target vehicle trajectory to obtain the target road shape, and the target road shape may be used as the new shape of the road to be adjusted. Fig. 1b and fig. 1c are a schematic diagram of a road to be adjusted and a schematic diagram of a target road shape provided according to an embodiment of the present disclosure, and referring to fig. 1b, a road to be adjusted R0 may include four road segments, and a target vehicle trajectory T may intersect with a road to be adjusted R0; referring to fig. 1c, the target road shape R1 determined by the road shape adjustment also includes four road segments, where N is a road segment node.

The road to be adjusted is determined according to the road starting point and the road end point, the target vehicle track is obtained according to the matching relation between the road to be adjusted and the candidate vehicle track, the target road shape is determined based on the target vehicle track, and the shape adjusting result of the road to be adjusted is obtained. Compared with the manual adjustment process in which a small number of shape points in the road to be adjusted are dragged one by one to modify the road shape, the road to be adjusted is adjusted based on the target vehicle track, the range of the shape points covered by the adjustment operation can be increased, and the adjustment precision of the road shape is improved.

In an optional implementation manner, the determining a target road shape according to the target vehicle trajectory, after being a result of shape adjustment of the road to be adjusted, further includes: acquiring original position information of a road element in a road to be adjusted; and drawing the road element in a target road shape according to the original position information.

The road element may be a map element on a road to be adjusted, such as a pedestrian crossing, a no-parking area, a ground arrow, and the like on the ground. Particularly, under the condition that the electronic map is a high-precision map, the high-precision map is a key place for realizing automatic driving and intelligent transportation, has rich road element data information, can help vehicles to predict road surface complex information such as gradient, curvature, course and the like, and can better avoid potential risks.

In the embodiment of the present disclosure, the target position information of the road to be adjusted in the target road shape may be determined according to the original position information of the road element in the road to be adjusted, for example, a projection point of the original position information on the target road shape may be determined, and the projection point may be used as the target position information, and the road element may be drawn in the target road shape according to the target position information. After the road shape modification is carried out on the road to be adjusted to obtain the target road shape, the target position information of the road element in the target road shape can be determined, so that the road element can be accurately drawn.

According to the technical scheme of the embodiment of the disclosure, after the road starting point and the road ending point of the road to be adjusted are obtained, the road shape is adjusted automatically, so that the adjusting efficiency of the road shape is improved. In addition, the road to be adjusted is adjusted based on the target vehicle track, so that the shape point range covered by the adjustment operation can be increased, and the adjustment precision of the road shape is improved.

Fig. 2a is a schematic diagram of another adjustment method for road shape according to an embodiment of the disclosure. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 2a, the method for adjusting a road shape according to the present embodiment includes:

s210, acquiring a target reference route selected from the candidate reference routes;

s220, determining an area to be adjusted according to the target reference route;

s230, displaying the area to be adjusted;

s240, acquiring a road starting point and a road ending point of the road to be adjusted selected in the area to be adjusted;

s250, selecting a road to be adjusted from an original road network according to a road starting point and a road end point of the road to be adjusted;

s260, determining a target vehicle track matched with the road to be adjusted;

and S270, determining the shape of the target road according to the target vehicle track as a shape adjustment result of the road to be adjusted.

In the embodiment of the present disclosure, the candidate reference route may be a route having a preliminary road shape adjustment result, that is, a route having a road shape adjustment requirement. Specifically, the road shape in the road network may be coarsely adjusted based on a preset preliminary adjustment rule, and a shape adjustment result of a part of roads is obtained and used as a candidate reference route. It should be noted that the length of the candidate reference route may be shorter than the length of the corresponding road segment, for example, a candidate reference route may be a road segment part in a certain road segment.

In the embodiment of the present disclosure, candidate reference routes may be displayed for a worker to select, and a target reference route selected by the worker from the candidate reference routes is obtained, fig. 2b is a schematic diagram of selecting a road starting and ending point of a road to be adjusted according to the embodiment of the present disclosure, and referring to fig. 2b, the target reference route gps may be selected. The target reference route and the original road network can be matched to obtain a region to be adjusted to which the target reference route belongs, the region to be adjusted can be displayed, and a road starting point Ps and a road ending point Pe of a road to be adjusted selected from the region to be adjusted by a worker can be obtained, for example, the worker can select the road starting point Ps and the road ending point Pe which need to be adjusted according to the matching relationship between the target reference route gps and the original road network.

The candidate reference routes are obtained in advance for the workers to select the target reference route from the candidate reference routes, the area to be adjusted to which the target reference route belongs is displayed for the workers, and the workers select the road starting point and the road ending point of the road to be adjusted in the area to be adjusted, so that the road to be adjusted can be conveniently positioned, the operation of the workers is simplified, the determining efficiency of the road starting point and the road ending point is improved, and the adjusting efficiency of the road shape is improved.

In an alternative embodiment, selecting a road to be adjusted from an original road network according to a road starting point and a road ending point of the road to be adjusted comprises: based on the original road network, carrying out path planning according to the selected road starting point and the selected road terminal point to obtain a road to be adjusted; displaying a road to be adjusted; determining a new road starting point and/or a new road ending point according to the adjustment operation of the user on the selected road starting point and/or the selected road ending point; and re-planning the path according to the new road starting point and/or the new road end point so as to re-select the road to be adjusted.

In the embodiment of the present disclosure, a route from a road starting point to a road ending point may be selected from an original road network as a road to be adjusted based on a route planning rule, for example, a shortest route rule or a rule with the least number of road segments. And displaying the road to be adjusted for the staff to determine whether the road to be adjusted meets the requirement of adjusting the shape of the road, if not, adjusting the starting point of the road and/or the end point of the road, and reselecting the road to be adjusted based on the new starting point of the road and/or the new end point of the road. For example, the path distance between the start point and the end point of the new road can be reduced, and particularly in a complex road scene such as a road with more curves, a worker can obtain the start point and/or the end point of the new road by sliding the start point and/or the end point of the road. If the road to be adjusted meets the road shape adjustment requirement, the target vehicle track can be continuously determined, and the shape of the target road is determined according to the target vehicle track. The road to be adjusted is automatically planned according to the starting point and the ending point of the road through path planning, and the determining efficiency of the road to be adjusted can be improved. By displaying the road to be adjusted, under the condition that the road to be adjusted does not meet the requirement of adjusting the shape of the road, the method also supports the determination of a new road starting point and/or a new road end point, can improve the determination flexibility of the road to be adjusted, improves the accuracy of the road to be adjusted, and further improves the adjustment precision of the shape of the road.

In an optional embodiment, the determining a target vehicle trajectory matching the road to be adjusted includes: determining the projection distance from the shape point in the road to be adjusted to the candidate vehicle track; and selecting a target vehicle track matched with the road to be adjusted from candidate vehicle tracks according to the projection distance.

In the implementation of the present disclosure, the road to be adjusted may be matched with the candidate vehicle trajectory based on the vehicle trajectory recommendation rule. Specifically, for each candidate vehicle track, a projection road from each shape point in the road to be adjusted to the candidate vehicle track may be determined, so as to obtain the distance sum from the road to be adjusted to the candidate vehicle track; and comparing the distance sums corresponding to the candidate vehicle tracks, and selecting the candidate vehicle track with the relatively smaller distance sum as the target vehicle track. By automatically matching the road to be adjusted with the candidate vehicle track, the matching efficiency can be improved, and the accuracy of the target vehicle track can also be improved. It should be noted that, the matching manner between the road to be adjusted and the candidate vehicle trajectory in the embodiment of the present disclosure is not specifically limited, and for example, the target vehicle trajectory may also be selected according to the acquisition time of the candidate vehicle trajectory in a certain range to which the road to be adjusted belongs.

In an optional embodiment, determining the target vehicle trajectory matching the road to be adjusted further comprises: displaying the selected target vehicle track; and acquiring the target vehicle track reselected from the candidate vehicle tracks by the user according to the adjustment operation of the user on the target vehicle track.

In the embodiment of the disclosure, the target vehicle track can be displayed to the staff, and the staff determines whether the target vehicle track meets the road shape adjustment requirement; the embodiment of the disclosure can also provide a manual track selection mode, and can also support a worker to manually select a target vehicle track from candidate vehicle tracks under the condition that the target vehicle track does not accord with the requirement of road shape adjustment; and under the condition of meeting the road shape adjusting requirement, the target road shape can be continuously determined according to the target vehicle track. By providing a manually selected trajectory mode, the flexibility and accuracy of the target vehicle trajectory can be improved.

According to the technical scheme of the embodiment of the disclosure, the road to be adjusted is obtained by automatically planning the path according to the start and end point of the road to be adjusted, and the target vehicle track is obtained by automatically matching the road to be adjusted with the candidate vehicle track, so that the road shape adjustment efficiency can be improved, manual adjustment of the start and end point of the road is supported, a manual track selection mode is provided, and the flexibility and the accuracy of the road shape adjustment can be further improved.

Fig. 3a is a schematic diagram of another adjustment method for road shape according to an embodiment of the disclosure. The present embodiment is an alternative proposed on the basis of the above-described embodiments. Referring to fig. 3a, the method for adjusting a road shape according to the present embodiment includes:

s310, selecting a road to be adjusted from an original road network according to a road starting point and a road end point of the road to be adjusted;

s320, determining a target vehicle track matched with the road to be adjusted;

s330, fitting track points in the target vehicle track to obtain a track line;

s340, according to a road starting point, a road end point and a road section node in the road to be adjusted, dividing the track line into road sections to obtain a new road shape;

and S350, splicing the head road section before the starting point of the road and the tail road section after the end point of the road in the road to be adjusted to the new road shape to obtain the target road shape.

Fig. 3 b-3 d are schematic diagrams of a trajectory line, a new road shape, and a target road shape, respectively, provided in accordance with an embodiment of the present disclosure. Referring to fig. 3b, curve fitting may be performed on the trajectory points in the target vehicle trajectory, and thinning, smoothing, and the like may be performed on the curve fitting result to obtain a trajectory line Lt; in conjunction with fig. 3b and 3c, the trajectory line Lt may be segmented according to a road segmentation rule. Specifically, the trajectory line Lt may be divided into a path before the start point Ps, a path after the end point, and a path between the start point and the end point according to the road start point Ps and the road end point Pe; and the road section division can be carried out on the path between the starting point and the ending point according to the road section node N in the road to be adjusted to obtain a new road shape. And, referring to fig. 3d, in case that the start point and the end point of the road to be adjusted are not the end points of the sections, the head section S1 before the start point of the road in the road to be adjusted may be spliced to the head of the new road shape, and the tail section E1 after the end point of the road in the road to be adjusted may be spliced to the tail of the new road shape. By means of track point fitting, road section division of the track line, supplement of the head road section and the tail road section, shape adjustment is conducted on the road to be adjusted in a fine-grained mode according to the target vehicle track, and the accuracy of the shape of the target road can be further improved.

In an optional implementation manner, the segment division is performed on the trajectory line according to a road starting point, a road ending point and a segment node in the road to be adjusted to obtain a new road shape, including: respectively determining the projection points of a road starting point, a road terminal point and a road section node in the road to be adjusted on the trajectory line; and carrying out road section division on the trajectory line according to the projection point to obtain a new road shape.

In the road section dividing process of the track line, projection points from a road starting point and a road end point to the track line Lt can be determined, and the track line is divided by adopting the projection points to obtain a path before the starting point, a path after the end point and a path between the starting point and the end point; and determining projection points of the road section nodes on the trajectory, and dividing the road sections of the paths between the start point and the end point by adopting the projection points of the road section nodes. By performing segment division on the trajectory line according to the projection points, the accuracy of the new road shape can be further improved.

According to the technical scheme of the embodiment of the invention, the precision of the shape of the target road can be further improved by track point fitting, road section division of the track line and supplement of the head road section and the tail road section.

Fig. 4 is a schematic diagram of an apparatus for adjusting a road shape according to an embodiment of the present disclosure, where the present embodiment is applicable to a case where a mark frame of a target is matched with an anchor frame, and the apparatus is configured in an electronic device, and can implement a method for adjusting a road shape according to any embodiment of the present disclosure. Referring to fig. 4, the apparatus 400 for adjusting the road shape specifically includes the following:

a road to be adjusted module 410, configured to select a road to be adjusted from an original road network according to a road starting point and a road ending point of the road to be adjusted;

a target vehicle track module 420, configured to determine a target vehicle track matching the road to be adjusted;

and the shape adjusting module 430 is configured to determine a shape of the target road according to the target vehicle track, as a result of adjusting the shape of the road to be adjusted.

In an alternative embodiment, the road shape adjusting device 400 further comprises an end-point determining module, which comprises:

a reference route unit for acquiring a target reference route selected from the candidate reference routes;

the area to be adjusted unit is used for determining an area to be adjusted according to the target reference route;

the area display unit is used for displaying the area to be adjusted;

and the starting and ending point selection unit is used for acquiring a road starting point and a road ending point of the road to be adjusted selected in the area to be adjusted.

In an alternative embodiment, the road module to be adjusted 410 includes:

the route planning unit is used for planning a route according to the selected road starting point and the selected road terminal point based on the original road network to obtain a road to be adjusted;

the road display unit is used for displaying a road to be adjusted;

the starting point and ending point adjusting unit is used for determining a new road starting point and/or a new road ending point according to the adjusting operation of the user on the selected road starting point and/or the selected road ending point;

the path planning unit is further configured to perform path planning again according to the new road starting point and/or the new road ending point, so as to reselect the road to be adjusted.

In an alternative embodiment, the target vehicle trajectory module 420 includes:

the projection distance unit is used for determining the projection distance from the shape point in the road to be adjusted to the candidate vehicle track;

and the vehicle track selection unit is used for selecting a target vehicle track matched with the road to be adjusted from candidate vehicle tracks according to the projection distance.

In an alternative embodiment, the target vehicle trajectory module includes:

the track display unit is used for displaying the selected target vehicle track;

and the track reselection unit is used for acquiring the target vehicle track reselected from the candidate vehicle tracks by the user according to the adjustment operation of the user on the target vehicle track.

In an alternative embodiment, the shape adjustment module 430 includes:

the track fitting unit is used for fitting track points in the target vehicle track to obtain a track line;

the road section dividing unit is used for dividing the track line into road sections according to a road starting point, a road terminal point and a road section node in the road to be adjusted to obtain a new road shape;

and the road section splicing unit is used for splicing a head road section before the starting point of the road in the road to be adjusted and a tail road section after the end point of the road to the new road shape so as to obtain the target road shape.

In an optional embodiment, the segment division unit includes:

the projection point subunit is used for respectively determining projection points of a road starting point, a road terminal point and a road section node in the road to be adjusted on the trajectory line;

and the road section dividing subunit is used for performing road section division on the trajectory line according to the projection point to obtain a new road shape.

In an alternative embodiment, the apparatus 400 for adjusting the road shape further comprises an element drawing module, wherein the element drawing module comprises:

the original position unit is used for acquiring original position information of the road element in the road to be adjusted;

and the element drawing unit is used for drawing the road element in the target road shape according to the original position information.

According to the technical scheme, after the starting and ending point of the road to be adjusted is obtained, the shape of the road to be adjusted can be automatically adjusted, an operator only needs to determine the starting and ending point of the road to be adjusted, manual operation is greatly reduced, and adjustment efficiency is improved. And the road to be adjusted is determined, the target vehicle track matched with the road to be adjusted is determined, the shape of the road to be adjusted is adjusted based on the target vehicle track, the automatic execution can be realized, and the precision, smoothness and the like of the shape of the target road are higher than those of manual road shaping.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 5, the apparatus 500 comprises a computing unit 501 which may perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the device 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units that perform machine learning model algorithms, a digital information processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 performs the respective methods and processes described above, such as the adjustment method of the road shape. For example, in some embodiments, the adjustment method of the road shape may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM503 and executed by the computing unit 501, one or more steps of the road shape adjustment method described above may be performed. Alternatively, in other embodiments, the calculation unit 501 may be configured to perform the road shape adjustment method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs executing on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method of adjusting a road shape, comprising:

determining a target vehicle track matched with the road to be adjusted;

2. The method according to claim 1, before selecting the road to be adjusted from the original road network according to the road starting point and the road ending point of the road to be adjusted, further comprising:

acquiring a target reference route selected from the candidate reference routes;

determining an area to be adjusted according to the target reference route;

displaying the area to be adjusted;

and acquiring a road starting point and a road ending point of the road to be adjusted selected in the area to be adjusted.

3. The method according to claim 1, wherein selecting the road to be adjusted from the original road network according to the road starting point and the road ending point of the road to be adjusted comprises:

based on the original road network, carrying out path planning according to the selected road starting point and the selected road terminal point to obtain a road to be adjusted;

displaying a road to be adjusted;

determining a new road starting point and/or a new road ending point according to the adjustment operation of the user on the selected road starting point and/or the selected road ending point;

and re-planning the path according to the new road starting point and/or the new road end point so as to re-select the road to be adjusted.

4. The method of claim 1, wherein the determining a target vehicle trajectory that matches the road to be adjusted comprises:

determining the projection distance from the shape point in the road to be adjusted to the candidate vehicle track;

and selecting a target vehicle track matched with the road to be adjusted from candidate vehicle tracks according to the projection distance.

5. The method of claim 4, the determining a target vehicle trajectory that matches the road to be adjusted further comprising:

displaying the selected target vehicle track;

and acquiring the target vehicle track reselected from the candidate vehicle tracks by the user according to the adjustment operation of the user on the target vehicle track.

6. The method of claim 1, wherein said determining a target road shape from said target vehicle trajectory comprises:

fitting the track points in the target vehicle track to obtain a track line;

according to the starting point of the road, the end point of the road and the section node in the road to be adjusted, section division is carried out on the track line to obtain a new road shape;

and splicing the head road section before the starting point of the road and the tail road section after the end point of the road in the road to be adjusted to the new road shape to obtain the target road shape.

7. The method as claimed in claim 6, wherein the segment division of the trajectory line according to the start point of the road, the end point of the road and the segment node in the road to be adjusted to obtain the new road shape comprises:

respectively determining the projection points of a road starting point, a road terminal point and a road section node in the road to be adjusted on the trajectory line;

and carrying out road section division on the trajectory line according to the projection point to obtain a new road shape.

8. The method according to claim 1, wherein the determining of the target road shape according to the target vehicle track further comprises, after the shape adjustment result of the road to be adjusted:

acquiring original position information of a road element in a road to be adjusted;

and drawing the road element in a target road shape according to the original position information.

9. An adjustment device for road shape, comprising:

the target vehicle track module is used for determining a target vehicle track matched with the road to be adjusted;

and the shape adjusting module is used for determining the shape of the target road according to the target vehicle track as the shape adjusting result of the road to be adjusted.

10. The apparatus of claim 9, further comprising an origin and destination determination module comprising:

the area display unit is used for displaying the area to be adjusted;

11. The apparatus of claim 9, the road module to be adjusted comprising:

the road display unit is used for displaying a road to be adjusted;

12. The apparatus of claim 9, wherein the target vehicle trajectory module comprises:

13. The apparatus of claim 12, the target vehicle trajectory module comprising:

14. The apparatus of claim 9, wherein the shape adjustment module comprises:

15. The apparatus of claim 14, wherein the segment dividing unit comprises:

16. The apparatus of claim 9, the apparatus further comprising an element drawing module, the element drawing module comprising:

17. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.

19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-8.