CN114413920A

CN114413920A - Lane data processing method, navigation method and device

Info

Publication number: CN114413920A
Application number: CN202210060476.9A
Authority: CN
Inventors: 刘玲玲; 莫高鹏
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-04-29

Abstract

The disclosure provides a lane data processing method, a navigation method and a device, and relates to the technical field of computers, in particular to the technical field of electronic maps and intelligent transportation. The implementation scheme is as follows: acquiring at least one associated crossing of intersections to be processed, wherein the distance from each associated crossing to the intersection to be processed is less than a threshold value, the intersection to be processed is connected with at least one entering road, and each associated crossing is connected with at least one exiting road; determining at least one first lane which can reach a first exit road from a plurality of lanes included in the target entry road, wherein the target entry road is any one of the at least one entry road, and the first exit road is any one of exit roads connected with the at least one associated intersection; and storing the mark of the target entering road, the mark of the first exit road and the mark of the at least one first lane in a correlated mode.

Description

Lane data processing method, navigation method and device

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to the field of electronic maps and intelligent transportation technologies, and in particular, to a lane data processing method and apparatus, a navigation method and apparatus, an electronic device, a computer-readable storage medium, and a computer program product.

Background

An electronic map (digital map) is a map that is stored and referred to digitally using computer technology. Various types of map elements are drawn on the electronic map, such as roads, malls, schools, hospitals, landmark buildings, and so on.

Driving travel is the main mode of traffic travel. During driving and traveling, a user can use a terminal device (such as a mobile phone, a tablet computer, a vehicle-mounted navigation device and the like) provided with an electronic map application to perform route navigation. The electronic map application can plan a navigation route for the user according to the departure place and the destination specified by the user. The user can drive along the navigation route to smoothly reach the destination.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.

Disclosure of Invention

The disclosure provides a lane data processing method and apparatus, a navigation method and apparatus, an electronic device, a computer-readable storage medium, and a computer program product.

According to an aspect of the present disclosure, there is provided a lane data processing method including: acquiring at least one associated crossing of intersections to be processed, wherein the distance from each associated crossing to the intersection to be processed is less than a threshold value, the intersection to be processed is connected with at least one entering road, and each associated crossing is connected with at least one exiting road; determining at least one first lane which can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any entry road in the at least one entry road, and the first exit road is any exit road in exit roads connected by the at least one associated intersection; and storing the identification of the target entry road, the identification of the first exit road and the identification of the at least one first lane in an associated manner.

According to an aspect of the present disclosure, there is provided a navigation method including: acquiring a navigation planned route of a vehicle, wherein the navigation planned route comprises at least one planned road; determining a target lane corresponding to any planned road based on the preset incidence relation among an entering road, an exiting road and a lane of the entering road, which can reach the exiting road; and sending the identification of the target lane corresponding to the navigation planning route and the at least one planning road to a navigation terminal so that the navigation terminal outputs a prompt message for indicating the corresponding target lane in response to the vehicle entering the planning road.

According to an aspect of the present disclosure, there is provided a navigation method including: acquiring a navigation planned route of a vehicle, wherein the navigation planned route comprises at least one planned road; determining a target lane corresponding to any planned road based on the preset incidence relation among an entering road, an exiting road and a lane of the entering road, which can reach the exiting road; and outputting a prompt message for indicating the corresponding target lane in response to the vehicle entering any planned road.

According to an aspect of the present disclosure, there is provided a lane data processing apparatus including: the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is configured to acquire at least one associated intersection of intersections to be processed, the distance from each associated intersection to the intersection to be processed is less than a threshold value, the intersection to be processed is connected with at least one entering road, and each associated intersection is connected with at least one exiting road; a first determination module configured to determine at least one first lane that can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any one of the at least one entry road, and the first exit road is any one of exit roads connected to the at least one associated intersection; and a storage module configured to store an identification of the target entry road, an identification of the first exit road, and an identification of the at least one first lane in association.

According to an aspect of the present disclosure, there is provided a navigation device including: an acquisition module configured to acquire a navigation planned route of a vehicle, wherein the navigation planned route comprises at least one planned road; the system comprises a determining module, a judging module and a judging module, wherein the determining module is configured to determine a target lane corresponding to any planning road based on the preset incidence relation among an entering road, an exiting road and a lane of the entering road, which can reach the exiting road; and the transmission module is configured to transmit the identification of the target lane corresponding to the navigation planning route and the at least one planning road to a navigation terminal so that the navigation terminal outputs a prompt message for indicating the corresponding target lane in response to the vehicle entering the planning road.

According to an aspect of the present disclosure, there is provided a navigation device including: an acquisition module configured to acquire a navigation planned route of a vehicle, wherein the navigation planned route comprises at least one planned road; the system comprises a determining module, a judging module and a judging module, wherein the determining module is configured to determine a target lane corresponding to any planning road based on the preset incidence relation among an entering road, an exiting road and a lane of the entering road, which can reach the exiting road; and an output module configured to output a prompt message indicating a corresponding target lane in response to the vehicle entering any of the planned roads.

According to an 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, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any of the above aspects.

According to an aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any of the above aspects.

According to an aspect of the disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the above aspects.

According to one or more embodiments of the disclosure, lane-level road communication conditions among multiple intersections within a short distance can be extracted and stored, so that the accuracy of navigation is 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 accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.

Fig. 1 is a schematic diagram showing lane cues in a navigation process of the related art;

FIG. 2 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, according to an embodiment of the present disclosure;

FIG. 3 shows a flow chart of a lane data processing method according to an embodiment of the present disclosure;

FIG. 4 illustrates a schematic diagram of an exemplary intersection to be processed and its associated intersections in accordance with an embodiment of the present disclosure;

FIG. 5 shows a schematic diagram of a lane data store according to an embodiment of the present disclosure;

FIG. 6 illustrates a block diagram and a topology diagram of an exemplary intersection to be processed and its associated intersections in accordance with an embodiment of the present disclosure;

FIG. 7 shows a flow chart of a navigation method according to an embodiment of the present disclosure;

FIG. 8 illustrates a flow diagram of a navigation method according to further embodiments of the present disclosure;

fig. 9 shows a block diagram of the configuration of a lane data processing apparatus according to an embodiment of the present disclosure;

fig. 10 shows a block diagram of a navigation device according to an embodiment of the present disclosure;

FIG. 11 shows a block diagram of a navigation device according to further embodiments of the present disclosure; and

FIG. 12 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments 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 of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, the timing relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.

The terminology used in the description of the various described examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.

In the disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the related users are all in accordance with the regulations of related laws and regulations, and do not violate the customs of the public order.

Driving travel is the main mode of traffic travel. During driving and traveling, a user can use a terminal device (such as a mobile phone, a tablet computer, a vehicle-mounted navigation device and the like) provided with an electronic map application to perform route navigation. The electronic map application can plan a navigation route to be provided for the user according to the starting position and the end position input by the user. The user can drive along the navigation route to smoothly reach the destination.

An intersection is where multiple roads meet. Each intersection is hung with a plurality of roads. In an electronic map, the condition of lane communication of a road with a road hung at a road junction is accurately described, which is a precondition for accurate navigation.

In the related art, a road communication situation of an intersection is generally expressed by lane information of a road (e.g., the number of lanes included in the road, a driving direction of each lane, etc.), for example, the intersection 1 is hung with an entry road a and an exit road B, and the entry road a is connected with the exit road B by a left-turn lane, that is, at the intersection 1, the entry road a is communicated with the exit road B by a left-turn lane. However, in the related art, the lane information of the road can express only the road communication situation at a single intersection, and cannot express the road communication situations at a plurality of intersections. Under the condition that a plurality of intersections exist in a short distance, navigation is carried out only based on lane information of the current intersection (single intersection), accuracy is insufficient, and user yaw is easily caused.

For example, fig. 1 shows a road structure diagram of a certain area on the left, and a road topology diagram corresponding to the left (the arrow on the right shows the driving direction of the road). As shown in fig. 1, intersection a1 is the junction of roads R1, R2, R5, and intersection a2 is the junction of roads R2, R3, R4. Road R1 includes 1-8 eight lanes, with lanes 1-6 being straight lanes, lane 7 being straight and right-going lanes, and lane 8 being right-going lane. In fig. 1, if the starting point of the user navigation is located on the road R1 and the ending point is located on the road R3, the navigation planned route of R1 → R2 → R3 is available, and based on the lane information of the road R1, the road R2 entered from the road R1 should be driven along the straight-going lane (i.e., lanes 1-7), so at the intersection a1, the navigation application (App) will remind the user to drive along the lanes 1-7. However, as shown in the left view of FIG. 1, only lanes 1-4 are actually accessible to road R3. The user, as prompted by the navigation application, if driving into lane 5-7, cannot reach R3, causing a yaw.

In view of the above problems, embodiments of the present disclosure provide a lane data processing method and a navigation method, which can extract and store lane-level road communication conditions among multiple intersections within a short distance, thereby improving accuracy of navigation.

Currently, electronic maps can be roughly classified into two types from the viewpoint of the accuracy of the electronic maps. One type is a standard electronic map, which can show the road and lane conditions of the road to meet the navigation requirements of common vehicles or pedestrians. The second type is a high-precision map (also called high-precision map), which has higher precision than a standard electronic map and is mainly used for an automatic driving automobile. The high-precision map has accurate vehicle position information and abundant road element data information, and can help an automobile to predict road surface complex information such as gradient, curvature, course and the like, so that potential risks are avoided better.

It is understood that the lane data processing method and the navigation method of the embodiments of the present disclosure are generally applicable to standard electronic maps, and are not applicable to high-precision maps. Because the high-precision map has accurate road information, accurate navigation at lane level can be realized, and therefore the lane level road communication condition of the crossing does not need to be extracted and stored by adopting the embodiment of the disclosure.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 2 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented, according to an embodiment of the present disclosure. Referring to fig. 2, the system 100 includes one or

more client devices

101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120.

Client devices

101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.

In embodiments of the present disclosure, the server 120 may run one or more services or software applications that enable lane data processing methods and/or navigation methods to be performed.

In some embodiments, the server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. In certain embodiments, these services may be provided as web-based services or cloud services, for example, provided to users of

client devices

101, 102, 103, 104, 105, and/or 106 under a software as a service (SaaS) model.

In the configuration shown in fig. 2, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof, which may be executed by one or more processors. A user operating a

client device

101, 102, 103, 104, 105, and/or 106 may, in turn, utilize one or more client applications to interact with the server 120 to take advantage of the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Accordingly, fig. 2 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

The user may navigate using

client devices

101, 102, 103, 104, 105, and/or 106. The client device may provide an interface that enables a user of the client device to interact with the client device. The client device may also output information to the user via the interface. Although fig. 2 depicts only six client devices, those skilled in the art will appreciate that any number of client devices may be supported by the present disclosure.

Client devices

101, 102, 103, 104, 105, and/or 106 may include various types of computer devices, such as portable handheld devices, general purpose computers (such as personal computers and laptops), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, gaming systems, thin clients, various messaging devices, sensors or other sensing devices, and so forth. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux, or Linux-like operating systems (e.g., GOOGLE Chrome OS); or include various Mobile operating systems such as MICROSOFT Windows Mobile OS, iOS, Windows Phone, Android. Portable handheld devices may include cellular telephones, smart phones, tablets, Personal Digital Assistants (PDAs), and the like. Wearable devices may include head-mounted displays (such as smart glasses) and other devices. The gaming system may include a variety of handheld gaming devices, internet-enabled gaming devices, and the like. The client device is capable of executing a variety of different applications, such as various Internet-related applications, communication applications (e.g., email applications), Short Message Service (SMS) applications, and may use a variety of communication protocols.

Network 110 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, one or more networks 110 may be a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (e.g., bluetooth, Wi-Fi), and/or any combination of these and/or other networks.

The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in server 120 may run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and/or middle tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.

In some implementations, the server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from users of the

client devices

101, 102, 103, 104, 105, and 106. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of

client devices

101, 102, 103, 104, 105, and 106.

In some embodiments, the server 120 may be a server of a distributed system, or a server incorporating a blockchain. The server 120 may also be a cloud server, or a smart cloud computing server or a smart cloud host with artificial intelligence technology. The cloud Server is a host product in a cloud computing service system, and is used for solving the defects of high management difficulty and weak service expansibility in the traditional physical host and Virtual Private Server (VPS) service.

The system 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as music files. The database 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The database 130 may be of different types. In certain embodiments, the database used by the server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to the command.

In some embodiments, one or more of the databases 130 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key-value stores, object stores, or regular stores supported by a file system.

The system 100 of fig. 2 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.

For purposes of the disclosed embodiments, an electronic map application may be included in the

client devices

101, 102, 103, 104, 105, and 106 in the example of fig. 2, which may provide various electronic map-based functions, such as online navigation, offline route planning, location finding, and the like. Accordingly, the server 120 may be a server corresponding to the electronic map application. A service program may be included in the server 120, and the service program may provide a map service to an electronic map application program running in the client device based on the electronic map data already stored in the database 130. Alternatively, the server 120 may also provide the electronic map data to the client device, with the map service being provided by an electronic map application running in the client device according to locally stored electronic map data.

Specifically, the server 120 or the

client devices

101, 102, 103, 104, 105, and 106 may execute the lane data processing method of the embodiment of the present disclosure, extract lane-level road connectivity conditions between multiple intersections within a short distance, and store the obtained lane-level road connectivity conditions in the electronic map, so that the electronic map data is more accurate and precise. Based on the stored lane-level electronic map data, the server 120 or the

client devices

101, 102, 103, 104, 105, and 106 may perform the navigation method of the embodiments of the present disclosure to perform navigation, thereby improving the accuracy of navigation and enhancing the navigation experience of the user.

Fig. 3 shows a flow chart of a lane data processing method 300 according to an embodiment of the present disclosure. Method 300 may be performed at a server (e.g., server 120 shown in fig. 2) or may be performed at a client device (e.g.,

client devices

101, 102, 103, 104, 105, and 106 shown in fig. 2). That is, the execution subject of each step of the method 300 may be the server 120 shown in fig. 2, or may be the

client devices

101, 102, 103, 104, 105, and 106 shown in fig. 2.

As shown in fig. 3, the method 300 includes:

step 310, obtaining at least one associated intersection of intersections to be processed, wherein the distance from each associated intersection to the intersection to be processed is less than a threshold value, the intersection to be processed is connected with at least one entering road, and each associated intersection is connected with at least one exiting road;

step 320, determining at least one first lane which can reach a first exit road from a plurality of lanes included in the target entry road, wherein the target entry lane is any entry road in the at least one entry road, and the first exit road is any exit road in exit roads connected with the at least one associated intersection; and

step 330, storing the identification of the target entering the road, the identification of the first exit road and the identification of the at least one first lane in an associated manner.

According to the embodiment of the disclosure, a plurality of intersections (namely, the intersection to be processed and the associated intersection) within a short distance are analyzed as a whole, an accessible lane (first lane) from any entry road (target entry road) of the intersection to be processed to any exit road (first exit road) of the associated intersection is determined, and the identifications of the target entry road, the first exit road and the first lane are stored in an associated manner. Therefore, the lane level road communication condition among multiple intersections in a short distance can be expressed, and the navigation accuracy is improved.

The various steps of method 300 are described in detail below.

In step 310, the intersection to be processed can be any intersection in the electronic map. The correlation intersection of the intersections to be processed is the intersection with the distance to the intersections to be processed smaller than the threshold value, namely the intersection closer to the intersections to be processed. According to different road conditions in the road network, one or more related intersections of the intersection to be processed can be provided.

A bifurcation junction refers to a junction where one entering road and at least two exiting roads are connected. Vehicles running along the entering road are shunted at the branching road junction and enter different exiting roads. In the case where a plurality of continuous branch intersections exist within a short distance range, the user vehicle is likely to yaw and enter a wrong road. For example, in a road scene such as an expressway and an overpass, there often occurs a case where a plurality of continuous branch junctions exist within a short distance range (i.e., a plurality of branch junctions are gathered in a small area), and in this case, the user vehicle easily enters a wrong road.

In order to improve the navigation accuracy in the case where a plurality of consecutive intersections exist within a short distance, according to some embodiments, the intersection to be processed and at least one associated intersection of the intersection to be processed may both be an intersection. Specifically, in the method 300 of the embodiment of the present disclosure, a divergent intersection may be first screened from a plurality of intersections included in the electronic map, so as to obtain a divergent intersection set. Then, any bifurcation junction in the bifurcation junction set is taken as a junction to be processed, and the bifurcation junction of which the distance to the junction to be processed is less than a threshold value in the bifurcation junction set is taken as an associated junction of the junction to be processed. Therefore, the navigation accuracy under the condition that a plurality of continuous branch intersections exist in a short distance can be improved in a targeted manner, all intersections in the electronic map can be prevented from being processed, and the calculation efficiency is improved.

According to some embodiments, the threshold value of the distance from the associated intersection to the intersection to be processed may be determined based on a vehicle traveling speed on at least one incoming road of the intersection to be processed. Specifically, the vehicle running speed on the road may be a speed limit of the road, that is, a maximum running speed of the vehicle permitted by the road; or may be an average of the travel speeds of the vehicles on the road over a period of time. Therefore, the threshold value can be flexibly set according to different road scenes, so that the lane level communication condition of a plurality of road junctions which are relatively close to each other is analyzed according to different road scenes, and the navigation accuracy of different road scenes is ensured.

Further, according to some embodiments, the threshold value is positively correlated with the vehicle travel speed on the entry road, i.e., the greater the vehicle travel speed on the entry road, the greater the threshold value is set. For example, the vehicle running speed on an expressway is high, and the threshold value may be set large, for example, 100 m; the vehicle on the urban road is driven at a slower speed, and the threshold value may be set smaller, for example, 60 m. Therefore, the lane level communication conditions of a plurality of road junctions which are relatively close to each other can be analyzed according to different road scenes, and appropriate driving reaction time and reaction distance are provided for users under different road scenes, so that the users can conveniently select correct roads to drive.

According to some embodiments, the threshold value of the distance from the associated intersection to the intersection to be processed may also be determined based on the vehicle running speed on at least one incoming road of the intersection to be processed and the output duration of the lane prompting message (e.g., the guide arrow icon of the lane, the lane prompting voice, etc.) in the navigation application. Therefore, the threshold value can be flexibly set by combining the road scene and the navigation scene, and the navigation accuracy of different road scenes and the interactive experience of users are ensured.

Further, according to some embodiments, the threshold value is positively correlated with the vehicle running speed on the entry road, and with the output duration of the lane-prompting message in the navigation application. That is, the greater the vehicle running speed on the entry road, the longer the output period of the lane hint message in the navigation application, the greater the threshold value is set. Therefore, proper driving reaction time and reaction distance can be provided for users under different road scenes, so that the users can conveniently select correct roads to drive, and the navigation experience and the interaction experience of the users are improved.

Specifically, the threshold value may be set as the product of the vehicle running speed, the output time period of the lane cue message, and a preset constant. For example, if the average vehicle driving speed of a certain section of the highway is 90km/h, the output time of the lane guidance message is 6s, and the preset constant is 0.6, the threshold value may be set to 90/3.6 × 6 × 0.8 — 90 m.

FIG. 4 shows a schematic diagram of an intersection to be processed and its associated intersections according to an embodiment of the present disclosure. The gray dots in fig. 4 represent intersections. Intersections A1-A5 in FIG. 4 are all diverging intersections, and the gray arrows in the figure show the driving directions of roads R1-R11.

For example, when the threshold of the distance from the associated intersection to the intersection to be processed is thr1, taking intersection a1 as the intersection to be processed, only the distance from intersection a2 to intersection a1 is less than thr1, so the associated intersection of intersection a1 is intersection a 2. Taking the intersection A2 as an intersection to be processed, wherein the distance from the intersection A1 and the intersection A3 to the intersection A2 is less than thr1, so that the related intersections of the intersection A2 are the intersection A1 and the intersection A3; taking the intersection A4 as the intersection to be processed, only the distance from the intersection A5 to the intersection A4 is less than thr1, so the related intersection of the intersection A4 is the intersection A5.

For another example, when the threshold is thr2(thr2 is greater than thr1), taking intersection a1 as the intersection to be processed, the distances from intersections a2 and A3 to intersection a1 are less than thr2, so the related intersections of intersection a1 are intersection a2 and intersection A3.

In the embodiment of the disclosure, the intersection to be processed is connected with at least one entering road, and each associated intersection is connected with at least one exiting road.

In step 320, at least one first lane that can reach a first exit road is determined from a plurality of lanes included in the target entry road, the target entry lane being any one of the at least one entry road, and the first exit road being any one of exit roads connected by the at least one associated intersection.

According to some embodiments, step 320 may further include the following steps 322-328:

step 322, acquiring a road surface image of a target entering a road and position information of a first exit road;

step 324, recognizing a lane indicating object in the road surface image, wherein the lane indicating object comprises a lane line and a guide arrow;

step 326, determining driving direction information of each of the plurality of lanes based on the lane indication object; and

step 328, matching the driving direction information of each of the plurality of lanes with the position information to determine at least one first lane that may reach the first exit road from the plurality of lanes.

According to some embodiments, the road surface image in step 322 may be captured by an image capture device disposed on the map capture vehicle.

According to some embodiments, in step 324, computer vision techniques may be employed to identify lane-indicating objects in the road surface image. For example, a target detection model such as Faster R-CNN, YOLO V3, SSD, or the like may be employed to identify lane-indicating objects in the road surface image.

According to some embodiments, in step 326, based on the lane lines, the number and location of lanes included by the target entering the road may be determined; based on the guiding arrow, the driving direction information of the lane in which the guiding arrow is located can be determined. The value of the traveling direction information may be, for example, straight traveling, left turning, right turning, straight traveling and right turning, null (i.e., no guiding arrow is recognized in the current lane), or the like.

According to some embodiments, at least one first lane reachable to the first exit road may be determined from the plurality of lanes by matching the driving direction information of each of the plurality of lanes with the location information of the first exit road in step 328. Specifically, the matching may be to calculate an angle between a driving direction of the lane and a geographical position direction of the first exit road. Or, further acquiring the position information of the target entry road, predicting the position of the exit road corresponding to each lane possibly based on the position information of the target entry road and the driving direction information of each lane, and then matching the predicted position with the actual position information of the first exit road, for example, calculating the similarity between the predicted position and the actual position information, and regarding the corresponding lane with the similarity larger than the threshold as the first lane which can reach the first exit road.

According to some embodiments, after determining the driving direction information for each lane of the target entry road, via step 326, the identification of the target entry road is further stored in association with the driving direction information for the plurality of lanes. Thus, navigation route planning can be facilitated, and lane prompting messages can be conveniently output to a user.

After determining at least one first lane of the target entry road that may reach the first exit road through step 320, an identification of the target entry road, an identification of the first exit road, and an identification of the at least one first lane are stored in association in step 330.

Specifically, the correspondence table may be employed to implement the associated storage of the identification of the target entry road, the identification of the first exit road, and the identification of the first lane. Thus, given a target entry road and a first exit road, a table look-up may be used to determine the lanes in the target entry road that may reach the first exit road.

According to some embodiments, step 330 further comprises: and storing the identification of the target entering road, the identification of the first exit road, the identification of at least one first lane and the identification of an intermediate road for communicating the target entering road and the first exit road in an associated manner. By storing intermediate roads, navigation route planning can be facilitated.

Specifically, the correspondence table may be employed to implement the associative storage of the identifier of the target entry road, the identifier of the first exit road, the identifier of the at least one first lane, and the identifier of the intermediate road for communicating the target entry road and the first exit road. Thus, given a target entry road and a first exit road, a table look-up may be used to determine the lanes in the target entry road that may reach the first exit road, and to determine the intermediate roads that are traversed by the target entry road into the first exit road.

According to some embodiments, the intersection to be processed is further connected with at least one exit road, and the method 300 further comprises: determining at least one second lane which can reach a second exit road from a plurality of lanes included in a target entry road, wherein the second exit road is any exit road in exit roads connected with the intersection to be processed; and storing the identification of the target entry road, the identification of the second exit road and the identification of the at least one second lane in an associated manner. Therefore, the lane-level road communication condition of a single intersection (intersection to be processed) can be further stored, and navigation planning is facilitated.

Fig. 5 shows a schematic diagram of lane data storage according to an embodiment of the present disclosure. Fig. 5 shows three tables of MARK _ INFO (entry lane marking information), NAV _ MARK _ TOPOLOGY (lane connectivity information), and MARK _ PASS (passing road information).

The MARK _ INFO table is used to store associations of the identification of the entry road with the driving direction information of the respective lanes of the entry road, each association (i.e., the entry road with the guide arrow) corresponding to one record in the MARK _ INFO table.

As shown in fig. 5, the MARK _ INFO table includes three fields of MARK _ ID, ROAD _ ID, and ARR _ DIR. The MARK _ ID field is a Primary Key (PK) of the MARK _ INFO table, and is used to uniquely identify one record in the MARK _ INFO table. The ROAD ID field is used to record the identification of the incoming ROAD with a leading arrow, and is the Foreign Key (FK) of the MARK INFO table, and is the primary Key of the ROAD network topology table (NAV _ ROAD, used to record the ROADs in the ROAD network, not shown in fig. 5). In the ROAD network topology table, the ROAD _ ID field is used to uniquely identify a ROAD. The ARR _ DIR field is used to record driving direction information, i.e., a guide arrow, of each lane entering the road.

The NAV _ MARK _ topoly table is used to store associations of an identification of an entry road, an identification of an exit road, identifications of lanes in the entry road that can reach the exit road, each association corresponding to a record in the NAV _ MARK _ topoly table.

As shown IN FIG. 5, the NAV _ MARK _ TOPOLOGY table includes five fields of TOPO _ ID, MARK _ ID, IN _ ROAD _ ID, OUT _ ROAD _ ID, IN _ MARK _ INFO. Wherein, TOPO _ ID is the primary key of NAV _ MARK _ TOPOLOGY table, and is used for uniquely identifying one record in NAV _ MARK _ TOPOLOGY table. MARK _ ID is the foreign key of NAV _ MARK _ TOPOLOGY table, the primary key of MARK _ INFO table. The IN _ ROAD _ ID field is used to record the identification of the entering ROAD, and the OUT _ ROAD _ ID field is used to record the identification of the exiting ROAD, both of which are the external key of NAV _ MARK _ topoly table and the main key of ROAD network TOPOLOGY table. The IN _ MARK _ INFO field is used to record the identification of the lanes IN the entry road that may reach the exit road.

The MARK _ PASS table is used for storing the association relationship of the identification of an entry road, the identification of an exit road, the identification of a lane in the entry road which can reach the exit road, and the identification of an intermediate road which is passed by the entry road to enter the exit road. Each association corresponds to a record in the MARK PASS table.

As shown in fig. 5, the MARK _ PASS table includes three fields, MARK _ PASS _ ID, ROAD _ ID, and TOPO _ ID. Wherein, the MARK _ PASS _ ID is a primary key of the MARK _ PASS table and is used for uniquely identifying one record in the MARK _ PASS table. The TOPO _ ID field is a foreign key of the MARK PASS table and a primary key of the NAV MARK TOPOLOGY table, and is used for identifying an association relationship of IN _ rod _ ID, OUT _ rod _ ID and IN _ MARK _ INFO. The ROAD _ ID field is an external key of a MARK _ PASS table and a main key of a ROAD network topology table, and is used for recording the identification of an intermediate ROAD which is passed by an entering ROAD to enter an exiting ROAD.

By adopting the method 300 of the embodiment of the present disclosure, the intersection a1 to be processed and the associated intersection a2 thereof shown in fig. 6 are analyzed to obtain three groups of association relationships of entering roads, exiting roads and lanes, which are respectively: enter road R1-exit road R3-lane 1, enter road R1-exit road R4-lane 2, lane 3, enter road R1-exit road R5-lane 4. The three groups of association relationships are stored by using the table structure shown in fig. 5, and a MARK _ INFO table and a NAV _ MARK _ topoly (table, MARK _ PASS table are as follows:

TABLE 1 MARK _ INFO

MARK_ID	ROAD_ID	ARR _ DIR (guide arrow)
			123456	R1	Straight, empty

NAV _ MARK _ TOPOLOGY

MARK_ID	topO_ID	IN_ROAD_ID	OUT_ROAD_ID	IN_MARK_INFO
					123456	561111	R1	R3	1000 (Lane 1 reachable)
123456	561112	R1	R4	0110 (Lane 2, 3 can reach)
					123456	561113	R1	R5	0001 (Lane 4 reachable)

TABLE 3 MARK _ PASS

topO_ID	MARK_PASS_ID	ROAD_ID	Description of the invention
				561111	441231	R2	R1 to R3 needs to pass through R2
561112	441232	R2	R1 to R4 needs to pass through R2

Based on the method 300 of the embodiment of the present disclosure, an association relationship among an entry road, an exit road, and a lane in the entry road that can reach the exit road may be established, and the association relationship is stored in the electronic map. The incidence relation can express the lane level road communication condition among a plurality of intersections within a short distance. The embodiment of the disclosure further provides a navigation method, which can realize accurate lane-level navigation based on the stored incidence relation among the entering road, the exiting road and the accessible lanes of the entering road and the exiting road.

FIG. 7 shows a flow diagram of a navigation method 700 according to an embodiment of the present disclosure. Method 700 is an online navigation method that is performed at a server (e.g., server 120 shown in fig. 2). The association between an entry road, an exit road, and a reachable exit lane in the entry road established based on the method 300 of the embodiment of the present disclosure is stored at the server.

As shown in fig. 7, method 700 includes:

step 710, obtaining a navigation planning route of the vehicle, wherein the navigation planning route comprises at least one planning road;

step 720, determining a target lane corresponding to any planned road based on the preset incidence relation among the entering road, the exiting road and the lanes which can reach the exiting road in the entering road; and

and 730, sending the navigation planned route and the identification of the target lane corresponding to the at least one planned road to the navigation terminal, so that the navigation terminal outputs a prompt message for indicating the corresponding target lane in response to the vehicle entering the planned road.

According to the embodiment of the present disclosure, accurate lane-level navigation can be achieved.

According to some embodiments, the navigation plan route may be obtained using any route planning algorithm based on the start and end positions specified by the user. It is understood that the navigation plan route is a road sequence consisting of at least one planned road.

According to some embodiments, in step 720, a target lane corresponding to the currently planned road may be determined by taking any planned road (currently planned road) in the navigation planned route as an entry road, taking any planned road located after the currently planned road in the navigation planned route as an exit road, and matching the preset association relationship among the entry road, the exit road, and the lanes which can reach the exit road in the entry road.

According to some embodiments, in step 730, the navigation terminal may be a vehicle-mounted device, or may be a mobile device such as a mobile phone, a tablet computer, a smart wearable device, or the like. The prompt message of the target lane may be a guide arrow icon displayed in a screen of the navigation terminal for indicating the target lane, or may be voice broadcast by the navigation terminal for indicating the target lane.

FIG. 8 illustrates a flow diagram of a navigation method 800 according to further embodiments of the present disclosure. The method 800 is an offline navigation method, performed at a navigation terminal (e.g., the

client devices

101, 102, 103, 104, 105, and 106 shown in fig. 2). The incidence relation among the entry road, the exit road, and the reachable exit road lane in the entry road, which is established based on the method 300 of the embodiment of the present disclosure, is stored locally in the navigation terminal. The navigation terminal can be a vehicle-mounted device, and can also be a mobile device such as a mobile phone, a tablet computer, a smart wearable device and the like.

As shown in fig. 8, method 800 includes:

step 810, acquiring a navigation planning route of the vehicle, wherein the navigation planning route comprises at least one planning road;

step 820, determining a target lane corresponding to any planned road based on the preset incidence relation among an entering road, an exiting road and a lane which can reach the exiting road in the entering road; and

and 830, responding to the vehicle entering any planned road, and outputting a prompt message for indicating the corresponding target lane.

According to some embodiments, in step 820, a target lane corresponding to the currently planned road may be determined by matching an association relationship between any planned road (currently planned road) in the navigation planned route as an entry road and any planned road behind the currently planned road in the navigation planned route as an exit road and lanes of the preset entry road, exit road and reachable exit road in the entry road.

According to some embodiments, in step 830, the prompt message of the target lane may be a guide arrow icon displayed in the screen of the navigation terminal for indicating the target lane, or may be voice broadcast by the navigation terminal for indicating the target lane.

According to the embodiment of the disclosure, a lane data processing device is also provided. Fig. 3 shows a block diagram of a configuration of a lane data processing apparatus 900 according to an embodiment of the present disclosure. As shown in fig. 9, the apparatus 900 includes:

an obtaining module 910, configured to obtain at least one associated intersection of intersections to be processed, where a distance from each associated intersection to the intersection to be processed is less than a threshold, the intersection to be processed is connected with at least one entering road, and each associated intersection is connected with at least one exiting road;

a first determining module 920 configured to determine at least one first lane that can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any entry road of the at least one entry road, and the first exit road is any exit road of exit roads connected by the at least one associated intersection; and

a first storage module 930 configured to store an identification of the target entry road, an identification of the first exit road and an identification of the at least one first lane in association.

According to some embodiments, the threshold is determined based on a vehicle speed on the at least one entry road.

According to some embodiments, the threshold is determined based on a vehicle speed on the at least one entry road and an output duration of a lane-prompting message in a navigation application.

According to some embodiments, the intersection to be processed is further connected with at least one exit road, and the device further comprises: a second determining module configured to determine at least one second lane that can reach a second exit road from a plurality of lanes included in a target entry road, wherein the second exit road is any exit road of exit roads connected to the intersection to be processed; and a second storage module configured to store an identification of the target entry road, an identification of the second exit road, and an identification of the at least one second lane in association.

According to some embodiments, the first storage module 930 is further configured to: and storing the identification of the target entering road, the identification of the first exit road, the identification of the at least one first lane and the identification of an intermediate road for communicating the target entering road and the first exit road in an associated manner.

According to some embodiments, the first determining module 920 further comprises: an acquisition unit configured to acquire a road surface image of the target entry road and position information of the first exit road; a recognition unit configured to recognize a lane indication object in the road surface image, the lane indication object including a lane line and a guide arrow; a determination unit configured to determine traveling direction information of each of the plurality of lanes based on the lane indication object; and a matching unit configured to match the travel direction information of each of the plurality of lanes with the position information to determine at least one first lane that can reach the first exit road from among the plurality of lanes.

According to the embodiment of the disclosure, a navigation device is also provided. Fig. 10 shows a block diagram of a navigation device 1000 according to an embodiment of the present disclosure. As shown in fig. 10, the apparatus 1000 includes:

an obtaining module 1010 configured to obtain a navigation planned route of a vehicle, wherein the navigation planned route includes at least one planned road;

the determining module 1020 is configured to determine a target lane corresponding to any planned road based on an incidence relation among a preset entry road, a preset exit road and a lane of the entry road, which can reach the exit road; and

a transmission module 1030 configured to transmit the navigation planned route and the identifier of the target lane corresponding to each of the at least one planned road to a navigation terminal, so that the navigation terminal outputs a prompt message indicating the corresponding target lane in response to the vehicle entering the planned road.

According to an embodiment of the present disclosure, there is also provided another navigation apparatus. Fig. 11 shows a block diagram of a navigation device 1100 according to an embodiment of the present disclosure. As shown in fig. 11, the apparatus 1100 includes:

an obtaining module 1110 configured to obtain a navigation planned route of a vehicle, wherein the navigation planned route includes at least one planned road;

the determining module 1120 is configured to determine a target lane corresponding to any planned road based on the preset incidence relation among an entry road, an exit road and a lane of the entry road, which can reach the exit road; and

an output module 1130 configured to output a prompt message indicating a corresponding target lane in response to the vehicle entering any of the planned roads.

It should be understood that various modules or units of the apparatus 900 shown in fig. 9 may correspond to various steps in the method 300 described with reference to fig. 3, various modules or units of the apparatus 1000 shown in fig. 10 may correspond to various steps in the method 700 described with reference to fig. 7, and various modules or units of the apparatus 1100 shown in fig. 11 may correspond to various steps in the method 800 described with reference to fig. 8. Thus, the operations, features and advantages described above with respect to the

methods

300, 700, 800 are equally applicable to the

apparatus

900, 1000, 1100 and the modules and units comprised thereby. Certain operations, features and advantages may not be described in detail herein for the sake of brevity.

Although specific functionality is discussed above with reference to particular modules, it should be noted that the functionality of the various modules discussed herein may be divided into multiple modules and/or at least some of the functionality of multiple modules may be combined into a single module. For example, the first determination module 920 and the first storage module 930 described above may be combined into a single module in some embodiments.

It should also be appreciated that various techniques may be described herein in the general context of software, hardware elements, or program modules. The various modules described above with respect to fig. 9-11 may be implemented in hardware or in hardware in combination with software and/or firmware. For example, the modules may be implemented as computer program code/instructions configured to be executed in one or more processors and stored in a computer-readable storage medium. Alternatively, the modules may be implemented as hardware logic/circuitry. For example, in some embodiments, one or more of the modules 910 and 1130 may be implemented together in a System on a Chip (SoC). The SoC may include an integrated circuit chip (which includes one or more components of a Processor (e.g., a Central Processing Unit (CPU), microcontroller, microprocessor, Digital Signal Processor (DSP), etc.), memory, one or more communication interfaces, and/or other circuitry), and may optionally execute received program code and/or include embedded firmware to perform functions.

According to an embodiment of the present disclosure, there is also provided an electronic device, a readable storage medium, and a computer program product.

Referring to fig. 12, a block diagram of a structure of an electronic device 1200, which may be a server or a client of the present disclosure, which is an example of a hardware device that may be applied to aspects of the present disclosure, will now be described. Electronic device is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable 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. 12, the electronic apparatus 1200 includes a computing unit 1201, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)1202 or a computer program loaded from a storage unit 1208 into a Random Access Memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 may also be stored. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other by a bus 1204. An input/output (I/O) interface 1205 is also connected to bus 1204.

Various components in the electronic device 1200 are connected to the I/O interface 1205, including: an input unit 1206, an output unit 1207, a storage unit 1208, and a communication unit 1209. The input unit 1206 may be any type of device capable of inputting information to the device 1200, and the input unit 1206 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote control. Output unit 1207 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. Storage unit 1208 may include, but is not limited to, magnetic or optical disks. The communication unit 1209 allows the device 1200 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and/or a chipset, such as bluetooth^TMDevices, 802.11 devices, Wi-Fi devices, WiMAX devices, cellular communication devices, and/or the like.

The computing unit 1201 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1201 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 running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The computing unit 1201 performs the various methods and processes described above, such as the

methods

300, 700, or 800. For example, in some embodiments, the

methods

300, 700, or 800 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1208. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 1200 via the ROM 1202 and/or the communication unit 1209. When the computer program is loaded into RAM 1203 and executed by computing unit 1201, one or more steps of

methods

300, 700, or 800 described above may be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured to perform the

methods

300, 700, or 800 by any other suitable means (e.g., by way 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), Complex 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), 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 running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

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 performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.

Claims

1. A lane data processing method, comprising:

acquiring at least one associated crossing of intersections to be processed, wherein the distance from each associated crossing to the intersection to be processed is less than a threshold value, the intersection to be processed is connected with at least one entering road, and each associated crossing is connected with at least one exiting road;

determining at least one first lane which can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any entry road in the at least one entry road, and the first exit road is any exit road in exit roads connected by the at least one associated intersection; and

and storing the identification of the target entering road, the identification of the first exit road and the identification of the at least one first lane in a correlated manner.

2. The method of claim 1, wherein the threshold value is determined based on a vehicle travel speed on the at least one entry road.

3. The method of claim 1, wherein the threshold is determined based on a vehicle travel speed on the at least one entry road and an output duration of a lane-prompting message in a navigation application.

4. The method according to any one of claims 1-3, wherein at least one exit road is further connected to the intersection to be treated, the method further comprising:

determining at least one second lane which can reach a second exit road from a plurality of lanes included in a target entry road, wherein the second exit road is any exit road in exit roads connected with the intersection to be processed; and

and storing the identification of the target entering road, the identification of the second exit road and the identification of the at least one second lane in a correlated manner.

5. The method of any of claims 1-4, wherein storing the identification of the target entry road, the identification of the first exit road, and the identification of the at least one first lane in association comprises:

and storing the identification of the target entering road, the identification of the first exit road, the identification of the at least one first lane and the identification of an intermediate road for communicating the target entering road and the first exit road in an associated manner.

6. The method of any of claims 1-5, wherein determining at least one first lane from a plurality of lanes included in the target entry road that may reach the first exit road comprises:

acquiring a road surface image of the target entering the road and the position information of the first exit road;

identifying a lane indicating object in the road surface image, the lane indicating object comprising a lane line and a guide arrow;

determining, based on the lane indication object, driving direction information of each of the plurality of lanes; and

matching the driving direction information of each of the plurality of lanes with the position information to determine at least one first lane that can reach the first exit road from the plurality of lanes.

7. The method of claim 6, further comprising:

storing the identification of the target entry road in association with the driving direction information of the plurality of lanes.

8. A navigation method, comprising:

acquiring a navigation planned route of a vehicle, wherein the navigation planned route comprises at least one planned road;

determining a target lane corresponding to any planned road based on the preset incidence relation among an entering road, an exiting road and a lane of the entering road, which can reach the exiting road; and

and sending the identification of the target lane corresponding to the navigation planning route and the at least one planning road to a navigation terminal so that the navigation terminal outputs a prompt message for indicating the corresponding target lane in response to the vehicle entering the planning road.

9. A navigation method, comprising:

and outputting a prompt message for indicating the corresponding target lane in response to the vehicle entering any planned road.

10. A lane data processing apparatus comprising:

the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is configured to acquire at least one associated intersection of intersections to be processed, the distance from each associated intersection to the intersection to be processed is less than a threshold value, the intersection to be processed is connected with at least one entering road, and each associated intersection is connected with at least one exiting road;

a first determination module configured to determine at least one first lane that can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any one of the at least one entry road, and the first exit road is any one of exit roads connected to the at least one associated intersection; and

a first storage module configured to store an identification of the target entry road, an identification of the first exit road, and an identification of the at least one first lane in association.

11. The apparatus of claim 10, wherein the threshold is determined based on a vehicle travel speed on the at least one entry road.

12. The apparatus of claim 10, wherein the threshold is determined based on a vehicle travel speed on the at least one entry road and an output duration of a lane-prompting message in a navigation application.

13. The apparatus according to any one of claims 10-12, wherein at least one exit road is further connected to the intersection to be treated, the apparatus further comprising:

a second determining module configured to determine at least one second lane that can reach a second exit road from a plurality of lanes included in a target entry road, wherein the second exit road is any exit road of exit roads connected to the intersection to be processed; and

a second storage module configured to store an identification of the target entry road, an identification of the second exit road, and an identification of the at least one second lane in association.

14. The apparatus of any of claims 10-13, wherein the first storage module is further configured to:

15. The apparatus of any of claims 10-14, wherein the first determining means further comprises:

an acquisition unit configured to acquire a road surface image of the target entry road and position information of the first exit road;

a recognition unit configured to recognize a lane indication object in the road surface image, the lane indication object including a lane line and a guide arrow;

a determination unit configured to determine traveling direction information of each of the plurality of lanes based on the lane indication object; and

a matching unit configured to match driving direction information of each of the plurality of lanes with the position information to determine at least one first lane that can reach the first exit road from the plurality of lanes.

16. A navigation device, comprising:

an acquisition module configured to acquire a navigation planned route of a vehicle, wherein the navigation planned route comprises at least one planned road;

the system comprises a determining module, a judging module and a judging module, wherein the determining module is configured to determine a target lane corresponding to any planning road based on the preset incidence relation among an entering road, an exiting road and a lane of the entering road, which can reach the exiting road; and

and the transmission module is configured to transmit the identification of the target lane corresponding to the navigation planned route and the at least one planned road to a navigation terminal so that the navigation terminal outputs a prompt message for indicating the corresponding target lane in response to the vehicle entering the planned road.

17. A navigation device, comprising:

an output module configured to output a prompt message indicating a corresponding target lane in response to the vehicle entering any of the planned roads.

18. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein

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 1-9.

19. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-9.

20. A computer program product comprising a computer program, wherein the computer program realizes the method of any one of claims 1-9 when executed by a processor.