CN114664106B - Intersection lane allocation method and device, electronic equipment and storage medium - Google Patents
Intersection lane allocation method and device, electronic equipment and storage medium Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The disclosure provides a method, a device, electronic equipment and a storage medium for allocating lanes at intersections, relates to the technical field of data processing, and particularly relates to the technical field of intelligent transportation. The specific implementation scheme comprises the following steps: determining an exit road area exiting the road intersection; determining the number of entrance lanes corresponding to the exit road area; the entrance lane is a lane in an entering road entering the road intersection; and distributing corresponding entrance lanes for the exit road area according to the number of the entrance lanes and the exit direction of the exit road area. The method and the device realize the effect of automatically distributing the entering lanes for the roads exiting the intersection in the intersection scene without the guide arrow.
Description
Technical Field
The present disclosure relates to the field of data processing technology, and in particular, to the field of intelligent transportation, and more particularly, to a method, an apparatus, an electronic device, a storage medium, and a computer program product for allocating lanes at intersections.
Background
The road intersection is the intersection of two or more roads. Is the necessary place for vehicles and pedestrians to collect, turn and evacuate. The number of the intersecting roads can be divided into three branches, four branches and multiple branches. The planar intersection and the stereo intersection are divided in an intersection mode. In order to ensure traffic safety and smoothness, traffic control facilities such as signal lamps and other traffic management facilities are arranged at intersections.
Disclosure of Invention
The present disclosure provides an intersection lane allocation method, apparatus, electronic device, storage medium and computer program product.
According to an aspect of the present disclosure, there is provided an intersection lane allocation method including:
determining an exit road area exiting the road intersection;
determining the number of entrance lanes corresponding to the exit road area; the entrance lane is a lane in an entrance road entering the intersection of the road;
and distributing corresponding entrance lanes for the exit road area according to the number of the entrance lanes and the exit direction of the exit road area.
According to an aspect of the present disclosure, there is provided an intersection lane allocation apparatus including:
the area determining module is used for determining an exit road area of the exit road intersection;
the lane number calculation module is used for determining the number of the entrance lanes corresponding to the exit road area; the entrance lane is a lane in an entrance road entering the intersection of the road;
the lane distribution module is used for distributing corresponding entrance lanes for the exit road area according to the number of the entrance lanes and the exit direction of the exit road area.
According to 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 memory stores instructions executable by the at least one processor to enable the at least one processor to perform the intersection lane allocation method of any of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the intersection lane allocation method of any embodiment of the present disclosure.
According to 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 intersection lane allocation method of any embodiment of the present disclosure.
According to the technology disclosed by the invention, the effect of automatically distributing the roads exiting from the intersection into the lanes in the intersection scene without the guide arrow is realized.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flow chart of a method for allocating lanes at an intersection according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of yet another intersection lane assignment method provided in accordance with an embodiment of the present disclosure;
FIG. 3a is a flow chart of yet another intersection lane assignment method provided in accordance with an embodiment of the present disclosure;
FIG. 3b is a schematic diagram of a road network at a road intersection provided in accordance with an embodiment of the present disclosure;
FIG. 4 is a flow chart of yet another intersection lane assignment method provided in accordance with an embodiment of the present disclosure;
FIG. 5a is a flow chart of yet another intersection lane assignment method provided in accordance with an embodiment of the present disclosure;
FIG. 5b is a schematic diagram of a road network at a road intersection provided in accordance with an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of an intersection lane assignment device provided according to an embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device for implementing an intersection lane allocation method according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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 road intersection is the intersection of two or more roads, different guide arrows are arranged on the entering roads of some road intersections, for example, the guide arrows are arranged at the connection positions of all lanes of the entering roads and the road intersection, so that the purpose of distributing corresponding entering lanes for each exiting road of the road intersection is achieved. However, at present, guide arrows are not arranged on the entering roads of many road intersections, so that reasonable entering lanes cannot be accurately distributed for exiting roads of the road intersections. Based on the above, for the intersection scene without the guide arrow, an intersection lane allocation method is provided, and the specific method flow is as follows.
Fig. 1 is a flow chart of an intersection lane allocation method according to an embodiment of the present disclosure, where the embodiment may be applicable to a situation of allocating an entrance lane for a road exiting from an intersection in a road intersection scene without a guiding arrow. The method may be performed by an intersection lane allocation device, which is implemented in software and/or hardware and integrated on an electronic device.
Specifically, referring to fig. 1, the intersection lane allocation method is as follows:
s101, determining an exit road area of the exit road intersection.
In the embodiment of the disclosure, the road intersection is optionally an intersection without a guiding arrow; since the road intersections are intersections of two or more roads, each road intersection includes at least two exit roads exiting the road intersection. Thus, at least two exit road areas can be determined according to the distribution position condition of the exit roads of the road intersection, wherein each exit road area comprises at least one exit road exiting the road intersection.
S102, determining the number of entrance lanes corresponding to the exit road area.
In an embodiment of the disclosure, the entrance lane is a lane in an entrance road of an entrance intersection, wherein the entrance road comprises at least one entrance lane. The greater the number of entrance lanes corresponding to an exit road area, the more vehicles that are rushed into the exit road area, and the more traffic capacity the exit road area needs to have in order to ensure proper traffic. Based on this, to determine the number of entrance lanes corresponding to the exit road area, reverse inference determination may be performed according to the road traffic capacity of the road of the exit road in the exit road area, where the road traffic capacity of the exit road area may be measured by the road traffic characteristics of the exit road, for example, the road traffic characteristics may be the number of exit lanes of the exit road, and the greater the number of exit lanes, the greater the road traffic capacity.
S103, distributing corresponding entrance lanes for the exit road area according to the number of the entrance lanes and the exit direction of the exit road area.
Wherein the exit direction of the exit road area includes a straight direction, a left turn direction, and a right turn direction. After the number of the entrance lanes corresponding to each exit road area is determined, the corresponding number of the entrance lanes is allocated to the exit road area nearby according to the exit direction. For example, the exit direction is a left turn direction, and a corresponding number of entrance lanes are allocated to the exit road area from among lanes near the left boundary in the entrance road. It should be noted that, since the exit road area includes at least one exit road, a corresponding number of entrance lanes are allocated to the exit road area, that is, corresponding entrance lanes are allocated to the exit road.
Further, after the corresponding entrance lanes are allocated to the exit road areas, in the subsequent navigation scene, aiming at the road intersections without guide arrows, corresponding travel paths can be planned according to the entrance lanes corresponding to the exit road areas in the road intersections, so that the accuracy of the navigation paths can be ensured, and the experience of navigation users is further improved.
The method and the device realize the effect of automatically reasonably distributing the entering lanes for the exit roads exiting the road intersection in the intersection scene without the guide arrow.
Fig. 2 is a flow chart of yet another intersection lane allocation method according to an embodiment of the present disclosure. Referring to fig. 2, the intersection lane allocation method is specifically as follows:
s201, determining an exit road area of the exit road intersection.
S202, calculating an exit weight coefficient corresponding to the exit road area according to the road traffic characteristics of the exit road area.
In the embodiment of the disclosure, the road traffic characteristics refer to characteristics for measuring traffic capacity of the exit road, and the road traffic characteristics are optionally classified into static road traffic characteristics and dynamic road traffic characteristics according to traffic time sequence. Wherein the static road traffic characteristics include at least one of lane width, number of lanes, lane type, lane speed limit, and road class of the exit road; the dynamic road traffic characteristics include at least one of road traffic flow and road construction status for different time periods.
For better understanding of the present disclosure, specific static road traffic characteristics and dynamic road traffic characteristics are respectively described in detail.
The number of lanes is a key factor for evaluating the traffic capacity of the road, the number of lanes directly influences the traffic capacity of the road, and the road with more lanes has stronger traffic capacity. The lane width is related to the lane class, and the lane widths of the roads of different classes are different. In addition, the lane width is related to the road intersection planning, and for the road intersection with a wide planning space, the partial exit lane width is larger than the conventional lane width. The lane types include regular lanes, ramp, bus lanes, taxi lanes, non-motor lanes, emergency lanes, tide lanes and the like, and if the exit road contains a lane affecting the passing of regular vehicles (such as cars), the characteristic weight associated with the exit lane needs to be reduced to a certain extent. For example, the ramp reduction coefficient is 0.7. The road speed limit can be converted into road speed limit grade for characterization, the speed limit is 1 grade above 100 grade, the speed limit is 2 grade between 90 and 100 grade, the speed limit is 3 grade between 70 and 90 grade, the speed limit is 4 grade between 50 and 70 grade, the speed limit is 5 grade between 30 and 50 grade, the speed limit is 6 grade below 30 grade, wherein the unit of the vehicle speed is km/h. For road grades, the higher the road grade, the greater its corresponding feature weight. Since intersections are generally not on high speed, road class is classified into one, two, three, four levels of highways.
Road traffic flow is an intuitive representation of road traffic capacity, and traffic flow presents different results in different time periods, for example, traffic flow generally reaches a peak during a shift up and down, and traffic flow reaches a peak at 10-12 points on holidays. The traffic class is determined by intersection synthesis and is not measured on a city-wide or national basis. For example, when the traffic flow of a certain exit road of an intersection is 3000 cars in 8 to 9 points in the morning, the specific gravity of the vehicles passing through the whole intersection is 30%, the corresponding traffic flow grade is grade 3, and it is noted that the larger the duty ratio is, the larger the number is, the lower the duty ratio is rounded, for example, the traffic flow duty ratio is 45%, and the grade 4 is. The road construction status directly affects the trafficability of the road. If the road cannot pass due to the construction of the whole road, the construction state grade is 1, and if the total number of vehicles of the road is M and the number of construction lanes is N, the construction state grade is N/M. That is, the more construction lanes, the higher the construction grade, with 1 being the highest.
In the embodiment of the disclosure, each road traffic feature is pre-associated with a feature weight, so that when calculating the exit weight coefficient corresponding to the exit road region, the exit weight coefficient corresponding to each exit road region can be obtained only by carrying out weighted summation and normalization processing on each road traffic feature and the corresponding feature weight thereof. For example, the weighting calculation can be performed with reference to the following formula:
Wherein y is 1 Representing an exit weight coefficient corresponding to the exit road area; x1-xn respectively represent road traffic characteristics; w1-wn respectively represent the corresponding characteristic weights of the road traffic characteristics, and the values of the characteristic weights can be set according to training experience; b represents a preset offset parameter.
In addition, a calculation model (such as a neural network model) can be trained in advance by using a training sample including road traffic characteristics, and then the road traffic characteristics are input as a model after training, and an exit weight coefficient corresponding to an exit road area is obtained according to model output.
It should be noted that, the obtained exit weight coefficient may be regarded as a quantification of the road traffic capacity of the exit road area, and in order to facilitate subsequent calculation, the exit weight coefficient corresponding to the exit road area may be used as the specific gravity of the number of entrance lanes to be allocated to the exit road area to the total number of entrance lanes.
S203, calculating the number of the entrance lanes corresponding to the exit road area according to the total number of the entrance lanes and the exit weight coefficient included in the entrance road.
The obtained exit weight coefficient can be used as the proportion of the number of the entrance lanes to be allocated to the exit road area to the total number of the entrance lanes, so that the number of the entrance lanes corresponding to the exit road area can be obtained by multiplying the total number of the entrance lanes included in the entrance road by the exit weight coefficient. If the multiplication result is not an integer, the number of entrance lanes corresponding to the exit road area is determined by rounding up.
S204, corresponding entrance lanes are allocated to the exit road area according to the number of the entrance lanes and the exit direction of the exit road area.
The allocation process may be described in the above embodiments, and will not be described in detail herein.
In the embodiment of the disclosure, the determination of the exit weight coefficient corresponding to the exit road area considers the static road traffic characteristics and the dynamic road traffic characteristics, so that the accuracy of the calculated exit weight coefficient corresponding to the exit road area is ensured, and the guarantee is provided for accurately calculating the number of the entrance lanes corresponding to the exit road area; on the basis of accurately calculating the number of the inlet lanes corresponding to the outlet road area, the corresponding inlet lanes are allocated to the outlet road area by combining the outlet direction of the outlet road area, so that the allocation rationality of the inlet lanes can be ensured.
Fig. 3a is a flow chart diagram of yet another intersection lane allocation method according to an embodiment of the present disclosure. Referring to fig. 3a, the intersection lane allocation method is specifically as follows:
s301, determining an exit road area of the exit road intersection.
S302, calculating an exit weight coefficient corresponding to the exit road area according to the road traffic characteristics of the exit road area.
S303, calculating the number of the entrance lanes corresponding to the exit road area according to the total number of the entrance lanes and the exit weight coefficient included in the entrance road.
The process of S301 to S303 can be seen in the above embodiments, and will not be described herein.
S304, determining an initial counting lane of the entering road according to the exit direction of the exit road area.
Wherein the exit direction of the exit road area includes a straight direction, a left turn direction, and a right turn direction. In an alternative embodiment, if the exit direction of the exit road area is the left turn direction, the first lane on the left side of the entry road is taken as the initial counting lane; if the exit direction of the exit road area is the right turning direction, taking the first lane on the right side of the entering road as an initial counting lane; if the exit direction of the exit road area is the straight direction, taking the middle lane entering the road as the initial counting lane; if the total number of the entrance lanes is odd, the number of the middle lanes is one, and if the total number of the entrance lanes is even, the number of the middle lanes is two.
S305, distributing corresponding entrance lanes for the exit road area according to the number of the initial counting lanes and the entrance lanes corresponding to the exit road area.
Optionally, if the starting counting lane is the first lane on the left side of the entering road, starting from the starting counting lane, sequentially selecting a corresponding number of entrance lanes from left to right to allocate to the corresponding exit road area. If the initial counting lane is the first lane on the right side of the entering road, starting from the initial counting lane, sequentially selecting a corresponding number of entrance lanes from right to left to be allocated to the corresponding exit road area. If the initial counting lane is the middle lane of the entering road, traversing from the middle to two sides at the same time to select a corresponding number of entrance lanes to be allocated to a corresponding exit road area. If there is a common entrance lane in the two exit road areas, it means that the entrance lane can support reaching the two exit areas.
For example, referring to fig. 3b, a schematic road network diagram at a road intersection is shown, wherein a dotted circle is the road intersection, the total number of entrance lanes entering the road L1 is 6, the lane numbers from left to right are sequentially 1-6, the left-turn exit road area, the straight-turn exit road area, and one exit road is respectively L2, L3 and L4 in the right-turn exit road area. The left-turning exit road area and the straight-going exit road area are obtained through the calculation mode, and the exit weight coefficients of the right-turning exit road area are 0.45,0.1,0.45 respectively. The number of entrance lanes corresponding to the left turn exit road area is 6 x 0.45=2.7, rounded up to 3; the number of the inlet lanes corresponding to the straight-going outlet road area is 6, 0.1=06, and the number of the inlet lanes is 1; the number of entrance lanes corresponding to the right turn exit road area is 6 x 0.45=2.7, rounded up to 3. Thus, the entrance lane allocated to the left turn exit road area is the left 1,2,3 lane; the entrance lanes assigned to the right turn exit road area are the right 4,5,6 lanes; since the total number of entrance lanes is even, the middle lanes are lanes numbered 3 and 4, and the number of entrance lanes corresponding to the straight-going exit road area is 1, the 3 rd lane or the 4 th lane is allocated to the straight-going exit road area.
It should be noted that the initial counting lane is determined according to the exit direction, and the entry road to be allocated is selected from the initial counting lane instead of sequentially selecting from left to right, because the sequential selection from left to right ignores the case of simultaneously supporting left-hand and straight-hand or right-hand and straight-hand. Besides, the distribution is carried out according to the outlet direction, so that the driving habit is more met.
In the embodiment of the disclosure, corresponding entrance lanes are allocated to each exit road area according to the exit direction, driving habits are met, and guarantee is provided for follow-up accurate navigation planning.
Fig. 4 is a flow chart of yet another intersection lane allocation method according to an embodiment of the present disclosure. Referring to fig. 4, the intersection lane allocation method is specifically as follows:
s401, determining an entrance road and an exit road of a road intersection.
For any road intersection, an entry road entering the road intersection, the total number of entrance lanes included in the entry road, and an exit road can be obtained from map road network data. Here, the exit road refers to an exit road with restricted traffic.
S402, determining an exit road area of the road intersection according to the included angle between the entrance road and each exit road.
When determining the exit road area of the road intersection according to the distribution condition of the exit road, optionally, aiming at the condition that the exit road is positioned at the left side of the entering road, if the included angle between the exit road and the entering road is in a first angle interval, determining that the exit road belongs to a straight road, and further determining the exit road area with the exit direction being straight according to all the straight roads; if the included angle between the two is in the second angle interval, the exit road is determined to belong to a left-turn road, and then the exit road area with the exit direction being left-turn is determined according to all left-turn roads. The first angle interval and the second angle interval can be set according to practical situations. The case where the exit road is located on the right side of the entrance road is similar to the case where the exit road is located on the left side of the entrance road, and will not be described again here. In this way, each exit road area obtained comprises at least one exit road.
S403, determining the number of entrance lanes corresponding to the exit road area.
S404, corresponding entrance lanes are allocated to the exit road area according to the number of the entrance lanes and the exit direction of the exit road area.
In the embodiment of the disclosure, the abstraction of all exit roads into at least one exit road area is the basis for the subsequent allocation of entry roads.
Fig. 5a is a flow chart diagram of yet another intersection lane allocation method according to an embodiment of the present disclosure. Referring to fig. 5a, the intersection lane allocation method is specifically as follows:
s501, determining an entrance road and an exit road of a road intersection.
S502, determining an exit road area of the road intersection according to the included angle between the entrance road and each exit road.
Wherein each exit road area comprises at least one exit road.
S503, determining the number of entrance lanes corresponding to the exit road area.
S504, corresponding entrance lanes are allocated to the exit road area according to the number of the entrance lanes and the exit direction of the exit road area.
S505, it is determined whether the number of exit roads included in the exit road area is greater than or equal to 2.
In the embodiment of the present disclosure, if it is determined that there is an exit road area including the number of exit roads greater than or equal to 2, the entry roads are further allocated according to the steps of S506-S507.
S506, determining the relative position relation among the exit roads and the intra-domain weight of the exit roads in the exit road area.
The relative position relationship is selectable as a left-right position relationship and can be directly determined according to map road network data; and the intra-domain weight of each exit road in the exit road area is optionally calculated according to the road traffic characteristics of each exit road, and the obtained weight value of each exit road is normalized to obtain the intra-domain weight of each exit road. The intra-domain weight of each exit road may be used to characterize the specific gravity of the number of entrance lanes corresponding to that exit road in the number of entrance lanes corresponding to the area of the exit road. Specific processes may refer to the descriptions of the above embodiments, and are not repeated here.
S507, determining an inlet lane corresponding to each exit road from the inlet lanes allocated to the exit road area according to the relative position relation and the intra-domain weight of each exit road in the exit road area.
Optionally, multiplying the number of the entrance lanes allocated to the exit road area by the intra-domain weight of each exit road in the exit road area to obtain the number of the entrance lanes allocated to each exit road, and further selecting a corresponding number of the entrance roads for allocation according to the relative position relationship of the exit roads. For example, referring to fig. 5b, which shows a road network schematic diagram at a road intersection, a dotted circle represents the road intersection, an entering road in_link has 4 entrance lanes, lane numbers from left to right are sequentially 1-4, a straight exit road area includes two exit roads out_link2 and out_link3, and it is determined that the entrance lanes allocated to the straight exit road area are 1 st, 2 nd, and 3 rd lanes through steps of S501-S504; the in-domain weight of out_link2 calculated by S506 is 2/3, and the in-domain weight of out_link3 is 1/3, the number of entrance lanes allocated to out_link2 is 2, and the number of entrance lanes allocated to out_link3 is 1. Further, out_link2 is located on the left side of out_link3, whereby the entrance lane allocated to out_link2 is the 1 st, 2 nd lane of the entering road in_link, and the entrance lane allocated to out_link3 is the 3 rd lane of the entering road in_link.
In the embodiment of the disclosure, for the case that the exit road area includes a plurality of exit roads, the entrance lanes allocated to the exit road area are further allocated according to the relative positional relationship between the exit roads and the intra-domain weight of the exit roads in the exit road area, so that each exit road is allocated to a reasonable entrance lane.
Fig. 6 is a schematic structural view of an intersection lane allocation device according to an embodiment of the present disclosure, which is applicable to a case of allocating an entrance lane to a road exiting an intersection in a scene of an intersection without a guide arrow. Referring to fig. 6, comprising:
the area determining module 601 is configured to determine an exit road area of the exit road intersection;
the lane number calculation module 602 is configured to determine the number of entrance lanes corresponding to the exit road area; the entrance lane is a lane in an entrance road entering the intersection of the road;
the lane allocation module 603 is configured to allocate corresponding entrance lanes to the exit road area according to the number of entrance lanes and the exit direction of the exit road area.
On the basis of the above embodiment, optionally, the lane number calculation module includes:
The exit weight coefficient calculation unit is used for calculating an exit weight coefficient corresponding to the exit road area according to the road traffic characteristics of the exit road area;
the lane number calculating unit is used for calculating the number of the entrance lanes corresponding to the exit road area according to the total number of the entrance lanes and the exit weight coefficient included in the entrance road.
On the basis of the above embodiment, optionally, the road traffic feature includes a static road traffic feature and a dynamic road traffic feature; the static road traffic characteristics comprise at least one of lane width, number of lanes, lane type, lane speed limit and road grade of the exit road; the dynamic road traffic characteristics include at least one of road traffic flow and road construction status for different time periods.
On the basis of the above embodiment, optionally, the lane allocation module includes:
the starting counting lane determining unit is used for determining a starting counting lane of an entering road according to the exit direction of the exit road area;
the lane allocation unit is used for allocating corresponding entrance lanes for the exit road area according to the number of the initial counting lanes and the entrance lanes corresponding to the exit road area.
On the basis of the above embodiment, optionally, the start counting lane determining unit is further configured to:
If the exit direction of the exit road area is the left turning direction, taking the first lane at the left side of the entering road as an initial counting lane; or alternatively, the first and second heat exchangers may be,
if the exit direction of the exit road area is the right turning direction, taking the first lane on the right side of the entering road as an initial counting lane; or alternatively, the first and second heat exchangers may be,
if the exit direction of the exit road area is the straight direction, taking the middle lane entering the road as the initial counting lane; wherein the number of intermediate lanes is one or two.
On the basis of the above embodiment, optionally, the area determining module includes:
the entrance road determining unit is used for determining an entrance road and an exit road of the road intersection;
the area determining unit is used for determining an exit road area of the road intersection according to the included angle between the entrance road and each exit road; wherein each exit road area comprises at least one exit road.
On the basis of the above embodiment, optionally, the method further includes:
the position and weight calculation module is used for determining the relative position relation between the exit roads and the intra-domain weight of each exit road in the exit road area if the exit road area comprises at least two exit roads;
And the secondary distribution module is used for determining the corresponding inlet lane of each outlet road from the inlet lanes distributed to the outlet road area according to the relative position relation and the intra-domain weight of each outlet road in the outlet road area.
The intersection lane allocation device provided by the embodiment of the disclosure can execute the intersection lane allocation method provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method. Reference is made to the description of any method embodiment of the disclosure for details not explicitly described in this embodiment.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 7 illustrates a schematic block diagram of an example electronic device 700 that may 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the apparatus 700 includes a computing unit 701 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the operation of the device 700 may also be stored. The computing unit 701, the ROM702, and the RAM703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in device 700 are connected to I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, etc.; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, an optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The computing unit 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 701 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, etc. The calculation unit 701 performs the respective methods and processes described above, for example, the intersection lane allocation method. For example, in some embodiments, the intersection lane allocation method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 708. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 700 via ROM702 and/or communication unit 709. When the computer program is loaded into the RAM703 and executed by the computing unit 701, one or more steps of the intersection lane allocation method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the intersection lane allocation method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (13)
1. An intersection lane allocation method, comprising:
determining an exit road area exiting the road intersection;
determining the number of entrance lanes corresponding to the exit road area; the entrance lane is a lane in an entering road entering the road intersection;
distributing corresponding entrance lanes for the exit road area according to the number of the entrance lanes and the exit direction of the exit road area;
If the exit road area comprises at least two exit roads, determining the relative position relation between the exit roads and the intra-domain weight of each exit road in the exit road area; the intra-domain weight is determined as follows: calculating a weight value of each exit road according to the road traffic characteristics of each exit road; carrying out normalization processing on the obtained weight value of each exit road to obtain the intra-domain weight of each exit road;
determining an inlet lane corresponding to each exit road from the inlet lanes allocated to the exit road area according to the relative position relation and the intra-domain weight of each exit road in the exit road area, so as to plan a travel path according to the inlet lane corresponding to each exit road in a navigation scene;
the determining the number of the entrance lanes corresponding to the exit road area includes:
calculating an exit weight coefficient corresponding to the exit road area according to the road traffic characteristics of the exit road area; the exit weight coefficient is used for quantifying the road traffic capacity of the exit road area; the determination mode of the outlet weight coefficient is as follows: carrying out weighted summation on the road traffic characteristics and the corresponding characteristic weights thereof, and carrying out normalization processing to obtain an exit weight coefficient corresponding to an exit road area;
And calculating the number of the entrance lanes corresponding to the exit road area according to the total number of the entrance lanes included in the entrance road and the exit weight coefficient.
2. The method of claim 1, wherein the road traffic characteristics include static road traffic characteristics and dynamic road traffic characteristics; the static road traffic characteristics comprise at least one of lane width, lane number, lane type, lane speed limit and road grade of the exit road; the dynamic road traffic feature includes at least one of road traffic flow and road construction status for different time periods.
3. The method of claim 1, wherein the assigning the corresponding entrance lanes to the exit road area according to the number of entrance lanes and the exit direction of the exit road area comprises:
determining a starting counting lane of the entering road according to the exit direction of the exit road area;
and distributing corresponding entrance lanes for the exit road area according to the number of the initial counting lanes and the entrance lanes corresponding to the exit road area.
4. A method according to claim 3, wherein said determining a starting counting lane of the entry road from the exit direction of the exit road area comprises:
If the exit direction of the exit road area is the left turning direction, taking the first lane at the left side of the entering road as the initial counting lane; or alternatively, the first and second heat exchangers may be,
if the exit direction of the exit road area is the right turn direction, taking the first lane on the right side of the entering road as the initial counting lane; or alternatively, the first and second heat exchangers may be,
if the exit direction of the exit road area is a straight direction, taking the middle lane of the entering road as the initial counting lane; wherein the number of the middle lanes is one or two.
5. The method of claim 1, wherein the determining an exit road area of an exit road intersection comprises:
determining an entrance road and an exit road of the road intersection;
determining an exit road area of the road intersection according to the included angle between the entrance road and each exit road; wherein each exit road area comprises at least one exit road.
6. An intersection lane allocation apparatus comprising:
the area determining module is used for determining an exit road area of the exit road intersection;
the lane number calculation module is used for determining the number of the entrance lanes corresponding to the exit road area; the entrance lane is a lane in an entering road entering the road intersection;
The lane distribution module is used for distributing corresponding entrance lanes for the exit road area according to the number of the entrance lanes and the exit direction of the exit road area;
the position and weight calculation module is used for determining the relative position relation between the exit roads and the intra-domain weight of each exit road in the exit road area if the exit road area comprises at least two exit roads; the intra-domain weight is determined as follows: calculating a weight value of each exit road according to the road traffic characteristics of each exit road; carrying out normalization processing on the obtained weight value of each exit road to obtain the intra-domain weight of each exit road;
the secondary distribution module is used for determining an inlet lane corresponding to each outlet road from the inlet lanes distributed to the outlet road area according to the relative position relation and the intra-domain weight of each outlet road in the outlet road area so as to plan a travel path according to the inlet lane corresponding to each outlet road in a navigation scene;
wherein, the lane number calculation module includes:
an exit weight coefficient calculation unit, configured to calculate an exit weight coefficient corresponding to the exit road area according to the road traffic characteristics of the exit road area; the exit weight coefficient is used for quantifying the road traffic capacity of the exit road area; the determination mode of the outlet weight coefficient is as follows: carrying out weighted summation on the road traffic characteristics and the corresponding characteristic weights thereof, and carrying out normalization processing to obtain an exit weight coefficient corresponding to an exit road area;
And the lane number calculating unit is used for calculating the number of the entrance lanes corresponding to the exit road area according to the total number of the entrance lanes included in the entrance road and the exit weight coefficient.
7. The apparatus of claim 6, wherein the road traffic features comprise static road traffic features and dynamic road traffic features; the static road traffic characteristics comprise at least one of lane width, lane number, lane type, lane speed limit and road grade of the exit road; the dynamic road traffic feature includes at least one of road traffic flow and road construction status for different time periods.
8. The apparatus of claim 6, wherein the lane allocation module comprises:
the initial counting lane determining unit is used for determining an initial counting lane of the entering road according to the exit direction of the exit road area;
the lane allocation unit is used for allocating corresponding entrance lanes for the exit road area according to the number of the initial counting lanes and the entrance lanes corresponding to the exit road area.
9. The apparatus of claim 8, wherein the start counting lane determining unit is further to:
If the exit direction of the exit road area is the left turning direction, taking the first lane at the left side of the entering road as the initial counting lane; or alternatively, the first and second heat exchangers may be,
if the exit direction of the exit road area is the right turn direction, taking the first lane on the right side of the entering road as the initial counting lane; or alternatively, the first and second heat exchangers may be,
if the exit direction of the exit road area is a straight direction, taking the middle lane of the entering road as the initial counting lane; wherein the number of the middle lanes is one or two.
10. The apparatus of claim 6, wherein the region determination module comprises:
an entrance road determination unit for determining an entrance road and an exit road of the road intersection;
the area determining unit is used for determining an exit road area of the road intersection according to the included angle between the entrance road and each exit road; wherein each exit road area comprises at least one exit road.
11. 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 1-5.
12. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-5.
13. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-5.
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