CN114863285A - Method, device, equipment and storage medium for identifying target road - Google Patents
Method, device, equipment and storage medium for identifying target road Download PDFInfo
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Abstract
The present disclosure provides a method, an apparatus, a device and a storage medium for identifying a target road, and relates to the technical field of computers, in particular to the technical field of maps. The specific implementation scheme is as follows: determining a plurality of first candidate roads in a target area according to the road network data and the area data of the target area; determining a second candidate road in the plurality of first candidate roads according to the running track information corresponding to the plurality of first candidate roads; determining the road width and roadside facility information of each second candidate road according to the road image corresponding to each second candidate road; and determining a target road in the second candidate road according to the road width and the roadside facility information.
Description
Technical Field
The present disclosure relates to the field of computer technology, and more particularly, to the field of map technology.
Background
Electronic maps, i.e., digital maps, are maps that are stored and referred to digitally using computer technology. The user of the electronic map can find various places or various positions through the electronic map. In addition, the user can also find out a travel route through the electronic map.
The electronic map manufacturer can collect the form data of the road through the collection vehicle, and then the form data is presented in the electronic map for the user to use.
Disclosure of Invention
The present disclosure provides a method, apparatus, device, storage medium, and program product for identifying a target road.
According to an aspect of the present disclosure, there is provided a method of identifying a target road, including: determining a plurality of first candidate roads in a target area according to road network data and area data of the target area; determining a second candidate road in the plurality of first candidate roads according to the running track information corresponding to the plurality of first candidate roads; determining road width and roadside facility information of each second candidate road according to the road image corresponding to each second candidate road; and determining a target road in the second candidate road according to the road width and the roadside facility information.
According to another aspect of the present disclosure, there is provided an apparatus for identifying a target road, including: the first determination module is used for determining a plurality of first candidate roads in a target area according to road network data and area data of the target area; the second determination module is used for determining a second candidate road in the plurality of first candidate roads according to the running track information corresponding to the plurality of first candidate roads; a third determination module, configured to determine a road width and roadside facility information of each of the second candidate roads according to the road image corresponding to each of the second candidate roads; and a fourth determination module, configured to determine a target road in the second candidate road according to the road width and the roadside facility information.
Another aspect of the present disclosure provides 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 method of the embodiments of the present disclosure.
According to another aspect of the disclosed embodiments, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method shown in the disclosed embodiments.
According to another aspect of the embodiments of the present disclosure, there is provided a computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the steps of the method shown in the embodiments of the present disclosure.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 schematically illustrates an application scenario in which the target road identification method and apparatus may be applied according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow diagram of a method of identifying a target road, in accordance with an embodiment of the present disclosure;
FIG. 3 schematically illustrates a flow chart of a method of determining a second candidate road, in accordance with an embodiment of the present disclosure;
FIG. 4 schematically illustrates a flowchart of a method of determining road width and roadside facility information for each second candidate road according to an embodiment of the disclosure;
FIG. 5 schematically illustrates a diagram of identifying a target road according to another embodiment of the present disclosure;
fig. 6 schematically shows a block diagram of an apparatus for identifying a target road according to an embodiment of the present disclosure; and
FIG. 7 schematically shows a block diagram of an example electronic device that may 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 and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
An application scenario in which the method and apparatus for identifying a target road provided by the present disclosure may be applied will be described below with reference to fig. 1.
Fig. 1 schematically illustrates an application scenario in which the target road identification method and apparatus may be applied according to an embodiment of the present disclosure.
It should be noted that fig. 1 is only an example of an application scenario in which the method and apparatus for identifying a target road according to the embodiment of the present disclosure may be applied to help a person skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiment of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, the application scenario 100 according to this embodiment may include terminal devices 101, 102, 103, a network 104 and a server 105. The network 104 serves as a medium for providing communication links between the terminal devices 101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired and/or wireless communication links, and so forth.
The user may use the terminal devices 101, 102, 103 to interact with the server 105 via the network 104 to receive or send messages or the like. The terminal devices 101, 102, 103 may have installed thereon various communication client applications, such as an electronic map application, a knowledge reading-type application, a web browser application, a search-type application, an instant messaging tool, a mailbox client, and/or social platform software, etc. (by way of example only).
The terminal devices 101, 102, 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 105 may be a server providing various services, such as a background management server (for example only) providing support for content browsed by the user using the terminal devices 101, 102, 103. The background management server may analyze and perform other processing on the received data such as the user request, and feed back a processing result (e.g., a webpage, information, or data obtained or generated according to the user request) to the terminal device.
It should be noted that the method for identifying a target road provided by the embodiment of the present disclosure may also be executed by the server 105. Accordingly, the apparatus for identifying a target road provided by the embodiments of the present disclosure may be generally disposed in the server 105. The method for identifying a target road provided by the embodiment of the present disclosure may also be performed by a server or a server cluster that is different from the server 105 and is capable of communicating with the terminal devices 101, 102, 103 and/or the server 105. Accordingly, the device for identifying the target road provided by the embodiment of the present disclosure may also be disposed in a server or a server cluster different from the server 105 and capable of communicating with the terminal devices 101, 102, 103 and/or the server 105.
Alternatively, the method for identifying the target road provided by the embodiment of the present disclosure may also be executed by the terminal device 101, 102, or 103. Accordingly, the device for identifying the target road provided by the embodiment of the present disclosure may also be disposed in the terminal device 101, 102 or 103.
It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure, application and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations, necessary confidentiality measures are taken, and the customs of the public order is not violated.
In the technical scheme of the disclosure, before the personal information of the user is acquired or collected, the authorization or the consent of the user is acquired.
Since a mountain road is likely to have an accident, there is a high risk when the vehicle travels on a mountain road. In the process of planning a path for a user according to an electronic map, if a mountain road is not avoided or a prompt is not given to the mountain road, the risk of the user going out is increased. Based on the above, it is necessary to identify a mountain road having a high risk.
The method for identifying a target road provided by the present disclosure will be described below with reference to fig. 2. The target road may include a mountain road with high risk.
Fig. 2 schematically shows a flowchart of a method of identifying a target road according to an embodiment of the present disclosure.
As shown in fig. 2, the method 200 for identifying a target road includes determining a plurality of first candidate roads located in a target area according to road network data and area data of the target area in operation S210.
According to an embodiment of the present disclosure, the road network refers to a road network in the traffic field. The road network data may include information related to the road network, such as location information, start and end points, etc. of the respective roads in the road network. The location information may include, for example, latitude and longitude.
According to an embodiment of the present disclosure, the target area may be a geographical area to be identified. For example, since a road in a mountain area has a high risk, the mountain area can be selected as the target area. The area data may include, for example, geographic information for the target area, such as elevation, longitude and latitude, and the like.
According to the embodiments of the present disclosure, for example, the position information of a plurality of original roads may be determined from road network data. And determining the geographical range of the target area according to the area data of the target area. And then determining an original road in the geographic range from the plurality of original roads as a first candidate road according to the position information.
According to another embodiment of the present disclosure, the safety of the closed road is high due to the expressway, and the like. Based on this, when the first candidate road is determined, the closed road such as the expressway and the expressway can be excluded, thereby reducing the data amount of the subsequent processing.
Then, in operation S220, a second candidate road among the plurality of first candidate roads is determined according to the travel track information corresponding to the plurality of first candidate roads.
According to an embodiment of the present disclosure, the driving track information may include track information on the vehicle driving on the corresponding road, for example, may include information on an elevation, a speed, and coordinates of a plurality of track points. For example, a road with a high elevation, a low speed, and a large steering angle among the plurality of first candidate roads may be determined as the second candidate road according to the travel track information.
According to another embodiment of the present disclosure, for example, a plurality of pieces of original travel track information may be collected, and then travel track information that matches each of the first candidate roads, among the plurality of pieces of original travel track information, may be determined. For example, in this embodiment, a matching model may be trained in advance according to the sample travel track information and the sample road, and the original travel track information and the first candidate road may be input into the matching model to determine whether the original travel track information and the first candidate road match. The matching model may include, for example, a Hidden Markov Model (HMM).
In operation S230, a road width and roadside facility information of each second candidate road are determined according to the road image corresponding to each second candidate road.
According to an embodiment of the present disclosure, the road image may include environmental information in and around the road. For example, in the present embodiment, the road image may be captured by a vehicle traveling in the road. The road image may be captured, for example, by a capture vehicle traveling in the road. Alternatively, it may be acquired by an image acquisition facility provided in the road. The road image may be acquired, for example, by a monitoring camera provided in the road. Or may also be acquired by an aerial image acquisition device. For example, road images may be acquired by manned aircraft, unmanned aerial vehicles, satellites, and the like.
In operation S240, a target road in the second candidate road is determined according to the road width and the roadside facility information.
According to an embodiment of the present disclosure, the roadside facility information may be used to indicate whether facilities are provided on both sides of the road, and the type of each facility in the case where facilities are provided. For example, a second candidate road, of which the road width is smaller than the width threshold value and the roadside facility information satisfies the predetermined condition, may be determined as the target road. The predetermined condition may include, for example, roadside facility information indicating that no safety facility is set for the road. The safety facilities may include, for example, railings, cone barrels, posts, warning signs, traffic widows, and the like.
For the road driving safety, the reasons of no guardrail, too narrow road width and the like are important reasons causing accidents, so that by determining the target road with the road width smaller than the width threshold value and the road side facility information indicating that the road is not provided with the safety facility, the dangerous road in the target area can be identified in advance, and the driving safety can be improved.
According to the embodiment of the disclosure, when the navigation path is planned according to the departure place and the destination of the user, the recommended path for avoiding the target road can be generated according to the identified target road, so that the target road can be selected to be avoided when the user navigates, and the driving safety is improved.
According to another embodiment of the disclosure, under the condition that the recommended route cannot avoid passing through the target road, prompt information for the target road can be generated and displayed to a user, so that the user can perform early warning according to the prompt information.
The method for determining the second candidate road provided by the present disclosure will be described below with reference to fig. 3.
Fig. 3 schematically shows a flowchart of a method of determining a second candidate road according to an embodiment of the present disclosure.
As shown in fig. 3, the method 320 of determining the second candidate road includes determining an elevation characteristic, a speed characteristic, and a steering angle characteristic of each first candidate road according to the driving track information corresponding to each first candidate road in operation S321.
In operation S322, a second candidate road of the plurality of first candidate roads is determined according to the elevation feature, the speed feature, and the steering angle feature.
According to an embodiment of the disclosure, the elevation refers to a distance from a certain point to an absolute base plane along a plumb line direction, and is called absolute elevation, or elevation for short.
According to the embodiment of the disclosure, for example, at least one of the maximum elevation difference, the average elevation, and the nth percentile of the plurality of elevations may be calculated as the elevation feature of the first candidate road according to the plurality of elevations in the driving track information corresponding to the first candidate road, where n is a positive integer and is less than or equal to the total number of elevations in the driving track information. The percentile is a statistical term, and if a group of data is sorted from small to large and the corresponding cumulative percentile is calculated, the value of the data corresponding to a certain percentile is called the percentile of the percentile.
For example, a difference between a maximum elevation and a minimum elevation of the plurality of elevations may be calculated as the maximum elevation difference.
For example, in the present embodiment, the maximum height difference, the average height, the 95 th percentile, the 5 th percentile, and the median of the plurality of heights may be calculated as the height characteristics.
According to the embodiment of the present disclosure, at least one of an average speed and an m-th percentile of a plurality of speeds may be calculated as the speed characteristic of a first candidate road, for example, from the plurality of speeds in the travel track information corresponding to the first candidate road, where m is a positive integer and is less than or equal to the total number of speeds in the travel track information. Exemplarily, in the present embodiment, an average speed, a 95 th percentile, a 5 th percentile, and a median of a plurality of speeds may be calculated as the speed characteristics.
According to the embodiment of the present disclosure, for example, the maximum steering angle may be calculated from a plurality of coordinates, such as latitude and longitude coordinates, in the travel track information corresponding to the first candidate road as the steering angle characteristic of the first candidate road.
According to further embodiments of the present disclosure, a predetermined length may be set, for example. If the trajectory is greater than or equal to the predetermined length, a maximum steering angle within the trajectory is calculated as the steering angle characteristic. And if the track is smaller than the preset length, extending the track to the preset length at equal intervals front and back, and then calculating the maximum steering angle of the extended track as the steering angle characteristic. Therefore, errors caused by too short tracks can be reduced, and the identification accuracy is improved. Wherein, the predetermined length can be set according to actual needs. Exemplarily, in the present embodiment, the predetermined length may be 100 meters.
According to an embodiment of the present disclosure, for example, a first candidate road where the elevation feature, the speed feature, and the steering angle feature satisfy predetermined requirements may be determined as a second candidate road. Wherein the predetermined requirements may include a steering angle being greater than an angle threshold, an elevation being greater than an elevation threshold, and a speed being less than a speed threshold. Wherein the angle threshold, the elevation threshold, and the speed threshold may be set according to an altitude of the target area. For example, the angle, elevation, and velocity thresholds may be different for plains and mountainous areas. Compared with the plain, the angle threshold value, the elevation threshold value and the speed threshold value corresponding to the mountainous area are smaller, larger and smaller.
A method of determining the road width and the roadside facility information of each second candidate road provided by the present disclosure will be described below with reference to fig. 4.
Fig. 4 schematically shows a flowchart of a method of determining road width and roadside facility information of each second candidate road according to an embodiment of the present disclosure.
As shown in fig. 4, the method 430 of identifying a target road includes performing operations S431 to S434 for each of the second candidate roads.
In operation S431, a lane line and a roadside facility in the road image corresponding to the second candidate road are identified.
In operation S432, a facility type of the roadside facility is determined as the roadside facility information of the second candidate road.
In operation S433, the number of lanes of the second candidate road is determined according to the lane lines.
In operation S434, a road width of the second candidate road is determined according to the road grade, the facility type, and the number of lanes of the second candidate road.
According to an embodiment of the present disclosure, each road image may include at least one object. The objects may include lane lines and road side equipment, for example. The lane lines may include white single solid lines, white single dotted lines, white double solid lines, white double dotted lines, yellow single solid lines, yellow single dotted lines, yellow double solid lines, yellow double dotted lines, white solid dotted lines, yellow solid dotted lines, and the like. Roadside services may include, for example, types of railings, cone barrels, posts, signage, and traffic mirrors.
According to the embodiment of the disclosure, for example, the road image of the road to be recognized may be subjected to semantic segmentation to obtain at least one image segmentation result. The image segmentation result may be used to characterize an object included in the road image. In the case where it is recognized that the road image contains the road test infrastructure, the type of the roadside device indicated by the image division result may be determined as the roadside infrastructure information.
For example, in this embodiment, a semantic segmentation model may be trained by using a sample road image, and then, the trained semantic segmentation model is used to perform semantic segmentation on the road image, so as to obtain a corresponding image segmentation result. The semantic segmentation model may include, for example, a residual network ResNet50 model.
According to the embodiment of the present disclosure, based on the number of lane lines obtained by the segmentation, the corresponding number of lanes may be determined. For example, the number of lanes may be obtained by subtracting 1 from the number of lane lines. For example, if the number of lane lines is 3, it may be determined that the number of lanes is 2.
According to the embodiment of the present disclosure, for example, the road surface grade of a road may be determined, and then the average road surface width corresponding to the road surface grade may be acquired. The product of the number of lanes and the average road surface width is calculated as the road width. The road surface grade of the road may include, for example, an expressway, an urban expressway, a national road, a provincial road, a county road, a village road, other roads, and the like. For example, in the present embodiment, the road surface level of the road may be an attribute of the road when the road network data is created. Based on this, the road surface grade of the road can be acquired from the road network data.
According to another embodiment of the present disclosure, for example, the product of the number of lanes and the average road surface width may be calculated and then added to the adjustment value as the road width. Whereby the accuracy of the road width can be further improved. The adjustment value may be adjusted by the type of the lane line in the center of the road, whether the road has a non-motor lane, and other factors.
According to another embodiment of the present disclosure, the lane lines of the mountain road may include a white single solid line, a yellow double dotted line, a yellow single solid line, and a yellow single dotted line, which are generally applied to other types of lane lines on a road with good trafficability or high grade. Based on this, in determining the target road in the mountainous area, a road having a lane line type including any one of a white single solid line, a yellow double dashed line, a yellow single solid line, and a yellow single dashed line may be screened out from the second candidate road as the target road. The lane line is not a target road for other types of roads.
The method for identifying a target road shown above is further described with reference to fig. 5 in conjunction with a specific embodiment. Those skilled in the art will appreciate that the following example embodiments are only for the understanding of the present disclosure, and the present disclosure is not limited thereto.
Fig. 5 schematically shows a schematic diagram of identifying a target road according to another embodiment of the present disclosure.
As shown in fig. 5, in operation S501, first candidate roads are determined, and a second candidate road is determined from the first candidate roads.
According to an embodiment of the present disclosure, position information of a plurality of original roads may be determined, for example, from road network data. And determining the geographical range of the target area according to the area data of the target area. And then determining an original road in the geographic range from the plurality of original roads as a first candidate road according to the position information. For example, in the present embodiment, the target area may be a mountain area.
Next, according to an embodiment of the present disclosure, travel track information corresponding to each first candidate road may be acquired. For each first candidate road, according to a plurality of elevations in the travel track information corresponding to the first candidate road, a maximum elevation difference, an average elevation, and a 95 th percentile, a 5 th percentile, and a median of the plurality of elevations may be calculated as the elevation features.
According to the embodiment of the present disclosure, the average speed and the 95 th percentile, the 5 th percentile, and the median of the plurality of speeds may be calculated as the speed characteristics of the first candidate road, from the plurality of speeds in the travel track information corresponding to the first candidate road.
According to the embodiment of the present disclosure, the maximum steering angle may be calculated as the steering angle characteristic of the first candidate road from the plurality of coordinates in the travel track information corresponding to the first candidate road.
Then, according to an embodiment of the present disclosure, a first candidate road where the elevation feature, the speed feature, and the steering angle feature satisfy predetermined requirements may be determined as a second candidate road.
In operation S502, for each second candidate road, a road image corresponding to the second candidate road is semantically segmented.
According to the embodiment of the present disclosure, for each second candidate road, the lane line and the roadside facility in the road image corresponding to the second candidate road are identified. The facility type of the roadside facility is determined as the roadside facility information of the second candidate road. And determining the number of the lanes of the second candidate road according to the lane lines. And determining the road width of the second candidate road according to the road grade, the facility type and the number of lanes of the second candidate road.
In operation S503, it is determined whether a lane line and a roadside device are identified in the road image. If a lane line or roadside apparatus is identified, operation S504 is performed, otherwise operation S506 is performed.
In operation S504, it is determined whether the road width is less than the width threshold value and the roadside facility information includes the security facility type. If the road width is less than the width threshold value and the roadside facility information includes the type of the secure facility, operation S505 is performed, otherwise operation S506 is performed. The safety facilities can comprise railings, cone barrels, columns, prompting signs, traffic wide-angle mirrors and the like.
In operation S505, the second candidate road is determined as the target road.
According to the embodiment of the present disclosure, the target road is a road with a small road surface width and lacking safety facilities on the road side. The road surface width is less, and under the trackside lacked the condition of safety device, it is comparatively dangerous to travel. By identifying the target road, the driving safety can be improved.
In operation S506, the result of identifying the second candidate road is determined to be indeterminable.
According to other embodiments of the present disclosure, operations S502 to S506 may be performed a plurality of times for the second candidate road whose recognition result is indeterminable. And if the road is determined to be the second candidate road and the number of times that the identification result is that the road cannot be determined is larger than the threshold number of times, determining that the suspected second candidate road is the target road. Wherein, the time threshold value can be set according to actual needs.
According to the method for identifying the target road, the dangerous road in the mountainous area can be identified in advance, so that the driving safety can be improved.
The apparatus for identifying a target road provided by the present disclosure will be described below with reference to fig. 6.
Fig. 6 schematically shows a block diagram of an apparatus for identifying a target road according to an embodiment of the present disclosure.
As shown in fig. 6, the apparatus 600 for identifying a target road includes a first determining module 610, a second determining module 620, a third determining module 630, and a fourth determining module 640.
The first determining module 610 is configured to determine a plurality of first candidate roads located in the target area according to the road network data and the area data of the target area.
The second determining module 620 is configured to determine a second candidate road of the plurality of first candidate roads according to the driving trajectory information corresponding to the plurality of first candidate roads.
A third determining module 630, configured to determine the road width and the roadside facility information of each second candidate road according to the road image corresponding to each second candidate road.
And a fourth determining module 640, configured to determine a target road in the second candidate road according to the road width and the roadside facility information.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
Fig. 7 schematically illustrates a 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 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 intended to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the device 700 comprises a computing unit 701, which may perform various suitable 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 RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, 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.
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, which is also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service extensibility in a traditional physical host and a VPS service ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server incorporating a 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 executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (10)
1. A method of identifying a target roadway, comprising:
determining a plurality of first candidate roads in a target area according to road network data and area data of the target area;
determining a second candidate road in the plurality of first candidate roads according to the running track information corresponding to the plurality of first candidate roads;
determining road width and roadside facility information of each second candidate road according to the road image corresponding to each second candidate road; and
and determining a target road in the second candidate road according to the road width and the roadside facility information.
2. The method of claim 1, wherein the determining a second candidate road of the plurality of first candidate roads from the travel track information corresponding to the plurality of first candidate roads comprises:
determining an elevation characteristic, a speed characteristic and a steering angle characteristic of each first candidate road according to the driving track information corresponding to each first candidate road; and
determining a second candidate road of the plurality of first candidate roads according to the elevation feature, the speed feature and the steering angle feature.
3. The method of claim 2, wherein the travel track information includes elevations, velocities, and coordinates of a plurality of track points; determining the elevation characteristic, the speed characteristic and the steering angle characteristic of each first candidate road according to the driving track information corresponding to each first candidate road, wherein the determining comprises the following steps:
for each of the first candidate roads,
calculating at least one of a maximum elevation difference, an average elevation and an nth percentile of the elevations as an elevation feature of the first candidate road according to a plurality of elevations in the driving track information corresponding to the first candidate road, wherein n is a positive integer and is less than or equal to the total number of the elevations in the driving track information;
calculating at least one of an average speed and an m-th percentile of the speeds according to a plurality of speeds in the running track information corresponding to the first candidate road, wherein the m is a positive integer and is less than or equal to the total number of the speeds in the running track information; and
and calculating the maximum steering angle according to a plurality of coordinates in the running track information corresponding to the first candidate road, wherein the maximum steering angle is used as the steering angle characteristic of the first candidate road.
4. The method of claim 1, wherein the determining the road width and the roadside facility information of each of the second candidate roads from the road image corresponding to each of the second candidate roads comprises:
for each of the second candidate roads,
identifying a lane line and a roadside facility in the road image corresponding to the second candidate road;
determining a facility type of the road side facility as road side facility information of the second candidate road;
determining the number of lanes of the second candidate road according to the lane line; and
and determining the road width of the second candidate road according to the road grade of the second candidate road, the facility type and the number of the lanes.
5. The method of claim 4, wherein the determining a target road in the second candidate road from the road width and the roadside facility information comprises:
and determining a second candidate road, of the second candidate roads, of which the road width is smaller than a width threshold value and the roadside facility information satisfies a predetermined condition, as the target road.
6. The method of claim 1, wherein said determining a first plurality of candidate roads located within a target area based on said road network data and area data of said target area comprises:
determining position information of a plurality of original roads according to the road network data;
determining the geographical range of the target area according to the area data of the target area; and
and determining an original road in the geographic range from the plurality of original roads as the first candidate road according to the position information.
7. An apparatus for identifying a target road, comprising:
the first determination module is used for determining a plurality of first candidate roads in a target area according to road network data and area data of the target area;
the second determination module is used for determining a second candidate road in the plurality of first candidate roads according to the running track information corresponding to the plurality of first candidate roads;
a third determination module, configured to determine a road width and roadside facility information of each of the second candidate roads according to the road image corresponding to each of the second candidate roads; and
and the fourth determination module is used for determining a target road in the second candidate road according to the road width and the roadside facility information.
8. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
9. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.
10. A computer program product comprising computer program/instructions, characterized in that the computer program/instructions, when executed by a processor, implement the steps of the method of any of claims 1-6.
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