CN115148032B - Road determination method and device and electronic equipment - Google Patents
Road determination method and device and electronic equipment Download PDFInfo
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- CN115148032B CN115148032B CN202210571142.8A CN202210571142A CN115148032B CN 115148032 B CN115148032 B CN 115148032B CN 202210571142 A CN202210571142 A CN 202210571142A CN 115148032 B CN115148032 B CN 115148032B
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- 238000002372 labelling Methods 0.000 description 10
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The disclosure provides a road determining method, a road determining device and electronic equipment, relates to the technical field of artificial intelligence, in particular to the technical field of intelligent traffic in artificial intelligence, and specifically comprises the following steps: determining a first driving-in road and a first driving-out road of a target intersection, wherein the driving directions of vehicles on the first driving-in road and the first driving-out road are different; detecting whether the second driving-out road and the second driving-in road belong to the same road or not under the condition that the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the second driving-out road, wherein the second driving-out road is a road driving out of the first driving-in road, and the second driving-in road is a road driving in the first driving-out road; and determining a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection under the condition that the second driving-out road and the second driving-in road belong to the same road.
Description
Technical Field
The disclosure relates to the technical field of artificial intelligence, in particular to the technical field of intelligent traffic in artificial intelligence, and specifically relates to a road determination method, a road determination device and electronic equipment.
Background
In order to better split vehicles at an intersection, lanes at the intersection can be generally divided into straight lanes and steering lanes, so that the vehicles are split according to different driving directions. However, in actual use, the straight lanes and the steering lanes of the part of the intersections are in a separated state, and the straight lanes and the steering lanes of the part of the intersections are in a superposition state, namely, the straight lanes can also steer.
Disclosure of Invention
The disclosure provides a road determination method, a road determination device and electronic equipment.
According to a first aspect of the present disclosure, there is provided a road determination method including:
determining a first driving-in road and a first driving-out road of a target intersection, wherein the driving directions of vehicles on the first driving-in road and the first driving-out road are different;
detecting whether the second driving-out road and the second driving-in road belong to the same road or not under the condition that the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the first driving-out road, wherein the second driving-out road is a road driving out of the first driving-in road and the second driving-in road is a road driving in the first driving-out road;
And determining a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection under the condition that the second driving-out road and the second driving-in road belong to the same road.
According to a second aspect of the present disclosure, there is provided a road determination apparatus including:
the first determining module is used for determining a first driving-in road and a first driving-out road of a target intersection, wherein the driving directions of vehicles on the first driving-in road and the first driving-out road are different;
the detection module is used for detecting whether the second driving-out road and the second driving-in road belong to the same road or not under the condition that the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the first driving-out road, wherein the second driving-out road is a road driving out of the first driving-in road, and the second driving-in road is a road driving in the first driving-out road;
and the second determining module is used for determining a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection under the condition that the second driving-out road and the second driving-in road belong to the same road.
According to a third aspect of the present disclosure, there is provided 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 any one of the methods of the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform any of the methods of the first aspect.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements any of the methods of the first aspect.
In the embodiment of the disclosure, when the second driving-out road associated with the first driving-in road is detected and the second driving-in road associated with the first driving-out road belongs to the same road, the second driving-out road and the target road to which the second driving-in road belongs can be determined as the steering road of the target intersection, so that the accuracy and the determination efficiency of the determination result of the steering road are improved.
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
Fig. 1 is a flow chart of a road determination method provided in an embodiment of the present disclosure;
fig. 2 is one of schematic diagrams of a target intersection in a road determination method provided in an embodiment of the present disclosure;
FIG. 3 is a second schematic diagram of a target intersection in a road determination method according to an embodiment of the present disclosure;
FIG. 4 is a third schematic diagram of a target intersection in a road determination method according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a target intersection in a road determination method provided by an embodiment of the present disclosure;
fig. 6 is one of schematic structural diagrams of a road determination apparatus provided in an embodiment of the present disclosure;
FIG. 7 is a second schematic diagram of a road determining apparatus according to an embodiment of the present disclosure;
FIG. 8 is a third schematic diagram of a road determination apparatus according to an embodiment of the present disclosure;
fig. 9 is a fourth schematic structural view of a road determination apparatus provided in an embodiment of the present disclosure;
FIG. 10 is a fifth schematic diagram of a road determination apparatus according to an embodiment of the present disclosure;
Fig. 11 is a schematic block diagram of an example electronic device used to implement embodiments 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.
Referring to fig. 1, fig. 1 is a flowchart of a road determining method according to an embodiment of the present disclosure, and as shown in fig. 1, the present disclosure provides a road determining method, including the following steps:
step S101, determining a first driving-in road and a first driving-out road of a target intersection, where the driving directions of the vehicle on the first driving-in road and the first driving-out road are different.
The target intersection may include a plurality of roads, that is, the target intersection may refer to a position where the plurality of roads are collected, that is: the target intersection may be an end point of a plurality of roads and may be a start point of a plurality of roads at the same time, and the target intersection may include a sidewalk, a traffic signal indicator light, and the like.
The first entry road is understood to be the road that enters the target intersection, that is to say: the vehicle can drive into the target intersection by driving along the first driving-in road; whereas a first drive-off road may be understood as a road that is driven off the target intersection, that is: and driving along the first driving-off road to drive off the target intersection.
The driving direction of the vehicle on the first driving-in road and the first driving-out road can be understood as: the driving direction of the vehicle on the first driving-in road may be matched with the road direction of the first driving-in road, and the driving direction of the vehicle on the first driving-out road may be matched with the road direction of the first driving-out road. For example: referring to fig. 3, when the road direction of the first entrance road is the direction indicated by A1 to A2, the traveling direction of the vehicle on the first entrance road may be the direction indicated by A1 to A2 and gradually approach the target intersection; the road direction of the first driving-off road may be a direction from A3 to A4, and the driving direction of the vehicle on the first driving-off road may be a direction from A3 to A4 and gradually away from the target intersection, and an intersection point may exist between a line where A1A2 is located and a line where A3A4 is located, and as an alternative manner, the line where A1A2 is located and the line where A3A4 is located may be perpendicular to each other.
Wherein, since the target road includes a plurality of roads, the target intersection may be divided into a plurality of areas according to the direction of the roads, for example: the target intersection may be divided into a left angle area, a straight angle area and a right angle area, each area may include at least one driving-out road, and the driving-in road of the target intersection and a corresponding driving-out road may be divided into a set of roads, such as: the first entering road and the first exiting road may be divided into a set of roads, that is, the first entering road and the first exiting road may be roads corresponding to each other, and when the first exiting road is located in the right angle region, it may be understood that the vehicle is steered from the first entering road through a target road in the following to enter the first exiting road, and the target road may be referred to as a right steering road of the target intersection. Similarly, when the first outgoing road is located in the left-hand corner region, the target road may be referred to as a left-hand steering road of the target intersection.
In addition, the target intersection may further include a left turn area and a right turn area, and when the first driving-off road is located in the left turn area, the target road may be referred to as a left turn road of the target intersection, and when the first driving-off road is located in the right turn area, the target road may be referred to as a right turn road of the target intersection.
For example: referring to fig. 2, as shown in fig. 2, the target intersection may include a left turn direction, a straight direction, a right turn direction, and a turning direction, and then the target intersection may include: a left angle area, a straight angle area, a right angle area, a left turn area and a right turn area.
It should be noted that, the division manner of the left corner area, the straight angle area, the right corner area, the left turning area and the right turning area shown in fig. 2 is only an exemplary illustration, and the ranges included in each area may be the same or different, and in particular, the present invention is not limited thereto.
It should be noted that the driving-in road in the embodiment of the present disclosure may be referred to as an entering road, and the driving-out road may be referred to as an exiting road. For example: referring to fig. 3, the first driving-in road may be marked as Link (traffic route) a, abbreviated as: linkA, and the first outgoing road may be labeled Link (traffic route) B, abbreviated: linkB.
Step S102, detecting whether the second driving-out road and the second driving-in road belong to the same road or not when the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the second driving-out road, wherein the second driving-out road is a road driving out of the first driving-in road and the second driving-in road is a road driving in the first driving-out road.
It should be noted that, when at least one of the target conditions is satisfied, detection or non-detection of whether the second driving-out road and the second driving-in road belong to the same road may be stopped, so as to save the computing resources, where the target conditions include: the first drive-in road is not associated with a second drive-out road, and the first drive-out road is not associated with a second drive-in road.
As an alternative embodiment, further comprising:
determining that the first driving-in road is associated with the second driving-out road and the first driving-out road is associated with the second driving-in road when a first node exists on the first driving-in road and a second node exists on the first driving-out road;
the first node is an intersection point of the first driving-in road and the second driving-out road, and the second node is an intersection point of the first driving-out road and the second driving-in road.
The first node is an intersection point of the first driving-in road and the second driving-out road, and the second driving-out road can be understood as being hung on the first driving-in road, and the intersection point is the first node, that is to say: the first node may include three directions, the first direction being a direction from the first node toward the target intersection (i.e., a road direction of the first entrance road), the second direction being a direction from the first node away from the target intersection (i.e., a direction opposite to the road direction of the first entrance road), and the third direction being a direction from the first node toward the target road (i.e., a direction along a steering road of the target road), and thus the first node may be referred to as a third-order node.
In addition, when the first node further includes other directions, the first node may be referred to as a node above the third order, and the order of the first node (i.e., the third order or above) has a one-to-one correspondence with the number of directions included in the first node. I.e. when the first node comprises three directions, the first node may be referred to as a third order node and when the first node comprises four directions, the first node may be referred to as a fourth order node.
Similarly, the second node is an intersection point of the first driving-out road and the second driving-in road, and the second driving-in road may be understood as being hung on the first driving-out road, and the intersection point is the second node, that is: the second node may include three directions, the first direction being a direction away from the target intersection from the second node (i.e., a road direction of the first driven-off road), the second direction being a direction toward the target intersection from the second node (i.e., a direction opposite to the road direction of the first driven-off road), the third direction being a direction toward the second node from the target road (i.e., a direction along a steering road of the target road), and thus the second node may also be referred to as a third-order node,
the first driving-in road and the first driving-out road may have a plurality of nodes distributed thereon. In this embodiment of the present disclosure, it may be first determined whether a third-order node and a node above the third-order node exist on the first driving-in road and the first driving-out road, if the node exists, a second driving-out road exists on the first driving-in road, the first driving-out road has a higher possibility of having the second driving-in road, if the node does not exist, it may be directly determined that the second driving-out road does not exist on the first driving-in road, and the first driving-out road does not have the second driving-in road, thereby improving the determination efficiency of the determination result of the second driving-out road and the second driving-in road.
In addition, if the first driving-in road and the first driving-out road have third-order nodes and nodes above third-order nodes, the first driving-in road and the third-order nodes and nodes above third-order nodes on the first driving-out road can be screened out, then whether the first driving-in road has a second driving-out road or not is judged in the nodes, and whether the first driving-out road has the second driving-in road or not is judged, so that the detection pertinence is improved, the calculation resources are saved, and the accuracy and the efficiency of a judgment result are improved.
For example: referring to fig. 4, link (traffic route) a in fig. 4 is used to represent a first entrance road, link (traffic route) B is used to represent a first exit road, and B1 may be used to represent a first node, B5 is used to represent a second node, C1 is used to represent a second exit road, C2 is used to represent a second entrance road, and B3 is used to represent an intersection of the first entrance road and the first exit road.
As an optional implementation manner, the first node and the second node are nodes meeting a preset condition;
the preset conditions include at least one of the following conditions:
the distance between the first driving-in road and the intersection point of the first driving-out road is smaller than a preset distance;
And taking the intersection point of the first driving-in road and the first driving-out road as a starting position, and marking the obtained marking information according to a target direction, wherein the target direction is a direction opposite to the driving direction of the vehicle on the first driving-in road or the first driving-out road, and the marking information is smaller than a preset value.
The specific value of the preset distance is not limited herein, for example: the preset distance may be 100 meters; the specific value of the preset value is not limited herein, for example: the preset value may be 4.
Wherein the above-mentioned target direction may be referred to as a direction opposite to a traveling direction of the first entering road or the first exiting road.
In the embodiment of the disclosure, the first node and the second node are nodes meeting the preset condition, so that screening is performed only in the nodes meeting the preset condition, screening efficiency is improved, and consumption of computing resources is reduced.
It should be noted that, the preset conditions satisfied by the first node and the second node may be different, for example: the first node satisfies: taking the intersection point of the first driving-in road and the first driving-out road as a starting position, marking according to a target direction to obtain marking information which is smaller than a preset value, wherein the second node meets the following conditions: and a condition that a distance from an intersection point of the first driving-in road and the first driving-out road is smaller than a preset distance. As shown in fig. 4, the first node B1 shown in fig. 4 takes the intersection point (i.e., B3) of the first entering road and the first exiting road as a starting position, and the label information obtained by labeling in the target direction (i.e., the direction B3 to B1, and the road direction of the first entering road is the direction B1 to B3) is 3, which is less than the value 4 of the preset value, and it can be seen that the first node B1 satisfies the condition.
In addition, the preset conditions satisfied by the first node and the second node may be the same, for example: the first node and the second node both satisfy a condition that a distance from an intersection point of the first driving-in road and the first driving-out road is smaller than a preset distance.
Step S103, determining a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection when the second driving-out road and the second driving-in road belong to the same road.
When the second driving-out road and the second driving-in road do not belong to the same road, the driving-out road or the driving-in road can be selected again to judge whether the steering road exists. When the selected times exceeds the preset times and the selected roads can not be judged to belong to the same road all the time, the target intersection can be determined not to comprise the steering road.
Alternatively, when the second driving-out road and the second driving-in road do not belong to the same road, it may be directly determined that the target intersection does not include the steering road.
As an alternative embodiment, further comprising:
generating marking information of the first driving-in road, wherein the marking information is used for indicating that the vehicle is forbidden to turn on the first driving-in road;
And planning a navigation route at the target intersection according to the marking information and the target road, wherein the navigation route is a steering route which runs along the target road.
The labeling information may be referred to as steering prohibition information or steering prohibition limit information, and when the target road is a right steering road, the labeling information may be referred to as right prohibition limit information.
In addition, the first driving-in road, the first driving-out road, the second driving-out road and the second driving-in road of the target intersection can refer to electronic information in the electronic map, the labeling information can be packaged and stored together with the electronic information, and when the electronic equipment runs the electronic map application program to conduct route planning, the electronic information of the first driving-in road, the labeling information corresponding to the first driving-in road and the electronic information of the target road can be called, and navigation route planning can be conducted according to the information.
In the embodiment of the disclosure, after the labeling information of the first driving-in road is generated, when the turning route of the target intersection is planned, the turning route (i.e., the navigation route) running along the target road can be directly planned, so that the occurrence of the phenomenon that the vehicle turns along the planning route to violate the traffic rule is reduced, the accuracy of the planning result of the turning route is improved, and the safety of the vehicle running along the planning route is improved.
In addition, after the marking information of the first driving-in road is generated, the accuracy of the generated electronic map is higher, and meanwhile, the manufacturing cost of the electronic map is lower.
For example: referring to fig. 4, the first entering road (i.e., the road shown as B1B 3) in fig. 4 may be generated with labeling information such that when planning a route, generation of a turning route from the first entering road (i.e., the road shown as B1B 3) to the first exiting road (i.e., the road shown as B3B 5) is prohibited, and only a navigation route of C1 to C2 can be generated.
As an optional implementation manner, the determining, when the second departure road and the second entry road belong to the same road, the target road to which the second departure road and the second entry road belong as the steering road of the target intersection includes:
acquiring lane indication information of the first driving-in road under the condition that the second driving-out road and the second driving-in road belong to the same road;
and determining a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection when the lane indication information does not include steering indication information.
The lane indication information may be information acquired by a road information acquisition device, where the road information acquisition device may refer to at least one of a satellite, a road information acquisition vehicle, and an electronic device disposed on a road side, and since the lane indication information may be acquired by acquisition, the accuracy of the lane indication information may be considered to be higher.
When the lane indication information is arrow information, the lane indication information may be referred to as letter arrow data, and the first driving-in road may be referred to as letter entering road or letter driving-in road.
In the embodiment of the disclosure, when the first driving-in road is associated with the second driving-out road and the second driving-in road belong to the same road, when it is further detected that the lane indication information of the first driving-in road does not include the steering indication information, the lane indication information of the first driving-in road only includes the straight-going indication information, it can be accurately determined that the target road to which the second driving-out road and the second driving-in road belong is the exclusive steering road of the target intersection, and therefore accuracy of a determination result of the exclusive steering road of the target road is the target intersection is further improved.
For example: referring to fig. 5, C1 is used to represent a first driving-in road in fig. 5, C2 is used to represent a target road, C3 is used to represent a first driving-out road, the first driving-in road indicated by C1 may include lane indication information, and as shown in fig. 5, the lane indication information indicated in the dashed line box of the first driving-in road indicated by C1 is straight indication information and does not include steering indication information, and it may be determined that the target intersection includes a dedicated steering road C2 (i.e., the target road).
The specific manner of determining whether the second driving-out road and the driving-in road belong to the same road is not limited herein, for example: as an optional implementation manner, whether the second driving-out road and the second driving-in road have an intersection is determined, when the intersection exists, the second driving-out road and the second driving-in road have a high possibility of belonging to the same road, and the second driving-out road and the second driving-in road can be determined to belong to the same road.
As another optional implementation manner, the detecting whether the second driving-out road and the second driving-in road belong to the same road when the second driving-out road is associated with the first driving-in road and the second driving-in road is associated with the first driving-out road includes:
Detecting target parameters of the second driving-out road and the second driving-in road under the condition that the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the first driving-out road, wherein the target parameters comprise at least one of the following parameters: topology hooking relation and smoothness factor;
and determining whether the second driving-out road and the second driving-in road belong to the same road or not according to the target parameter.
Wherein, the topological hooking relationship can also be called as a topological relationship, and the topological relationship refers to the mutual relationship among various spatial data meeting the topological geometrical principle. Namely adjacency, association, inclusion and connectivity relationships between entities represented by nodes, arcs and polygons. Such as: the point-to-point adjacency relationship, the point-to-surface inclusion relationship, the line-to-surface separation relationship, the surface-to-surface coincidence relationship, and the like, so that whether the second driving-out road and the second driving-in road belong to the same road or not can be more accurately determined according to the topological hooking relationship of the second driving-out road and the second driving-in road.
Similarly, the smoothness factor may be understood as the smoothness of the curves corresponding to the second outgoing road and the second incoming road, when there is an intersection between the second outgoing road and the second incoming road, and the difference between the smoothness factors of the second outgoing road and the second incoming road is smaller, that is, the smoothness factors of the second outgoing road and the second incoming road are close, the probability that the second outgoing road and the second incoming road belong to the same road is greater, otherwise, when the difference between the smoothness factors of the second outgoing road and the second incoming road is greater, the probability that the second outgoing road and the second incoming road belong to the same road is smaller.
For example: referring to fig. 4, the first driving-in road further includes a B2 node, the first driving-out road further includes a B4 node, and according to the above, the B2 node may also be referred to as a third-order node, the B4 node may be referred to as a second-order node, and the B2 is connected with a steering road B2B7, the target parameters (i.e. the topological connection relationship and the smoothness factor) of the road B2B7 and the road C2 are calculated, the target parameters of the road C1 and the road C2 are calculated, it is known that the topological connection relationship of the C1 and the C2 is better, and the difference value displayed by the smoothness factor is smaller, so that the possibility that the C1 and the C2 belong to the same road is higher, and the possibility that the road B2B7 and the road C2 belong to the same road is lower. Similarly, the road B6B8 and the road C2 are less likely to belong to the same road.
In the embodiment of the disclosure, whether the second driving-out road and the second driving-in road belong to the same road is determined according to the target parameter, so that the accuracy of the judgment result of whether the second driving-out road and the second driving-in road belong to the same road can be further enhanced.
In the embodiment of the present disclosure, through steps S101 to S103, when the second driving-out road associated with the first driving-in road is detected, and the second driving-out road associated with the first driving-out road belongs to the same road, the second driving-out road and the target road to which the second driving-in road belongs may be determined as the steering road of the target intersection, so that the accuracy and the determination efficiency of the determination result of the steering road are improved.
In addition, when the special steering road exists at the target intersection, the steering route cannot be planned on the first driving-in road, and when the special steering road does not exist at the target intersection, the steering route can be planned on the first driving-in road, so that the flexibility and the diversity of the planned route are enhanced.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a road determining apparatus according to an embodiment of the present disclosure, and as shown in fig. 6, the road determining apparatus 600 includes:
a first determining module 601, configured to determine a first driving-in road and a first driving-out road of a target intersection, where a driving direction of a vehicle on the first driving-in road and the first driving-out road is different;
a detection module 602, configured to detect, when the first driving-in road is associated with a second driving-out road and the first driving-out road is associated with a second driving-in road, whether the second driving-out road and the second driving-in road belong to a same road, where the second driving-out road is a road driving-out from the first driving-in road and the second driving-in road is a road driving-in from the first driving-out road;
the second determining module 603 is configured to determine, when the second driving-out road and the second driving-in road belong to the same road, a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection.
Optionally, referring to fig. 7, the road determining apparatus 600 further includes:
a generating module 604, configured to generate labeling information of the first driving-in road, where the labeling information is used to indicate that steering of the vehicle on the first driving-in road is prohibited;
and the planning module 605 is configured to plan a navigation route at the target intersection according to the labeling information and the target road, where the navigation route is a turning route that runs along the target road.
Optionally, referring to fig. 8, the second determining module 603 includes:
an obtaining submodule 6031, configured to obtain lane indication information of the first driving-in road when the second driving-out road and the second driving-in road belong to the same road;
a first determining sub-module 6032 for determining the second departure road and the target road to which the second entrance road belongs as a steering road of the target intersection, in the case where the lane indication information does not include steering indication information.
Optionally, referring to fig. 9, the detection module 602 includes:
a detection submodule 6021, configured to detect target parameters of the second driving-out road and the second driving-in road when the second driving-out road is associated with the first driving-in road and the second driving-in road is associated with the first driving-out road, where the target parameters include at least one of the following parameters: topology hooking relation and smoothness factor;
A second determining submodule 6022 is configured to determine whether the second driving-out road and the second driving-in road belong to the same road according to the target parameter.
Optionally, referring to fig. 10, the road determining apparatus 600 further includes:
a third determining module 606, configured to determine that, when a first node exists on the first driving-in road and a second node exists on the first driving-out road, the first driving-in road is associated with the second driving-out road, and the first driving-out road is associated with the second driving-in road;
the first node is an intersection point of the first driving-in road and the second driving-out road, and the second node is an intersection point of the first driving-out road and the second driving-in road.
Optionally, the first node and the second node are nodes meeting a preset condition;
the preset conditions include at least one of the following conditions:
the distance between the first driving-in road and the intersection point of the first driving-out road is smaller than a preset distance;
and taking the intersection point of the first driving-in road and the first driving-out road as a starting position, and marking the obtained marking information according to a target direction, wherein the target direction is a direction opposite to the driving direction of the vehicle on the first driving-in road or the first driving-out road, and the marking information is smaller than a preset value.
The road determining device 600 provided in the present disclosure can implement each process implemented by the road determining method embodiment, and can achieve the same beneficial effects, so that repetition is avoided, and no further description is given here.
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. 11 illustrates a schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular 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. 11, the apparatus 1100 includes a computing unit 1101 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the device 1100 can also be stored. The computing unit 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.
Various components in device 1100 are connected to I/O interface 1105, including: an input unit 1106 such as a keyboard, a mouse, etc.; an output unit 1107 such as various types of displays, speakers, and the like; a storage unit 1108, such as a magnetic disk, optical disk, etc.; and a communication unit 1109 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 1109 allows the device 1100 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 1101 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 1101 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 1101 performs the respective methods and processes described above, such as a road determination method. For example, in some embodiments, the road determination method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1108. In some embodiments, some or all of the computer programs may be loaded and/or installed onto device 1100 via ROM 1102 and/or communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the road determination method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the road determination method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, 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, sequentially, or in a different order, provided that the desired results of the disclosed aspects 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. A road determination method, comprising:
determining a first driving-in road and a first driving-out road of a target intersection, wherein the driving directions of vehicles on the first driving-in road and the first driving-out road are different;
detecting whether the second driving-out road and the second driving-in road belong to the same road or not under the condition that the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the first driving-out road, wherein the second driving-out road is a road driving out of the first driving-in road and the second driving-in road is a road driving in the first driving-out road;
Determining a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection under the condition that the second driving-out road and the second driving-in road belong to the same road;
further comprises:
determining that the first driving-in road is associated with the second driving-out road and the first driving-out road is associated with the second driving-in road when a first node exists on the first driving-in road and a second node exists on the first driving-out road;
the first node is an intersection point of the first driving-in road and the second driving-out road, and the second node is an intersection point of the first driving-out road and the second driving-in road;
the first node and the second node are nodes with more than three orders, and the order of the first node and the number of directions included by the first node are in one-to-one correspondence.
2. The method of claim 1, further comprising:
generating marking information of the first driving-in road, wherein the marking information is used for indicating that the vehicle is forbidden to turn on the first driving-in road;
and planning a navigation route at the target intersection according to the marking information and the target road, wherein the navigation route is a steering route which runs along the target road.
3. The method of claim 1, wherein the determining the target road to which the second departure road and the second entry road belong as the steering road of the target intersection in the case where the second departure road and the second entry road belong to the same road comprises:
acquiring lane indication information of the first driving-in road under the condition that the second driving-out road and the second driving-in road belong to the same road;
and determining a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection when the lane indication information does not include steering indication information.
4. The method of claim 1, wherein the detecting whether the second departure road and the second entry road belong to the same road if the first departure road is associated with a second departure road and the first departure road is associated with a second entry road comprises:
detecting target parameters of the second driving-out road and the second driving-in road under the condition that the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the first driving-out road, wherein the target parameters comprise at least one of the following parameters: topology hooking relation and smoothness factor;
And determining whether the second driving-out road and the second driving-in road belong to the same road or not according to the target parameter.
5. The method of claim 1, wherein the first node and the second node are both nodes that satisfy a preset condition;
the preset conditions include at least one of the following conditions:
the distance between the first driving-in road and the intersection point of the first driving-out road is smaller than a preset distance;
and taking the intersection point of the first driving-in road and the first driving-out road as a starting position, and marking the obtained marking information according to a target direction, wherein the target direction is a direction opposite to the driving direction of the vehicle on the first driving-in road or the first driving-out road, and the marking information is smaller than a preset value.
6. A road determination apparatus comprising:
the first determining module is used for determining a first driving-in road and a first driving-out road of a target intersection, wherein the driving directions of vehicles on the first driving-in road and the first driving-out road are different;
the detection module is used for detecting whether the second driving-out road and the second driving-in road belong to the same road or not under the condition that the second driving-out road is associated with the first driving-in road and the second driving-out road is associated with the first driving-out road, wherein the second driving-out road is a road driving out of the first driving-in road, and the second driving-in road is a road driving in the first driving-out road;
A second determining module, configured to determine, when the second driving-out road and the second driving-in road belong to the same road, a target road to which the second driving-out road and the second driving-in road belong as a steering road of the target intersection;
further comprises:
a third determining module, configured to determine that, when a first node exists on the first driving-in road and a second node exists on the first driving-out road, the first driving-in road is associated with the second driving-out road, and the first driving-out road is associated with the second driving-in road;
the first node is an intersection point of the first driving-in road and the second driving-out road, and the second node is an intersection point of the first driving-out road and the second driving-in road;
the first node and the second node are nodes with more than three orders, and the order of the first node and the number of directions included by the first node are in one-to-one correspondence.
7. The apparatus of claim 6, further comprising:
the generation module is used for generating marking information of the first driving-in road, and the marking information is used for indicating that the vehicle is forbidden to turn on the first driving-in road;
And the planning module is used for planning a navigation route at the target intersection according to the marking information and the target road, wherein the navigation route is a steering route which runs along the target road.
8. The apparatus of claim 6, wherein the second determination module comprises:
the obtaining submodule is used for obtaining the lane indication information of the first driving-in road under the condition that the second driving-out road and the second driving-in road belong to the same road;
and the first determining submodule is used for determining the target road to which the second driving-out road and the second driving-in road belong as the steering road of the target intersection when the lane indication information does not comprise steering indication information.
9. The apparatus of claim 6, wherein the detection module comprises:
a detection sub-module, configured to detect a target parameter of the second driving-out road and the second driving-in road when the first driving-in road is associated with the second driving-out road and the first driving-out road is associated with the second driving-in road, where the target parameter includes at least one of the following parameters: topology hooking relation and smoothness factor;
And the second determining submodule is used for determining whether the second driving-out road and the second driving-in road belong to the same road or not according to the target parameter.
10. The apparatus of claim 6, wherein the first node and the second node are both nodes that satisfy a preset condition;
the preset conditions include at least one of the following conditions:
the distance between the first driving-in road and the intersection point of the first driving-out road is smaller than a preset distance;
and taking the intersection point of the first driving-in road and the first driving-out road as a starting position, and marking the obtained marking information according to a target direction, wherein the target direction is a direction opposite to the driving direction of the vehicle on the first driving-in road or the first driving-out road, and the marking information is smaller than a preset value.
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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