CN116182862A - Road boundary determination method, device, electronic equipment and storage medium - Google Patents
Road boundary determination method, device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a road boundary determining method, a road boundary determining device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks on a target road; determining running areas corresponding to the running tracks respectively based on the running tracks; determining a first road boundary of the target road based on first driving boundary lines respectively corresponding to the plurality of driving tracks; and determining a second road boundary of the target road based on the second running boundary lines respectively corresponding to the running tracks. According to the technical scheme, the road boundary is not exceeded when the vehicle runs on the target road, and under the condition that the number of running tracks is large, the running boundary line (such as the first running boundary line) which is not the road boundary is overlapped with other running boundary lines in a large probability, and based on the characteristic, the electronic equipment can accurately and efficiently determine the road boundary.
Description
Technical Field
The present disclosure relates to the field of electronic map technologies, and in particular, to a method and apparatus for determining a road boundary, an electronic device, and a storage medium.
Background
In the technical fields of advanced assisted driving, automatic driving, and the like, the running of a vehicle generally depends on a high-precision map. The detailed lane-level road information is provided with high accuracy.
The precondition for making a high-precision map is to accurately determine the road boundary. The road boundary determination method provided by the related art is as follows: the road boundary is usually defined by a guard rail and road teeth which are detected by a detection assembly (such as a laser radar).
The road boundary determining method provided by the related art has low road boundary determining efficiency.
Disclosure of Invention
The application provides a road boundary determining method, a road boundary determining device, electronic equipment and a storage medium.
In a first aspect, an embodiment of the present application provides a road boundary determining method, including: acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks on a target road; determining running areas corresponding to the running tracks respectively based on the running tracks, wherein the running areas corresponding to the running tracks comprise a first running boundary line and a second running boundary line corresponding to the running tracks, and the first running boundary line and the second running boundary line corresponding to the running tracks are respectively positioned at two sides of the running tracks; determining a first road boundary of the target road based on first driving boundary lines respectively corresponding to the plurality of driving tracks; and determining a second road boundary of the target road based on the second running boundary lines respectively corresponding to the running tracks.
In a second aspect, an embodiment of the present application provides a road boundary determining apparatus, including: the data acquisition module is used for acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks on a target road; the area determining module is used for determining running areas corresponding to the running tracks respectively based on the running tracks, the running areas corresponding to the running tracks comprise first running boundary lines and second running boundary lines corresponding to the running tracks, and the first running boundary lines and the second running boundary lines corresponding to the running tracks are respectively positioned on two sides of the running tracks; the first boundary determining module is used for determining a first road boundary of the target road based on first driving boundary lines corresponding to the driving tracks respectively; and the second boundary determining module is used for determining a second road boundary of the target road based on second running boundary lines corresponding to the running tracks respectively.
In a third aspect, embodiments of the present application provide a vehicle, including: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in memory and configured to be executed by the one or more processors, the one or more applications configured to perform the simulation method as described in the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored therein computer program instructions that are callable by a processor to perform a simulation method as in the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product for implementing the simulation method according to the first aspect when the computer program product is executed.
Compared with the prior art, the road boundary determining method provided by the embodiment of the application can determine the corresponding running area based on each running track by acquiring the running tracks on the target road, wherein each running area comprises the first running boundary line and the second running boundary line which are positioned at two sides of the running track, the first road boundary of the target road can be determined based on the first running boundary lines, the second road boundary of the target road can be determined based on the second running boundary lines, and because the vehicle does not exceed the road boundary when running on the target road, and under the condition that the running tracks are more, the running boundary lines (the first running boundary lines) which are not the road boundary are generally coincident with other running boundary lines, and based on the characteristic, the electronic equipment can accurately and efficiently determine the road boundary.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application.
Fig. 2 is a flowchart of a road boundary determining method according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a driving track provided in an embodiment of the present application.
Fig. 4 is a flowchart of a road boundary determining method according to another embodiment of the present application.
Fig. 5 is a schematic diagram of determining a road boundary according to an embodiment of the present application.
Fig. 6 is a block diagram of a road determining apparatus according to an embodiment of the present application.
Fig. 7 is a block diagram of an electronic device according to an embodiment of the present application.
Fig. 8 is a block diagram of a computer storage medium according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In order to better understand the solution of the present application, the following description will make clear and complete descriptions of the technical solution of the embodiment of the present application with reference to the accompanying drawings in the embodiment of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Referring to fig. 1, a schematic diagram of an implementation environment provided in an embodiment of the present application is shown. The implementation environment comprises the electronic equipment 100, wherein the electronic equipment 100 can be a server, a server cluster formed by a plurality of servers, or a cloud computing service center. In some embodiments, the electronic device 100 may be a background server to which the map application corresponds.
In some embodiments, the implementation environment further includes a plurality of vehicles 200, each of the plurality of vehicles 200 establishing a communication connection with the electronic device 100. During the running process of the vehicle 200, the position of the vehicle 200 is acquired through a positioning module (such as a GPS module) at intervals of a preset period, so as to obtain the running track of the vehicle 200. The vehicle 200 may report its own travel track to the electronic device 100 through the above-described communication connection at the end of travel.
In this embodiment of the present application, when the electronic device 100 acquires the travel tracks of the plurality of vehicles 200 on the same road, the road boundary of the road may be determined based on the travel tracks, specifically, when the electronic device 100 acquires the travel tracks on the target road, the electronic device 100 determines a travel area corresponding to each travel track, where each travel area corresponding to each travel track includes a first travel boundary line and a second travel boundary line parallel to the travel track, where the first travel boundary line and the second travel boundary line are located on two sides of the travel track, respectively, and then the vehicle may determine the first road boundary based on the first travel boundary lines corresponding to the plurality of travel tracks, and determine the second road boundary based on the second travel boundary lines corresponding to the plurality of travel tracks, respectively. Because the vehicle does not exceed the road boundary when traveling on the target road, and the traveling boundary line (first traveling boundary line) which is not the road boundary is generally overlapped with other traveling boundary lines in the case of a large number of traveling tracks, the electronic device can accurately and efficiently determine the road boundary based on this characteristic.
Referring to fig. 2, a flowchart of a road boundary determining method according to an embodiment of the present application is shown, and the method may be applied to the electronic device 100 in the embodiment of fig. 1, and the method may include the following steps S201 to S204.
Step S201, a travel track data set is acquired.
The running track data set comprises a plurality of running tracks on the target road, the number of the running tracks can be actually determined according to the determination accuracy of the road boundary, the higher the determination accuracy of the road boundary is, the more the number of the running tracks is required, the lower the determination accuracy of the road boundary is, and the number of the running tracks can be smaller. The travel track is a line segment connected with a geographic position where the vehicle passes when traveling. In some embodiments, the vehicle includes a positioning module, and during driving, the vehicle acquires its own geographic position through the positioning module at intervals of a predetermined period, thereby obtaining a driving track. The predetermined period may be set by default by the vehicle, or may be set by a technician in a custom manner according to the accuracy requirements of the travel track.
In some embodiments, the electronic device may receive travel tracks sent by a plurality of vehicles, and then screen the travel tracks on the target road from the travel tracks sent by the plurality of vehicles, thereby obtaining a travel track data set. The following two implementations can be used for screening the driving track on the target road.
In one implementation manner, for each running track, the electronic device obtains the geographical position information of the track points in the running track and the geographical position range corresponding to the target road, obtains the number of the specified track points in the geographical position range corresponding to the target road, determines the running track with the number of the specified track points being greater than the preset number as the running track on the target road, for example, the running track a includes 700 specified track points with the geographical position information belonging to the geographical position range corresponding to the target road, and the preset number is 500, and the running track a is the running track on the target road.
In another implementation manner, for each running track, the electronic device obtains the geographical position information of the track points in the running track and the geographical position range corresponding to the target road, obtains the number of the specified track points in the geographical position range corresponding to the target road, which is the geographical position information in the running track, and the ratio between the total number of the track points included in the running track, determines the running track with the ratio being greater than the preset ratio as the running track on the target road, for example, the running track B includes 1000 track points, and if 800 geographical position information is the specified track points in the geographical position range corresponding to the target road, the ratio is 80%, the preset ratio is 60%, and the running track B is the running track on the target road.
In other embodiments, the electronic device may obtain the travel track data set from a travel track database. In some embodiments, the different storage paths of the travel track database store travel track data sets of different roads, and when the travel track database is set in the electronic device, the electronic device may determine the storage path of the travel track data set of the target road, and then directly read the travel track data set of the target road from the storage path; when the travel track database is a device independent of the other devices of the electronic device, the electronic device may send a data acquisition request to the other devices of the travel track database, and then the other devices of the travel track database may return the travel track data set of the target road to the electronic device based on the data acquisition request.
In some embodiments, the electronic device acquires the travel track data set after acquiring the map generation instruction, and performs the subsequent steps. Further, the electronic device acquires a driving track data set and executes subsequent steps under the condition that the electronic map to be generated includes the target road.
Step S202, determining running areas corresponding to the running tracks respectively based on the running tracks.
The travel region corresponding to the travel locus includes a first travel boundary line and a second travel boundary line corresponding to the travel locus. The first running boundary line and the second running boundary line corresponding to the running track are respectively positioned at two sides of the running track, and are parallel to the running track.
The first distance between the first travel boundary line and the travel locus may be set according to the vehicle width, for example, the first distance between the first travel boundary line and the travel locus is 2 meters or 1.5 meters. The second distance between the second running boundary line and the running track may be set according to the vehicle width, for example, the second distance between the second running boundary line and the running track is 2 meters or 1.5 meters. The first distance and the second distance may be the same or different.
For each travel track, the electronic device determines a first travel boundary line based on a first distance between the first travel boundary line and the travel track and a characteristic that the first travel boundary line is parallel to the travel track. Similarly, the electronic device determines the second travel boundary line based on a second distance between the second travel boundary line and the travel locus and a characteristic that the second travel boundary line is parallel to the travel locus, and in the case of determining the first travel boundary line and the second travel boundary line, a travel region to which the travel locus corresponds respectively is determined.
Referring to fig. 3 in combination, a schematic diagram of a travel track provided in an embodiment of the present application is shown. In fig. 3 (a), the travel track a approximates a straight line, and the electronic apparatus determines two straight lines parallel to the travel track and having a distance from the travel track of a specified distance (first distance or second distance) as a first travel boundary line 31 corresponding to the travel track a and a second travel boundary line 32 corresponding to the travel track a, respectively. In fig. 3 (B), the running track B is a curve (the vehicle changes lanes during running), and the electronic device determines the first running boundary line 33 corresponding to the running track B and the second running boundary line 34 corresponding to the running track B based on the above determination method.
In step S203, a first road boundary of the target road is determined based on the first travel boundary lines to which the plurality of travel tracks respectively correspond.
Most drivers usually travel near the center line of the target road, and rarely travel near the road boundary, and in addition, because there is a limit to the road width of the target road, in the case of a large number of travel tracks, there is a high probability that the first travel boundary line corresponding to the travel track near the center line of the target road coincides with the first travel boundary line corresponding to the other travel track, and in addition, the first travel boundary line corresponding to the travel track near the road boundary coincides with the first travel boundary line corresponding to the other travel track with a low probability, and based on the above principle, the electronic device can determine the first road boundary of the target road from the first travel boundary lines corresponding to the plurality of travel tracks, respectively.
In step S204, a second road boundary of the target road is determined based on the second driving boundary lines corresponding to the plurality of driving tracks, respectively.
Based on the same principle in step S203, in the case where there are a plurality of travel tracks, there is a high probability that the second travel boundary line corresponding to the travel track close to the center line of the target road coincides with the second travel boundary line corresponding to the other travel track, and in addition, there is a low probability that the second travel boundary line corresponding to the travel track close to the road boundary coincides with the second travel boundary line corresponding to the other travel track, based on the above principle, the electronic device may determine the second road boundary of the target road from the second travel boundary lines corresponding to the plurality of travel tracks, respectively.
The execution sequence of step S203 and step S204 is not limited, and the electronic device may execute step S203 first and then execute step S204; step S204 may be performed first, and then step S203 may be performed; step S203 and step S204 may also be performed simultaneously.
In summary, according to the technical solution provided in the embodiments of the present application, by acquiring multiple travel tracks on a target road, a corresponding travel area may be determined based on each travel track, each travel area includes a first travel boundary line and a second travel boundary line located on both sides of the travel track, a first road boundary of the target road may be determined based on the multiple first travel boundary lines, and a second road boundary of the target road may be determined based on the multiple second travel boundary lines.
Referring to fig. 4, a flowchart of a road boundary determining method according to an embodiment of the present application is shown. The method is applied to the electronic device 100 in fig. 1, and comprises the following steps S401-S406.
Step S401, a travel track data set is acquired.
The travel track data set includes a plurality of travel tracks on the target road.
In some embodiments, after the travel track data set is acquired, data cleaning is further required for a plurality of travel tracks on the target road, so as to obtain a travel track data set after data cleaning, where the plurality of travel tracks on the target road in the travel track data set after data cleaning are used for determining the first road boundary and the second road boundary. In the embodiment of the application, the data cleaning is used for removing the obviously unreasonable running track, so that the interference of the unreasonable running track to the road boundary determination result is avoided, and the road boundary determination result is more accurate.
In a first possible implementation manner, the electronic device obtains the number of abnormal track points in a plurality of running tracks in the running track data set, and removes a first target running track with the number of abnormal track points being greater than a preset number. The preset number may be set according to experiments or experience, and the embodiment of the present application is not limited thereto. If the number of abnormal track points, i.e., noise points, which are usually deviated from the travel track and are usually caused by drift of the positioning signal, is large, the travel track is inaccurate, and therefore needs to be removed.
In a second possible implementation manner, the electronic device obtains running speeds corresponding to a plurality of running tracks in the running track data set, and removes a second target running track with an absolute value of a difference between the running speeds and speed limit information of the target road being greater than a preset value. The speed limit information of the target road refers to the maximum speed of running on the target road, such as 80km/h, and the preset value is set according to experiments or experience, which is not limited in the embodiment of the present application. In the case where the difference between the running speed of the vehicle and the speed limit information of the target road is too large, the running track may be caused by an accident or drinking of the driver, and does not have a reference value, and therefore needs to be removed.
In a third possible implementation manner, the electronic device obtains curvature information corresponding to each of the plurality of travel tracks in the travel track data set, and removes a third target travel track corresponding to abnormal curvature information in the curvature information. The curvature information is the rotation rate of the curve of the pointer to the tangential direction angle of a certain point on the curve to the arc length, and is defined by differentiation, and indicates the degree of deviation of the curve from a straight line. The abnormal curvature information refers to an excessive curvature, and if the abnormal curvature occurs, the abnormal curvature information indicates that the vehicle suddenly turns in the running process, and the running track does not have a reference value at this time, so that the abnormal curvature information needs to be removed.
Step S402, determining a driving area corresponding to each of the plurality of driving tracks based on the plurality of driving tracks.
The running area corresponding to the running track comprises a first running boundary line and a second running boundary line corresponding to the running track, and the first running boundary line and the second running boundary line corresponding to the running track are respectively positioned at two sides of the running track.
In step S403, a first target travel boundary line is determined from the first travel boundary lines corresponding to the plurality of travel tracks, respectively.
The first target running boundary line refers to a first running boundary line that does not overlap with other first running boundary lines. In some embodiments, the vehicle may determine whether there is a first driving boundary line that coincides with each other through the geographical position information of each first driving boundary line, and thus, the first target driving boundary line is actually found. The geographic position information of the first driving boundary line can be determined according to the geographic position information of the driving track and the distance between the driving track and the first driving boundary line. In the case where the geographical position information of the first travel boundary line is identical or largely identical to the geographical position of the other first travel boundary line, it is determined that the two coincide with each other. After the first running boundary line which is mutually overlapped with other first running boundary lines is determined, the remaining first running boundary lines are first target running boundary lines. The number of the first target travel boundary lines may be one or a plurality of.
Step S404, determining a first road side boundary based on the first target travel boundary line.
In the case where the first target travel boundary line is one, determining the first target travel boundary line as a first road boundary; in the case where there are a plurality of first target travel boundary lines, the first target travel boundary line having the largest distance from the specified second travel boundary line is determined as the first road boundary. The specified second running boundary line may be any one of the second running boundary lines. That is, when there are a plurality of first target travel boundary lines, the outermost first target travel boundary line is determined as the first road boundary of the target road.
Referring in conjunction to fig. 5, a schematic diagram for determining a road boundary is provided in one embodiment of the present application. In fig. 5, the electronic apparatus determines three first target travel boundary lines 51, at which time the outermost first target travel boundary line 51 may be determined as a first roadside boundary 52 of the target road.
In step S405, a second target travel boundary line is determined from the second travel boundary lines corresponding to the plurality of travel tracks.
The second target running boundary line is a second running boundary line that does not overlap with the other second running boundary lines. In some embodiments, the vehicle may determine whether there is a second driving boundary line overlapping each other through geographical position information of each second driving boundary line, and thus, the second target driving boundary line is indeed determined. The geographic position information of the second driving boundary line may be determined according to the geographic position information of the driving track and the distance between the driving track and the second driving boundary line. And determining that the second driving boundary line and the other second driving boundary line are mutually overlapped when the geographic position information of the second driving boundary line is identical or mostly identical to the geographic position of the other second driving boundary line. After determining the second running boundary line which is overlapped with the other second running boundary lines, the remaining second running boundary line is the second target running boundary line. The number of the second target travel boundary lines may be one or a plurality of.
Step S406, a second road boundary is determined based on the second target travel boundary line.
In the case where the second target travel boundary line is one, determining the second target travel boundary line as a second road boundary; in the case where there are a plurality of second target travel boundary lines, the second target travel boundary line having the largest distance from the specified first travel boundary line is determined as the second road boundary. The specified first travel boundary line may be any one of the first travel boundary lines. That is, in the case where there are a plurality of second target travel boundary lines, the outermost second target travel boundary line is determined as the second road boundary of the target road.
Referring again to fig. 5, the electronic device determines three second target travel boundary lines 53, at which time the outermost first target travel boundary line 53 may be determined as the second road boundary 54 of the target road.
In summary, according to the technical solution provided in the embodiments of the present application, by acquiring multiple travel tracks on a target road, a corresponding travel area may be determined based on each travel track, each travel area includes a first travel boundary line and a second travel boundary line located on both sides of the travel track, a first road boundary of the target road may be determined based on the multiple first travel boundary lines, and a second road boundary of the target road may be determined based on the multiple second travel boundary lines. And the obviously unreasonable driving track can be removed by carrying out data cleaning after the driving track data set is acquired, so that the unreasonable driving track is prevented from interfering the road boundary determination result, and the road boundary determination result is more accurate.
Referring to fig. 6, a block diagram of a road boundary determining apparatus according to an embodiment of the present application is shown, where the apparatus includes: a data acquisition module 610, a region determination module 620, a first boundary determination module 630, a second boundary determination module 640.
The data acquisition module 610 is configured to acquire a travel track data set, where the travel track data set includes a plurality of travel tracks on a target road.
The area determining module 620 is configured to determine, based on the plurality of travel tracks, travel areas corresponding to the plurality of travel tracks, where the travel areas corresponding to the travel tracks include a first travel boundary line and a second travel boundary line corresponding to the travel tracks, and the first travel boundary line and the second travel boundary line corresponding to the travel tracks are located on two sides of the travel tracks, respectively.
The first boundary determining module 630 is configured to determine a first road boundary of the target road based on first driving boundary lines corresponding to the plurality of driving tracks, respectively.
The second boundary determining module 640 is configured to determine a second road boundary of the target road based on second driving boundary lines corresponding to the plurality of driving tracks respectively.
In some embodiments, the first boundary determining module 630 is configured to determine a first target driving boundary line from first driving boundary lines corresponding to the plurality of driving tracks respectively, where the first target driving boundary line refers to a first driving boundary line that does not overlap with other first driving boundary lines; a first roadside boundary is determined based on the first target travel boundary line.
In some embodiments, the first boundary determining module 630 is configured to determine the first target driving boundary line as the first road boundary in a case where the first target driving boundary line is one; in the case where there are a plurality of first target travel boundary lines, the first target travel boundary line having the largest distance from the specified second travel boundary line is determined as the first road boundary.
In some embodiments, the second boundary determining module 640 is configured to determine a second target running boundary line from second running boundary lines corresponding to the plurality of running tracks respectively, where the second target running boundary line is a second running boundary line that does not overlap with other second running boundary lines; a second road boundary is determined based on the second target travel boundary line.
In some embodiments, the second boundary determining module 640 is configured to determine the second target driving boundary line as the second road boundary in a case where the second target driving boundary line is one; in the case where there are a plurality of second target travel boundary lines, the second target travel boundary line having the largest distance from the specified first travel boundary line is determined as the second road boundary.
In some embodiments, the apparatus further comprises: a data cleansing module (not shown). The data cleaning module is used for cleaning the data of the running track data set to obtain a running track data set after data cleaning, and a plurality of running tracks of the running track data set after data cleaning on the target road are used for determining a first road boundary and a second road boundary.
In some embodiments, the data cleaning module is specifically configured to obtain the number of abnormal track points in a plurality of running tracks in the running track data set, and remove a first target running track with the number of abnormal track points greater than a preset number; or/and, acquiring the running speeds corresponding to the running tracks in the running track data set, and removing a second target running track with the absolute value of the difference value between the running speed and the speed limit information of the target road being larger than a preset value; or/and, acquiring curvature information corresponding to each of the plurality of running tracks in the running track data set, and removing a third target running track corresponding to abnormal curvature information in the curvature information.
In summary, according to the technical solution provided in the embodiments of the present application, by acquiring multiple driving tracks on a target road, a corresponding driving area may be determined based on each driving track, where each driving area includes a first driving boundary line and a second driving boundary line located on two sides of the driving track, a first road boundary of the target road may be determined based on the multiple first driving boundary lines, and a second road boundary of the target road may be determined based on the multiple second driving boundary lines.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
In several embodiments provided herein, the coupling of the modules to each other may be electrical, mechanical, or other.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
Referring to fig. 7, there is shown an electronic device 700 according to an embodiment of the present application, where the electronic device 700 includes: one or more processors 710, memory 720, and one or more application programs. Wherein one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs configured to perform the methods described in the above embodiments.
The Memory 720 may include a random access Memory 720 (Random Access Memory, RAM) or a Read-Only Memory 720 (ROM). Memory 720 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 720 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The storage data area may also store data created by the electronic device map in use (e.g., phonebook, audiovisual data, chat log data), and the like.
Referring to fig. 8, there is shown that the embodiment of the present application further provides a computer readable storage medium 800, where the computer readable storage medium 800 stores computer program instructions 810, and the computer program instructions 810 may be invoked by a processor to perform the method described in the above embodiment.
The computer readable storage medium 800 may be, for example, a flash Memory, an Electrically Erasable Programmable Read Only Memory (EEPROM), an electrically programmable Read Only Memory (Electrical Programmable Read Only Memory, EPROM), a hard disk, or a Read-Only Memory (ROM). Optionally, the computer readable storage medium comprises a Non-volatile computer readable storage medium (Non-transitory Computer-readable Storage Medium). The computer readable storage medium 800 has storage space for computer program instructions 810 that perform any of the method steps described above. The computer program instructions 810 may be read from or written to one or more computer program products.
The foregoing description is not intended to limit the preferred embodiments of the present application, but is not intended to limit the scope of the present application, and any such modifications, equivalents and adaptations of the embodiments described above in accordance with the principles of the present application should and are intended to be within the scope of the present application, as long as they do not depart from the scope of the present application.
Claims (10)
1. A method of determining a road boundary, the method comprising:
acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks on a target road;
determining running areas corresponding to the running tracks respectively based on the running tracks, wherein the running areas corresponding to the running tracks comprise a first running boundary line and a second running boundary line corresponding to the running tracks, and the first running boundary line and the second running boundary line corresponding to the running tracks are respectively positioned on two sides of the running tracks;
determining a first road boundary of the target road based on first driving boundary lines respectively corresponding to the driving tracks;
and determining a second road boundary of the target road based on the second running boundary lines respectively corresponding to the running tracks.
2. The method of claim 1, wherein the determining the first road boundary of the target road based on the first travel boundary lines to which the plurality of travel tracks respectively correspond comprises:
determining a first target running boundary line in first running boundary lines corresponding to the running tracks respectively, wherein the first target running boundary line is a first running boundary line which is not overlapped with other first running boundary lines;
the first road boundary is determined based on the first target travel boundary line.
3. The method of claim 2, wherein the determining the first road boundary based on the first target travel boundary line comprises:
determining the first target running boundary line as the first road boundary in the case that the first target running boundary line is one;
in a case where there are a plurality of the first target travel boundary lines, the first target travel boundary line having the largest distance from a specified second travel boundary line is determined as the first road boundary.
4. The method of claim 1, wherein the determining a second road boundary of the target road based on the second travel boundary lines respectively corresponding to the plurality of travel tracks comprises:
determining a second target running boundary line in second running boundary lines corresponding to the running tracks respectively, wherein the second target running boundary line is a second running boundary line which is not overlapped with other second running boundary lines;
the second road boundary is determined based on the second target travel boundary line.
5. The method of claim 4, wherein the determining the second road boundary based on the second target travel boundary line comprises:
determining the second target running boundary line as the second road boundary in the case that the second target running boundary line is one;
in the case where there are a plurality of the second target travel boundary lines, the second target travel boundary line having the largest distance from the specified first travel boundary line is determined as the second road boundary.
6. The method according to any one of claims 1 to 5, further comprising, after the acquiring the travel track data set:
and carrying out data cleaning on the running track data set to obtain a running track data set after data cleaning, wherein a plurality of running tracks on the target road in the running track data set after data cleaning are used for determining the first road boundary and the second road boundary.
7. The method of claim 6, wherein the performing data cleansing on the travel track data set to obtain a data-cleansed travel track data set comprises:
acquiring the number of abnormal track points in a plurality of running tracks in the running track data set, and removing first target running tracks with the number of the abnormal track points being greater than a preset number; or/and the like,
obtaining running speeds corresponding to a plurality of running tracks in the running track data set respectively, and removing a second target running track with the absolute value of the difference between the running speeds and the speed limit information of the target road being larger than a preset value; or/and the like,
and acquiring curvature information corresponding to a plurality of running tracks in the running track data set, and removing a third target running track corresponding to abnormal curvature information in the curvature information.
8. A road boundary determining apparatus, characterized in that the apparatus comprises:
the data acquisition module is used for acquiring a running track data set, wherein the running track data set comprises a plurality of running tracks on a target road;
the area determining module is used for determining running areas corresponding to the running tracks respectively based on the running tracks, wherein the running areas corresponding to the running tracks comprise a first running boundary line and a second running boundary line corresponding to the running tracks, and the first running boundary line and the second running boundary line corresponding to the running tracks are respectively positioned at two sides of the running tracks;
the first boundary determining module is used for determining a first road boundary of the target road based on first driving boundary lines corresponding to the driving tracks respectively;
and the second boundary determining module is used for determining a second road boundary of the target road based on second running boundary lines corresponding to the running tracks respectively.
9. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein one or more of the applications are stored in the memory and configured to be executed by one or more of the processors, the one or more applications configured to perform the roadway boundary determination method of any one of claims 1-7.
10. A computer readable storage medium having stored therein computer program instructions that are callable by a processor to perform the road boundary determination method as claimed in any one of claims 1 to 7.
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