CN117007030A

CN117007030A - Map element determination method, electronic device and computer program product

Info

Publication number: CN117007030A
Application number: CN202210454987.9A
Authority: CN
Inventors: 魏涛
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2023-11-07

Abstract

The embodiment of the disclosure discloses a method for determining map elements, electronic equipment and a computer program product, wherein the method comprises the following steps: screening target product elements in the high-precision map data; determining whether a stop line matching the target product element exists in the high-precision map data; when the high-precision map data does not have the stop line matched with the target product element, generating the stop line matched with the target product element based on a stop line generation principle corresponding to the target product element; and determining the stop position corresponding to the target product element based on the stop line corresponding to the target product element. According to the technical scheme, the stopping positions corresponding to the relevant product elements can be expressed in the high-precision map data, so that the high-precision map is expressed more accurately, decision basis can be provided for the intelligent driving vehicle when the intelligent driving vehicle meets traffic management facilities and needs to stop, and the safety of intelligent driving can be improved.

Description

Map element determination method, electronic device and computer program product

Technical Field

The disclosure relates to the technical field of geographic information, in particular to a method for determining map elements, electronic equipment and a computer program product.

Background

With the development of Location Based Services (LBS), more and more application software has integrated service capabilities related to electronic maps, and at the same time, electronic maps have also begun to evolve from standard maps to high-definition maps. The intelligent city management, lane-level navigation, driving assistance, advanced driving assistance, automatic driving and other scenes can be supported based on the high-precision map. Taking driving scenes as an example, the high-precision map can be used for supporting intelligent driving vehicles to realize functions of transverse control, longitudinal control, high-precision positioning and the like.

The high-precision map abstracts the real world space ground feature elements and carries out logic expression in a semantic mode. Map elements expressed in the high-precision map are hundreds of kinds, and the map elements comprise road facilities such as roads, lanes, green belts and the like, and traffic management facilities such as traffic signs, cameras and traffic lights, and the traffic management facilities are generally used for reminding traffic participants of safely passing according to corresponding traffic management rules, and the traffic participants need to make corresponding driving operations when seeing the corresponding traffic management facilities. For example, a traffic participant driving a trip may need to stop the vehicle from traveling when he sees a red light in the traffic light. The inventor of the present disclosure finds that, although traffic lights are deployed on some roads in reality, a stop line is not drawn on the road, and this situation does not affect the judgment that a traffic participant stops driving when the red light is on, and the traffic participant can stop the vehicle at a suitable position according to the actual condition of the road. However, this situation affects intelligent driving because the real world does not draw a stop line road, and the existing high-precision map does not correlate with a stop line for such road, whereas for an intelligent driving vehicle, if the road in the high-precision map does not correlate with a stop line, the intelligent driving vehicle encounters a red light, and the problem that the stop position cannot be decided due to lack of decision basis occurs. Therefore, how to express map elements that are actually not expressed on the real-world roads but are required to be expressed on the high-definition map is a problem that needs to be solved by those skilled in the art.

Disclosure of Invention

The embodiment of the disclosure provides a method for determining map elements, electronic equipment and a computer program product.

In a first aspect, an embodiment of the present disclosure provides a method for determining a map element, where the method includes:

screening target product elements in the high-precision map data;

determining whether a stop line matching the target product element exists in the high-precision map data;

when the high-precision map data does not have the stop line matched with the target product element, generating the stop line matched with the target product element based on a stop line generation principle corresponding to the target product element;

and determining the stop position corresponding to the target product element based on the stop line corresponding to the target product element.

Further, generating a stop line matched with the target product element based on a stop line generation principle corresponding to the target product element includes:

generating attribute information of the stop line based on the stop line generation principle and the position information of the target product element;

and establishing an association relationship between the stop line and the association element based on the attribute information of the stop line and the association relationship between the target product element and the association element of the target product element.

Further, determining the stop position corresponding to the target product element based on the stop line corresponding to the target product element includes:

determining lane boundary lines of the associated lanes of the stop line;

the stop position is determined based on an intersection position between the stop line and the lane boundary line.

Further, the method further comprises:

and establishing a mapping relation between the stopping position and the target product element, the associated lane and/or the associated road.

Further, when the target product element is a traffic light, establishing a mapping relationship between the stop position and the target product element, an associated lane and/or an associated road, including:

determining the stop positions corresponding to different lamp state combinations of the traffic lamps;

and establishing a mapping relation between different lamp state combinations of the traffic lamp and the corresponding stopping positions.

Further, the method further comprises:

and expressing the spatial position of the stop position by adopting a preset association element of the stop position in the high-precision map data.

In a second aspect, in an embodiment of the present disclosure, there is provided a method for providing a location-based service for a served object by using a stop location determined by the method in the first aspect, where the location-based service includes: navigation, map rendering, route planning.

In a third aspect, in an embodiment of the present disclosure, a data providing method is provided, where the method sends a stop position determined by using the method described in the first aspect to a vehicle intelligent driving decision system, for use by the vehicle intelligent driving decision system.

In a fourth aspect, an embodiment of the present disclosure provides a map element determining apparatus, including:

a screening module configured to screen target product elements in the high-precision map data;

a first determination module configured to determine whether a stop line matching the target product element exists in the high-precision map data;

a generation module configured to generate a stop line matching the target product element based on a stop line generation principle corresponding to the target product element when the stop line matching the target product element does not exist in the high-precision map data;

and a second determining module configured to determine a stop position corresponding to the target product element based on a stop line corresponding to the target product element.

The functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

In one possible design, the structure of the above apparatus includes a memory for storing one or more computer instructions for supporting the above apparatus to perform the corresponding method, and a processor configured to execute the computer instructions stored in the memory. The apparatus may further comprise a communication interface for the apparatus to communicate with other devices or a communication network.

In a fifth aspect, an embodiment of the present disclosure provides an electronic device, including a memory, a processor, and a computer program stored on the memory, where the processor executes the computer program to implement the method of any one of the above aspects.

In a sixth aspect, embodiments of the present disclosure provide a computer readable storage medium storing computer instructions for use by any one of the above-described apparatuses, which when executed by a processor, are configured to implement the method of any one of the above-described aspects.

In a seventh aspect, embodiments of the present disclosure provide a computer program product comprising computer instructions for implementing the method of any one of the above aspects when executed by a processor.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

In order to express map elements in the high-precision map, which are not actually expressed by roads in the real world but are required to be expressed in the high-precision map, a stop position is made for a target product element relating to a stop line in the embodiment of the present disclosure. In the process of manufacturing the stop position, the target product element needing to be manufactured at the stop position is firstly screened from the high-precision map data, then whether the corresponding stop line exists in the target product element or not is determined, if the corresponding stop line does not exist, a corresponding stop line is manufactured, and then the stop position corresponding to the target product element is determined based on the stop line. By the method, the stopping positions corresponding to the relevant product elements can be expressed in the high-precision map data, so that the high-precision map is expressed more accurately, decision basis can be provided for the intelligent driving vehicle when the intelligent driving vehicle meets traffic management facilities and needs to stop, and the safety of intelligent driving can be improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

FIG. 1 illustrates a flow chart of a method of determining map elements according to an embodiment of the present disclosure;

FIG. 2 illustrates an intersection stop line and stop position production schematic according to one embodiment of the present disclosure;

FIG. 3 illustrates a schematic view of an application of a stop position on an autonomous vehicle according to an embodiment of the present disclosure;

fig. 4 shows a block diagram of a configuration of a determination device of map elements according to an embodiment of the present disclosure;

fig. 5 is a schematic structural view of an electronic device suitable for use in implementing a method of determining map elements, a method of providing location-based services, and/or a method of providing data according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.

In this disclosure, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in this specification, and do not preclude the presence or addition of one or more other features, numbers, steps, acts, components, portions, or combinations thereof.

In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Details of embodiments of the present disclosure are described in detail below with reference to specific embodiments.

Fig. 1 shows a flowchart of a method of determining map elements according to an embodiment of the present disclosure. As shown in fig. 1, the method for determining the map element includes the following steps:

in step S101, a target product element in the high-precision map data is screened;

in step S102, determining whether a stop line matching the target product element exists in the high-precision map data;

in step S103, when no stop line matching the target product element exists in the high-precision map data, generating a stop line matching the target product element based on a stop line generation principle corresponding to the target product element;

in step S104, a stop position corresponding to the target product element is determined based on the stop line corresponding to the target product element.

In this embodiment, the method for determining the map element may be performed on a server. The target product element may be a product element in the high-definition map data that relates to a stop line, the target product element corresponding to a road element in a real road scene. Road elements in real road scenes that relate to stop lines may include, but are not limited to, traffic lights, stop-giving signs, stop-checking signs, speed-reducing-giving signs, attention-to-pedestrians signs, crosswalk signs, stop lines, stop-giving lines, speed-reducing-giving lines, mesh lines, crosswalk zebra lines, open-close bridges, etc. The road elements in the real road scene can be expressed in the high-precision map data through the product types and the corresponding values thereof, for example, the traffic facility type value is a traffic light, the traffic sign type value is a parking yielding sign, a parking inspection sign, a speed reduction yielding sign, a pedestrian attention sign or a crosswalk sign and the like, the marking type value is a stop line, a parking yielding line, a speed reduction yielding line, a mesh line or a crosswalk zebra crossing, the bridge type value is an opening and closing bridge and the like.

In some embodiments, the high-precision map data may be searched for target product elements within the target area that meet a stop line screening condition that may be set to be of the type traffic facility and value traffic lights, of the type traffic sign and value stop giving signs, stop checking signs, speed reduction giving signs, attention to pedestrians or crosswalk signs, and of the type stop lines, stop giving lines, speed reduction giving lines, mesh lines or crosswalk zebra lines. And screening out target product elements meeting the stop line screening conditions from the high-precision map data in the target area. The target area may be set based on actual needs, for example, may be a city, an area in a city, or the like, and is not particularly limited herein.

In the embodiment of the disclosure, for each selected target product element, it may be determined whether a stop line matching the target product element exists in the high-precision map data, and the stop line may be referred to as an existing stop line in order to distinguish from a virtual stop line manufactured as mentioned later. The existing stop line may be an actual stop line existing in a real road scene or a virtual stop line established previously. It should be noted that, because real road scenes may be complex, some real road scenes do not draw corresponding stop lines at corresponding positions, and drivers usually determine parking occasions and stop positions according to traffic facilities, traffic signs, other marking lines and their own driving experiences. However, since the automatic driving apparatus must rely on high-precision map data, it is necessary to create a stop line corresponding to the target product in the high-precision map data.

For this reason, when the existing stop line corresponding to the target product element does not exist in the high-definition map data, a virtual stop line corresponding to the target product element may be generated. A virtual stop line is understood to be a stop line that is not present in a real road scene, but is created and added in the high-precision map data, and its presence is different from that of the real stop line, and other attribute information such as position, length, width, extending direction, etc. in the high-precision map are consistent with the expression of the real stop line in the high-precision map data.

In a real road scene, some target product elements have been associated with actual stop lines, which have also been made in the high-precision map data, while some target product elements may not have associated actual stop lines in a real road scene, for which it is necessary to make stop lines in the high-precision map data, which may be referred to as virtual stop lines for differentiation. For this reason, the embodiments of the present disclosure may create the virtual stop line after judging that there is no actual stop line or a target product element for which the virtual stop line was not previously created.

In the process of producing the virtual stop line, since the attribute information of the stop line corresponding to different target product elements may be different, a stop line generation rule may be set in advance for each target product element, and a virtual stop line corresponding to the target product element may be generated based on the stop line generation rule in producing the virtual stop line. The stop line generation principle may follow the rule of drawing a stop line in a real road scene, and may specifically be determined according to a standard related to an actual road traffic facility, which is not particularly limited herein. It should be noted that, the stop line generation principle is related to a type related to the target product element, and different types of target product elements may correspond to different stop line generation principles.

In the high-definition map data, if there is an existing stop line corresponding to the target product element, such as an actual stop line or a virtual stop line that has been created before based on processing of other target product elements, the creation of the virtual stop line may not be performed but the next step may be performed.

When an existing stop line exists or when a virtual stop line is generated without the existing stop line, the stop position corresponding to the target product element may be determined based on the existing stop line (when the existing stop line exists) or the virtual stop line (when the existing stop line does not exist but the virtual stop line is created). The stop position is understood to be a position at which the traveling object faces the target product element and is to be stopped when stopping is required.

Fig. 2 illustrates an intersection stop line and stop position production schematic according to an embodiment of the present disclosure. As shown in fig. 2, the traffic light 2 (TL 2) controls the state in which the vehicle should stop and be passable on the straight-ahead lane L2-1. When the traffic light 2 (TL 2) is a red light, the vehicle on the corresponding straight lane L2-1 should stop behind the stop line (SL 1) without exceeding the stop line, and the stop position at this time may be made on the stop line corresponding to the lane L2-1, for example, the stop position may be taken as the stop position at the center of the stop line, that is, SP2.

In some embodiments, when a stop line matched with a target product element exists in a real road scene, a presence form attribute of the actual stop line may be generated and assigned as the actually existing stop line, and when a stop line matched with the target product element does not exist in the real road scene, a virtual stop line may be generated, and a presence form attribute of the virtual stop line may be generated and assigned as the virtually existing stop line. In other embodiments, a presence attribute may be generated for a stop position corresponding to an actual stop line, where the attribute value is an actually present stop position, and a presence attribute may be generated for a stop position corresponding to a virtual stop line, where the attribute value is a virtually present stop position.

In the embodiment of the disclosure, in order to improve or optimize the high-precision map data, when a stop position is made for a target product element related to a stop line, the target product element required to make the stop position may be screened from the high-precision map data first, then it is determined whether the target product element already has a corresponding existing stop line, if the existing stop line does not exist, a corresponding virtual stop line is made, and then the stop position corresponding to the target product element is determined based on the existing stop line or the virtual stop line. By the method, the stopping positions corresponding to the relevant product elements can be added in the high-precision map data, so that the high-precision map data is richer and more accurate, safe driving of the automatic driving equipment can be effectively supported, and safety of the automatic driving equipment is improved.

In an optional implementation manner of this embodiment, the step of generating the stop line matched with the target product element according to the stop line generation principle corresponding to the target product element further includes the following steps:

In this alternative implementation manner, a preset stop line generation principle may be acquired based on a target product element, it may be understood that attribute information such as a position and an extending direction of a stop line is generally related to information based on a type of the target product element, position information of the target product element, and the like, and the stop line generation principle is differently set based on a type of the target product element, so after the stop line generation principle is acquired, attribute information of the stop line may be determined based on the stop line generation principle and information of a position of the target product element in high-precision map data, where the attribute information of the stop line may include, but is not limited to, an identifier, a type, position information, a length, a width, an extending direction, and the like of the stop line in the high-precision map data.

Illustrating the stop line generation process:

in the scenario where there is a crosswalk marking and no stop line, that is, the crosswalk representation is performed for the target product element, the corresponding stop line generation principle may include, but is not limited to, that the stop line drawing position should not exceed the crosswalk, and at the same time, there should not be a spatial cross relation with the crosswalk, and the distance from the boundary of the crosswalk representation to the stop line is within a preset range, such as 50cm to 250cm.

Under the scenes of no crosswalk marking, traffic sign board passing pedestrians and no stop line, the corresponding stop line generation principle can include, but is not limited to, that the stop line drawing position is comprehensively judged by combining the positions of the traffic sign boards passing pedestrians, and the stop line is drawn within a preset distance range (such as 250 cm) before and after the positions of the traffic sign boards passing pedestrians.

The stop line is a linear geometric representation, the direction of which is in a perpendicular relationship with the longitudinal direction of travel of the vehicle.

After the attribute information of the stop line is determined, the attribute information may be added to the high-definition map data, and an association relationship may also be established between the attribute information of the stop line and other product elements. The other product element may be an associated element having an association relationship with the target product element, and the stop line may also have a certain limiting effect on the associated element, or when the high-definition map data is used to provide a location service for the traveling object, the location service related to the associated element may set the stop line. For example, the current target product element is a traffic light, and other product elements associated with the traffic light may include a crosswalk zebra crossing before the traffic light, and the stop line established for the traffic light may actually be a stop line corresponding to the crosswalk zebra crossing, so that an association relationship may be established between attribute information of the crosswalk zebra crossing and the stop line.

In an optional implementation manner of this embodiment, in step S104, the step of determining the stop position corresponding to the target product element based on the stop line corresponding to the target product element further includes the following steps:

determining lane boundary lines of the associated lanes of the stop line;

In this alternative embodiment, the travel object does not normally exceed the stop line when stopping, so that the stop position can be set according to the position of the stop line on the basis of this principle.

Whether the actual stop line or the virtual stop line is a line crossing a lane, the target product element in the high-precision map data generally has an associated lane, that is, the lane where the target product element is located in the real road scene, and the attribute information of two lane lines of the lane can be stored in the high-precision map data, so that the intersection position of the existing stop line or the newly manufactured virtual stop line and the lane line can be determined based on the attribute information of the lane associated with the target product element and the lane line of the lane, and the stop position corresponding to the target product element can be determined based on the intersection position. For example, the stop position of the target product element may be set at the midpoint of the intersection position.

In an alternative implementation of this embodiment, the method further includes the steps of:

In this alternative implementation manner, after determining the stop position corresponding to the target product element, a mapping relationship between the stop position and the target product element may be established, and the mapping relationship may be added to the high-precision map data.

In some embodiments, after determining the stopping position corresponding to the target product element, a vertical ray may be made outward through the stopping position, so as to calculate a lane center line that is closest to the stopping position in space, where a lane corresponding to the lane center line may be determined as an associated lane corresponding to the stopping position, and a mapping relationship may be established between the associated lane and the stopping position.

One way of calculating the spatial distance between the stop position and the lane center line is given below:

wherein x, y, z represent the stop position or the spatial position coordinates of the intersection of the vertical ray from the stop position and the lane centerline, respectively.

As shown in fig. 2, the stop position SP2 is perpendicular to the lane center line in the vicinity, and the shortest spatial distance between the stop position SP2 and the lane center line L2-1 can be determined by a spatial distance calculation formula, and the mapping relationship between the stop position SP2 and the number of the lane center line L2-1 can be recorded in high-precision map data.

In other embodiments, the grouping relationship and the mapping relationship between the lane center line and the road line can be known through the grouping relationship of the lanes in the high-precision map data, that is, the road relationship table of the lane center line and the matched road section, and the mapping relationship between the stop position and the lane line corresponding to the lane center line can be obtained based on the mapping relationship between the stop position and the lane center line, that is, the mapping relationship between the stop position and the associated lane can be established.

As shown in fig. 2, the lane center line L2-1 and the lane line R1-1 are grouped together, and the map relationship between the stop position SP2 and the lane center line L2-1 is established, so that the map relationship between the stop position SP2 and the lane line R1-1 can be obtained.

The mapping relation between the stop position and the road line is established through the lane center line based on the stop position, so that the number of the corresponding lane line can be obtained, and the mapping relation between the stop position and the lane line is established, namely the mapping relation between the stop position and the associated road can be considered to be established.

That is, after the stop position is determined, a mapping relationship between the stop position, the associated lane, the associated road, and/or the target product element may be established.

One expression of the stop position in the high-precision map data is illustrated below:

the expression of the stop position includes, but is not limited to, spatial geometric information, attribute content and association relation of the stop position; the spatial geometry information of the stop position can be expressed in a punctiform geometry, and can also carry elevation or relative height information based on the relevant regulations.

The attribute content of the stop location may include, but is not limited to, an identification of the stop location (which may be a unique code in a database), a type (e.g., traffic light stop location, crosswalk stop location, traffic sign stop location, etc.), a confidence level, a serial number of the stop location (which may be numbered in lane order), a picture number in a high-definition map where the stop location is located, a region code, etc.

The association of the stop position may include, but is not limited to, an association with a road segment where the road is located, an association with a lane where the road is located, an association with a corresponding road transportation facility (traffic light, traffic sign, crosswalk, etc.), and the like.

In an optional implementation manner of this embodiment, when the target product element is a traffic light, the step of establishing a mapping relationship between the stop position and the mapping relationship between the target product element, the associated lane and/or the associated road further includes the steps of:

In this alternative implementation, the same target product element may correspond to multiple stop positions. This is because in some road scenarios, such as when the target product element is a traffic light, the same lane to which the same traffic light corresponds may correspond to a plurality of stop lines, and one stop position may be set for each stop line.

As shown in fig. 2, two stop lines SL1 and SL3 exist on the left-turn lane (the left-turn lane corresponding to the lane center line L1-3) corresponding to the same left-turn traffic light TL-1, and the two stop lines SL1 and SL3 determine the stop positions SP1 and SP4, respectively, and when the traffic light TL-1 is a red light, the traveling object can stop at SP1 or SP4, and the specific stop position is related to the combination of the light states of the traffic lights. For example, when the left turn traffic light TL-1 is red light and the straight traffic light TL2 is red light, the traveling object on the left turn lane needs to stop near the stop position SP1, and when the left turn traffic light TL-1 is red light and the straight traffic light TL2 is green light, the form object on the left turn lane may stop at the stop position SP 4.

Thus, based on the above description, a mapping relationship between the stop position and different light state combinations of the traffic light may be established in the embodiments of the present disclosure. In the automatic driving control process, the automatic driving apparatus may be controlled to stop at an appropriate stop position directly based on the map.

In this alternative implementation, the spatial position expression of the stop position in the high-precision map data may be expressed by using, in addition to longitude and latitude coordinates, a relative position of a preset association element associated with the stop position. For example, the spatial position of the stop position may be expressed based on a lane center line, a stop line, or the like associated with the stop position, for example, the spatial position of the stop position may be expressed as parameters of the lane center line and the stop line, and the intersection position between the lane center and the stop line may be used as the stop position or the like when the stop position is actually used for navigation.

According to an embodiment of the present disclosure, a location-based service providing method provides a location-based service to a served object using a stop location determined by the above-described map element determination method, the location-based service including: navigation, map rendering, route planning.

In this embodiment, the location-based service providing method may be executed on a location service terminal, where the location service terminal is a mobile phone, ipad, a computer, a smart watch, a vehicle-mounted device, or the like. According to the embodiment of the disclosure, the virtual stop line and the stop position mark can be generated for the production of the target product element related to the stop line on the high-precision map in the production or updating process of the high-precision map. After the high-precision map data can be provided for the position service terminal, the position service terminal indicates or controls the served object to stop at the stop position in the navigation process based on the stop position, and the position service terminal can also render a map, plan a path and the like according to the stop position.

The served object may be a cell phone, ipad, computer, smart watch, autopilot, robot, etc. The server may add the stopping position obtained by the method to the high-precision map data, and when the position service terminal navigates the served object, plans the path or renders the road on the map, the position service terminal outputs the navigation action based on the stopping position in the high-precision map data, and details of the method for determining the map element may be referred to the description of the method for determining the map element, which is not repeated herein.

According to one embodiment of the present disclosure, a method for providing data sends a stop position obtained by the above method for determining map elements to a vehicle intelligent driving decision system for use by the vehicle intelligent driving decision system.

In this embodiment, the data providing method may be executed on a server. The server generates the stopping position obtained by the map element determining method to the intelligent driving decision system of the vehicle, and the intelligent driving decision system of the vehicle can control the automatic driving process of the intelligent driving vehicle on the road based on the received stopping position, for example, the intelligent driving decision system can control the automatic driving vehicle to stop at the stopping position when encountering a red light or other parking signs based on the stopping position. For specific details of the stop position determination, reference may be made to the above description of the determination method of the map element, which is not repeated here.

Fig. 3 illustrates a schematic of an application of a stop position on an autonomous vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the data server may maintain high-precision map data. As described above, in the high-precision map data, it is possible to determine the stop bit for the target road element relating to the stop line, and establish a mapping relationship between the stop bit and the target road element, such mapping relationship being recorded in the high-precision map data. The data server may provide the produced high-precision map data to the navigation server.

In the automatic driving process of the automatic driving vehicle, the navigation server can provide the high-precision map data for vehicle-mounted equipment on the automatic driving vehicle, and the vehicle-mounted equipment generates an automatic driving instruction for the vehicle based on the high-precision map data so as to control the automatic driving vehicle to execute corresponding driving actions in the driving process.

The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure.

Fig. 4 shows a block diagram of a configuration of a map element determination apparatus according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device by software, hardware, or a combination of both. As shown in fig. 4, the map element determination device includes:

a screening module 401 configured to screen target product elements in the high-precision map data;

a first determination module 402 configured to determine whether a stop line matching the target product element exists in the high-precision map data;

a generating module 403, configured to generate a stop line matched with the target product element based on a stop line generating principle corresponding to the target product element when the stop line matched with the target product element does not exist in the high-precision map data;

A second determining module 404 is configured to determine a stop position corresponding to the target product element based on a stop line corresponding to the target product element.

In an optional implementation manner of this embodiment, the first generating sub-module includes:

a second generation sub-module configured to generate attribute information of the stop line based on the stop line generation principle and the position information of the target product element;

the first establishing sub-module is configured to establish an association relationship between the stop line and the association element based on the attribute information of the stop line and the association relationship between the target product element and the association element of the target product element.

In an optional implementation manner of this embodiment, the second determining module includes:

a first determination sub-module configured to determine lane boundary lines of associated lanes of the stop line;

a second determination sub-module configured to determine the stop position based on an intersection position between the stop line and the lane boundary line.

In an alternative implementation of this embodiment, the apparatus further includes:

and the establishing module is configured to establish a mapping relation between the stopping position and the target product element, the associated lane and/or the associated road.

In an optional implementation manner of this embodiment, the establishing module includes:

a third determination sub-module configured to determine the stop position corresponding to different light state combinations of the traffic light;

and the second building sub-module is configured to build a mapping relation between different lamp state combinations of the traffic lamps and the corresponding stopping positions.

and the expression module is configured to express the spatial position of the stop position by adopting a preset association element of the stop position in the high-precision map data.

A location-based service providing apparatus according to an embodiment of the present disclosure provides a location-based service for a served object using a stop location determined by the above-described map element determining apparatus, the location-based service including: navigation, map rendering, route planning.

In this embodiment, the location-based service providing apparatus may be executed on a location service terminal, which is a mobile phone, ipad, a computer, a smart watch, a vehicle-mounted device, or the like. According to the embodiment of the disclosure, the virtual stop line and the stop position mark can be generated for the production of the target product element related to the stop line on the high-precision map in the production or updating process of the high-precision map. After the high-precision map data can be provided for the position service terminal, the position service terminal indicates or controls the served object to stop at the stop position in the navigation process based on the stop position, and the position service terminal can also render a map, plan a path and the like according to the stop position.

The served object may be a cell phone, ipad, computer, smart watch, autopilot, robot, etc. The server may add the stopping position obtained by the above device to the high-precision map data, and when the location service terminal navigates for the served object, plans a path, or renders a road on the map, the location service terminal outputs a navigation action based on the stopping position in the high-precision map data, and details of the navigation action may be referred to the above description of the determining device for the map element, which is not repeated herein.

According to one embodiment of the present disclosure, a data providing device sends a stop position obtained by the map element determining device to a vehicle intelligent driving decision system for use by the vehicle intelligent driving decision system.

In this embodiment, the data providing apparatus may be executed on a server. The server generates the stopping position obtained by the map element determining device to the intelligent driving decision system of the vehicle, and the intelligent driving decision system of the vehicle can control the automatic driving process of the intelligent driving vehicle on the road based on the received stopping position, for example, the intelligent driving decision system can control the automatic driving vehicle to stop at the stopping position when encountering a red light or other parking signs based on the stopping position. For specific details of the stop position determination, reference may be made to the description of the determination device for map elements, which is not repeated here.

As shown in fig. 5, the electronic device 500 includes a processing unit 501, which may be implemented as a processing unit such as CPU, GPU, FPGA, NPU. The processing unit 501 may execute various processes in the embodiments of any of the above methods of the present disclosure according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the electronic apparatus 500 are also stored. The processing unit 501, the ROM502, and the RAM503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.

In particular, according to embodiments of the present disclosure, any of the methods described above with reference to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing any of the methods of embodiments of the present disclosure. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 509, and/or installed from the removable medium 511.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware. The units or modules described may also be provided in a processor, the names of which in some cases do not constitute a limitation of the unit or module itself.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the apparatus described in the above embodiment; or may be a computer-readable storage medium, alone, that is not assembled into a device. The computer-readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which any combination of features described above or their equivalents is contemplated without departing from the inventive concepts described. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).

Claims

1. A method for determining map elements, comprising:

screening target product elements in the high-precision map data;

2. The method of claim 1, wherein generating a stop line that matches the target product element based on a stop line generation principle corresponding to the target product element comprises:

generating attribute information related to the position of the stop line based on a stop line generation principle corresponding to the target product element and the position information of the target product element;

and establishing attribute information related to the association relationship between the stop line and the association element based on the attribute information of the stop line and the association relationship between the target product element and the association element.

3. The method of claim 2, wherein determining the stop position corresponding to the target product element based on the stop line corresponding to the target product element comprises:

And determining a stop position corresponding to the target product element based on a stop line corresponding to the target product element and an association relation between the stop line and the association element.

4. The method of claim 3, wherein the associated element is a lane, and the determining the stop position corresponding to the target product element is based on a stop line corresponding to the target product element and an association relationship between the stop line and the associated element:

determining lane boundary lines of the associated lanes of the stop line;

5. The method according to claim 1 or 2, wherein the method further comprises:

6. The method according to claim 1 or 2, wherein, when the target product element is a traffic light, establishing a mapping relationship between the stop position and the target product element, associated lane and/or associated road comprises:

7. The method according to claim 1 or 2, wherein the method further comprises:

8. A method of providing location-based services for a served object using a stop location determined by the method of any of claims 1-7, the method comprising: navigation, map rendering, route planning.

9. A data providing method of transmitting a stop position determined using the method of any one of claims 1-6 to a vehicle intelligent driving decision system for use by the vehicle intelligent driving decision system.

10. A map element determining apparatus, comprising:

11. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of claims 1-9.

12. A computer program product comprising computer instructions which, when executed by a processor, implement the method of any one of claims 1-9.