CN117218305A

CN117218305A - Method, device, equipment, medium and product for determining road capping relation

Info

Publication number: CN117218305A
Application number: CN202311014050.0A
Authority: CN
Inventors: 谢文虎; 徐晓鹏
Original assignee: Navinfo Co Ltd
Current assignee: Navinfo Co Ltd
Priority date: 2023-08-11
Filing date: 2023-08-11
Publication date: 2023-12-12

Abstract

The embodiment of the specification discloses a method, a device, equipment, a medium and a product for determining a road capping relation, wherein the method comprises the following steps: obtaining geometric shape points of at least two roads in a high-precision map; calculating bounding boxes corresponding to the at least two roads respectively based on the geometric shape points; judging whether each obtained bounding box is intersected or not to obtain a judging result; if the judgment result shows that the bounding boxes are intersected, determining that a road capping relationship exists between the at least two roads; and if the judgment result indicates that the bounding boxes are not intersected, determining that the at least two roads have no road capping relation. According to the embodiment of the description, the bounding boxes corresponding to the roads are calculated, and then the road capping relation of the roads is determined according to whether the bounding boxes intersect or not, so that the road capping relation of the roads can be rapidly determined.

Description

Method, device, equipment, medium and product for determining road capping relation

Technical Field

The application relates to the technical field of high-precision maps, in particular to a method, a device, equipment, a medium and a product for determining a road capping relation.

Background

With the rapid development of internet technology, a high-precision map becomes an indispensable tool for people to travel daily. For example, when a user enters a strange environment without knowing how to reach a destination, a travel path is often determined by a high-precision map.

In the high-precision map, the road map relation between roads may be a level crossing road map (simply referred to as level crossing road map) or an interchange road map (simply referred to as interchange road map). The road capping of the grade separation refers to the condition that two roads are actually intersected, and the road capping of the grade separation refers to the condition that two roads are not actually intersected but the projection of the two roads on the ground plane is intersected.

At present, a point-polygon intersection judgment algorithm and a line segment-polygon intersection judgment algorithm are adopted to determine whether a road has a road capping relationship. However, when the number of roads is large, the calculation amount is very large, and thus the road capping relation of the roads cannot be determined quickly.

Disclosure of Invention

The embodiment of the specification provides a method, a device, equipment, a medium and a product for determining a road capping relation, which are used for solving the problem of low determination speed in the existing road capping relation determination method.

In order to solve the above technical problems, the embodiments of the present specification are implemented as follows:

the method for determining the road capping relation provided by the embodiment of the specification comprises the following steps:

obtaining geometric shape points of at least two roads in a high-precision map;

calculating bounding boxes corresponding to the at least two roads respectively based on the geometric shape points;

judging whether each obtained bounding box is intersected or not to obtain a judging result;

if the judgment result shows that the bounding boxes are intersected, determining that a road capping relationship exists between the at least two roads;

and if the judgment result indicates that the bounding boxes are not intersected, determining that the at least two roads have no road capping relation.

Optionally, the determining that the at least two roads have a road capping relationship specifically includes:

determining a first geometric surface of a first road of the at least two roads and a second geometric surface of a second road of the at least two roads based on the boundary of the at least two roads;

and determining that the first road and the second road have a road capping relationship according to the first geometric surface and the second geometric surface.

Optionally, the determining that the first road and the second road have a road capping relationship specifically includes:

judging whether the first geometric surface is intersected with the second geometric surface or not by utilizing a polygonal intersected broken line algorithm;

if the first geometric surface and the second geometric surface are not intersected, determining that a road capping relationship does not exist between the first road and the second road;

and if the first geometric surface and the second geometric surface intersect, determining that a road capping relationship exists between the first road and the second road.

Optionally, the method further comprises:

establishing a Cartesian coordinate system, and determining coordinates of geometric shape points of the first road and the second road in the Cartesian coordinate system;

and if the first geometric surface and the second geometric surface intersect, determining that a road capping relationship exists between the first road and the second road, specifically including:

if the first geometric surface and the second geometric surface intersect, determining a first geometric shape point of the first road and a second geometric shape point of the second road; the difference value between the abscissa of the first geometric shape point in the Cartesian coordinate system and the abscissa of the second geometric shape point in the Cartesian coordinate system is smaller than or equal to a first preset threshold value;

And determining that the first road and the second road have a road capping relation according to a first vertical coordinate of the first geometric point in the Cartesian coordinate system and a second vertical coordinate of the second geometric point in the Cartesian coordinate system.

Optionally, the determining that the first road and the second road have a road capping relationship according to a first vertical coordinate of the first geometric point in the cartesian coordinate system and a second vertical coordinate of the second geometric point in the cartesian coordinate system specifically includes:

if the difference value between the first vertical coordinate and the second vertical coordinate is smaller than or equal to a second preset threshold value, determining that the first road and the second road are a road cover of a level crossing;

and if the difference value between the first vertical coordinate and the second vertical coordinate is larger than a second preset threshold value, determining that the first road and the second road are the interchange road capping.

determining a first centerline of a first one of the at least two roads and a second centerline of a second one of the at least two roads;

And determining that the first road and the second road have a road capping relationship according to the first central line and the second central line.

Optionally, the determining that the first road and the second road have a road capping relationship according to the first central line and the second central line specifically includes:

judging whether the first central line is intersected with the second central line or not by utilizing a scanning line algorithm of broken line intersection;

if the first central line and the second central line are not intersected, determining that a road capping relationship does not exist between the first road and the second road;

and if the first central line and the second central line are intersected, determining that a road capping relationship exists between the first road and the second road.

Optionally, before the determining the first geometric surface of the first road of the at least two roads and the second geometric surface of the second road of the at least two roads based on the boundary of the at least two roads, further comprises:

determining a first centerline of the first road and a second centerline of the second road;

judging whether the first central line and the second central line are intersected or not;

If the first centerline and the second centerline do not intersect, determining a first geometric surface of a first one of the at least two roads and a second geometric surface of a second one of the at least two roads based on the boundary of the at least two roads.

Optionally, the method further comprises:

dividing the area of the high-precision map;

the obtaining the geometric shape points of at least two roads in the high-precision map specifically comprises the following steps:

for any area of the divided high-precision map, acquiring geometric shape points of at least two roads in any area

The embodiment of the present specification provides a computer device, including:

the acquisition module is used for acquiring geometric shape points of at least two roads in the high-precision map;

the calculation module is used for calculating bounding boxes corresponding to the at least two roads respectively based on the geometric shape points;

the judging module is used for judging whether the obtained bounding boxes are intersected or not to obtain a judging result;

the first determining module is used for determining that the at least two roads have a road capping relation when the judging result shows that the bounding boxes are intersected;

and the second determining module is used for determining that the at least two roads do not have a road capping relation when the judging result shows that the bounding boxes are not intersected.

The embodiment of the specification provides a computer device, which comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of the method.

Embodiments of the present disclosure provide a computer readable medium having stored thereon computer readable instructions executable by a processor to implement the steps of the method described above.

The embodiments of the present description provide a computer program product comprising computer instructions which, when executed by a processor, implement the steps of the method described above.

One embodiment of the present specification achieves the following advantageous effects: the road capping relation of the road is determined according to whether the bounding boxes intersect or not by calculating the bounding boxes corresponding to the road, namely, if the bounding boxes intersect, the road capping relation is determined to exist, and if the bounding boxes do not intersect, the road capping relation is determined to not exist, so that the road capping relation of the road can be rapidly determined.

Drawings

In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a method for determining a road capping relationship according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a bounding box intersection provided in an embodiment of the present disclosure;

fig. 3 is a flow chart of a method for determining a road capping relationship according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of one or more embodiments of the present specification more clear, the technical solutions of one or more embodiments of the present specification will be clearly and completely described below in connection with specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without undue burden, are intended to be within the scope of one or more embodiments herein.

The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.

In order to solve the drawbacks of the prior art, the present solution provides the following embodiments:

fig. 1 is a schematic flow chart of a method for determining a road capping relationship according to an embodiment of the present disclosure, and from a program perspective, an execution subject of the flow may be a program or an application client that is installed on an application server or a cloud. As shown in fig. 1, the method for determining the road capping relationship may include the steps of:

step 102: and obtaining geometric shape points of at least two roads in the high-precision map.

The high-precision Map is also called a high-definition Map (High definitionmap, HD Map) or a high-automatic driving Map (highly automated driving Map, HAD Map), and is a high-precision Map for automatic driving, and contains Map elements such as road shapes, road marks, traffic signs, obstacles, and the like, and the precision thereof can reach the centimeter level.

The geometric shape point of the road may be a point representing the geometric shape of the road in a high-definition map. Further, the geometric shape points may be points having three dimensions in a set Cartesian coordinate system.

Step 104: and calculating bounding boxes corresponding to the at least two roads respectively based on the geometric shape points.

The bounding box algorithm is an algorithm for solving the optimal bounding space of the discrete point set, and the basic idea is to approximately replace a complex geometric object with a geometric body which is slightly larger and has simple characteristics, and the geometric body can be called a bounding box, namely the bounding box calculated by the embodiment.

In this embodiment, the three-dimensional bounding box corresponding to the road may be calculated according to the geometric shape points, or the two-dimensional bounding box corresponding to the road may be calculated according to the geometric shape points.

Step 106: and judging whether each obtained bounding box is intersected or not to obtain a judging result.

In this embodiment, whether or not bounding boxes intersect may be determined based on the boundaries of the bounding boxes. Specifically, coordinates of boundaries of the bounding boxes may be compared to determine whether the bounding boxes intersect.

Step 108: and if the judgment result shows that the bounding boxes are intersected, determining that the at least two roads have a road capping relationship.

In this embodiment, as long as another bounding box intersects with any one of the respective bounding boxes, the any one bounding box may be considered to intersect with the other bounding box.

Because the bounding box can approximately replace a road, when two bounding boxes intersect, it can be determined that the roads corresponding to the two bounding boxes intersect, that is, that two roads corresponding to the two bounding boxes respectively have a road capping relationship.

Step 110: and if the judgment result indicates that the bounding boxes are not intersected, determining that the at least two roads have no road capping relation.

Similarly, when the two bounding boxes do not intersect, it can be determined that the roads corresponding to the two bounding boxes do not intersect, that is, the two roads corresponding to the two bounding boxes respectively do not have a road capping relationship.

Since the calculation amount of the bounding box corresponding to the calculated road is small, the road capping relation of the road can be quickly determined by calculating the bounding box corresponding to the road and then determining the road capping relation of the road according to whether the bounding boxes intersect.

It should be understood that the method according to one or more embodiments of the present disclosure may include the steps in which some of the steps are interchanged as needed, or some of the steps may be omitted or deleted.

The examples of the present specification also provide some specific embodiments of the method based on the method of fig. 1, which is described below.

In this embodiment, in order to reduce the calculation amount of the road capping relationship determination, the high-precision map may be divided into regions first, and then the capping relationship of the road in any of the divided regions may be determined. Therefore, the method for determining the road capping relationship provided in the embodiment may further include:

dividing the area of the high-precision map;

the obtaining geometric shape points of at least two roads in the high-precision map may specifically include:

and for any area of the divided high-precision map, acquiring geometric shape points of at least two roads in any area.

After the geometric shape points of the road are obtained, the bounding box corresponding to the road can be calculated. Such as a two-dimensional bounding box, which can be understood as the smallest bounding rectangle of a road made based on the geometric points of the road.

Since the bounding box is a geometric body that encloses a road, the area occupied by the bounding box is greater than or equal to the area that represents the road actually occupies. So if two bounding boxes are disjoint, it can be indicated that the two roads are disjoint, i.e. the two roads do not have a road capping relationship; and if the two bounding boxes intersect, the two roads may or may not intersect, and in this case, in order to further determine the road capping relationship of the roads, the determining that the at least two roads have the road capping relationship may specifically include:

That is, the road-capping relationship of the first road and the second road may be determined based on the first center line of the first road and the second center line of the second road.

Further, the determining, according to the first center line and the second center line, that the first road and the second road have a road capping relationship may specifically include:

In this embodiment, the scanline algorithm for polyline intersection, also referred to as the Sweep Line Algorithm algorithm, is an algorithm for calculating the intersection between polylines. The basic idea of the algorithm is to sort the segments of the polyline according to their y-axis coordinates in a set coordinate system, then scan all segments from top to bottom using the scan line, and determine which parts of the polyline the current scan line intersects by maintaining an event queue and a state set.

Specifically, the scanline algorithm for polyline intersection first orders the segments of all polylines in terms of their y-axis coordinates and stores them in an event queue. Then, an event is fetched from the event queue, and if the event is the upper endpoint of a line segment, the line segment is added into the state set; if the event is the lower endpoint of a line segment, the line segment is deleted from the state set. During the scan, if two line segments in the state set intersect, it is indicated that the polyline has an intersection.

The time complexity of the scan line method algorithm of the broken line intersection is O ((n+k) log (n)), wherein n is the number of line segments of the broken line, k is the number of intersecting parts, and the algorithm has the advantage of being capable of processing the problem of the broken line intersection of any shape and number, namely the embodiment can accurately judge whether the first central line and the second central line are intersected by using the scan line algorithm of the broken line intersection.

In addition, because the area occupied by the central line is smaller than the area actually occupied by the road, if the two central lines intersect, the roads corresponding to the two central lines certainly intersect, namely, the roads corresponding to the two central lines have a road capping relation; and if the two bounding boxes intersect, the two roads may or may not intersect.

Fig. 2 is a schematic diagram of the intersection of bounding boxes provided in the embodiment of the present disclosure, as shown in fig. 2, where a bounding box a corresponding to a first road intersects a bounding box B corresponding to a second road, and a center line a of the first road does not intersect a center line B of the second road, but at a portion where the two bounding boxes intersect, the two roads may actually intersect. In order to further determine the road capping relationship of the road, the determining that the at least two roads have the road capping relationship may specifically include:

Specifically, in the high-precision map, the coordinate point of the road boundary in the set coordinate system may be determined, then a closed polygon may be constructed according to the coordinate point of the road boundary to represent the geometric surface enclosed by the road boundary, that is, the geometric surface of the road, and then whether the road has the road capping relationship may be determined according to the geometric surface of the road, which specifically includes:

Among them, the polyline algorithm of polygonal intersection, also called as Bentley-Ottmann algorithm, is an algorithm for calculating the intersection between polygons. The basic idea of the algorithm is to sort the edges and intersections of the polygon according to their x-axis coordinates in a set coordinate system, then scan all edges and intersections from left to right using the scan line, and determine which parts of the polygon the current scan line intersects by maintaining a red black tree.

Specifically, the polyline algorithm for polygon intersection first orders the edges and intersections of all polygons according to their x-axis coordinates and stores them in an event queue. Then, an event is fetched from the event queue, and if the event is an intersection point, a corresponding line segment is inserted or deleted in the red-black tree; if the event is the left end point of an edge, inserting the edge into the red-black tree; if the event is the right endpoint of an edge, the edge is deleted from the red-black tree. During the scan, if there are two line segments intersecting in the red-black tree, it is indicated that there is an intersecting portion of the polygon.

The time complexity of the polyline algorithm for polygon intersection is O ((m+l) log (n)), where m is the number of vertices of the polygon and l is the number of intersections. The method has the advantages that the method can be used for processing the problem of intersecting any shape and any number of polygons, namely whether the first geometric surface and the second geometric surface are intersected or not can be accurately judged by using the polygonal intersecting broken line algorithm.

Further, when the first centerline and the second centerline intersect, or when the first geometric surface and the second geometric surface intersect, it may be further determined whether the road is a level road gland or an interchange road gland. The method specifically comprises the following steps:

determining a first geometric point of the first road and a second geometric point of the second road; the difference value between the abscissa of the first geometric shape point in the Cartesian coordinate system and the abscissa of the second geometric shape point in the Cartesian coordinate system is smaller than or equal to a first preset threshold value;

That is, the present embodiment can determine whether the first road and the second road are the interchange road deck or the interchange road deck according to the first vertical coordinate and the second vertical coordinate.

Specifically, if the difference value between the first vertical coordinate and the second vertical coordinate is smaller than or equal to a second preset threshold value, determining that the first road and the second road are level crossing road capping;

In this embodiment, the difference between the abscissa of the first geometric point in the cartesian coordinate system and the abscissa of the second geometric point in the cartesian coordinate system is less than or equal to the first preset threshold, which may be understood as the closest two points between the first road and the second road. The first preset threshold may be set to 1 meter, 2 meters, etc., and may be set according to specific needs in practical application, which is not limited herein.

And when the difference value between the first vertical coordinate of the first geometric point and the second vertical coordinate of the second geometric point is smaller than or equal to a second preset threshold value, determining that the first road and the second road are the road cover of the level crossing road. The second preset threshold may be set to 1 meter, 2 meters, etc., and may be set according to specific needs in practical applications, which is not limited herein.

And when the difference value between the first vertical coordinate of the first geometric point and the second vertical coordinate of the second geometric point is larger than a second preset threshold value, the first road and the second road can be determined to be the interchange road gland.

In one embodiment, it may be further confirmed that when the difference between the first vertical coordinate of the first geometric point and the second vertical coordinate of the second geometric point is greater than the second preset threshold and less than the third preset threshold, the first road and the second road may be determined to be the interchange road capping. This is because the road height difference between the two road covers of the interchange is typically within a third preset threshold, such as 5 meters, and if the third preset threshold is exceeded, there is typically a large error in the difference between the first vertical coordinate and the second vertical coordinate of the second geometric point, or in the determined first geometric point and second geometric point.

Because the calculation of the bounding boxes corresponding to the roads is smaller than the calculation of the central line corresponding to the roads and the calculation of the geometric surfaces corresponding to the roads, the road capping relation of the roads can be rapidly determined by calculating the bounding boxes corresponding to the roads and judging whether the bounding boxes intersect or not; further, the calculated central line corresponding to the calculated road is smaller than the calculated geometric surface corresponding to the calculated road, so that the road capping relation of the road can be rapidly determined by calculating the central line corresponding to the road, judging whether the central line is intersected with the geometric surface corresponding to the calculated road and judging whether the geometric surface is intersected with the geometric surface; further, although the calculation amount of calculating the geometric surface corresponding to the road is large, by calculating the geometric surface corresponding to the road, whether the geometric surfaces intersect or not can more accurately determine the road capping relation of the road.

It can be understood that after each bounding box is determined to intersect, the first geometric surface of the first road and the second geometric surface of the second road can be directly determined, and then the road capping relationship of the first road and the second road is determined according to the first geometric surface and the second geometric surface, so that the road capping relationship of the road can be determined quickly and accurately.

As an implementation manner, fig. 3 is a schematic flow chart of a method for determining a road capping relationship provided in the embodiment of the present disclosure, and from the program perspective, an execution subject of the flow may be a program or an application client that is installed on an application server or a cloud. As shown in fig. 3, the method for determining the road capping relationship may include the steps of:

step 302: obtaining geometric shape points of at least two roads in a high-precision map;

in the present embodiment, as long as another road intersects with any one road in the high-definition map, the any road may be considered to intersect with another road. The present embodiment will be described taking a first road and a second road of at least two roads as an example.

Step 304: calculating a first bounding box corresponding to the first road according to the geometric shape points of the first road; calculating a second surrounding box corresponding to the second road according to the geometric shape points of the second road;

Step 306: judging whether the first bounding box and the second bounding box intersect;

if the first bounding box and the second bounding box do not intersect, then step 308 is performed;

if the first bounding box and the second bounding box intersect, then step 310 is performed;

step 308: determining that the first road and the second road do not have a road capping relationship;

step 310: determining a first center line of the first road and a second center line of the second road;

step 312: judging whether the first central line and the second central line are intersected or not;

if the first centerline and the second centerline do not intersect, then step 314 is performed;

if the first centerline and the second centerline intersect, then step 316 is performed;

step 314: determining a first geometric surface of a first road and a second geometric surface of a second road; judging whether the first geometric surface and the second geometric surface are intersected or not;

if the first geometric surface and the second geometric surface do not intersect, then step 308 is performed;

if the first geometric surface and the second geometric surface intersect, then step 316 is performed;

step 316: judging whether the first vertical coordinate and the second vertical coordinate meet the condition or not; specifically:

establishing a Cartesian coordinate system, and determining coordinates of geometric shape points of the first road and the second road in the Cartesian coordinate system; determining a first geometric point of a first road and a second geometric point of a second road; wherein the difference between the abscissa of the first geometric shape point in the Cartesian coordinate system and the abscissa of the second geometric shape point in the Cartesian coordinate system is less than or equal to a first preset threshold;

Judging whether the difference value between the first vertical coordinate and the second vertical coordinate is larger than a second preset threshold value or not; if the threshold value is not greater than the second preset threshold value, step 318 is executed; if the threshold is greater than the second threshold, step 320 is performed;

step 318: determining that the first road and the second road are a road cover of a level crossing;

step 320: and determining the first road and the second road as interchange road capping.

Based on the same thought, the embodiment of the specification also provides a device corresponding to the method.

Fig. 4 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure, and as shown in fig. 4, the computer device may include:

an acquisition module 402, configured to acquire geometric shape points of at least two roads in the high-precision map;

a calculation module 404, configured to calculate bounding boxes corresponding to the at least two roads respectively based on the geometric shape points;

a judging module 406, configured to judge whether each obtained bounding box intersects, so as to obtain a judgment result;

a first determining module 408, configured to determine that a road capping relationship exists between the at least two roads when the determination result indicates that each bounding box intersects;

and a second determining module 410, configured to determine that the at least two roads do not have a road capping relationship when the determination result indicates that each bounding box does not intersect.

Further, the determining that the at least two roads have a road capping relationship may specifically include:

Further, the determining that the first road and the second road have a road capping relationship may specifically include:

Further, the apparatus may further include:

If the first geometric surface and the second geometric surface intersect, determining that a road capping relationship exists between the first road and the second road may specifically include:

Further, the determining that the first road and the second road have a road capping relationship according to a first vertical coordinate of the first geometric point in the cartesian coordinate system and a second vertical coordinate of the second geometric point in the cartesian coordinate system may specifically include:

Further, before the determining the first geometric surface of the first road of the at least two roads and the second geometric surface of the second road of the at least two roads based on the boundary of the at least two roads, the method may further include:

Further, the apparatus may further include:

dividing the area of the high-precision map;

Based on the same thought, the embodiment of the specification also provides equipment corresponding to the method.

Fig. 5 is a schematic structural diagram of a computer device corresponding to fig. 1 according to an embodiment of the present disclosure. As shown in fig. 5, the apparatus 500 may include: comprising a memory 510, a processor 520 and a computer program 530 stored on the memory 510, the processor 520 executing the computer program 530 to carry out the steps of the above method.

Based on the same idea, the embodiments of the present disclosure further provide a computer readable storage medium corresponding to the above method, where computer instructions are stored, where the computer instructions implement steps of the above method when executed by a processor.

Based on the same idea, the embodiments of the present disclosure further provide a computer program product corresponding to the above method, where the computer program product includes computer instructions, and the computer instructions implement steps of the above method when executed by a processor.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the computer device shown in fig. 5, the description is relatively simple, as it is substantially similar to the method embodiment, with reference to the partial description of the method embodiment being relevant.

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., a field programmable gate array (Field Programmable gate array, FPGA)) is an integrated circuit whose logic function is determined by the user programming the device. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (AdvancedBoolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims

1. A method of determining a road capping relationship, comprising:

obtaining geometric shape points of at least two roads in a high-precision map;

2. The method according to claim 1, wherein said determining that the at least two roads have a road capping relationship, in particular comprises:

3. The method according to claim 2, wherein said determining that there is a road capping relationship between the first road and the second road, in particular comprises:

4. A method according to claim 3, further comprising:

5. The method according to claim 4, wherein the determining that the first road and the second road have a road gland relationship according to a first vertical coordinate of the first geometric point in the cartesian coordinate system and a second vertical coordinate of the second geometric point in the cartesian coordinate system, in particular comprises:

6. The method according to claim 1, wherein said determining that the at least two roads have a road capping relationship, in particular comprises:

7. The method of claim 6, wherein the determining that the first road and the second road have a road capping relationship according to the first center line and the second center line, specifically comprises:

8. The method of claim 2, further comprising, prior to said determining a first geometric surface of a first one of the at least two roads and a second geometric surface of a second one of the at least two roads based on the boundary of the at least two roads:

9. The method as recited in claim 1, further comprising:

dividing the area of the high-precision map;

10. A computer apparatus, comprising:

11. A computer device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the method according to any one of claims 1 to 9.

12. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 9.

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