CN117419741A

CN117419741A - Path and lane association method and device, electronic equipment and storage medium

Info

Publication number: CN117419741A
Application number: CN202311617216.8A
Authority: CN
Inventors: 邵佩佩; 王海平
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2023-11-29
Filing date: 2023-11-29
Publication date: 2024-01-19

Abstract

The embodiment of the disclosure discloses a path and lane association method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining a target lane line affecting a vehicle merging; determining a target intersection related to the target lane line from high-precision map data; determining a high-precision target path in front of the target intersection, of which the path planning is influenced by the target lane line, and an influenced lane segment on the high-precision target path based on the high-precision map data; and mapping the high-precision target path to a standard-precision path based on the mapping relation between the high-precision map data and the standard-precision map data, and then establishing an association relation between the standard-precision path and the lane information of the affected lane segment. According to the technical scheme, the standard deviation path and the associated lane information can be determined, and after a long solid line scene is encountered, a user is prompted in advance, so that the yaw rate of a navigated object is reduced, and the running safety and the passing efficiency of the navigated object are improved.

Description

Path and lane association method and device, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of navigation, in particular to a method and a device for associating a path with a lane, electronic equipment and a storage medium.

Background

In order to better provide navigation service, in the navigation process, if a long traffic solid line in front of an intersection influences the path planning of a navigated object, prompting can be performed in advance, so that the situation that the navigated object cannot change the track due to the fact that prompting time is missed is avoided, and yaw is caused.

The current prior art only supports road level path planning of standard-definition map data, but cannot support lane level planning in a long solid line scene. Therefore, a solution is needed to be provided to realize that the yaw rate of the navigated object can be reduced and the driving safety and the passing efficiency of the navigated object can be improved after encountering a long solid line scene in road-level path planning of the standard-definition map data.

Disclosure of Invention

The embodiment of the disclosure provides a path and lane association method, a path and lane association device, electronic equipment and a storage medium.

In a first aspect, in an embodiment of the present disclosure, a method for associating a path with a lane is provided, including:

determining a target lane line affecting a vehicle merging;

determining a target intersection related to the target lane line from high-precision map data;

determining a high-precision target path in front of the target intersection, of which the path planning is influenced by the target lane line, and an influenced lane segment on the high-precision target path based on the high-precision map data;

And mapping the high-precision target path to a standard-precision path based on the mapping relation between the high-precision map data and the standard-precision map data, and then establishing an association relation between the standard-precision path and the lane information of the affected lane segment.

In a second aspect, an embodiment of the present invention provides a navigation method, including:

acquiring a navigation planning path;

determining whether a recommended lane at the preset standard deviation path is matched with associated lane information of the preset standard deviation path or not according to the fact that the preset standard deviation path is included in the navigation planning path; the preset standard deviation path and the associated lane information of the preset standard deviation path are obtained based on the method of the first aspect;

if the recommended lane is matched with the associated lane information, outputting prompt information before guiding the navigated object to the preset standard deviation path; the prompt information comprises first prompt information of a target lane line and second prompt information of the related lane information influenced by the target lane line.

In a third aspect, an embodiment of the present invention provides a path and lane association apparatus, including:

A first determination module configured to determine a target lane line that affects a merging of vehicles;

a second determination module configured to determine a target intersection related to the target lane line from high-precision map data;

a third determination module configured to determine a high-precision target path ahead of the target intersection whose path plan is affected by the target lane line, and an affected lane segment on the high-precision target path, based on the high-precision map data;

and the mapping module is configured to establish an association relationship between the standard-definition path and the lane information of the affected lane segment after mapping the high-definition target path to the standard-definition path based on the mapping relationship between the high-definition map data and the standard-definition map data.

In a fourth aspect, an embodiment of the present invention provides a navigation device, including:

an acquisition module configured to acquire a navigation planning path;

a fourth determining module configured to determine whether a recommended lane at a preset standard deviation path is matched with associated lane information of the preset standard deviation path in response to the preset standard deviation path being included in the navigation planning path; the preset standard deviation path and the associated lane information of the preset standard deviation path are obtained based on the device of the third aspect;

The output module is configured to output prompt information before guiding the navigated object to the preset standard deviation path if the recommended lane is matched with the associated lane information; the prompt information comprises first prompt information of a target lane line and second prompt information of the related lane information influenced by the target lane line.

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 application software for navigation, comprising computer instructions which, when executed by a processor, are configured to implement the method of the second aspect described above.

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

in this embodiment, in order to implement road level route planning of standard-definition map data, after encountering a long solid line scene, prompt can be performed in advance, all target lane lines in a corresponding area can be extracted in advance by using high-definition map data, and all target intersections related to the target lane lines are extracted by using the high-definition map data, so that for each target intersection, a high-definition target route before the target intersection affected by the target lane line and an affected lane segment on the high-definition target route are determined by using the high-definition map data, and the high-definition target route is mapped into a standard-definition route based on a mapping relationship between the high-definition map data and the standard-definition map data, and an association relationship between the standard-definition route and lane information of the affected lane segment is established. Through the method, in the road-level path planning and navigation process, the user can be prompted in advance after encountering a long solid line scene based on the standard-definition path and the associated lane information determined in the method, so that the yaw rate of the navigated object is reduced, and the driving safety and the passing efficiency of the navigated object are 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 shows a flowchart of a path and lane association method according to an embodiment of the present disclosure.

Fig. 2A-2C illustrate schematic effect diagrams of a target intersection according to an embodiment of the present disclosure.

Fig. 3 illustrates an effect schematic of a next longitudinal connecting lane of a high-definition road segment according to an embodiment of the present disclosure.

Fig. 4 shows a flow chart of a navigation method according to an embodiment of the present disclosure.

Fig. 5 shows a block diagram of a path and lane association apparatus according to an embodiment of the present disclosure.

Fig. 6 shows a block diagram of an electronic device according to an embodiment of the present disclosure.

FIG. 7 is a schematic diagram of a computer system suitable for use in implementing a path and lane association method and/or navigation method in accordance with 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.

User information (including but not limited to user equipment information such as location information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in this disclosure are both information and data that is authorized by the user or is sufficiently authorized by parties, and the collection, use and processing of relevant data requires compliance with relevant laws and regulations and standards of the relevant country and region, and is provided with corresponding access to the user for selection of authorization or denial.

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

Fig. 1 shows a flowchart of a path and lane association method according to an embodiment of the present disclosure. As shown in fig. 1, the path-to-lane association method includes the steps of:

in step S101, a target lane line affecting a vehicle merging is determined;

in step S102, a target intersection related to the target lane line is determined from high-precision map data;

in step S103, a high-precision target path in front of the target intersection, of which path planning is affected by the target lane line, and affected lane segments on the high-precision target path are determined based on the high-precision map data;

in step S104, based on the mapping relationship between the high-precision map data and the standard-precision map data, after mapping the high-precision target path to the standard-precision path, an association relationship between the standard-precision path and the lane information of the affected lane segment is established.

In this embodiment, the path and lane association method may be performed by a server. The high-precision map data is a data storage mode taking lanes as storage objects, and mainly comprises the following contents: high-definition road data, high-definition lane data (lane lines, types, relationships, etc.), high-definition component data (ground marks, facilities, etc.), and the like, are generally abbreviated as "HD data". The standard-definition map data is a data storage mode with roads as storage objects, and the content mainly comprises: basic road network data, attribute information (electronic eyes, guideline, prohibition information, etc.) on roads, public travel information such as riding steps, etc., and so on, are generally referred to simply as "SD data".

The target lane line affecting the merging of vehicles may be a long solid line of traffic. The long traffic solid line is one of lane separation lines, is a white separation solid line between the same-direction lanes, and the line type comprises a solid line, a left virtual right solid line and a left virtual right virtual line, and vehicles cannot be merged (or spanned) from one side of the solid line to the other side according to traffic regulations. In some embodiments, the target lane line may be identified by a road image collected on the road, or may be obtained after processing based on lane line information on the road stored in the high-precision map data.

The navigation service is concerned with a long solid line affecting the vehicle merging before the intersection, and thus after a target lane line is determined based on high-precision map data, a target intersection related to the target lane line can be determined.

In some embodiments, the target intersection related to the target lane line may be understood that the high-precision road section where the target lane line is located before the target intersection, that is, the vehicle may travel to the target intersection from the lane section on the high-precision road section where the target lane line is located according to the traveling direction. Typically, the destination of the target lane line is located before the stop line of the target intersection or on the exit road segment of the target intersection.

It is understood that the high-precision map data may be high-precision map data in a region defined by a whole area or according to actual needs, and the target lane line may be all traffic long solid lines in the whole area or the defined region, that is, all traffic long solid lines in the region to which the high-precision map data relates. In some embodiments, all intersections may be extracted from the area to which the high-precision map data relates. The high-precision map data stores intersections related to each high-precision road section, and the association relationship exists between the lane lines on each high-precision road section and the high-precision road sections, so that after all the intersections are extracted from the high-precision map data, the high-precision road sections related to the intersections are matched with the high-precision road sections related to the target lane lines, and the target intersections related to the target lane lines can be found. Fig. 2A shows a target intersection and a corresponding high-definition road segment in the high-definition map data, in which only high-definition road segments, target lane lines, high-definition road segments, high-definition vehicle segments, and the like on a high-definition road below the target intersection are schematically shown. The figure shows 3 high-precision road sections into which the high-precision road is broken, each high-precision road section is provided with three high-precision road sections, two of the high-precision road sections are broken line sections, one of the high-precision road sections is a solid line section, and the three solid line sections on the three high-precision road sections can be aggregated into a long solid line, namely a target lane line.

After the target intersections are determined, a high-precision target path in front of the target intersection, which is influenced by the target lane lines, and the influenced lanes on the high-precision target path can be determined for each target intersection. It will be appreciated that the target lane line may be a long solid line of traffic from which a vehicle cannot cross to an adjacent lane, and therefore the adjacent lane is obviously affected by the long solid line of traffic when planning the path. Based on the above, the transverse access relation between the lanes related to the target lane line in front of the target intersection can be analyzed, and whether the target lane line can influence the high-precision target path in front of the target intersection or not and the affected lanes on the high-precision target path can be further determined. A high-precision target path may be understood as a path formed by a probe from a lane segment related to the start point of the target lane line to a lane segment related to the end point of the target lane line, and may include one or more high-precision road segments ordered in a traveling direction. It will be appreciated that each high-definition road segment may include one or more lane segments, and that some lane segments on the high-definition target path may not be longitudinally accessible due to the presence of the target lane line. Thus, on the high-definition target path, a lane segment that is not reachable in the longitudinal direction from the lane segment to which the start point of the target lane line relates may be determined as an affected lane segment on the high-definition target path. It will be appreciated that a lane segment that is longitudinally inaccessible may be determined to be a lane segment that is inaccessible when the lane line traversed is a solid line as it travels from the vehicle location to the lane segment. An affected lane segment may be understood as a lane into which not all lanes can merge due to the presence of a target lane line. For example, the route before the target intersection to which the target lane line relates may be expressed as G1- > G2- > G3- > G4, G1, G2, G3, G4 are high-precision road segments to which the start point and the end point of the target lane line relate, respectively, G1 includes two lane segments l 1 and l2, G4 includes two lane segments l3 and l4, provided that the lane segments l 1 to l3 belong to a first lane on a real road and the lane segments l2 to l4 belong to a second lane on a real road, a solid lane line is between the first lane and the second lane on the real road, at this time, running from the lane segment l 1 to l4 cannot be crossed over the solid line, and running from the lane segment l2 to the lane segment l3 cannot be crossed over the solid line, so that the route can be regarded as a high-precision target route, and the affected lanes on the high-precision target route G1- > G2- > G3- > G4 are l3 and l4.

As described above, in order to accommodate the road-level navigation service based on the standard deviation map data, the present navigation service generally provides the road-level navigation service based on the standard deviation map data, the high-accuracy target path before the target intersection, in which the route plan is influenced by the target lane line, determined above, may be mapped onto the standard deviation path based on the mapping relationship between the high-accuracy map data and the standard deviation map data, and the lane information of the affected lane segment on the high-accuracy target path is associated with the standard deviation path, so that when the navigation service is performed using the standard deviation map data, if the navigation path matches with the standard deviation path, a prompt message, such as a prompt of "long front solid line, please advance drive into the right-most lane" may be output to the navigation voice, based on the lane information of the affected lane segment associated with the standard deviation map data, after the navigation object is guided to the standard deviation path. The lane information of the affected lane segment may include information for expressing where the affected lane segment is located on the standard deviation road.

It should be noted that, the mapping relationship between the high-precision map data and the standard-precision map data is known information, typically, the mapping relationship between the high-precision road segment and the standard-precision road, and since the standard-precision map data has no lane data, the identification of the affected lane segment on the high-precision target path can be converted into the relative lane information on the road. That is, since the standard deviation map data does not include data related to a lane line, a lane, etc. on the standard deviation road, the lane information cannot be expressed by the data representation of the affected lane segment, and thus the relative lane information of the affected lane segment on the standard deviation road, such as the number of lanes, the rightmost lane, or the right first lane, the right second lane, … …, etc. on the standard deviation road can be used.

In an alternative implementation of the present embodiment, step S101, i.e. the step of determining the target lane line affecting the merging of vehicles, may be implemented as follows:

Selecting a plurality of high-definition lane line segments which affect the parallel line of the vehicle from the high-definition map data;

and polymerizing the plurality of high-definition lane line segments which are connected front and back in the space position into the target lane line.

In this alternative implementation manner, when the high-precision map data is manufactured, for convenience in manufacturing, a complete road in the real world is split into a plurality of high-precision road segments, and then each high-precision road segment is manufactured respectively. In order to represent the connection relationship of each high-precision road segment in the real world in the high-precision map data, a topological connection relationship between the high-precision road segments is usually produced in the map compiling process, and the topological connection relationship between the high-precision road segments is used for representing the connection relationship between the high-precision road segments.

In some embodiments, the topological connectivity between high-precision road segments may include, but is not limited to, an entry road segment and an exit road segment of the current high-precision road segment, the entry road segment may be understood as a preceding high-precision road segment that is longitudinally adjacent to the current high-precision road segment in the direction of travel of the high-precision road segment, and the exit high-precision road segment may be understood as a next high-precision road segment that is longitudinally adjacent to the current high-precision road segment in the direction of travel of the high-precision road segment. That is, when a vehicle or an intelligent driving object travels along the traveling direction of the high-precision road section in the real world, the vehicle or the intelligent driving object enters the current high-precision road section from the entrance road section and then enters the exit road section after exiting from the current high-precision road section.

It should be further noted that each high-precision road section includes a set of high-precision lane sections adjacent in the lateral direction, and lane section data of a plurality of high-precision lane sections is also stored in the high-precision map data. The lane segment data may include, but is not limited to, information including a lane segment attribute included on the high-definition road segment, an associated lane segment attribute, and the like, and the type of the lane segment may be included in the attribute information of the lane segment, such as solid line, left-right deficiency, right-left excess, and left-right deficiency.

Because the lane lines in the high-precision map data are also broken into the form of lane line segments, the high-precision lane line segments which affect the parallel line of the vehicle, such as the lane line segments with solid lines, left-deficiency right-excess, left-excess and right-deficiency, can be extracted firstly based on the high-precision map data, then the broken lane line segments are connected back and forth according to the space positions to form a long solid line, namely the lane line segments are aggregated according to the space positions to form the target lane line. The target lane line may be a complete long solid line on the road.

In an optional implementation manner of this embodiment, step S103, that is, the step of determining, based on the high-precision map data, a high-precision target path before the target intersection, where a path plan is affected by the target lane line, and an affected lane segment on the high-precision target path may be implemented as follows:

Based on the high-precision map data, determining lane accessibility data between high-precision lane segments related to the target lane lines corresponding to the target intersections;

the high-precision target path and the affected lane segment are determined based on the lane accessibility data.

In this alternative implementation, as described above, the target intersection is an intersection where a target lane line exists, and the high-precision map data includes data, such as a type, of each lane line segment on the high-precision road section. Based on the data, the lane accessibility data between the high-precision lane segments corresponding to the target lane line can be determined, and based on the lane accessibility data between the high-precision lane segments, the high-precision road segments from the starting point to the ending point of the target lane line can be determined, and the high-precision target path influenced by the target lane line and the affected lanes on the high-precision target path can be planned.

In an optional implementation manner of this embodiment, the step of determining, based on the high-precision map data, lane accessibility data between high-precision lane segments related to the target lane line corresponding to the target intersection may be implemented as follows:

determining a starting point and an ending point of the target lane line corresponding to the target intersection;

Determining a path-exploring path which is traversed from the starting point to the ending point based on the high-precision map data, wherein the path-exploring path comprises a plurality of high-precision road sections which are in front-back topological communication in the path direction, and each high-precision road section corresponds to a group of high-precision road sections;

lane accessibility data between each high-definition lane segment of the first set of high-definition lane segments to each high-definition lane segment of the last set of high-definition lane segments on the path of exploration is determined.

In this alternative implementation manner, for a target intersection where a target lane line exists, a start point and an end point of the target lane line may be determined, and a path-exploring path that is traversed from the start point to the end point may be determined based on high-precision map data. The road exploring path comprises a plurality of high-precision road sections which are in front-back topological communication in the path direction, and each high-precision road section corresponds to a group of high-precision road sections. It will be appreciated that a plurality of high-precision road segments which are topologically connected in front and back belong to the same real road, a group of high-precision lane segments corresponding to each high-precision road segment actually belong to a plurality of lanes on the real road, and adjacent Gao Jingche lane segments in front and back in the path direction of the path-finding path can be understood as lane segments belonging to the same lane on the real road.

Thus, lane accessibility data may be determined on the path of the probe between each of the first set of high-definition lane segments to each of the last set of high-definition lane segments based on the target lane line.

The first set of high-definition road segments on the probe path may be a set of high-definition road segments on a high-definition road segment where a start point of the target lane line is located, and the last set of high-definition road segments may be related to an end point of the target lane line, or may be a set of high-definition road segments on a high-definition road segment where the end point is located, or may be a set of high-definition road segments on other high-definition road segments related to the high-definition road segment where the end point is located.

The lane accessibility data between each high-definition lane segment on the first set of high-definition lane segments to each high-definition lane segment in the last set of high-definition lane segments of the road-exploring path may reflect whether a vehicle traveling on the road-exploring path is affected by the target lane line, i.e., whether a vehicle traveling on a certain lane or some lanes cannot reach any lane on the road-exploring path due to the presence of the target lane line.

In an optional implementation manner of this embodiment, the step of determining lane accessibility data between each high-precision lane segment in the first set of high-precision lane segments to each high-precision lane segment in the last set of high-precision lane segments on the path may be implemented as follows:

Based on the target lane line, determining transverse accessibility data between adjacent high-definition lane segments in each group of high-definition lane segments on the path;

determining longitudinal reachable data between the first group of high-precision lane segments to the last group of high-precision lane segments on the path detection path based on the target lane line, wherein the longitudinal reachable data between the high-precision lane segments are adjacent to each other front and back in the path direction of the path detection path;

the lane accessibility data is determined based on the lateral accessibility data and the longitudinal accessibility data.

In this alternative implementation, the lateral accessibility data may include, but is not limited to, information about whether a cross-over between laterally adjacent lane segments is possible, if the lane line segment between laterally adjacent lane segments is a dashed line, then the adjacent two lane segments may be reachable with each other, and if the type of the lane line segment between laterally adjacent lane segments is a solid line, then the adjacent two lane segments may not be reachable with each other, if the lane line between laterally adjacent lane segments is left-and-right-solid, then the left-side lane segment may reach the right-side adjacent lane, and the right-side adjacent lane may not reach the left-side lane, if the lane line between laterally adjacent lane segments is left-and-right-solid, then the left-side lane segment may not reach the right-side adjacent lane, and the right-side adjacent lane may reach the left-side lane. It should be noted that, the laterally adjacent lane segments actually refer to adjacent lane segments in a group of high-definition lane segments belonging to the same high-definition road segment. By the method, the target lane line corresponding to the target intersection can be determined, and the accessibility data among the related high-definition lane segments, namely the accessibility data among the adjacent high-definition lane segments.

As described above, the target lane line may be formed by aggregating a plurality of broken lane segments in the high-precision map data, so that the target lane line may correspond to a plurality of high-precision lane segments connected in the longitudinal direction before the target intersection, and since each high-precision lane segment corresponds to one high-precision road segment and the lane line affects the traffic situation of each lane on the road segment, the target lane line may affect a plurality of sets of high-precision lane segments before the target intersection, and each set of high-precision lane segments corresponds to the same high-precision road segment. Thus, in some embodiments, lateral accessibility data between adjacent high-definition lane segments in each set of high-definition lane segments may be determined.

Because the topological connection relation between the high-precision road sections is also stored in the high-precision map data, based on the topological connection relation, a plurality of groups of high-precision road sections on a plurality of high-precision road sections which are in front-back topological connection on the exploring path can be determined, and each high-precision road section corresponds to a group of high-precision road sections. Topological connectivity in the path direction of the path-finding path. It can be understood that the multiple groups of high-precision lane segments on the multiple high-precision road segments with front-back topological communication are multiple groups of high-precision lane segments formed by breaking multiple complete lanes in the real world in the longitudinal direction, so that data can be accessed longitudinally, and the correlation relationship between each high-precision lane segment in the first group of high-precision lane segments and the high-precision lane segment belonging to the same lane in the last group of high-precision lane segments on the exploring path is actually reflected, wherein the longitudinally accessible high-precision lane segments are high-precision lane segment groups on the same lane, and the longitudinally inaccessible high-precision lane segments do not belong to the same lane. It is understood that the plurality of high-definition road segments belonging to the same lane refer to a plurality of high-definition road segments belonging to the same lane in the real world.

After the transverse accessibility data and the longitudinal accessibility data of each high-precision lane segment group on the path are determined, the lane accessibility data from each high-precision lane segment in the first group of high-precision lane segments to any one of the last group of high-precision lane segments on the path are determined.

As shown in fig. 2B, G1, G2, G3 and G4 are high-precision road segments related to long solid lines, the long solid lines in the figure only span one target intersection, the starting point is G1, and the end point is G3, so that the exploratory path in front of the target intersection is G1-G2-G3, or G1-G2-G4, G4 is a separated exiting road segment. The high-precision lane segment group corresponding to G1 comprises 4 lane segments which are respectively indicated by 1-4, the high-precision lane segment group corresponding to G2 comprises 3 lane segments which are respectively indicated by 5-7, the high-precision lane segment group corresponding to G3 comprises 3 lane segments which are respectively indicated by 8-10, and the lane segment group corresponding to G4 comprises 1 lane which is respectively indicated by 11.

The high-precision lane groups corresponding to the path detection paths comprise four high-precision lane segment groups, namely lane segment groups on G1, G2, G3 and G4 respectively, and the following transverse accessibility data can be obtained respectively:

g1- >2,2- >1,3- >4,4- >3; wherein "- >" means reachable.

G2:5->6,6->5。

G3:8->9,9->8,9->10，10->9。

And G4, none.

Then, the high-precision lane sections in the four high-precision lane groups corresponding to the path detection path can be determined, and the longitudinal accessible data of the adjacent high-precision lane sections in the path direction of the path detection path is specifically as follows:

1->5，5->8。

2->6，6->9。

3->7，7->10。

4->11。

based on the above-mentioned lateral accessibility data and longitudinal accessibility data, it is possible to determine the longitudinal communication condition between each of the first group of high-precision lane segment groups 1 to 4 (high-precision lane segment groups corresponding to G1) and each of the last group of high-precision lane segment groups 8 to 10 (high-precision lane segment groups corresponding to G3) on the exploratory path G1 to G2 to G3, and the lane accessibility data between each of the first group of high-precision lane segment groups 1 to 4 (high-precision lane segment groups corresponding to G1) and each of the last group of high-precision lane segment groups 11 (high-precision lane segment groups corresponding to G4) on the exploratory path G1 to G2 to G4, respectively, as follows:

1- >8 (,), 1- >9 (, 1- >10 (×), 1- >11 (×), wherein lane segment 1 has access to lane segments 8 and 9, but not to lane segments 10 and 11.

2- >8 (,), 2- >9 (, 2- >10 (×), 2- >11 (×), the lane segment 2 has access to the lane segments 8 and 9, but not to 10 and 11.

3- >8 (×), 3- >9 (×), 3- >10 (∈v), 3- >11 (∈v); lane segment 3 may reach lane segments 10 and 11, but may not reach 8 and 9.

4- >8 (×), 4- >9 (×), 4- >10 (∈v), 4- >11 (∈v); lane segment 4 may reach lane segments 10 and 11, but may not reach 8 and 9.

As shown in fig. 2C, the long solid line in the figure spans multiple intersections, G1-G8 are high-precision road segments related to the long solid line, the start point of the long solid line is in a high-precision road segment G1, and the end point is in a high-precision road segment G7, so that the exploratory path before the target intersection includes G1-G8, G1-G2-G3-G4-G5-G6, and G1-G2-G3-G4-G5-G7, G1 is a high-precision road segment where the start point of the long solid line is, is an entering road segment, G7 is an exiting road segment where the end point of the long solid line is, and G6 and G8 are respectively exit road segments where the end point of the long solid line is not. The high-precision lane segment group corresponding to the entering road section G1 comprises 4 lane segments which are respectively indicated by 1-4, the high-precision lane segment group corresponding to G7 comprises 3 lane segments which are respectively indicated by 5-7, the high-precision lane segment group corresponding to G6 comprises 4 lane segments which are respectively indicated by 8-11, and the lane segment group corresponding to G8 comprises 2 lanes which are respectively indicated by 12-13.

The high-precision lane groups corresponding to the exploring path comprise eight high-precision lane segment groups corresponding to G1-G8 high-precision road segments in total, and the transverse accessibility data are as follows:

G1 is 2- >3,3- >2,3- >4,4- >3; wherein "- >" means reachable.

G6:6->7,7->6。

G7:8->9,9->8,9->10，10->9,10->11,11->10。

G8:12->13,13->12。

Then, the high-precision lane segments in the four high-precision lane groups corresponding to the road detection path can be determined, and the longitudinal accessibility data of the adjacent high-precision lane segments in the longitudinal direction are specifically as follows (the longitudinal accessibility data of the intermediate high-precision road segments G4-G5 are omitted):

1->5，1->12，1->13。

2->6。

3->7，3->8。

4->11，4->12。

based on the above-mentioned horizontal accessibility data and vertical accessibility data, it is possible to determine the longitudinal communication condition between each of the first group of high-precision road segment groups 1 to 4 (high-precision road segment groups corresponding to G1) on the probe path G1 to G8 and each of the high-precision road segments of the last group of high-precision road segment groups 12 to 13 (high-precision road segment groups corresponding to G8), the longitudinal communication condition between each of the first group of high-precision road segment groups 1 to 4 (high-precision road segment groups corresponding to G1) on the probe path G1 to G2 to G3 to G4 to G5 to G6 and each of the high-precision road segment groups 8 to 11 (high-precision road segment groups corresponding to G6), and the longitudinal communication condition between each of the following high-precision road segment groups of the first group of high-precision road segment groups 1 to G2 to G3 to G4 to G5 to G7 on the probe path G1 to G7 and each of the high-precision road segment groups corresponding to the last group of high-precision road segment groups (high-precision road segment groups corresponding to G7) on the probe path G1 to G2 to G3 to G4 to G5 to G7, respectively:

1- >11/12/4 (∈), 1- >5/6/7/8/9/10 (×); where lane segment 1 has access to lane segments 4, 11 and 12, but not lane segments 5-10.

2- >11/12/4 (×), 2- >5/6/7/8/9/10 (∈v), lane segment 2 has access to lane segments 5-10, but not to lane segments 4, 11 and 12.

3- >11/12/4 (×), 3- >5/6/7/8/9/10 (∈) where lane segment 3 has access to lane segments 5-10 but not to lane segments 4, 11 and 12.

4- >11/12/4 (×), 4- >5/6/7/8/9/10 (∈) where lane segment 4 has access to lane segments 5-10 but not to lane segments 4, 11 and 12.

In an optional implementation manner of this embodiment, the step of determining, based on the high-precision map data, a path to be visited from the starting point to the ending point may be implemented as follows:

determining a high-precision road section group on a high-precision road section where the starting point is located as a first high-precision road section group;

if the type of the target intersection is a separated intersection, determining a high-precision lane segment group on the exit road section associated with the starting point and the end point as a last high-precision lane segment group;

if the type of the target intersection is not a separated intersection, determining the next longitudinal connecting lane of the high-precision road section where the terminal point is located as the last group of high-precision road sections;

And determining a path from the first high-definition road segment group to the last high-definition road segment group as the path finding path.

In this alternative implementation, the path of the probe includes multiple groups of high-precision lane segments, and the groups of high-precision lane segments included therein are different based on the type of the target intersection.

If the target intersection is a separated intersection, that is, an intersection with a separation point, as shown in fig. 2B, the path-finding path includes two types, wherein one type includes a plurality of groups of high-precision road segments from a high-precision road segment where a starting point is located to a high-precision road segment where a final point is located, and the other type includes a plurality of groups of high-precision road segments from the high-precision road segment where the starting point is located to an exit road segment; the exit road section may be an exit road section associated with a start point and an end point, for example, under the separated intersection, the high-precision road section where the start point is located is an entry road, or when a certain high-precision road section subsequent to the high-precision road section where the start point is located is an entry road section, the exit road section corresponding to the entry road section, or the exit road section where the same non-end point is located as the entry road section corresponding to the exit road section where the end point is located; wherein each set of high-definition road segments includes a plurality of lane segments laterally adjacent one of the high-definition road segments.

As shown in FIG. 2C, G2 is an entry road segment, the exit road segment corresponding to the entry road segment is G8, and G7 is an exit road segment where the end point is, the entry road segment is G5, and meanwhile G5 also corresponds to the exit road segment being G6, so that three exit road segments G8, G7 and G6 can be obtained under the target intersection, and finally three probe paths G1-G8, G1-G2-G3-G4-G5-G6, and G1-G2-G3-G4-G5-G7 can also be obtained.

If the target intersection is not a separated intersection, but a stop line and a landmark exist, and the landmark arrows of different lane sections are different large intersections, the road exploring path comprises a plurality of groups of high-precision road sections between the next longitudinal connecting lane sections of the high-precision road section where the starting point is located and the final point is located. As shown in fig. 3, the lane where a is located is a high-precision lane segment where the destination of the target lane line is located, and the next longitudinal connecting lane of the high-precision road segment corresponding to the high-precision lane segment is a lane segment where b is located, where the connecting relationship is stored in the high-precision map data and can be directly obtained.

Therefore, the first group of high-precision lane segments of the road-exploring path are all high-precision lane segment groups on the high-precision road section where the starting point is located, and the last group of high-precision lane segments are different. When the target intersection is a separated intersection, in the high-precision map data, in the topological communication relationship in which the high-precision road section corresponding to the first group of high-precision road sections is taken as an entering road section, at least two exiting road sections are separated at a separation point, and the destination road line is at one of the two exiting high-precision road sections, so that the road exploring path can comprise paths from the entering road section to at least two exiting road sections, the high-precision map data can determine the high-precision road section group on the high-precision road section with the starting point as a first group of high-precision road sections, and the high-precision road sections on the two exiting road sections are respectively determined as a last group of high-precision road sections, and the paths from the first group of high-precision road sections to the last group of high-precision road sections are road exploring paths.

When the target intersection is not a separate intersection but a large intersection, since the end point of the target lane line is generally on the entry road section of the target intersection and before the stop line. In order to accurately judge the connectivity in the longitudinal direction, the next longitudinal communication lane of the high-precision road section where the end point of the target lane line is located can be determined as the last lane segment group of the exploring path, and only the next longitudinal communication lane segment is determined as the last lane segment group here, because according to the actual condition of the real road, the vehicle can travel to the next longitudinal communication lane segment, that is, the vehicle can travel to other lane segments on the high-precision road section where the next longitudinal communication lane segment is located, so that only the next longitudinal communication lane segment can be considered.

Fig. 4 shows a flow chart of a navigation method according to an embodiment of the present disclosure. As shown in fig. 4, the navigation method includes the steps of:

in step S401, a navigation planning path is acquired;

in step S402, in response to the navigation planning path including a preset standard deviation path, determining whether a recommended lane at the preset standard deviation path and associated lane information of the preset standard deviation path are matched; the preset standard deviation path and the associated lane information of the preset standard deviation path are obtained based on the path and lane association method;

In step S403, if the recommended lane is matched with the associated lane information, outputting a prompt message before guiding the navigated object to the preset standard deviation path; the prompt information comprises first prompt information of a target lane line and second prompt information of the related lane information influenced by the target lane line.

In this embodiment, the navigation method may be executed on the terminal device. The user can input the navigation starting and ending point through the navigation application on the terminal equipment, and the terminal equipment sends the navigation starting and ending point to the path planning server and then returns the navigation planning path through the path planning server. The terminal device may further obtain at least one or more preset standard substance paths that establish an association relationship with the lane in advance. The preset standard deviation path is obtained based on the path and lane association method, and the lane information establishing association relation with the preset standard deviation path in the path and lane association method can be called as the associated lane information of the preset standard deviation path, and the lane corresponding to the associated lane information can be called as the associated lane. In some embodiments, the associated lane information may be the relative lane information on the road on the preset standard deviation path, such as the information of which lane, etc.

The terminal device may further match the navigation planning path with a preset standard deviation path, and if the navigation planning path includes the preset standard deviation path, output a prompt message before guiding the navigated object to the preset standard deviation path, where the prompt message may indicate to the navigated object that there is a target lane line affecting the vehicle merging on the preset standard deviation path, for example, the target lane line may be a long solid line. In addition, in order to avoid yaw caused by the influence of the long solid line of the target, the prompt information may also indicate to the navigation target a recommended lane or the like that is advanced on the preset target path.

In some embodiments, after the association relationship between the preset standard deviation path and the associated lane information is established by using the path and lane association method, the starting point of the target lane line on the preset standard deviation path may be recorded, so that the prompt information is output when the navigated object is guided to the starting point of the target lane line in the navigation process.

For details in this embodiment, reference may be made to the description of the path and lane association method above, which is not repeated here.

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

Fig. 5 shows a block diagram of a path and lane association 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. 5, the path-to-lane associating device includes:

a first determination module 501 configured to determine a target lane line that affects a merging of vehicles;

a second determination module 502 configured to determine a target intersection related to the target lane line from high-precision map data;

a third determining module 503 configured to determine a high-precision target path ahead of the target intersection whose path plan is affected by the target lane line, and an affected lane segment on the high-precision target path, based on the high-precision map data;

the mapping module 504 is configured to establish an association relationship between the standard deviation path and the lane information of the affected lane segment after mapping the high-accuracy target path to the standard deviation path based on the mapping relationship between the high-accuracy map data and the standard deviation map data.

In this embodiment, the path and lane association apparatus may be executed by a server. The high-precision map data is a data storage mode taking lanes as storage objects, and mainly comprises the following contents: high-definition road data, high-definition lane data (lane lines, types, relationships, etc.), high-definition component data (ground marks, facilities, etc.), and the like, are generally abbreviated as "HD data". The standard-definition map data is a data storage mode with roads as storage objects, and the content mainly comprises: basic road network data, attribute information (electronic eyes, guideline, prohibition information, etc.) on roads, public travel information such as riding steps, etc., and so on, are generally referred to simply as "SD data".

In an alternative implementation manner of this embodiment, the first determining module may be implemented as follows:

Selecting a plurality of high-precision lane line segments affecting vehicle parallel lines from the high-precision map data;

In an optional implementation manner of this embodiment, the third determining module may be implemented as follows:

In an optional implementation manner of this embodiment, the determining, based on the high-precision map data, lane accessibility data between high-precision lane segments related to the target lane line corresponding to the target intersection may be implemented as follows:

In an optional implementation manner of this embodiment, the determining lane accessibility data between each high-precision lane segment in the first set of high-precision lane segments to each high-precision lane segment in the last set of high-precision lane segments on the path may be implemented as follows:

determining longitudinal reachable data between the first group of high-precision lane segments and the last group of high-precision lane segments on the path exploring path based on the target lane line, wherein the longitudinal reachable data between the high-precision lane segments are adjacent to each other in the path direction of the path exploring path;

Because the topological connection relation between the high-precision road sections is also stored in the high-precision map data, based on the topological connection relation, a plurality of groups of high-precision road sections on a plurality of high-precision road sections which are in front-back topological connection on the exploring path can be determined, and each high-precision road section corresponds to a group of high-precision road sections. Topological connectivity in the path direction of the path-finding path. It can be understood that the multiple groups of high-precision lane segments on the multiple high-precision road segments with front-back topological communication are multiple groups of high-precision lane segments formed by breaking multiple complete lanes in the real world in the longitudinal direction, so that data can be accessed longitudinally, and the correlation relationship between each high-precision lane segment in the first group of high-precision lane segments and the high-precision lane segment belonging to the same lane in the last group of high-precision lane segments on the exploring path is actually reflected, wherein the longitudinally accessible high-precision lane segments are high-precision lane segment groups on the same lane, and the longitudinally inaccessible high-precision lane segments do not belong to the same lane.

In an optional implementation manner of this embodiment, the determining, based on the high-precision map data, a path from the starting point to the ending point, where the path is traversed, may be implemented as follows:

If the target intersection is a separated intersection, that is, an intersection with a separation point, as shown in fig. 2B, the path-finding path includes two types, wherein one type includes a plurality of groups of high-precision road segments from a high-precision road segment where a starting point is located to a high-precision road segment where a final point is located, and the other type includes a plurality of groups of high-precision road segments from the high-precision road segment where the starting point is located to an exit road segment of the target intersection; wherein each set of high-definition road segments includes a plurality of lane segments laterally adjacent one of the high-definition road segments.

The path and lane association apparatus according to an embodiment of the present disclosure may be implemented as part or all of an electronic device by software, hardware, or a combination of both. The path and lane association apparatus includes:

an acquisition module configured to acquire a navigation planning path;

a fourth determining module configured to determine whether a recommended lane at a preset standard deviation path is matched with associated lane information of the preset standard deviation path in response to the preset standard deviation path being included in the navigation planning path; the preset standard deviation path and the associated lane information of the preset standard deviation path are obtained based on the path and lane association device;

In this embodiment, the navigation device may be executed on the terminal apparatus. The user can input the navigation starting and ending point through the navigation application on the terminal equipment, and the terminal equipment sends the navigation starting and ending point to the path planning server and then returns the navigation planning path through the path planning server. The terminal device may further obtain at least one or more preset standard substance paths that establish an association relationship with the lane in advance. The preset standard deviation path is obtained based on the path and lane association device, the lane information establishing association relation with the preset standard deviation path in the path and lane association device can be called as the associated lane information of the preset standard deviation path, and the lane corresponding to the associated lane information can be called as the associated lane. In some embodiments, the associated lane information may be the relative lane information on the road on the preset standard deviation path, such as the information of which lane, etc.

The terminal device may further match the navigation planning path with a preset standard deviation path, and if the navigation planning path includes the preset standard deviation path, before guiding the navigated object to the preset standard deviation path, output a prompt message, where the prompt message may indicate to the navigated object that there is a target lane line that affects the vehicle merging at the preset standard deviation path, for example, the target lane line may be a long solid line. In addition, in order to avoid yaw caused by the influence of the long solid line of the target, the prompt information may also be transmitted to the navigation target to advance entering the associated lane on the target path, and the like. The associated lane may be understood as a lane into which not all lanes preceding the start point of the target lane line can be merged due to the presence of the target lane line. In some embodiments, the second hint information of the associated lane information affected by the target lane line may include information that hint the navigation object to incorporate into the associated lane in advance so as not to be affected by the target lane line.

In some embodiments, after the association between the preset standard deviation path and the associated lane information is established by using the path and the lane association device, the starting point of the target lane line on the preset standard deviation path may be recorded, so that the prompt information is output when the navigated object is guided to the starting point of the target lane line in the navigation process.

For details in this embodiment, reference may be made to the description of the path and lane association device hereinabove, and details thereof are not repeated here.

The present disclosure also discloses an electronic device, fig. 6 shows a block diagram of the electronic device according to an embodiment of the present disclosure, and as shown in fig. 6, the electronic device 600 includes a memory 601 and a processor 602; wherein,

the memory 601 is used to store one or more computer instructions that are executed by the processor 602 to implement the method steps described above.

As shown in fig. 7, the computer system 700 includes a processing unit 701, which may be implemented as a processing unit such as CPU, GPU, FPGA, NPU. The processing unit 701 may perform 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) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the operation of the computer system 700 are also stored. The processing unit 701, the ROM702, and the RAM703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, and the like; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.

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 via the communication portion 709, and/or installed from the removable medium 711.

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 path and lane association method, comprising:

determining a target lane line affecting a vehicle merging;

2. The method of claim 1, wherein the determining a target lane line that affects a vehicle merge line comprises:

3. The method of claim 1 or 2, wherein the determining, based on the high-precision map data, a high-precision target path ahead of the target intersection whose path plan is affected by the target lane line, and an affected lane segment on the high-precision target path, comprises:

4. The method of claim 3, wherein the determining lane accessibility data between high-definition lane segments involved in the target lane line corresponding to the target intersection based on the high-definition map data comprises:

5. The method of claim 4, wherein the determining lane accessibility data between each high-definition lane segment of the first set of high-definition lane segments to each high-definition lane segment of the last set of high-definition lane segments on the path of exploration comprises:

6. The method of claim 4 or 5, wherein the determining, based on the high-precision map data, a path of traversal from the origin to the destination, comprises:

7. A navigation method, comprising:

acquiring a navigation planning path;

determining whether a recommended lane at the preset standard deviation path is matched with associated lane information of the preset standard deviation path or not according to the fact that the preset standard deviation path is included in the navigation planning path; the preset standard deviation path and the associated lane information of the preset standard deviation path are obtained based on the method of any one of claims 1-6;

8. A path and lane association apparatus, comprising:

9. A navigation device, comprising:

an acquisition module configured to acquire a navigation planning path;

a fourth determining module configured to determine whether a recommended lane at a preset standard deviation path is matched with associated lane information of the preset standard deviation path in response to the preset standard deviation path being included in the navigation planning path; the preset standard deviation path and the associated lane information of the preset standard deviation path are obtained based on the device of claim 8;

10. 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 1-7.

11. A computer readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a processor, implement the method of any of claims 1-7.

12. Application software for navigation comprising computer instructions which, when executed by a processor, implement the method of claim 7.