CN117516583B

CN117516583B - Exit road determining method, apparatus, electronic device and storage medium

Info

Publication number: CN117516583B
Application number: CN202410014565.9A
Authority: CN
Inventors: 刘婷; 肖鹏; 李子强; 杜康; 李迎; 张俊杰; 刘兴虎
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2024-01-04
Filing date: 2024-01-04
Publication date: 2024-03-19
Anticipated expiration: 2044-01-04
Also published as: CN117516583A

Abstract

The embodiment of the disclosure discloses a method, a device, electronic equipment and a storage medium for determining an exit road, wherein the method comprises the following steps: acquiring a target intersection, an entering road of the target intersection, an exiting road relative to the entering road and different arrow directions of a driving guide line on the entering road; determining a relative positional relationship between the exit road and the entry road; dividing the target intersection into four quadrants by taking the road direction of the exit road as a quadrant dividing boundary based on the relative position relation; and determining an exit road corresponding to different arrow directions of the driving guide line based on the relative position relation and the four quadrants. According to the technical scheme, the exit road can be more accurately corresponding to the corresponding arrow direction of the driving guide line, namely, the steering direction of the exit intersection can be more accurately determined, and the accuracy and the data production efficiency are improved.

Description

Exit road determining method, apparatus, electronic device and storage medium

Technical Field

The disclosure relates to the technical field of maps, in particular to a method and a device for determining an exit road, electronic equipment and a storage medium.

Background

The driving guide line is an important element of the electronic map data for navigation, and functions to guide a lane traveled by a navigation target at an intersection and a direction of approach. In the map data, the driving guide lines need to be combined with the shape of the intersection and the arrow directions, and the exit roads corresponding to the arrow directions of the driving guide lines are selected and expressed. In the prior art, a mode of manually manufacturing the direction of the driving guide line is adopted, in the manual manufacturing mode, the exiting direction corresponding to each arrow direction of the driving guide line is calculated through an angle, and then the corresponding exiting road is found in the exiting direction. The result is fixed due to calculation in the set angle interval, and the result cannot be flexibly adjusted along with different intersection shapes and different arrow directions of the driving guide lines entering the road, so that the accuracy is low, and the manual manufacturing efficiency is low.

Therefore, an automatic solution for determining the exit road corresponding to each arrow direction on the driving guidance line at the intersection is required to be provided, so as to improve the accuracy and the manufacturing efficiency.

Disclosure of Invention

The embodiment of the disclosure provides an exit road determining method, an exit road determining device, electronic equipment and a storage medium.

In a first aspect, an embodiment of the present disclosure provides an exit road determining method, including:

acquiring a target intersection, an entering road of the target intersection, an exiting road relative to the entering road and different arrow directions of a driving guide line on the entering road;

determining a relative positional relationship between the exit road and the entry road;

dividing the target intersection into four quadrants by taking the road direction of the exit road as a quadrant dividing boundary based on the relative position relation;

and determining an exit road corresponding to different arrow directions of the driving guide line based on the relative position relation and the four quadrants.

In a second aspect, an embodiment of the present invention provides an exit road determining apparatus, including:

an acquisition module configured to acquire a target intersection, an entry road of the target intersection, an exit road relative to the entry road, and different arrow directions of a driving guide line on the entry road;

a first determination module configured to determine a relative positional relationship between the exit road and the entry road;

the second determining module is configured to divide the target intersection into four quadrants by taking the road direction of the exit road as a quadrant division boundary based on the relative position relation;

And a third determination module configured to determine an exit road corresponding to a different arrow direction of the driving guide line based on the relative positional relationship and the four quadrants.

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 third 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 fourth 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.

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

in this embodiment, when determining the exit road corresponding to each of different arrow directions on the driving guide line of the entry road of the target intersection, the relative positional relationship of the exit road with respect to the entry road is determined first, and then the target intersection model is divided into four quadrants based on the relative positional relationship, where four coordinate axes on the four quadrants are determined by the relative positional relationship of the exit road with respect to the entry road. Based on the relative position relation and four quadrants of the exit road, the exit road corresponding to each different arrow direction on the driving guide line is further determined. In this way, because the four quadrants are determined based on the relative position relation of the exit road of the target intersection relative to the entrance road, unlike the prior art that the four quadrants are divided according to a fixed angle, the four quadrants can be flexibly configured based on the shape characteristics of the target intersection, so that the exit road can be more accurately corresponding to the corresponding arrow direction of the driving guide line, namely, the steering direction of the exit intersection can be more accurately determined, and the accuracy and the data production efficiency 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. The following is a description of the drawings.

Fig. 1 shows a flowchart of an exit road determination method according to an embodiment of the present disclosure.

Fig. 2 shows a schematic view of the effect of different arrow directions of a driving guide line according to an embodiment of the present disclosure.

Fig. 3A-3B illustrate a relative positional relationship effect diagram of an exit road relative to an entry road according to an embodiment of the present disclosure.

Fig. 4A-4C are schematic diagrams showing the effect of four quadrants and angle combinations on the correspondence determination between the arrow direction and the exit road according to an embodiment of the present disclosure.

Fig. 5 shows a block diagram of a structure of an exit road determination device 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 an exit road determination method according to an embodiment of the present disclosure.

Detailed Description

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

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

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

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 fully authorized by the parties, and the collection, use and processing of relevant data requires compliance with relevant laws and regulations and standards, and is provided with corresponding access to the user's 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 an exit road determination method according to an embodiment of the present disclosure. As shown in fig. 1, the exit road determination method includes the steps of:

in step S101, a target intersection, an entry road of the target intersection, an exit road relative to the entry road, and different arrow directions of a driving guide line on the entry road are acquired;

in step S102, determining a relative positional relationship between the exit road and the entry road;

in step S103, based on the relative positional relationship, dividing the target intersection into four quadrants with the road direction of the exit road as a quadrant dividing boundary;

in step S104, an exit road corresponding to a different arrow direction of the driving guide line is determined based on the relative positional relationship and the four quadrants.

In this embodiment, the exit road determination method may be executed by a server. The target intersection may be an intersection marked with a driving guide line on the entrance road. The entry road may be a road on which the navigation target enters the target intersection, and the exit road may be a road on which the navigation target enters the target intersection and then exits the target intersection. The exit road may be a road in which the object to be navigated can only travel in an exit direction when traveling on a certain lane, for example, an exit road in which the object to be navigated can only travel in a straight direction when traveling on a straight lane. The driving guide lines may be arrows guiding the driving direction of the guided object on the respective lanes of the entering road in front of the intersection, including but not limited to, left turn, straight, right turn, left turn, right turn, etc. arrow directions, as shown in fig. 2.

In some embodiments, the data materials on the road can be obtained in advance based on processing the image collected on the real road, and the data materials can be restored to the real world through image recognition, such as intersection shapes, stop lines, zebra crossings, guide lines and the like, and are stored in a vector data format. The vector data may be obtained with reference to the prior art, which is not limited by the present disclosure.

And determining a target intersection acted by the driving guide line based on the actual positions of the driving guide lines in the directions of all the arrows in the data material, and taking the road where the driving guide line is positioned as an entering road of the target intersection. In this way, after the target intersections are found, it is possible to determine, for each target intersection, an exit road corresponding to each arrow direction of the driving guide line with respect to the entry road.

In this embodiment, the directions of the arrows of the entry road of the target intersection, the exit road with respect to the entry road, and the driving guide line on the entry road may be acquired for the target intersection. The exit and entry roads for the target intersection may also be determined based on the data material. It should be noted that, the access road may include multiple sets of arrow directions, as shown in fig. 2, where multiple arrow directions on the same lane may be stacked to form multiple arrow directions, such as a left turn and a left turn arrow of a left lane in fig. 2, and stacked to form a left turn and a left turn arrow. The exit road corresponding to the left turn arrow may include a left turn direction and an exit road in the left turn direction.

For the target intersection, a relative positional relationship of each exit road with respect to an extension line of the entry road may be determined. As shown in fig. 3A, for the target intersection illustrated by the point P1, the road on which the point P2 is located is an entering road, and the road on which the point P3 is located is one of exiting roads. In the figure, a dotted line is an extension line of an entering road, an included angle between an exiting road and the extension line of the entering road is alpha, alpha 1 is an included angle between the entering road where a point P2 is located and the north direction, and alpha 2 is an included angle between the exiting road where a point P3 is located and the north direction. The relative positional relationship of the exit road where the point P3 is located with respect to the entry road where the point P2 is located may include, but is not limited to, an included angle a of the exit road where the point P3 is located with respect to an extension line of the entry road where the point P2 is located, and an azimuth of the exit road where the point P3 is located with respect to the entry road where the point P2 is located, such as a right side or a left side.

In this embodiment, in order to accurately determine the correspondence between each exiting road and each arrow direction on the driving guide line of the entering road, the target intersection is divided into four quadrants, which are similar to those in the conventional sense, and the four quadrants in this embodiment also include four quadrants, which are divided by four quadrant division boundaries (corresponding to four coordinate axes in the conventional sense); however, different from the above, the quadrant dividing boundaries of the four quadrants in the present embodiment are determined based on the road direction of the exit road, instead of four coordinate axes perpendicular to each other in the conventional sense; it will be appreciated that the directions of the roads exiting the road need not be perpendicular to each other.

It is understood that the exit road of the target intersection may include one or more exit roads, and based on the relative positional relationship of the exit road with respect to the entrance road, an appropriate exit road may be selected as a quadrant division boundary for dividing four quadrants, so that, based on the relative positional relationship of the exit road and the divided four quadrants, the exit road corresponding to different arrow directions on the driving guidance line of the entrance road is determined, for example, at least one of left turn, straight turn, right turn, left turn, right turn is included on the driving guidance line, and the exit road corresponding to at least one of left turn, straight turn, right turn, left turn, right turn is determined, and the correspondence may be stored in the map data so that, during navigation, a navigated object entering the target intersection from the entrance road may be guided out from the corresponding exit road based on the correspondence.

In this embodiment, when determining the exit road corresponding to each of different arrow directions on the driving guidance line of the road where the target intersection enters, the relative positional relationship of the exit road with respect to the entry road is determined first, and then the road direction of the exit road is used as a quadrant division boundary based on the relative positional relationship to divide the target intersection model into four quadrants. Based on the relative position relation and four quadrants of the exit road, the exit road corresponding to each different arrow direction on the driving guide line is further determined. In this way, because the four quadrants are determined based on the relative position relation of the exit road of the target intersection relative to the entrance road, unlike the prior art that the four quadrants are divided according to a fixed angle, the four quadrants can be flexibly configured based on the shape characteristics of the target intersection, so that the exit road can be more accurately corresponding to the corresponding arrow direction of the driving guide line, namely, the steering direction of the exit intersection can be more accurately determined, and the accuracy and the data production efficiency are improved.

In an alternative implementation manner of this embodiment, step S102, that is, the step of determining the relative positional relationship of the exit road with respect to the entry road, may be implemented as follows:

an angle of the exit link relative to an extension of the entry link and an orientation of the exit link relative to the entry link are determined.

In this alternative implementation, the relative positional relationship of the exit road to the entry road may include an angle of the exit road to an extension of the entry road and an orientation of the exit road to the entry road.

In some embodiments, the angle a 1 between the entering road and the north direction may be calculated based on the position information of the entering road, and the angle a 2 between the exiting road and the north direction may be calculated based on the position information of the exiting road, where the angle a=180- (a 1-a 2) between the exiting road and the extension line of the entering road. Referring to fig. 3a, the position of the point P1 may be the intersection of the entering road and the target intersection, the point P2 may be the point on the entering road, and the position coordinates of the two points P1 and P2 may be obtained from the data material, so that the angle between the entering road and the north direction may be calculated based on the positions of the points P1 and P2, and similarly, the angle between the exiting road and the north direction may be calculated.

In other embodiments, the location of the exit link relative to the entry link may also be calculated based on the location information of the entry link and the exit link. Referring to fig. 3B, the entry road is a, and the orientations of the exit roads B, c with respect to a are calculated. Taking the exit road B as an example, a midpoint of a line connecting the head and tail points of the exit road B is determined, as shown by a hollow circle Pb in fig. 3B, which has a position coordinate on the left side of the entry road a, the midpoint is on the left side of a, so that the position of the exit road B with respect to the entry road a is left side, and a midpoint of the exit road c is on the right side of the entry road a as shown by a hollow circle Pc in fig. 3B, so that the position of the exit road c with respect to the entry road a is right side.

In an optional implementation of this embodiment, the relative positional relationship includes an angle of the exit road relative to an extension line of the entry road; step S103, namely, the step of dividing the target intersection into four quadrants with the road direction of the exit road as a quadrant dividing boundary based on the relative position relationship may be implemented as follows:

and determining the road direction of the exit road, of which the relative position relation meets a set condition, as a quadrant division boundary of the four quadrants, and obtaining the four quadrants into which the target intersection is divided.

In this alternative implementation, for convenience of description, four quadrant division boundaries of four quadrants in the embodiments of the present disclosure are also described in the form of four coordinate axes, i.e., an X-axis positive direction, an X-axis negative direction, a Y-axis positive direction, and a Y-axis negative direction. In order to divide the four quadrants adapting to the shape characteristics of the target intersection, the X-axis positive direction, the X-axis negative direction, the Y-axis positive direction, the Y-axis negative direction and the angle range satisfied between the entering road can be preset, and then the road direction of the exiting road is respectively determined as the X-axis positive direction, the X-axis negative direction, the Y-axis positive direction and the Y-axis negative direction according to the set angle range satisfied by the included angle of the exiting road relative to the extension line of the entering road. That is, an exit road whose relative positional relationship satisfies the set condition may be selected, and the road direction thereof may be the X-axis positive direction, the X-axis negative direction, the Y-axis positive direction, or the Y-axis negative direction of the four quadrants. In some embodiments, the angle with the entry road may be an angle with the road direction of the entry road, and the angle with the extension of the entry road may be an angle with the extension of the entry road in the road direction.

It is understood that the positive X-axis direction may be a right-turn direction of the target intersection with respect to the entering road, and therefore, an exiting road that is most suitable as a coordinate axis in the positive X-axis direction may be found within the right-turn direction range of the entering road, and the road direction of the exiting road is determined as the positive X-axis direction.

The Y-axis positive direction may be a forward straight direction of the target intersection with respect to the entering road, and therefore, an exiting road that is most suitable as a coordinate axis in the Y-axis positive direction may be found within a forward straight range of the entering road, and the road direction of the exiting road is determined as the Y-axis positive direction.

The X-axis negative direction is the exit road in the left-turn direction of the entrance road, and the exit road is generally almost opposite to the exit road direction in the right-turn direction, so that the road direction of the exit road most suitable as the coordinate axis in the X-axis negative direction can be found near the reverse extension line of the X-axis positive direction as the X-axis negative direction.

The negative Y-axis direction is the exit road in the direction of turning around the entrance road, and may be the antiparallel path of the entrance road. It is therefore possible to find an exit road whose road direction is almost opposite to the entry road in the vicinity of the entry road, and to determine the road direction of the exit road as the Y-axis negative direction.

If there are a plurality of exit roads within a set angle range satisfied by the angle between the exit road and the extension line of the entry road, the road direction of the most suitable exit road may be selected as the corresponding coordinate axis direction based on the road attributes of the exit roads.

In some embodiments, determining that within a set angle range of the positive direction of the X-axis, if there are a plurality of exit roads, and if there are uplink and downlink roads paired with other roads in the exit roads, preferentially selecting an exit road in the uplink and downlink roads paired with other roads; if the main road and the auxiliary road exist in the exit roads at the same time, the main road is preferentially selected. The road direction of the selected exit road is determined as the positive X-axis direction.

Determining that in a set angle range of the Y-axis positive direction, if a plurality of exit roads exist, selecting an exit road consistent with the road attribute of the entry road, and if no exit road consistent with the road attribute exists, selecting an exit road with an angle closest to that of straight going; the road direction of the selected exit road may be determined as the Y-axis positive direction. The road attribute may include, but is not limited to, road grade, road composition, etc., and the road composition expresses the physical form of the road, such as whether it is a main road, an auxiliary road, an uplink road, a downlink road, etc. Determining that within a set angle range of the X-axis negative direction, if a plurality of exit roads exist and uplink and downlink roads paired with other roads exist in the exit roads, preferentially selecting the exit road in the uplink and downlink roads paired with other roads; if the main road and the auxiliary road exist in the exit roads at the same time, the main road is preferentially selected. The road direction of the selected exit road is determined as the negative X-axis direction.

Determining that in a set angle range of the Y-axis negative direction, if a plurality of exit roads exist, selecting the exit road closest to the entry road; the road direction of the selected exit road may be determined as the Y-axis negative direction.

In an optional implementation of this embodiment, the relative positional relationship includes an angle of the exit road relative to an extension line of the entry road; the step of determining the road direction of the exit road, in which the relative positional relationship satisfies the set condition, as the quadrant division boundary of the four quadrants, and obtaining the four quadrants into which the target intersection is divided may be implemented as follows:

selecting an exit road taking the road direction as the positive X-axis direction of the four quadrants from the exit roads with the included angles in a first angle range;

selecting an exit road with the road direction as the Y-axis positive direction of the four quadrants from the exit roads with the included angles in a second angle range;

determining the road direction of the exit road with the angle difference of the reverse extension line with the positive X-axis direction within a first angle difference range as the negative X-axis direction;

and determining the road direction of the exit road which is positioned on the left side of the entrance road and has the angle difference with the reverse extension line of the entrance road within a second angle difference range as the Y-axis negative direction.

In the alternative implementation manner, an exit road with an included angle between an extension line of an entry road and a first angle range, such as (30-150 degrees), can be preset, and the exit road is an exit road in the right-turn direction, so that the exit road which can be used as a coordinate axis in the positive direction of the X axis in the right-turn direction can be found out from the first angle range; an exit road with an included angle between the exit road and an extension line of the entrance road within a second angle range (280-80 degrees) can be set as the exit road in the forward straight direction, so that the exit road which can be used as a coordinate axis in the Y-axis positive direction in the straight direction can be found out from the second angle range.

The exit road in the negative X-axis direction may be determined according to the angle between the reverse extensions of the selected positive X-axis direction, and the exit road in the left-turn direction of the target intersection may be determined as the negative X-axis direction, for example, in a first angle difference range set with the angle difference between the reverse extensions of the positive X-axis direction, and the first angle difference range may be a smaller range of about 20 degrees.

The exit road in the negative direction of the Y-axis can be selected as an antiparallel path to the entry road. In some embodiments, an exit road having an angle difference from the reverse extension of the entry road within a second angle difference range may be selected, with its road direction determined as the Y-axis negative direction. The second angular difference range may be a small range of about 20 degrees. The first angle difference range and the second angle difference range may be the same or different. In some embodiments, the angle difference with the reverse extension of the incoming road may be the angle difference with the reverse extension of the incoming road in the road direction.

If one or more of the positive X-axis direction, the positive Y-axis direction, and the negative X-axis direction cannot be determined from the road direction of the exiting road, that is, if there is no exiting road that is at least one of the positive X-axis direction, the positive Y-axis direction, and the negative X-axis direction, the corresponding coordinate axis direction may be virtually calculated, for example, the coordinate axes of the positive X-axis direction, the positive Y-axis direction, and the negative X-axis direction may be virtually calculated at angles of 90 degrees, 0 degrees, and 270 degrees with respect to the extension line of the entering road.

In an alternative implementation manner of this embodiment, step S104, that is, the step of determining the exit road corresponding to the different arrow directions of the driving guide line based on the relative positional relationship and the four quadrants, may be implemented as follows:

determining a quadrant position of the exit road in the four quadrants;

and determining the corresponding relation between the exit road and the driving guide line in different arrow directions based on different combination conditions of the relative position relation corresponding to the exit road and the quadrant position.

In this optional implementation manner, after the target intersection is divided into four quadrants based on the relative position relationship of the exit road, for each exit road, the quadrant position of the exit road in the four quadrants, that is, the quadrant position is located in a certain quadrant or coincides with a certain coordinate axis, etc., so as to determine the corresponding relationship between the exit road and different arrow directions of the driving guide line based on different combination conditions between the quadrant position and the relative position relationship corresponding to the exit road, that is, determine the steering direction of the exit road relative to the entry road. It will be appreciated that in the case of different four-quadrant divisions at different target intersections, even if the relative positional relationship of the exit road with respect to the entry road is the same, the exit road may have a different correspondence with the arrow direction of the driving guide line, i.e., the exit road may have a different steering direction with respect to the entry road, due to the different quadrant positions of the exit road at different target intersections.

In this embodiment, when determining the steering direction of the exit road relative to the entry road, not only the relative positional relationship of the exit road relative to the entry road, but also the quadrant position of the exit road in the four quadrants into which the target intersection is divided, and the four quadrants may embody the shape feature of the target intersection, so in this embodiment, the shape feature of the target intersection is also considered when determining the steering direction of the exit road, which makes the steering direction accuracy of the exit road higher.

In an optional implementation of this embodiment, the relative positional relationship includes an angle of the exit road relative to an extension line of the entry road; based on different combinations of the relative positional relationship corresponding to the exit road and the quadrant position, the step of determining the correspondence between the exit road and the driving guide line in different arrow directions may be implemented as follows:

and determining the corresponding relation between the arrow direction and the exit road in the range of two adjacent quadrants of the four quadrants corresponding to the arrow direction and the included angle in the set high confidence range.

In this alternative implementation, different arrow directions correspond to different steering directions, and the steering direction of the exit road with a correspondence relationship needs to be identical to the steering direction corresponding to the arrow direction. Therefore, a high confidence range where the exit road corresponding to different arrow directions in the four quadrants is located can be predetermined according to the driving rule, and a corresponding relationship between the exit road in the corresponding high confidence range and the corresponding arrow direction is established. Different arrow directions correspond to different high confidence ranges, and the high confidence ranges are within the range of two adjacent quadrants corresponding to the corresponding arrow directions. The range of two adjacent quadrants can be understood to include the two quadrants and the coordinate axes connecting the two quadrants.

For example, the adjacent first and fourth quadrants correspond to the left-turn arrow direction, the angles between the first and fourth quadrants are located in the range corresponding to the left-turn arrow direction, and the angles between the first and fourth quadrants and the extended line of the entering road are located in the set high confidence range corresponding to the left-turn arrow direction, and the exiting road has a corresponding relation with the left-turn arrow direction. The first quadrant is defined by the coordinate axis where the positive X-axis direction and the positive Y-axis direction are located, the second quadrant is defined by the coordinate axis where the negative X-axis direction and the positive Y-axis direction are located, the third quadrant is defined by the coordinate axis where the negative X-axis direction and the negative Y-axis direction are located, and the fourth quadrant is defined by the coordinate axis where the positive X-axis direction and the negative Y-axis direction are located.

In an optional implementation manner of this embodiment, the step of determining the correspondence between the arrow direction and the exit road in the range where two adjacent quadrants located in the four quadrants corresponding to the arrow direction and the included angle is located in the set high confidence range may be implemented according to at least one of the following manners:

determining a corresponding relation between a left-turn arrow direction and the exit road which is positioned in a second quadrant, the X-axis negative direction and/or a third quadrant in the four quadrants, wherein the included angle is positioned in a set left-turn high confidence range;

determining the corresponding relation between the direction of a straight arrow and the exit road in a first quadrant, the Y-axis positive direction and/or a second quadrant in the four quadrants, wherein the included angle is in a set straight high confidence range;

determining a corresponding relation between a right turn arrow direction and the exit road in a first quadrant, the X-axis positive direction and/or a fourth quadrant in the four quadrants, wherein the included angle is in a set right turn high confidence range;

determining a corresponding relation between the left turning arrow direction and the exit road in a third quadrant and/or the Y-axis negative direction in the four quadrants, wherein the included angle is in a set turning high confidence range;

And determining the corresponding relation between the direction of the right turning arrow and the exit road in the fourth quadrant, wherein the fourth quadrant is positioned in the four quadrants, and the included angle is positioned in the set turning high confidence range.

In this alternative implementation, the left turn high confidence range corresponding to the left turn arrow direction may be within the range of the second quadrant and the third quadrant, the straight-through high confidence range corresponding to the straight-through arrow direction may be within the range of the first quadrant and the second quadrant, the right turn high confidence range corresponding to the right turn arrow direction may be within the range of the first quadrant and the fourth quadrant, the left turn high confidence range corresponding to the left turn arrow direction may be within the range of the third quadrant and the negative Y-axis direction, and the right turn high confidence range corresponding to the right turn arrow direction may be within the range of the fourth quadrant.

For this purpose, the left turn arrow direction may be determined to have a correspondence to the exit road in the second quadrant, the negative X-axis direction, and/or the third quadrant, and having an angle with the extension line of the entry road within a set high confidence range of left turn. Similarly, the direction of the straight arrow may be determined, and the exit road located in the first quadrant, the positive Y-axis direction, and/or the second quadrant, and having an angle with the extension line of the entry road within the set straight high confidence range may have a correspondence, the direction of the right-turn arrow may be determined, and the exit road located in the first quadrant, the positive X-axis direction, and/or the fourth quadrant, and having an angle with the extension line of the entry road within the set right-turn high confidence range may have a correspondence, and the exit road located in the third quadrant and/or the negative Y-axis direction, and having an angle with the extension line of the entry road within the set left-turn high confidence range may have a correspondence, and the exit road located in the right-turn arrow direction, and having an angle with the extension line of the entry road within the set right-turn high confidence range may have a correspondence.

In an optional implementation of this embodiment, the relative positional relationship further includes a position of the exit road relative to the entry road; the step of determining the correspondence between the arrow direction and the exit road in which two adjacent quadrants of the four quadrants corresponding to the arrow direction are located and the included angle is located within a set high confidence range may be implemented according to at least one of the following modes:

determining that the exit road meets one of the following conditions, and has a corresponding relationship with the left-turn arrow direction in the driving guide line: the road direction is coincident with the X-axis negative direction in the four quadrants; the exit road is positioned in a second quadrant of the four quadrants, and the included angle is positioned in a first left turn high confidence range; the exit road is positioned in the third quadrant of the four quadrants, and the included angle is positioned in the second left turn high confidence range;

determining that the exit road meets one of the following conditions, and has a corresponding relationship with the direction of the straight arrow in the driving guide line: the road direction is coincident with the positive direction of the Y axis in the four quadrants; the exit road is positioned in a first quadrant of the four quadrants, and the included angle is positioned in a first straight line high confidence range; the exit road is positioned in a second quadrant of the four quadrants, and the included angle is positioned in a second straight high confidence range;

Determining that the exit road meets one of the following conditions, and has a corresponding relationship with the right turn arrow direction in the driving guide line: the road direction is coincident with the positive X-axis direction in the four quadrants; the exit road is positioned in a first quadrant of the four quadrants, and the included angle is positioned in a first right turn high confidence range; the exit road is positioned in a fourth quadrant of the four quadrants, and the included angle is positioned in a second right turn high confidence range;

determining that the exit road meets one of the following conditions, and has a corresponding relation with the left turning arrow direction in the driving guide line: the road direction is coincident with the Y-axis negative direction in the four quadrants; the included angle is positioned on the left side of the entering road and the third quadrant of the four quadrants, and the included angle is positioned on the exiting road within the turning high confidence range;

determining that the exit road meets the following conditions, and has a corresponding relation with the direction of a right turning arrow in the driving guide line: the included angle is positioned on the right side of the entering road and the fourth quadrant of the four quadrants, and the included angle is positioned on the exiting road within the turning-around high confidence coefficient range.

In this alternative implementation, as described above, the target intersection is divided into four quadrants using the relative positional relationship corresponding to the exit road and the entry road, wherein the first quadrant is defined by the coordinate axes in which the positive X-axis direction and the positive Y-axis direction are located, the second quadrant is defined by the coordinate axes in which the negative X-axis direction and the positive Y-axis direction are located, the third quadrant is defined by the coordinate axes in which the negative X-axis direction and the negative Y-axis direction are located, and the fourth quadrant is defined by the coordinate axes in which the positive X-axis direction and the negative Y-axis direction are located.

The exit road corresponding to the left-turn arrow direction may preferably be an exit road coincident with the coordinate axis in the X-axis negative direction based on the traffic rules on the real road. In the real world, however, there may be a plurality of exit roads in the same turning direction, which do not coincide with the coordinate axes, and which correspond to the left-turning arrow direction, and whose included angle with respect to the extension line of the entry road is within a certain range. According to the traffic rule principle, an exit road corresponding to the left-turn arrow direction is near the coordinate axis in the negative X-axis direction, and the exit road may be located in the second quadrant and the third quadrant. Therefore, for the exit road located in the second quadrant, a range from the negative X-axis direction to a certain angle may be set as a first left-turn high confidence range, and an exit road having an angle with the extension line of the entry road within the first left-turn high confidence range may be considered as an exit road corresponding to the left-turn arrow direction with a high probability, so the first left-turn high confidence range is a high confidence range corresponding to the left-turn arrow direction in the second quadrant. The exit road outside the first left-turn high confidence range in the second quadrant is not the exit road corresponding to the left-turn arrow, so the range outside the first left-turn high confidence range in the second quadrant is the first left-turn low confidence range corresponding to the left-turn arrow direction in the second quadrant.

Similarly, for the exit road located in the third quadrant, a range from a certain angle to the negative X-axis direction may be set as a second left-turn high confidence range, and an exit road having an angle with the extension line of the entry road within the second left-turn high confidence range may be considered as an exit road corresponding to the left-turn arrow direction with a high probability, so the second left-turn high confidence range is a high confidence range corresponding to the left-turn arrow direction in the third quadrant. The exit road outside the second left-turn high confidence range in the third quadrant is not the exit road corresponding to the left-turn arrow, so the range outside the second left-turn high confidence range in the third quadrant is the second left-turn low confidence range corresponding to the left-turn arrow direction in the third quadrant. It will be appreciated that the first left-turn high confidence range and the second left-turn high confidence range are adjacent to the coordinate axes in the negative X-axis direction, and may be the same or different in size depending on the selected position in the negative X-axis direction. The first left turn high confidence range is in the second quadrant and the second left turn high confidence range is in the third quadrant.

Similarly as above, the exit road corresponding to the direction of the straight arrow may preferably be an exit road coincident with the coordinate axis in the positive direction of the Y-axis, based on the traffic rules on the real road. However, in the real world, there may be a plurality of exit roads in the same turning direction, which do not coincide with the coordinate axis in the positive direction of the Y-axis, and which correspond to the direction of the straight arrow, and whose included angle with respect to the extension line of the entry road is within a certain range. According to the traffic rule principle, an exit road corresponding to the direction of the straight arrow is near the coordinate axis in the positive direction of the Y-axis, and the exit road may be located in the first quadrant and the second quadrant. Therefore, for the exit road located in the first quadrant, a range from the positive Y-axis direction to a certain angle may be set as a first straight high confidence range, and an exit road having an angle with the extension line of the entry road within the first straight high confidence range may be considered to be an exit road corresponding to the straight arrow direction with a high probability, and therefore the first straight high confidence range is a high confidence range corresponding to the straight arrow direction in the first quadrant. The exit road outside the first straight high confidence range in the first quadrant is not the exit road corresponding to the straight arrow, so the range outside the first straight high confidence range in the first quadrant is the first straight low confidence range corresponding to the straight arrow direction in the first quadrant.

Similarly, for the exit road located in the second quadrant, a range from a certain angle to the positive Y-axis direction may be set as a second straight-going high confidence range, and an exit road having an angle with the extension line of the entry road within the second straight-going high confidence range may be considered as an exit road corresponding to the straight-going arrow direction with a high probability, so the second straight-going high confidence range is a high confidence range corresponding to the straight-going arrow direction in the second quadrant. The exit road outside the second straight-going high confidence coefficient range in the second quadrant is not the exit road corresponding to the straight-going arrow, so that the range outside the second straight-going high confidence coefficient range in the second quadrant is the second straight-going low confidence coefficient range corresponding to the straight-going arrow direction in the second quadrant. It will be appreciated that the first straight high confidence range and the second straight high confidence range may be the same or different in size adjacent to the coordinate axis in the positive direction of the Y-axis, depending on the location selected in the positive direction of the Y-axis. The first straight high confidence range is in the first quadrant and the second straight high confidence range is in the second quadrant.

Similarly as above, the exit road corresponding to the right-turn arrow direction may preferably be an exit road overlapping with the coordinate axis in the positive X-axis direction based on the traffic rules on the real road. However, in the real world, there may be a plurality of exit roads in the same turning direction, which do not coincide with the coordinate axis in the positive direction of the X-axis, and which correspond to the right-turn arrow direction, and whose included angle with respect to the extension line of the entry road is within a certain range. According to the traffic rule, an exit road corresponding to the right turn arrow direction, which is near the coordinate axis in the positive direction of the X-axis, may be located in the first quadrant and the fourth quadrant. Therefore, for the exit road located in the first quadrant, a range from a certain angle to the positive direction of the X-axis may be set as a first right-turn high confidence range, and an exit road having an angle with the extension line of the entry road within the first right-turn high confidence range may be considered as an exit road corresponding to the right-turn arrow direction with a high probability, so the first right-turn high confidence range is a high confidence range corresponding to the right-turn arrow direction in the first quadrant. The exit road outside the first right-turn high confidence range in the first quadrant is not the exit road corresponding to the right-turn arrow, so the range outside the first right-turn high confidence range in the first quadrant is the first right-turn low confidence range corresponding to the right-turn arrow direction in the first quadrant.

Similarly, for the exit road located in the fourth quadrant, a range from the positive X-axis direction to a certain angle may be set as a second right-turn high confidence range, and an exit road having an angle with the extension line of the entry road within the second right-turn high confidence range may be considered as an exit road corresponding to the right-turn arrow direction with a high probability, so the second right-turn high confidence range is a high confidence range corresponding to the right-turn arrow direction in the fourth quadrant. The exit road outside the second right turn high confidence range in the fourth quadrant is not the exit road corresponding to the right turn arrow, so the range outside the second right turn high confidence range in the fourth quadrant is the second right turn low confidence range corresponding to the right turn arrow direction in the fourth quadrant. It will be appreciated that the first right turn high confidence range and the second right turn high confidence range are adjacent to the coordinate axes in the positive direction of the X-axis, and may be the same or different in size, depending primarily on the position in the positive direction of the X-axis selected when dividing the four quadrant. The first right turn high confidence range is in the first quadrant and the second right turn high confidence range is in the fourth quadrant.

Similarly as above, the exit road corresponding to the left turn direction may preferably be an exit road in which coordinate axes in the negative direction of the Y axis coincide, based on traffic rules on the real road. However, in the real world, there may be a plurality of exit roads in the same turning direction, which do not coincide with the coordinate axis in the negative direction of the Y axis, and which correspond to the left turning direction, and whose included angle with respect to the extension line of the entry road is within a certain range. According to the traffic rule principle, the exit road corresponding to the left turning direction is positioned at the left side of the entrance road and is positioned in the third quadrant. Therefore, an angle range can be set as a turning-around high confidence range for the exit road in the third quadrant; the exit road which is positioned at the left side of the entry road and has an included angle with the extension line of the entry road within the high confidence coefficient range of turning around can be considered as the exit road corresponding to the left turning around direction with high probability, so that the combination of the left side of the entry road and the high confidence coefficient range of turning around is the high confidence coefficient range corresponding to the left turning around direction in the third quadrant. The exit road outside the high confidence coefficient range of turning around or entering the right side of the road in the third quadrant is not the exit road corresponding to the left turning around, so the range outside the high confidence coefficient range of turning around or entering the right side of the road in the third quadrant is the left turning around low confidence coefficient range corresponding to the left turning around direction in the third quadrant.

According to the traffic rule principle, the exit road corresponding to the right turning direction is positioned on the right side of the entry road and is positioned in the fourth quadrant. Therefore, an angle range can be set as a turning-around high confidence range for the exit road in the fourth quadrant; the exit road which is positioned on the right side of the entry road and has an included angle with the extension line of the entry road within the high confidence coefficient range of turning around can be considered as the exit road corresponding to the right direction of turning around, so that the combination of the right side of the entry road and the high confidence coefficient range of turning around is the high confidence coefficient range corresponding to the right direction of turning around in the fourth quadrant. The exit road outside the high confidence coefficient range of turning around or entering the left side of the road in the fourth quadrant is not the exit road corresponding to the right turning around, so the range outside the high confidence coefficient range of turning around or entering the left side of the road in the fourth quadrant is the low confidence coefficient range of turning around corresponding to the right turning around direction in the fourth quadrant.

The following table shows, by way of example, the quadrant in which the exit road corresponding to the different arrow directions is located, the high confidence range, and the low confidence range:

it should be noted that, in the above table, the high confidence coefficient range and the low confidence coefficient range corresponding to the angle range overlap the corresponding quadrant, and are the high confidence coefficient range and the low confidence coefficient range corresponding to the arrow direction. For example, for a left-turn arrow, the intersection of the second quadrant and the [ negative x-axis direction, 300 ° ] range is the high confidence range of the left-turn arrow, where the exit road is the exit road corresponding to the left-turn arrow. The above table is merely illustrative, and the angle size within a specific setting range can be adjusted based on actual conditions, which is not particularly limited by the present disclosure.

As shown in fig. 4A, the target intersection is divided into four quadrants (defined by an X-axis positive direction, a Y-axis positive direction, an X-axis negative direction, and a Y-axis negative direction) according to the road direction in which each exit road and the entrance road. The four quadrants are not perpendicular to each other and have a non-fixed angle with respect to the quadrants (shown in broken lines) divided at a fixed angle with respect to the direction of the road entering the road as the negative Y-axis direction. The exit road may be the exit road of the entry road in the direction of the corresponding arrow when the angle between the exit road and the entry road is within a certain angle range with respect to the entry road.

According to the scheme of the embodiment, the range of the angle between [345 ° and 15 ° ] with the extension line of the entering road can be determined as the range of the exiting road corresponding to the straight arrow direction of the entering road, and in addition, considering the quadrants divided in the embodiment, the range of [ y-axis positive direction angle and 15 ° ] in the first quadrant is finally taken as the first straight high confidence range, and the range of [345 ° and y-axis positive direction angle ] in the second quadrant is taken as the second straight high confidence range, wherein the exiting road in the two ranges is the exiting road corresponding to the straight arrow direction of the entering road. Similarly, an angle range between [240 °,300 ° ] and an extension line of the entering road may be determined as a range of the exiting road corresponding to the entering road in the left-turn arrow direction, and in consideration of the quadrants divided in the present embodiment, the range of [ x-axis negative direction, 300 ° ] in the second quadrant is finally taken as the first left-turn high confidence range, and the range of [240 °, x-axis negative direction ] in the third quadrant is taken as the second left-turn high confidence range, and the exiting roads in both ranges are the exiting roads corresponding to the entering road in the left-turn arrow direction. The range of angles between [60 °,120 ° ] and the extension line of the entering road may be determined as the range of exiting roads corresponding to the right-turn arrow direction of the entering road, and in consideration of the quadrants divided in the embodiment, the range of [60 °, x-axis positive direction angle ] in the first quadrant is finally taken as the first right-turn high confidence range, and the range of [ x-axis positive direction angle, 120 ° ] in the fourth quadrant is taken as the second right-turn high confidence range, and the exiting roads in both ranges are the exiting roads corresponding to the right-turn arrow direction of the entering road. The range of angles between [165 °,195 ° ] and the extension line of the entering road may be determined as the range of exiting roads corresponding to the direction of the turning arrow of the entering road, and in consideration of the quadrants divided in the embodiment, the range of angles between [165 °,195 ° ] on the left side of the third quadrant and the entering road is finally taken as the left-hand turning high confidence range, and the range of angles between [165 °,195 ° ] on the right side of the fourth quadrant and the entering road is taken as the right-hand turning high confidence range, and the exiting roads in the two ranges are the exiting roads corresponding to the left-hand turning arrow direction and the right-hand turning arrow direction of the entering road, respectively.

In an optional implementation manner of this embodiment, after the step of determining the correspondence between the arrow direction and the exit road in the range where two adjacent quadrants located in the four quadrants corresponding to the arrow direction and the included angle is located in the set high confidence range, the method may further include the steps of:

and aiming at any arrow direction of the driving guide line, if no exit road exists in a high confidence coefficient range corresponding to any arrow direction, and at least one exit road exists in a low confidence coefficient range corresponding to any arrow direction, determining that the exit road in the low confidence coefficient range has a corresponding relation with the corresponding arrow direction.

In this alternative implementation manner, the corresponding relationship between the exit road and each arrow direction of the driving guide line, which is determined based on the relative position relationship and the four quadrants of the exit road, may be further optimized.

If there is a certain arrow direction of the driving guide line on the entering road, however, based on the above embodiment, no exiting road within a high confidence range corresponding to the arrow direction is found, that is, no exiting road having a correspondence with the arrow direction is determined, but at least one exiting road exists within a low confidence range corresponding to the arrow direction, at which time the at least one exiting road within the low confidence range may be determined as the exiting road corresponding to the arrow direction.

For example, in the first high confidence range in the second quadrant corresponding to the left-turn arrow direction, no exit road exists, and at this time, the exit road in the first low confidence range in the second quadrant may be determined as the exit road corresponding to the left-turn arrow direction. As shown in fig. 4B, the exit road with an included angle of 55 ° with the entry road is adjusted from the original right turn low confidence level to the right turn medium confidence level, so that it can be determined that the exit road corresponds to the right turn arrow direction of the driving guide line.

In an optional implementation manner of this embodiment, after the step of determining the arrow direction and the correspondence relationship between the adjacent quadrants located in the four quadrants corresponding to the arrow direction and the exit road in which the included angle is located within the set high confidence range, the method may further include at least one of the following steps:

if the straight arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the first quadrant of the four quadrants and the included angle is positioned in the straight low confidence coefficient range, and the exit road which is positioned in the right turn low confidence coefficient range as the exit road which has a corresponding relation with the right turn arrow direction in the driving guide line;

If the straight arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the second quadrant of the four quadrants and the included angle is positioned in the straight low confidence coefficient range, and the exit road which is positioned in the left-turn low confidence coefficient range as the exit road which has a corresponding relation with the left-turn arrow direction in the driving guide line;

if the left-turn arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the second quadrant of the four quadrants and the included angle of which is positioned in the left-turn low confidence coefficient range as the exit road with a corresponding relation with the straight-going arrow direction in the driving guide line;

and if the right turn arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the first quadrant of the four quadrants and the included angle of which is positioned in the right turn low confidence degree range as the exit road with the corresponding relation with the straight-going arrow direction in the driving guide line.

If the straight arrow direction does not exist in the driving guide line, an exit road, in which an included angle with an extension line of the entry road is within a first straight low confidence range, in the first quadrant can be determined as an exit road corresponding to the right-turn arrow direction, or an exit road, in which an included angle with an extension line of the entry road is within a right-turn low confidence range, in the first quadrant can be determined as an exit road corresponding to the right-turn arrow direction. In order to distinguish the exit road in the right-turn high confidence coefficient range in the right-turn arrow direction from the exit road in the right-turn arrow direction after the current tuning, the first straight low confidence coefficient range in the first quadrant and the right-turn low confidence coefficient range in the first quadrant can be identified as right-turn middle confidence coefficient ranges, so that the exit road can be distinguished in the follow-up actual use.

In addition, if the straight arrow direction does not exist in the driving guide line, an exit road with an included angle with an extension line of the entry road in the second quadrant within the second straight low confidence range can be determined as an exit road corresponding to the left-turn arrow direction, an exit road which is located in the second quadrant and with an included angle with an extension line of the entry road within the left-turn low confidence range can be determined as an exit road corresponding to the left-turn arrow direction. In order to distinguish the exit road in the left-turn high confidence coefficient range in the left-turn arrow direction from the exit road in the left-turn arrow direction after the tuning, the second straight low confidence coefficient range in the second quadrant and the left-turn low confidence coefficient range in the second quadrant can be identified as left-turn middle confidence coefficient ranges, so that the exit road can be distinguished in the follow-up actual use.

If the left-turn arrow direction does not exist in the driving guide line, an exit road with an included angle with an extension line of the entry road in the second quadrant within a left-turn low confidence range can be determined as the exit road corresponding to the straight-going arrow direction. In order to distinguish the exit road in the straight high confidence coefficient range in the straight arrow direction obtained above from the exit road in the straight arrow direction obtained after the tuning, the left-turn low confidence coefficient range in the second quadrant can be identified as the straight middle confidence coefficient range so as to distinguish the exit road in the straight arrow direction during subsequent practical use.

If the right turn arrow direction does not exist on the driving guide line, an exit road with an included angle with an extension line of the entry road in the first quadrant within a right turn low confidence range can be determined as the exit road corresponding to the straight-going arrow direction. In order to distinguish the exit road in the straight high confidence coefficient range in the straight arrow direction obtained above from the exit road in the straight arrow direction obtained after the tuning, the right turn low confidence coefficient range in the first quadrant can be identified as the straight middle confidence coefficient range so as to distinguish the exit road in the straight arrow direction in the follow-up actual use.

The optimal adjustment mode is that when the current arrow direction of the driving guide line meets a certain condition, the exit road with low confidence coefficient range in the current arrow direction and other directions is marked as the exit road with middle confidence coefficient range, and the steering direction is possibly changed.

The implementation of this tuning approach is illustrated below:

if the driving guide line does not have the straight arrow direction, the straight low confidence coefficient range [330 degrees, 345 degrees ] and the left-turn low confidence coefficient range (300 degrees, 330 degrees) are adjusted to be the middle confidence coefficient range of the left-turn arrow direction, the middle confidence coefficient range is positioned in the corresponding quadrant, namely the second quadrant, and the exit road in the middle confidence coefficient range can be used as the exit road with the corresponding relation with the left-turn arrow direction.

When the driving guide line does not have the straight arrow direction, the straight low confidence coefficient range (15 degrees, 30 degrees) and the right-turn low confidence coefficient range (30 degrees, 60 degrees) can be adjusted to be the middle confidence coefficient range of the right-turn arrow direction, the middle confidence coefficient range is positioned in a corresponding quadrant, namely the first quadrant, and the exit road in the middle confidence coefficient range can be used as the exit road with a corresponding relation with the right-turn arrow direction.

If the driving guide line does not have the left-turning arrow direction, the left-turning low confidence coefficient range (300 degrees, 330 degrees) is adjusted to be a middle confidence coefficient range in the straight-going arrow direction, and the exit road in the middle confidence coefficient range is positioned in the corresponding quadrant, namely the second quadrant and can be used as the exit road with the corresponding relation with the straight-going arrow direction.

If the driving guide line does not have the right-turn arrow direction, the right-turn low confidence coefficient range (30 degrees and 60 degrees) is adjusted to be a middle confidence coefficient range in the straight-going arrow direction, and the exit road in the middle confidence coefficient range is positioned in the corresponding quadrant, namely the first quadrant and can be used as the exit road with the corresponding relation with the straight-going arrow direction.

As shown in fig. 4C, the exit road having an angle of 45 ° with the entrance road is adjusted from the left turn low confidence to the straight-going medium confidence, so that the exit road can be obtained to correspond to the straight-going arrow direction of the driving guide line.

Compared with the common high-confidence-degree and low-confidence-degree distinguishing mode, the method increases the output result of the middle confidence degree, and can further optimize the exit road selection result.

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

Fig. 5 shows a block diagram of a structure of an exit road determination device 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 exit road determination device includes:

an acquisition module 501 configured to acquire a target intersection, an entry road of the target intersection, an exit road relative to the entry road, and different arrow directions of a driving guide line on the entry road;

A first determining module 502 configured to determine a relative positional relationship of the exit road with respect to the entry road;

a second determining module 503 configured to divide the target intersection into four quadrants with the road direction of the exit road as a quadrant division boundary based on the relative positional relationship;

a third determination module 504 configured to determine an exit road corresponding to a different arrow direction of the driving guide line based on the relative positional relationship and the four quadrants.

In the present embodiment, the exit road determination means may be executed by a server. The target intersection may be an intersection marked with a driving guide line on the entrance road. The entry road may be a road on which the navigation target enters the target intersection, and the exit road may be a road on which the navigation target enters the target intersection and then exits the target intersection. The exit road may be a road in which the object to be navigated can only travel in an exit direction when traveling on a certain lane, for example, an exit road in which the object to be navigated can only travel in a straight direction when traveling on a straight lane. The driving guide lines may be arrows guiding the driving direction of the guided object on the respective lanes of the entering road in front of the intersection, including but not limited to, left turn, straight, right turn, left turn, right turn, etc. arrow directions, as shown in fig. 2.

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

In an optional implementation of this embodiment, the relative positional relationship includes an angle of the exit road relative to an extension line of the entry road; the second determining module may be implemented as follows:

In an optional implementation of this embodiment, the relative positional relationship includes an angle of the exit road relative to an extension line of the entry road; the determining the road direction of the exit road, in which the relative position relationship satisfies the set condition, as the quadrant division boundary of the four quadrants, to obtain the four quadrants into which the target intersection is divided may be implemented as follows:

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

determining a quadrant position of the exit road in the four quadrants;

In an optional implementation manner of this embodiment, based on different combinations of the relative position relationship corresponding to the exit road and the quadrant position, determining the correspondence relationship between the exit road and the driving guide line in different arrow directions may be implemented as follows:

In an optional implementation manner of this embodiment, determining the correspondence between the arrow direction and the exit road in which two adjacent quadrants located in the four quadrants corresponding to the arrow direction are located and the included angle is located in the set high confidence range may be implemented according to at least one of the following manners:

In an optional implementation of this embodiment, the relative positional relationship includes an angle between the exit road and an extension line of the entry road, and an orientation relative to the entry road; the determining the correspondence between the arrow direction and the exit road in which two adjacent quadrants of the four quadrants corresponding to the arrow direction are located and the included angle is located in the set high confidence range may be implemented according to at least one of the following modes:

In this alternative implementation, as described above, the target intersection is divided into four quadrants using the relative positional relationship of the exit road corresponding to the entry road, wherein the first quadrant is defined by the coordinate axes in which the positive X-axis direction and the positive Y-axis direction are located, the second quadrant is defined by the coordinate axes in which the negative X-axis direction and the positive Y-axis direction are located, the third quadrant is defined by the coordinate axes in which the negative X-axis direction and the negative Y-axis direction are located, and the fourth quadrant is defined by the coordinate axes in which the positive X-axis direction and the negative Y-axis direction are located.

In an optional implementation manner of this embodiment, after determining the arrow direction and the corresponding relationship between the two adjacent quadrants located in the four quadrants corresponding to the arrow direction and the exit road where the included angle is located in the set high confidence range, the apparatus may further include:

And a fourth determining module configured to determine, for any arrow direction of the driving guide line, that the exit road within the low confidence range has a correspondence with the corresponding arrow direction if there is no exit road within the high confidence range corresponding to the any arrow direction, and there is at least one exit road within the low confidence range corresponding to the any arrow direction.

a fifth determining module configured to determine, if the direction of the straight arrow does not exist in the driving guide line, the exit road located in the first quadrant of the four quadrants and having the included angle within a straight low confidence range, and the exit road having the included angle within a right turn low confidence range, as an exit road having a correspondence with the direction of the right turn arrow in the driving guide line;

A sixth determining module configured to determine, if the straight arrow direction does not exist in the driving guide line, the exit road located in the second quadrant of the four quadrants and having the included angle within a straight low confidence range, and the exit road having the included angle within a left turn low confidence range, as an exit road having a correspondence with the left turn arrow direction in the driving guide line;

a seventh determining module configured to determine the exit road in the second quadrant of the four quadrants, with the included angle in the left turn low confidence range, as the exit road having a correspondence with the straight arrow direction in the driving guide line, if the left turn arrow direction does not exist in the driving guide line;

and an eighth determining module configured to determine the exit road having a correspondence with the straight arrow direction in the driving guide line, which is located in the first quadrant of the four quadrants and the included angle is located in the right turn low confidence range, if the right turn arrow direction does not exist in the driving guide line.

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. An exit road determination method, comprising:

determining an exit road corresponding to different arrow directions of the driving guide line based on the relative positional relationship and the four quadrants;

the dividing the target intersection into four quadrants by taking the road direction of the exit road as a quadrant dividing boundary based on the relative position relationship includes:

determining the road direction of the exit road, of which the relative position relation meets a set condition, as a quadrant division boundary of the four quadrants, and obtaining four quadrants into which the target intersection is divided;

wherein the exit road satisfying the setting condition includes:

an exit road within a right turn direction range of the entry road;

an exit road within a forward straight travel range of the entry road;

an exit road in a range of directions opposite to a road direction of the exit road in a range of right turn directions of the entry road;

an exit road in a range of directions opposite to the road direction of the entry road.

2. The method of claim 1, wherein the determining the relative positional relationship between the exit link and the entry link comprises:

3. The method of claim 1, wherein the relative positional relationship comprises an angle of the exit link relative to an extension of the entry link; determining the road direction of the exit road, of which the relative position relation meets a set condition, as a quadrant division boundary of the four quadrants, and obtaining four quadrants into which the target intersection is divided, wherein the method comprises the following steps:

4. A method according to any one of claims 1-3, wherein said determining an exit road corresponding to a different arrow direction of the driving guide wire based on the relative positional relationship and the four quadrants comprises:

determining a quadrant position of the exit road in the four quadrants;

5. The method of claim 4, wherein the relative positional relationship comprises an angle of the exit link relative to an extension of the entry link; based on different combination conditions of the relative position relation corresponding to the exit road and the quadrant position, determining the corresponding relation between the exit road and the driving guide line in different arrow directions comprises the following steps:

6. The method of claim 5, wherein determining the correspondence between the arrow direction, the range of two adjacent quadrants located in the four quadrants corresponding to the arrow direction, and the exit road with the included angle within a set high confidence range includes at least one of:

determining a corresponding relation between a left-turn arrow direction and the exit road in a second quadrant, an X-axis negative direction and/or a third quadrant in the four quadrants, wherein the included angle is in a set left-turn high confidence range;

determining a corresponding relation between a straight arrow direction and the exit road in a first quadrant, a Y-axis positive direction and/or a second quadrant in the four quadrants, wherein the included angle is located in a set straight high confidence range;

determining a corresponding relation between a right turn arrow direction and the exit road in a first quadrant, an X-axis positive direction and/or a fourth quadrant in the four quadrants, wherein the included angle is positioned in a set right turn high confidence coefficient range;

determining a corresponding relation between the left turning arrow direction and the third quadrant and/or the Y-axis negative direction of the four quadrants, wherein the third quadrant and/or the Y-axis negative direction of the four quadrants are positioned, and the included angle is positioned in the exit road within a set turning high confidence coefficient range;

7. The method of claim 5 or 6, wherein the relative positional relationship further comprises a position of the exit link relative to the entry link; the determining the corresponding relation between the arrow direction and the exit road in which two adjacent quadrants of the four quadrants corresponding to the arrow direction are located and the included angle is located in a set high confidence range comprises at least one of the following steps:

8. The method according to claim 5 or 6, wherein after the determining the arrow direction, the corresponding relationship between the two adjacent quadrants located in the four quadrants corresponding to the arrow direction and the exit road in which the included angle is located within a set high confidence range, the method further includes:

9. The method according to claim 5 or 6, wherein after the determining the arrow direction, the corresponding relationship between the two adjacent quadrants located in the four quadrants corresponding to the arrow direction and the exit road in which the included angle is located within a set high confidence range, the method further includes:

if the straight arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the first quadrant of the four quadrants and the included angle is positioned in the set straight low confidence coefficient range, and the exit road which is positioned in the set right turn low confidence coefficient range as the exit road with a corresponding relation with the right turn arrow direction in the driving guide line;

If the straight arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the second quadrant of the four quadrants and the included angle is positioned in the set straight low confidence coefficient range, and the exit road which is positioned in the set left-turn low confidence coefficient range as the exit road with a corresponding relation with the left-turn arrow direction in the driving guide line;

if the left-turn arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the second quadrant of the four quadrants and the included angle of which is positioned in the set left-turn low confidence range as the exit road with a corresponding relation with the straight-turn arrow direction in the driving guide line;

and if the right turn arrow direction does not exist in the driving guide line, determining the exit road which is positioned in the first quadrant of the four quadrants and the included angle of which is positioned in the set right turn low confidence range as the exit road with the corresponding relation with the straight arrow direction in the driving guide line.

10. An exit road determination device, comprising:

a third determination module configured to determine an exit road corresponding to a different arrow direction of the driving guide line based on the relative positional relationship and the four quadrants;

wherein the second determination module is implemented to:

wherein the exit road satisfying the setting condition includes:

an exit road within a right turn direction range of the entry road;

an exit road within a forward straight travel range of the entry road;

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

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