CN117664102A

CN117664102A - Map data processing method, map data processing device, electronic equipment and storage medium

Info

Publication number: CN117664102A
Application number: CN202311453760.3A
Authority: CN
Inventors: 张恒琦; 张浩泉
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2023-11-02
Filing date: 2023-11-02
Publication date: 2024-03-08

Abstract

The disclosure provides a map data processing method, a map data processing device, electronic equipment and a storage medium, relates to the technical field of artificial intelligence, in particular to the field of map data processing and the like, and is used for scenes such as automatic driving and intelligent transportation. The specific implementation scheme is as follows: acquiring a first offset relation of a first lane relative to a first road chain, wherein the first offset relation comprises a first offset point and a first offset distance; performing a position verification operation for the first offset point; updating the first offset point based on the type of position error of the first offset point under the condition that the position error of the first offset point is determined; the first offset distance is updated based on a distance between the reference starting point of the first road link and the updated first offset point. By adopting the method and the device, the offset relation between the lane and the road can be accurately determined, and the accuracy of map navigation is improved.

Description

Map data processing method, map data processing device, electronic equipment and storage medium

Technical Field

The disclosure relates to the field of artificial intelligence technology, and in particular to the field of map data processing, which is used for scenes such as automatic driving and intelligent traffic. The disclosure relates to a map data processing method, a map data processing device, an electronic device and a storage medium.

Background

In a smart city scenario, such as intelligent traffic and autopilot, the vehicle is navigated using a map. Among these, the maps include a standard map (Standard Definition Map, abbreviated as SD) and a lane map (Lane Definition Map, abbreviated as LD). The standard map may also be referred to as a standard road map. The standard road map includes road links or road routes in the map that are virtualized by real roads. The lane map includes a road route and lane lines in the road.

Wherein the lane map and the standard road map are different in accuracy and manufacturing specification. In navigation, the actual position of a certain position on a road on a lane needs to be determined by using the spatial association relationship between the two, such as information of the offset point and the offset distance of the lane relative to the corresponding road. Therefore, the accuracy of the association relationship between the two can influence the accuracy of lane navigation to a certain extent.

Disclosure of Invention

The present disclosure provides a map data processing method, apparatus, electronic device, and storage medium.

According to an aspect of the present disclosure, there is provided a map data processing method including:

acquiring a first offset relation of a first lane relative to a first road chain, wherein the first offset relation comprises a first offset point and a first offset distance;

Performing a position verification operation for the first offset point;

updating the first offset point based on the type of position error of the first offset point under the condition that the position error of the first offset point is determined;

and updating the first offset distance based on the distance between the reference starting point of the first road chain and the updated first offset point.

According to another aspect of the present disclosure, there is provided a map data processing apparatus including:

the system comprises an offset relation acquisition module, a first road link acquisition module and a second road link acquisition module, wherein the offset relation acquisition module is used for acquiring a first offset relation of a first vehicle road relative to a first road link, and the first offset relation comprises a first offset point and a first offset distance;

the offset point position verification module is used for executing position verification operation on the first offset point;

an offset point updating module, configured to update the first offset point based on a type of position error of the first offset point, in a case where the first offset point is determined to be in position error;

and the offset distance updating module is used for updating the first offset distance based on the distance between the reference starting point of the first road chain and the updated first offset point.

According to another aspect of the present disclosure, there is provided an electronic device including:

At least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the map data processing methods of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform any one of the map data processing methods according to the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a map data processing method according to any one of the embodiments of the present disclosure.

According to the technology disclosed herein, a first offset relationship of a first lane relative to a corresponding first road link is obtained, wherein the first offset relationship includes a first offset point and a first offset distance. And then, performing position verification on the first offset point, if the first offset point is wrong, updating the first offset point based on the position error type of the first offset point, and updating the first offset distance based on the distance between the updated first offset point and the reference starting point of the first road chain, so that an updated first offset relation can be obtained. Therefore, the first offset relation of the first lane relative to the corresponding first road link can be updated and corrected by adopting the offset point position verification mode, the situation that the offset relation of the lane relative to the road link is wrong is avoided, and the navigation precision is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic illustration of an autopilot scenario of the present disclosure;

FIG. 2 is a flow chart of a map data processing method of an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a standard road map according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a lane map of an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a lane and road link according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a bidirectional u-turn lane and corresponding road links according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of offset point position errors in accordance with an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of an offset point position error in accordance with another embodiment of the present disclosure;

FIG. 9 is a schematic diagram of an offset point position error in accordance with another embodiment of the present disclosure;

FIG. 10 is a schematic illustration of a bifurcation roadway according to an embodiment of the present disclosure;

FIG. 11 is a schematic diagram of an adjacent lane group and road link according to an embodiment of the present disclosure;

FIG. 12 is a flowchart of a map data processing method of another embodiment of the present disclosure;

fig. 13 is a block diagram of a map data processing apparatus according to an embodiment of the present disclosure;

fig. 14 is a block diagram of a map data processing apparatus according to another embodiment of the present disclosure;

fig. 15 is a block diagram of an electronic device of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Fig. 1 is a schematic diagram of an autopilot scenario of the present disclosure. As shown in fig. 1, in the case of automatic driving, the server 11 stores a standard road map and a lane map, and a map association relationship of the two. The map association relationship includes an offset relationship of each lane in the lane map with respect to a corresponding road link in the standard road map. Of course, the map association relationship may also include a spatial position relationship of each road link corresponding to each lane in the lane map one by one. The server 11 may update the standard road map and the lane map, and may also update the map association relationship by using the method of any embodiment of the present disclosure. The server 11 may issue updated map association relationships to each downstream task node, for example, the vehicle 12, for corresponding updating. When a vehicle is navigated by using a lane map, the road where the current lane is located and the specific position in the road can be acquired from a standard road map by using the map association relation.

The embodiments of the present disclosure are applied in the above-described autopilot scenario, which is merely an example. Embodiments of the present disclosure may also be applied to other traffic scenarios, such as parking scenarios, which are not described in detail herein.

Fig. 2 is a flowchart of a map data processing method of an embodiment of the present disclosure. The method can be applied to an electronic device. The electronic device is, for example, a terminal, a server, or other processing device, where the terminal may be a desktop computer, a mobile device, a PDA (Personal Digital Assistant ), a handheld device, a computing device, an in-vehicle device, a wearable device, or other User Equipment (UE). In some implementations, the electronic device may implement the map data processing method of the embodiments of the present disclosure by way of a processor invoking computer readable instructions stored in a memory.

As shown in fig. 2, the map data method may include:

s210, acquiring a first offset relation of a first lane relative to a first road chain, wherein the first offset relation comprises a first offset point and a first offset distance;

s220, performing position verification operation on the first offset point;

s230, updating the first offset point based on the position error type of the first offset point under the condition that the position error of the first offset point is determined;

S240, updating the first offset distance based on the distance between the reference starting point of the first road chain and the updated first offset point.

The first lane is any lane in the lane map, and the first road link is a road link corresponding to the first lane in the standard road map. One lane corresponds to one road link, and the first lane may be one lane or may include a plurality of sub-lanes parallel to each other, which may be considered as a lane group, and the start points and the end points of the respective sub-lanes are the same. One road link includes an entry lane road, one or more intermediate roads, and an exit lane road.

It will be appreciated that the above steps may be performed for any lane in the lane map to verify and update the offset relationship corresponding to that lane.

Fig. 3 is a schematic view of a standard road map according to an embodiment of the present disclosure, and fig. 4 is a schematic view of a lane map according to an embodiment of the present disclosure.

As shown in fig. 3, the road boundary of the real world is abstracted into a directed line segment to form a road, thereby obtaining a standard road map. As shown in fig. 4, the boundaries between real-world lanes are plotted to form individual lane groups. Two lane groups adjacent in front and back are connected to each other, thereby forming a lane map. The embodiment of the disclosure establishes the corresponding relation between the lanes and the road links for the two maps, and calculates the offset relation of the lanes relative to the corresponding road links by utilizing the corresponding relation so as to express the corresponding relation between the lane data and the road link data in space. Therefore, the offset relations corresponding to all the lanes are gathered together to form the map association relation of the two maps.

It is understood that the first offset point is an offset point of the first lane relative to the first road link. For example, a projection point obtained by orthographically projecting a start point, an intermediate point, an end point, or the like in the first lane on the first road link is used as the offset point. The type of the offset point may include a start offset point, a middle point offset point, an end offset point, and the like.

Fig. 5 is a schematic diagram of a lane and road link according to an embodiment of the disclosure.

As shown in fig. 5, a projection point where the start point of the first lane (first lane group) is orthographically projected onto the first road chain is referred to as a first start point offset point 11, and a projection point where the end point of the first lane is orthographically projected onto the first road chain is referred to as a first end point offset point 12.

It will be appreciated that a normal line passing through the origin of the first road, which normal line is perpendicular to the foot 11 on the first road link, is the first origin offset point. The end point passing through the first lane is taken as a normal line, and the normal line is perpendicular to the drop foot 12 on the first road link, and then the first end point offset point is taken as the first end point offset point.

It is understood that the first offset distance is an offset distance of the first lane relative to the first road link. For example, a distance between a start point offset point, an intermediate point offset point, or an end point offset point, etc. of the first lane on the first road chain and a reference start point on the first road chain is taken as the offset distance. The type of offset distance may include a start offset distance, a middle point offset distance, or an end offset distance. The reference starting point may be a starting point, an intermediate point, an ending point, etc. of a certain road on the first road link.

As shown in fig. 5, the first road link may include an entrance lane road, an intermediate road, and an exit lane road. Each link includes a start point and an end point. The distance from the first start point offset point 11 to the start point 21 of the entering lane road is taken as the first start point offset point distance S11. The distance from the first end point offset point 12 to the start point 22 of the exit lane road is taken as the first end point offset point distance S12.

Illustratively, performing a position verification operation for the first offset point may include: orthographically projecting a specified point on a first lane on a first road chain to obtain a projection point, comparing coordinate data of the projection point with coordinate data of a first offset point, if the coordinate data of the projection point are consistent with the coordinate data of the first offset point, determining that the first offset point is correct, and if the coordinate data of the projection point are inconsistent with the coordinate data of the first offset point, determining that the first offset point is wrong. Wherein the specified point is a point where the first offset point corresponds to on the first lane. For example, if the first offset point is a start offset point, the specified point is the start of the first lane. As another example, if the first offset point is an end offset point, the specified point is the end of the first lane. For another example, if the first offset point is a middle offset point, the designated point is a middle point of the first lane.

Illustratively, performing a position verification operation for the first offset point may include: and if the first offset point comprises a plurality of points, orthographically projecting a plurality of specified points on the first lane on the first road chain to obtain a plurality of projection points. If there is an error or overlap in the arrangement order between the plurality of proxels, the first offset point is considered to be erroneous. If the arrangement sequence of the plurality of projection points is correct and no overlap exists, the coordinate data of each projection point is continuously compared with the coordinate data of the offset point in the corresponding first offset point, if a certain projection point is inconsistent with the corresponding offset point, the offset point is considered to be incorrect, and if each projection point is consistent with the corresponding offset point, each offset point in the first offset point is considered to be correct.

Illustratively, performing a position verification operation for the first offset point may include: the first offset point comprises a first start point offset point and a second end point offset point, if the first lane and the second lane are bidirectional turning lanes, and the same road link corresponding to the first lane and the second lane, namely the first road link, is used for judging whether the distance between the first start point offset point of the first lane relative to the first road link and the second start point offset point of the second lane relative to the first road link is too close, and judging whether the distance between the first end point offset point of the first lane relative to the first road link and the second end point offset point of the second lane relative to the first road link is too close. If the distance between the first start point offset point and the second start point offset point is too close, or the distance between the first end point offset point and the second end point offset point is too close, the first offset point location is considered to be wrong. If neither is true, the first offset point location is considered to be correct.

In this example, the offset relationship of the second lane with respect to the first road link is a second offset relationship. The second offset relationship includes the second start offset point and the second end offset point described above.

Illustratively, performing a position verification operation for the first offset point may include: the first offset point comprises a first start point offset point and a first end point offset point, the first lane and the second lane form a Y-shaped graph, the first road link and the second road link corresponding to the second lane form a Y-shaped graph, and if the first end point offset point of the first lane relative to the first road link does not fall on the first road link but falls on the second road link, the first offset point is considered to be wrong. If the first end point offset point of the first lane relative to the first road chain falls on the first road chain, the above-described projection may be continued, and the projected point may be compared with the offset point to further determine whether the first offset point is misplaced. Reference is specifically made to the examples described above, which are not described in detail herein.

For example, when determining the first offset point location error, a location error type of the first offset point may be determined. The type of location error may include a first type, a second type, and a third type.

For the first type, the determination method may be: and determining the type of the position error as a first type based on the position relation between any point in the first lane and the orthographic projection point of the corresponding point in the second lane on the first road chain, wherein the first lane and the second lane form a bidirectional turning lane.

For example, the distance between the first start point offset point and the second start point offset point is less than a first distance threshold and/or the distance between the first end point offset point and the second end point offset point is less than a second distance threshold. The first starting point offset point is the orthographic projection point of the starting point of the first lane on the first road chain, and the second starting point offset point is the orthographic projection point of the starting point of the second lane on the first road chain. The first end point offset point is the orthographic projection point of the end point of the first lane on the first road chain, and the second end point offset point is the orthographic projection point of the end point of the second lane on the first road chain.

The first distance threshold and the second distance threshold may be the same value or different values.

In this example, the offset relationship of the second road relative to the second road link is a second offset relationship. The second offset relationship includes the second start offset point and the second end offset point described above.

The generation process of each start offset point and each end offset point in the offset point relationship of any lane is as follows: and taking the orthographic projection point of the starting point of the lane on the corresponding road link as a starting point offset point, and taking the orthographic projection point of the end point of the lane on the corresponding road link as an end point offset point. As such, respective start point offset points and end point offset points in the offset relationship of the respective lanes are generated according to this scheme. For the bidirectional turning lanes, since the two lanes correspond to the same road link, the starting point offset points of the two lanes may overlap, and the end point offset points of the two lanes may overlap, which is not beneficial to navigation, so that the end point offset point and the starting point offset point in the case are wrong in position and need to be readjusted.

Fig. 6 is a schematic diagram of a bidirectional u-turn lane and a corresponding road link according to an embodiment of the disclosure.

As shown in fig. 6, the u-turn lane groups L11 and L12 are both associated with a bidirectional u-turn road R7, and since the R7 roads are in bidirectional communication, taking the L11 lane group as an example, which corresponds to the R7 lane, two road chains of r4→r7→r3, r2→r7→r5 are simultaneously associated, and a correct projection point cannot be obtained by a conventional method.

For the second type, the determination may be: and determining that the position error type is the second type based on the first starting point offset point and/or the position relation between the first end point offset point and any road link and/or the position relation between the first starting point offset point and the first end point offset point.

For example, the second type may be one of the following:

the first starting point offset point does not fall on any road link;

the first end point offset point does not fall on any road link;

the first start point offset point coincides with the first end point offset point;

the first endpoint offset point is located after the first endpoint offset point.

Fig. 7-9 are schematic diagrams of offset point position errors in an embodiment of the present disclosure.

As shown in fig. 7, the first start offset point 11 does not fall on any road link, and the first end offset point 12 does not fall on any road link.

As shown in fig. 8, the offset points overlap, i.e., the first start offset point 11 coincides with the first end offset point 12 for the same first lane.

As shown in fig. 9, the offset points are offset, i.e. the first start offset point 11 is located after the first end offset point 12 for the same first lane.

For the third type, the determination may be: and determining the type of the position error as a third type based on the position relation between the first end point offset point and the first road link and the second road link. The first road link and the second road link form a Y-shaped graph.

For example, the third type may be:

the first end point offset point does not fall on the first road link and falls on the second road link.

In this example, the first lane and the second lane form a Y-shaped pattern, and the road link corresponding to the second lane is a second road link.

Fig. 10 is a schematic view of a bifurcation road according to an embodiment of the present disclosure.

As shown in fig. 10, the lane group GE corresponds to the L5-L8 link, the lane group GC corresponds to the L5-L6-L7 link, the L9 link in fig. 10 is not present at the beginning, and thus, the end point offset point of the lane group GE does not fall on the L5-L8 link but on the L5-L6-L7 link of the lane group GC, and the end point offset point is erroneous, and it is necessary to lengthen the L5-L8 link to form the L5-L8-L9 link, and then the projection point of the end point of the lane group GE on the L5-L8-L9 link is projected as the end point offset point of the lane group GE.

Therefore, for the offset points of the error types at different positions, different schemes are adopted to recalculate the offset points, and the offset distances are updated based on the distances between the updated offset points and the reference starting points of the corresponding road links, so that the corresponding offset relations are updated based on the updated offset points and the updated offset distances.

According to the technology disclosed herein, a first offset relationship of a first lane relative to a corresponding first road link is obtained, wherein the first offset relationship includes a first offset point and a first offset distance. And then, performing position verification on the first offset point, if the first offset point is wrong, updating the first offset point based on the position error type of the first offset point, and updating the first offset distance based on the distance between the updated first offset point and the reference starting point of the first road chain, so that an updated first offset relation can be obtained. Therefore, the first offset relation of the first lane relative to the corresponding first road link can be updated and corrected by adopting the offset point position verification mode, the situation that the offset relation of the lane relative to the corresponding road link is wrong is avoided, and the navigation precision is improved.

Specific embodiments for updating the offset points and offset distances for different types of position errors will be described below.

In one embodiment, the first offset point includes a first start point offset point and a first end point offset point, the updating the first offset point based on a type of positional error of the first offset point includes: under the condition that the position error type is determined to be the first type based on the position relation between any point in the first lane and the orthographic projection point of the corresponding point in the second lane on the first road chain, determining a precursor lane and a subsequent lane adjacent to the first lane based on the lane turning direction corresponding to the first lane, wherein the first lane and the second lane form a bidirectional turning lane; updating the first start point offset point based on the precursor end point offset point in the precursor offset relationship of the precursor track relative to the precursor road link; the first endpoint offset point is updated based on a subsequent origin offset point in a subsequent offset relationship of the subsequent lane relative to the subsequent road link.

It should be noted that the front drive lane is located before the first lane, and the following lane is located after the first lane. The corresponding offset relationship of the front drive lane is a front drive offset relationship, and the corresponding offset relationship of the subsequent lane is a subsequent offset relationship. The offset points in the precursor offset relationship include a precursor start offset point and a precursor end offset point, and the offset distances in the precursor offset relationship include a precursor start offset distance and a precursor end offset distance. The offset points in the subsequent offset relationship include a subsequent start point offset point and a subsequent end point offset point, and the offset distances in the subsequent offset relationship include a subsequent start point offset distance and a subsequent end point offset relationship.

In one embodiment, the first type comprises: the distance between the first start point offset point and the second start point offset point is smaller than a first distance threshold, and the distance between the first end point offset point and the second end point offset point is smaller than a total value of the second distances; the first starting point offset point is a front projection point of a starting point of the first lane on the first road chain, and the second starting point offset point is a front projection point of a starting point of the second lane on the first road chain; the first end point offset point is a front projection point of a starting point of the first lane on the first road chain, and the second end point offset point is a front projection point of an end point of the second lane on the first road chain; the first lane and the second lane are formed into a bidirectional turning lane.

The offset relationship corresponding to the second track is a second offset relationship. The second offset relationship includes a second offset point and a second offset distance. The second offset point includes a second start offset point and a second end offset point. The second offset distance includes a second start offset distance and a second end offset distance.

As shown in fig. 6, taking lane group L11 as an example, the preceding lane group is L6, and the following lane group is L5. For the three lane groups, the road links corresponding to the lane group L11 are R7, the road links corresponding to the lane group L6 are R4-R7 and R4-R5, and the road links corresponding to the lane group L5 are R7-R3 and R2-R3, so that the road links corresponding to the lane group L11 are updated to be R4-R7-R3 according to the connectivity of the three road links. Further, the end offset point of the lane group L6 on the r4→r7 link is set as the start offset point of the lane group L11; the starting point offset point of the lane group L5 on the r7→r3 link is set as the ending point offset point of the lane group L11.

According to the above embodiment, for the bidirectional u-turn lane, the start offset points of the two lanes overlap, and the end offset points overlap, and this type of position error takes the end offset point of the precursor lane corresponding to the first lane as the start offset point of the first lane, and the start offset point of the subsequent lane corresponding to the first lane as the end offset point of the first lane.

In one embodiment, the first offset distance includes a first start point offset distance, the updating the first offset distance based on a distance of a reference start point of the first road link from the updated first offset point, including: determining a reference starting point based on the starting point of the exit lane road in the precursor road link; the first start point offset distance is updated based on the distance between the reference start point and the updated first start point offset point.

It should be noted that, the updated first start point offset point is a precursor end point offset point corresponding to the precursor lane, so the distance from the start point of the exit lane corresponding to the precursor lane to the updated first start point offset point is a precursor end point offset distance corresponding to the precursor lane. Thus, the first starting point offset distance corresponding to the first lane is updated by adopting the end point offset distance corresponding to the front driving lane.

In one embodiment, the first offset distance includes a first end offset distance, the updating the first offset distance based on a distance of a reference origin of the first road link from the updated first offset point, comprising: determining a reference starting point based on the starting point of the road entering the lane in the subsequent road link; the first endpoint offset distance is updated based on the distance between the reference start point and the updated first endpoint offset point.

It should be noted that, the updated first end point offset point is a subsequent start point offset point corresponding to the subsequent lane, and therefore, the distance from the start point of the road entering the lane corresponding to the subsequent lane to the updated first end point offset point is a subsequent start point offset distance corresponding to the subsequent lane. And updating the first end point offset distance corresponding to the first lane by adopting the subsequent starting point offset distance corresponding to the subsequent lane.

As shown in fig. 6, the distance between the end point offset point of the lane group L6 on the r4→r7 link and the start point of the exit lane road in the r4→r7 link, that is, the end point offset distance of the lane group L6 on the r4→r7 link is taken as the start point offset distance of the lane group L11. The distance from the starting point offset point of the lane group L5 on the R7-R3 path chain to the starting point of the entering lane road in the R7-R3 path chain, namely the starting point offset distance of the lane group L5 on the R7-R3 path chain, is used as the end point offset distance of the lane group L11.

According to the above embodiment, in the case of the bidirectional u-turn lane described above, the end point offset distance corresponding to the front drive lane is taken as the start point offset distance of the first lane, and the start point offset distance corresponding to the subsequent lane is taken as the end point offset distance of the first lane.

In one embodiment, the first offset point includes a first start point offset point and a first end point offset point, the updating the first offset point based on a type of positional error of the first offset point includes: updating the first start point offset point based on the orthographic projection point of the start point of the first lane on the first road link under the condition that the type of the position error is determined to be the second type based on the first start point offset point and/or the position relationship between the first end point offset point and any road link and/or the position relationship between the first start point offset point and the first end point offset point; and updating the first end point offset point based on the orthographic projection point of the end point of the first lane on the first road link.

In one embodiment, the second type includes one of:

the first starting point offset point does not fall on any road link;

the first end point offset point does not fall on any road link;

As shown in fig. 7 to 9, the first start point offset point does not fall on any road link, the first end point offset point does not fall on any road link, the first start point offset point coincides with the first end point offset point, and the first start point offset point is located after the first end point offset point, which can be all types of re-orthographic projection on the first road link for the start point and the end point of the first lane, and the orthographic projection point of the start point of the first lane on the first road link is used as the updated first start point offset point, and the orthographic projection point of the end point of the first lane on the first road link is used as the updated first end point offset point.

According to the above embodiment, if the offset point does not fall on any road link, the start offset point and the end offset point corresponding to the same lane overlap, and the start offset point and the end offset point of the same lane are staggered, the start point and the end point of the lane are reprojected, and the start offset point and the end offset point are obtained.

In one embodiment, the first offset point includes a first start point offset point and a first end point offset point, the updating the first offset point based on a type of positional error of the first offset point includes: under the condition that the position error type is determined to be the third type based on the position relation between the first end point offset point and the first road link and the second road link, the first road link is prolonged along the direction of the starting point of the first road link towards the end point, wherein the first road link and the second road link form a Y-shaped graph; updating a first start point offset point based on a forward projection point of a start point of the first lane on the prolonged first road link; updating a first end point offset point based on the orthographic projection point of the end point of the first lane on the prolonged first road link; wherein the third type comprises: the first end point offset point does not fall on the first road link and falls on the second road link, and the first road link and the second road link form a Y-shaped graph.

As shown in fig. 10, the lane group GE corresponds to the L5-L8 link, the lane group GC corresponds to the L5-L6-L7 link, the L9 link in fig. 10 is not present at the beginning, and thus, the end point offset point of the lane group GE does not fall on the L5-L8 link but on the L5-L6-L7 link of the lane group GC, and for this offset point position, it is necessary to lengthen the L5-L8 link to form the L5-L8-L9 link, and then the projection of the end point of the lane group GE on the L5-L8-L9 link is set as the end point offset point of the lane group GE.

According to the above embodiment, if the first lane and the second lane are the Y-shaped lanes and the end point offset point of the first lane with respect to the first road link falls on the corresponding second road link of the second lane, the first road link is extended and then reprojected so that the end point offset point of the first lane with respect to the first road link can fall on the first road link.

In one embodiment, the first offset distance includes a first start point offset distance, the updating the first offset distance based on a distance of a reference start point of the first road link from the updated first offset point, comprising: determining a reference starting point based on the starting point of the road entering the lane in the first road link; the first start point offset distance is updated based on the distance of the reference start point from the updated first start point offset point.

In one embodiment, the first offset distance includes a first end offset distance, the updating the first offset distance based on a distance of a reference origin of the first road link from the updated first offset point, comprising: determining a reference starting point based on the starting point of the exit lane road in the first road link; the first endpoint offset distance is updated based on the distance of the reference start point from the updated first endpoint offset point.

According to the above embodiment, for the type of position error of the offset points of the second type and the third type, after the new start offset point and the end offset point are obtained by re-projection, the distance from the start point of the entering lane road to the updated start offset point in the corresponding road link is used as the updated start offset distance, and the distance from the start point of the exiting lane road to the updated end offset point in the corresponding road link is used as the end offset distance.

In one embodiment, obtaining a first offset relationship of a first lane relative to a first road link includes: determining a map association relationship between the lane map and the standard road map based on a one-to-one corresponding spatial position relationship between each lane in the lane map and each road link in the standard road map; the map association relationship comprises offset relationships of all lanes relative to corresponding road links, wherein the offset relationships comprise offset points and offset distances; and acquiring a first offset relation of the first vehicle road relative to the first road chain from the map association relation.

The spatial position relationship refers to spatial position information of each lane and spatial position information of a corresponding road link in a specified reference system. For example, the schematic diagram of the first lane and the first road link in fig. 5 is obtained based on the spatial position relationship of the first lane and the first road link.

The offset relationship of each lane with respect to the corresponding road link includes an offset point and an offset distance. The offset points include a start offset point and an end offset point, and the offset point distance includes a start offset distance and an end offset distance.

It can be understood that, by utilizing the spatial position relationship between each lane and the corresponding road link, the start point and the end point of each lane are respectively orthographically projected on the corresponding road link to obtain the start point offset point and the end point offset point corresponding to each lane. Then, for each of the start offset point and the end offset point corresponding to the lane, a distance between the start offset point and a start point of an entering lane road in the road link corresponding to the lane is taken as a start offset distance, and a distance between the end offset point and a start point of an exiting lane road in the road link corresponding to the lane is taken as an end offset distance. Therefore, the offset relation between each lane and the corresponding road link, namely the map association relation between the lane map and the standard road map, can be obtained.

Furthermore, according to the identification information of the first lane, a first offset relation corresponding to the first lane can be extracted from the map association relation, so that the position verification operation is performed on offset points in the first offset relation.

According to the embodiment, the offset relation of each lane relative to the corresponding road link is respectively established by utilizing the spatial position relation of each lane in the lane map and each road link in the standard map, so that the map association relation of the lane map and the standard road map is formed. And acquiring a first offset relation corresponding to the first lane from the map association relation, so that the position of the offset point in the offset relation can be checked by adopting the scheme of the embodiment to ensure that the first offset relation corresponding to the first lane is correct.

In one embodiment, the method further comprises: based on the updated first offset point and the updated first offset distance, obtaining an updated first offset relationship; updating the map association relationship based on the updated first offset relationship; under the condition that the offset points in each offset relation in the updated map incidence relation have all performed position verification operation, determining the interval distance between the end offset point in the offset relation of the third lane relative to the corresponding road link and the start offset point in the offset relation of the fourth lane relative to the corresponding road link in the updated map incidence relation; updating the offset relation of the third lane relative to the corresponding road link and/or the offset relation of the fourth lane relative to the corresponding road link by shortening the interval distance when the interval distance is larger than the third distance threshold; wherein the third lane is adjacent to the fourth lane and the third lane is located before the fourth lane.

It will be appreciated that the third lane may be any lane in the lane map. Alternatively, the third lane may be the first lane or the second lane. Alternatively, the third lane may be a lane other than the first lane and the second lane.

It is understood that the road link corresponding to the third lane is a third road link. The offset relationship of the third lane with respect to the third road link is a third offset relationship. The third offset relationship includes a third offset point and a third offset distance. The third offset point includes a third start offset point and a third end offset point. The third offset distance includes a third start offset distance and a third end offset distance.

It is understood that the road link corresponding to the fourth lane is a fourth road link. The offset relationship between the fourth lane and the fourth link is a fourth offset relationship. The fourth offset relationship includes a fourth offset point and a fourth offset distance. The fourth offset point includes a fourth start offset point and a fourth end offset point. The fourth offset distance includes a fourth start offset distance and a fourth end offset distance.

It will be appreciated that the third distance threshold is uncorrelated with the first and second distance thresholds described above. The third distance threshold may or may not have the same value as the first distance threshold and the second distance threshold.

FIG. 11 is a schematic diagram of an adjacent lane group and road link according to an embodiment of the disclosure.

As shown in fig. 11, when the distance between the third end point offset point 32, at which the end point of the third lane is projected onto the corresponding road link, and the fourth end point offset point 41, at which the start point of the fourth lane is projected onto the corresponding road link, is greater than the set distance threshold value, the third lane is located before the fourth lane in the traveling direction, and this is considered to be an offset point projection error. Since the offset points of the lane groups have been previously checked during the first check and re-projected in case of a problem, at least one of the two closest offset points of the front and rear lane groups can be moved so as to shorten the distance between the two offset points without re-projecting. For example, the fourth start point offset point 41 of the fourth lane is moved to the position where the third end point offset point 32 of the third lane is located, i.e., the two offset points are stitched together.

It may be appreciated that updating the offset relationship corresponding to the third lane and/or the offset relationship corresponding to the fourth lane by shortening the separation distance includes: and moving the third end point offset point on the third road chain to reduce the distance between the third end point offset point and the fourth start point offset point, and then updating the third end point offset distance based on the updated distance between the third end point offset point and the start point of the lane exit road in the third road chain. Thus, the third offset relationship is updated based on the updated third endpoint offset point and the updated third endpoint offset distance.

Or, moving the fourth starting point offset point on the fourth road link to reduce the distance between the third end point offset point and the fourth starting point offset point. Then, the fourth origin offset distance is updated based on the updated distance from the fourth origin offset point to the origin of the entering lane road in the fourth road link. Thus, the fourth offset relationship is updated based on the updated fourth start point offset point and the updated fourth start point offset distance.

According to the above embodiment, after the above position verification operation has been performed on the offset points of the respective lanes of the lane map, the second verification is entered, the distance between the end offset point of the third lane and the start offset point of the fourth lane in the adjacent two lanes is verified, and if the distance is too large, the offset relationship of the third lane with respect to the third road link and/or the offset relationship of the fourth lane with respect to the fourth road link is updated. Therefore, the distance between the two closest offset points of the front lane and the rear lane is ensured to be smaller than a set threshold value, and navigation failure is avoided.

In one embodiment, updating the offset relationship of the third lane with respect to the corresponding road link and/or the offset relationship of the fourth lane with respect to the corresponding road link by shortening the separation distance includes: updating a starting point offset point in the offset relation of the fourth lane relative to the corresponding road link based on the ending point offset point in the offset relation of the third lane relative to the corresponding road link; updating the starting point offset distance in the offset relation of the fourth lane relative to the corresponding road link based on the ending point offset distance in the offset relation of the third lane relative to the corresponding road link.

It will be appreciated that the fourth start point offset point is updated based on the third end point offset point and the fourth start point offset distance is updated based on the third end point offset distance. For example, the position of the updated fourth start point offset point is the position where the third end point offset point is located. For another example, the updated fourth start offset distance is the third end offset distance.

According to the above embodiment, the distance between the end point offset point of the third lane and the start point offset point of the fourth lane in the front and rear adjacent two lanes is verified, and if the distance is too large, the offset relationship of the fourth lane is updated by using the offset relationship of the third lane.

It should be noted that, the above-described offset point verification process for the third lane and the fourth lane may be performed for any two adjacent lanes in front and behind the lane map.

In one embodiment, the method further comprises: and updating the updated map association relationship again based on the updated offset relationship of the fourth road relative to the corresponding road link.

It will be appreciated that in the secondary verification, when one offset relationship is updated, the map association relationship may be updated again using the offset relationship.

Fig. 12 is a flowchart of a map data processing method according to another embodiment of the present disclosure.

And S121, acquiring a map association relationship between the lane map and the standard road map. The map association relationship comprises offset relationship between each lane in the lane map and the road link corresponding to the standard road map.

S122, performing position verification operation on a starting point offset point and an ending point offset point in a first offset relation corresponding to the first lane. If the starting point offset point and/or the ending point offset point are wrong, the starting point offset point and the ending point offset point are updated based on the position error type of the offset point.

S123, recalculating the offset. And calculating a starting point offset distance and an ending point offset distance respectively based on the updated starting point offset point and the updated ending point offset point.

S124, judging whether the position checking operation is executed on the offset points in all lanes in the lane map. If yes, the next step is continued, if not, the next lane is selected as the first lane in the lane map, and step S122 is continued.

S125, performing distance verification on two offset points, which are closest to each other, of any front-back adjacent third lanes and fourth lanes in the map association relation. If the distance is too large, step S126 is performed.

S126, performing association relation stitching on two offset points, closest to the third lane and the fourth lane. Namely, the start offset point of the fourth lane is set as the position where the end offset point of the third lane is located, and the start offset distance of the fourth lane is set as the end offset distance of the third lane.

S127, judging whether all the front and rear adjacent two lanes in the map association relationship have executed distance checking operation, if so, executing step S128, and if not, taking the next front and rear adjacent two lanes as a third lane and a fourth lane, and continuing to execute step S125.

And S128, outputting the map association relation between the lane map and the standard road map.

Fig. 13 is a block diagram of a map data processing apparatus according to an embodiment of the present disclosure.

As shown in fig. 13, the map data processing apparatus may include:

an offset relationship obtaining module 1310, configured to obtain a first offset relationship of a first lane relative to a first road link, where the first offset relationship includes a first offset point and a first offset distance;

an offset point location verification module 1320 for performing a location verification operation for the first offset point;

an offset point updating module 1330 configured to update the first offset point based on a type of position error of the first offset point if it is determined that the first offset point is in a position error;

An offset distance updating module 1340 is configured to update the first offset distance based on a distance between the reference start point of the first road link and the updated first offset point.

Fig. 14 is a block diagram of a map data processing apparatus according to another embodiment of the present disclosure. The offset relationship acquisition module 1410, the offset point location verification module 1420, the offset point update module 1430, and the offset distance update module 1440 in fig. 14 are identical in structure and function to the offset relationship acquisition module 1310, the offset point location verification module 1320, the offset point update module 1330, and the offset distance update module 1340 in fig. 13, respectively, and will not be described in detail herein.

In one embodiment, the first offset point includes a first start offset point and a first end offset point, and the offset point update module 1430 includes:

a lane determining unit 1431, configured to determine, when determining that the type of the position error is a first type based on a positional relationship between any one of the first lanes and a forward projection point of a corresponding point in a second lane on the first road chain, a precursor lane and a subsequent lane adjacent to the first lane based on a lane turning direction corresponding to the first lane, where the first lane and the second lane form a bidirectional turning lane;

A first offset point updating unit 1432 configured to update the first start point offset point based on an end point offset point in an offset relationship of the precursor track with respect to a precursor road link;

a second offset point updating unit 1433 for updating the first end offset point based on the start offset point in the offset relation of the subsequent lane with respect to the subsequent road link.

In one embodiment, the first type comprises: the distance between the first starting point offset point and the second starting point offset point is smaller than a first distance threshold, and the distance between the first end point offset point and the second end point offset point is smaller than a second distance threshold.

In one embodiment, the first starting point offset point is a forward projection point of a starting point of the first lane on the first road chain, and the second starting point offset point is a forward projection point of a starting point of the second lane on the first road chain;

the first end point offset point is a front projection point of the starting point of the first lane on the first road chain, and the second end point offset point is a front projection point of the end point of the second lane on the first road chain.

In one embodiment, the first offset distance includes a first start point offset distance, and the offset distance update module 1440 includes:

a first reference start point determining unit 1441 for determining the reference start point based on the start point of the exit lane road in the precursor road link;

a first offset distance determining unit 1442, configured to update the first start point offset distance based on a distance between the reference start point and the updated first start point offset point.

In one embodiment, the first offset distance includes a first endpoint offset distance, and the offset distance update module 1440 includes:

a second reference start point determining unit 1443 for determining the reference start point based on the start point of the entering lane road in the subsequent road link;

a second offset distance determining unit 1444, configured to update the first endpoint offset distance based on a distance between the reference start point and the updated first endpoint offset point.

a third offset point updating unit 1434 configured to update the first start point offset point based on a forward projection point of the start point of the first lane on the first road link when the type of the position error is determined to be the second type based on the first start point offset point and/or a positional relationship between the first end point offset point and any road link and/or a positional relationship between the first start point offset point and the first end point offset point;

A fourth offset point updating unit 1435 configured to update the first end point offset point based on the orthographic projection point of the end point of the first lane on the first road link.

In one embodiment, the second type includes one of:

the first starting point offset point does not fall on any road chain;

the first end point offset point does not fall on any road link;

a road link extension unit 1436 configured to determine, based on a positional relationship between the first end point offset point and the first road link and the second road link, that, in the case where the type of the position error is the third type, the first road link is extended along a direction from a start point to an end point of the first road link, where the first road link and the second road link form a Y-shaped pattern;

A fifth offset point updating unit 1437 configured to update the first start point offset point based on a forward projection point of the start point of the first lane on the extended first road link;

a sixth offset point updating unit 1438 configured to update the first end point offset point based on the orthographic projection point of the end point of the first lane on the extended first road link.

In one embodiment, the third type includes: the first end point offset point is not located on the first road link and is located on the second road link, and the first road link and the second road link form a Y-shaped graph.

a third reference start point determining unit 1445 for determining the reference start point based on the start point of the entering lane road in the first road link;

a third offset distance determining unit 1446 for updating the first start point offset distance based on the distance between the reference start point and the updated first start point offset point.

A fourth reference start point determining unit 1447 for determining the reference start point based on the start point of the exit lane road in the first road link;

a fourth offset distance determining unit 1448 for updating the first end offset distance based on the distance between the reference start point and the updated first end offset point.

In one embodiment, the offset relationship acquisition module 1410 includes:

an association relationship acquiring unit 1411, configured to determine a map association relationship between a lane map and a standard road map based on a spatial position relationship in which each lane in the lane map corresponds to each road link in the standard road map one by one;

the map association relationship comprises an offset relationship of each lane relative to a corresponding road link, and the offset relationship comprises an offset point and an offset distance;

an offset relationship obtaining unit 1412, configured to obtain the first offset relationship of the first lane with respect to the first road link from the map association relationship.

In one embodiment, the method further comprises:

a first offset relationship updating module 1450 configured to obtain an updated first offset relationship based on the updated first offset point and the updated first offset distance;

A first association update module 1460, configured to update the map association based on the updated first offset relationship;

a distance determination module 1470, configured to determine, in the updated map association, a distance between an end offset point in an offset relationship of the third lane with respect to the corresponding road link and a start offset point in an offset relationship of the fourth lane with respect to the corresponding road link, when the position verification operation has been performed on the offset points in each of the updated map association;

a second offset relationship updating module 1480, configured to update, in a case where the separation distance is greater than a third distance threshold, an offset relationship of the third lane with respect to the corresponding road link and/or an offset relationship of the fourth lane with respect to the corresponding road link by shortening the separation distance;

wherein the third lane is adjacent to the fourth lane and the third lane is located before the fourth lane.

In one embodiment, the offset points in each offset relationship in the map association relationship include a start offset point and an end offset point, and the offset distances in each offset relationship in the map association relationship include a start offset distance and an end offset distance;

The second offset relationship updating module 1480 is specifically configured to:

updating a starting point offset point in the offset relation of the fourth lane relative to the corresponding road link based on the ending point offset point in the offset relation of the third lane relative to the corresponding road link;

updating a starting point offset distance in the offset relation of the fourth lane relative to the corresponding road link based on the ending point offset distance in the offset relation of the third lane relative to the corresponding road link.

In one embodiment, the method further comprises:

and a second association relation updating module 1490, configured to update the updated map association relation again based on the updated offset relation of the fourth track with respect to the corresponding road link.

For descriptions of specific functions and examples of each module and sub-module of the apparatus in the embodiments of the present disclosure, reference may be made to the related descriptions of corresponding steps in the foregoing method embodiments, which are not repeated herein.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

Fig. 15 illustrates a schematic block diagram of an example electronic device 1500 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile apparatuses, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 15, the apparatus 1500 includes a computing unit 1501, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1502 or a computer program loaded from a storage unit 1508 into a Random Access Memory (RAM) 1503. In the RAM 1503, various programs and data required for the operation of the device 1500 may also be stored. The computing unit 1501, the ROM 1502, and the RAM 1503 are connected to each other through a bus 1504. An input/output (I/O) interface 1505 is also connected to bus 1504.

Various components in device 1500 are connected to I/O interface 1505, including: an input unit 1506 such as a keyboard, mouse, etc.; an output unit 1507 such as various types of displays, speakers, and the like; a storage unit 1508 such as a magnetic disk, an optical disk, or the like; and a communication unit 1509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 1509 allows the device 1500 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.

The computing unit 1501 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 1501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The calculation unit 1501 performs the respective methods and processes described above, for example, a map data processing method. For example, in some embodiments, a map data processing method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 1508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 1500 via the ROM 1502 and/or the communication unit 1509. When a computer program is loaded into the RAM 1503 and executed by the computing unit 1501, one or more steps of one map data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 1501 may be configured to perform a map data processing method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions, improvements, etc. that are within the principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A map data processing method, comprising:

performing a position verification operation for the first offset point;

2. The method of claim 1, wherein the first offset point comprises a first start point offset point and a first end point offset point, the updating the first offset point based on a type of position error of the first offset point comprising:

under the condition that the position error type is determined to be a first type based on the position relation between any point of the first lane and the orthographic projection point of the corresponding point of the second lane on the first road chain, determining a precursor lane and a subsequent lane adjacent to the first lane based on the lane turning direction corresponding to the first lane, wherein the first lane and the second lane form a bidirectional turning lane;

updating the first start point offset point based on a precursor end point offset point in a precursor offset relationship of the precursor track relative to a precursor road link;

updating the first end offset point based on a subsequent start offset point in a subsequent offset relationship of the subsequent lane relative to a subsequent road link.

3. The method of claim 2, wherein the first type comprises: the distance between the first starting point offset point and the second starting point offset point is smaller than a first distance threshold value, and/or the distance between the first end point offset point and the second end point offset point is smaller than a second distance threshold value;

the first starting point offset point is a front projection point of a starting point of the first lane on the first road chain, and the second starting point offset point is a front projection point of a starting point of the second lane on the first road chain;

the first end point offset point is a front projection point of the end point of the first lane on the first road chain, and the second end point offset point is a front projection point of the end point of the second lane on the first road chain.

4. The method of claim 3, wherein the first offset distance comprises a first start point offset distance, the updating the first offset distance based on a distance of a reference start point of the first road link from the updated first offset point comprising:

determining the reference starting point based on the starting point of the exit lane road in the precursor road link;

Updating the first start point offset distance based on the distance between the reference start point and the updated first start point offset point.

5. The method of claim 3, wherein the first offset distance comprises a first end offset distance, the updating the first offset distance based on a distance of a reference origin of the first road link from the updated first offset point comprising:

determining the reference starting point based on the starting point of the entering lane road in the subsequent road link;

and updating the first end point offset distance based on the distance between the reference start point and the updated first end point offset point.

6. The method of claim 1, wherein the first offset point comprises a first start point offset point and a first end point offset point, the updating the first offset point based on a type of position error of the first offset point comprising:

updating the first start point offset point based on the orthographic projection point of the start point of the first lane on the first road chain under the condition that the position error type is determined to be the second type based on the first start point offset point and/or the position relation between the first end point offset point and any road chain and/or the position relation between the first start point offset point and the first end point offset point;

And updating the first end point offset point based on the orthographic projection point of the end point of the first lane on the first road link.

7. The method of claim 6, wherein the second type comprises one of:

the first starting point offset point does not fall on any road chain;

the first end point offset point does not fall on any road link;

8. The method of claim 1, wherein the first offset point comprises a first start point offset point and a first end point offset point, the updating the first offset point based on a type of position error of the first offset point comprising:

under the condition that the position error type is determined to be a third type based on the position relation among the first end point offset point, the first road link and the second road link, the first road link is prolonged along the direction from the starting point of the first road link to the end point, wherein the first road link and the second road link form a Y-shaped graph;

Updating the first start point offset point based on the orthographic projection point of the start point of the first lane on the prolonged first road link;

and updating the first end point offset point based on the orthographic projection point of the end point of the first lane on the prolonged first road link.

9. The method of claim 8, wherein the third type comprises: the first end point offset point does not fall on the first road link and falls on a second road link.

10. The method of any of claims 6-9, wherein the first offset distance comprises a first start point offset distance, the updating the first offset distance based on a distance of a reference start point of the first road link from the updated first offset point, comprising:

determining the reference starting point based on the starting point of the road entering the lane in the first road link;

the first start point offset distance is updated based on the distance of the reference start point from the updated first start point offset point.

11. The method of any of claims 6-9, wherein the first offset distance comprises a first end offset distance, the updating the first offset distance based on a distance of a reference start point of the first road link from the updated first offset point comprising:

Determining the reference starting point based on the starting point of the lane exit road in the first road link;

updating the first endpoint offset distance based on the distance of the reference start point from the updated first endpoint offset point.

12. The method of claim 1, wherein the obtaining a first offset relationship of the first lane relative to the first road link comprises:

determining a map association relationship between a lane map and a standard road map based on a one-to-one corresponding spatial position relationship between each lane in the lane map and each road link in the standard road map;

and acquiring the first offset relation of the first lane relative to the first road link from the map association relation.

13. The method of claim 12, further comprising:

based on the updated first offset point and the updated first offset distance, obtaining an updated first offset relationship;

updating the map association relationship based on the updated first offset relationship;

Determining a distance between an end offset point in the offset relationship of the third lane relative to the corresponding road link and a start offset point in the offset relationship of the fourth lane relative to the corresponding road link in the updated map association relationship under the condition that the position verification operation is executed by the offset points in each offset relationship in the updated map association relationship;

updating the offset relation of the third lane relative to the corresponding road link and/or the offset relation of the fourth lane relative to the corresponding road link by shortening the interval distance when the interval distance is larger than a third distance threshold;

14. The method of claim 13, wherein the offset points in each of the map associations comprise a start offset point and an end offset point, and the offset distances in each of the map associations comprise a start offset distance and an end offset distance;

the updating the offset relation corresponding to the third lane and/or the offset relation corresponding to the fourth lane by shortening the interval distance includes:

15. The method of claim 14, further comprising:

and updating the updated map association relationship again based on the updated offset relationship of the fourth road relative to the corresponding road link.

16. A map data processing apparatus comprising:

17. The apparatus of claim 16, wherein the first offset point comprises a first start offset point and a first end offset point, the offset point update module comprising:

a lane determining unit, configured to determine a precursor lane and a subsequent lane adjacent to the first lane based on a lane turning direction corresponding to the first lane, where the first lane and the second lane form a bidirectional turning lane, when determining that the type of the position error is a first type based on a positional relationship between any one point of the first lane and a forward projection point of a corresponding point of the second lane on the first road chain, respectively;

a first offset point updating unit, configured to update the first start point offset point based on a precursor end point offset point in a precursor offset relationship of the precursor track relative to a precursor road link;

and the second offset point updating unit is used for updating the first end offset point based on the subsequent start offset point in the subsequent offset relation of the subsequent lane relative to the subsequent road link.

18. The apparatus of claim 17, wherein the first type comprises: the distance between the first starting point offset point and the second starting point offset point does not meet a first setting condition, and/or the distance between the first end point offset point and the second end point offset point does not meet a second setting condition;

19. The apparatus of claim 18, wherein the first offset distance comprises a first start point offset distance, the offset distance update module comprising:

a first reference start point determining unit, configured to determine the reference start point based on a start point of the road exiting the lane in the precursor road link;

a first offset distance determining unit, configured to update the first start point offset distance based on a distance between the reference start point and the updated first start point offset point.

20. The apparatus of claim 18, wherein the first offset distance comprises a first endpoint offset distance, the offset distance update module comprising:

a second reference start point determining unit configured to determine the reference start point based on a start point of a road entering a lane in the subsequent road link;

and a second offset distance determining unit configured to update the first end offset distance based on a distance between the reference start point and the updated first end offset point.

21. The apparatus of claim 16, wherein the first offset point comprises a first start offset point and a first end offset point, the offset point update module comprising:

a third offset point updating unit, configured to update the first offset point based on a orthographic projection point of the start point of the first lane on the first road link when the type of the position error is determined to be the second type based on the first offset point and/or a positional relationship between the first end point offset point and any road link, and/or a positional relationship between the first offset point and the first end point offset point;

and the fourth offset point updating unit is used for updating the first end point offset point based on the orthographic projection point of the end point of the first lane on the first road chain.

22. The apparatus of claim 21, wherein the second type comprises one of:

the first starting point offset point does not fall on any road chain;

the first end point offset point does not fall on any road link;

23. The apparatus of claim 16, wherein the first offset point comprises a first start offset point and a first end offset point, the offset point update module comprising:

a road link extension unit, configured to, when determining that the type of position error is a third type based on a positional relationship between the first end point offset point and the first road link and the second road link, extend the first road link along a direction from a start point to an end point of the first road link, where the first road link and the second road link form a Y-shaped pattern;

a fifth offset point updating unit, configured to update the first start point offset point based on a forward projection point of the start point of the first lane on the extended first road link;

And a sixth offset point updating unit, configured to update the first endpoint offset point based on a forward projection point of the endpoint of the first lane on the extended first road link.

24. The apparatus of claim 23, wherein the third type comprises: the first end point offset point is not located on the first road link and is located on the second road link, and the first road link and the second road link form a Y-shaped graph.

25. The apparatus of any of claims 21-24, wherein the first offset distance comprises a first start point offset distance, the offset distance update module comprising:

a third reference start point determining unit configured to determine the reference start point based on a start point of a road entering a lane in the first road link;

and a third offset distance determining unit configured to update the first start point offset distance based on the distance between the reference start point and the updated first start point offset point.

26. The apparatus of any of claims 21-24, wherein the first offset distance comprises a first endpoint offset distance, the offset distance update module comprising:

A fourth reference start point determining unit configured to determine the reference start point based on a start point of the first road link from which the lane road exits;

and a fourth offset distance determining unit configured to update the first end offset distance based on the distance between the reference start point and the updated first end offset point.

27. The apparatus of claim 16, wherein the offset relationship acquisition module comprises:

the system comprises an association relation acquisition unit, a map association relation judgment unit and a map association relation judgment unit, wherein the association relation acquisition unit is used for determining the map association relation between a lane map and a standard road map based on the one-to-one corresponding spatial position relation between each lane in the lane map and each road link in the standard road map;

and the offset relation acquisition unit is used for acquiring the first offset relation of the first lane relative to the first road chain from the map association relation.

28. The apparatus of claim 27, further comprising:

the first offset relation updating module is used for obtaining the updated first offset relation based on the updated first offset point and the updated first offset distance;

The first incidence relation updating module is used for updating the map incidence relation based on the updated first offset relation;

a distance determining module, configured to determine, in the updated map association, a distance between an end offset point in the offset relationship of the third lane with respect to the corresponding road link and a start offset point in the offset relationship of the fourth lane with respect to the corresponding road link, when the position verification operation has been performed on the offset points in each of the updated map association;

the second offset relation updating module is used for updating the offset relation of the third lane relative to the corresponding road link and/or the offset relation of the fourth lane relative to the corresponding road link in a mode of shortening the interval distance under the condition that the interval distance is larger than a third distance threshold value;

29. The apparatus of claim 28, wherein the offset points in each of the map associations comprise a start offset point and an end offset point, and wherein the offset distances in each of the map associations comprise a start offset distance and an end offset distance;

The second offset relation updating module is specifically configured to:

30. The apparatus of claim 29, further comprising:

and the second association relation updating module is used for updating the updated map association relation again based on the updated offset relation of the fourth road relative to the corresponding road link.

31. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-15.

32. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-15.

33. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-15.