CN118010006A

CN118010006A - Method and device for generating roundabout intersection, electronic equipment and storage medium

Info

Publication number: CN118010006A
Application number: CN202410147012.0A
Authority: CN
Inventors: 何云燕; 谢永兵
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2024-02-01
Filing date: 2024-02-01
Publication date: 2024-05-10

Abstract

The embodiment of the disclosure discloses a method, a device, electronic equipment and a storage medium for generating a roundabout intersection, wherein the method comprises the following steps: identifying a roundabout local line road, a roundabout exit road and a roundabout entrance road from the high-precision map data; generating a rotary island center line based on the rotary island local line road; generating a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and generating a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet link, the roundabout inlet link, the roundabout local link, and the roundabout centerline; the central line of the rotary island, the inlet node of the rotary island, the outlet node of the rotary island, the inlet connecting line of the rotary island and the outlet connecting line of the rotary island are rotary island intersection data in standard navigation map data. According to the technical scheme, the rotary island intersection data in the standard navigation map data can be automatically generated, the manufacturing efficiency and the accuracy are improved, and the cost is reduced.

Description

Method and device for generating roundabout intersection, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of maps, in particular to a method and a device for generating a roundabout intersection, electronic equipment and a storage medium.

Background

The current map data includes two types of standard navigation map data and high-precision map data, which are separately produced by two independent production lines. Standard navigation map data can be understood as an electronic map or dataset containing spatial location geographical coordinates that can be combined with a spatial location information system to accurately guide a navigated object from a departure location to a destination. The high-precision map data can be understood as being composed of element data such as a road traffic network, a lane traffic network, road traffic marks and marks, road other facilities and the like which are high in position precision and rich in semantics, and is basic data for realizing auxiliary driving, automatic driving, intelligent vehicle-road coordination, intelligent traffic fine management and related test application. In the prior art, the roundabout intersection in the standard navigation map data is manufactured by manually referring to the field acquisition data of the standard navigation map data, and the processing efficiency is low.

Therefore, a solution capable of automatically making the roundabout intersection in the standard navigation map data is needed to improve the processing efficiency.

Disclosure of Invention

The embodiment of the disclosure provides a method, a device, electronic equipment and a storage medium for generating a roundabout intersection.

In a first aspect, an embodiment of the present disclosure provides a method for generating a roundabout intersection, where the method includes:

identifying a roundabout local line road, a roundabout exit road and a roundabout entrance road from the high-precision map data;

Generating a rotary island center line based on the rotary island local line road;

Generating a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and generating a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet link, the roundabout inlet link, the roundabout local link, and the roundabout centerline; the central line of the rotary island, the inlet node of the rotary island, the outlet node of the rotary island, the inlet connecting line of the rotary island and the outlet connecting line of the rotary island are rotary island intersection data in standard navigation map data.

In a second aspect, an embodiment of the present invention provides a roundabout intersection generating device, where the device includes:

An identification module configured to identify a roundabout local link, a roundabout exit link, and a roundabout entrance link from the high-precision map data;

a first generation module configured to generate a roundabout centerline based on the roundabout local roadway;

A second generation module configured to generate a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and to generate a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet link, the roundabout inlet link, the roundabout local link, and the roundabout centerline; the central line of the rotary island, the inlet node of the rotary island, the outlet node of the rotary island, the inlet connecting line of the rotary island and the outlet connecting line of the rotary island are rotary island intersection data in standard navigation map data.

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

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

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

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

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

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

In this embodiment, when generating the roundabout intersection data in the standard navigation map data, after the roundabout local line road, the roundabout exit road, and the roundabout entrance road are identified by using the existing high-precision map data, the roundabout center line corresponding to the roundabout local line road is generated, and the roundabout entrance node, the roundabout exit node, the roundabout entrance connection line, and the roundabout exit connection line on the roundabout center line are generated based on the roundabout exit road, the roundabout entrance road, and the roundabout local line road, and the roundabout entrance connection line, and the roundabout exit connection line are used as the roundabout intersection data in the standard navigation map data. By the method, the roundabout intersection data in the standard navigation map data can be automatically generated based on the high-precision map data, so that the manufacturing efficiency and accuracy of the standard navigation map data can be improved, and the manufacturing cost of the standard navigation map data can be reduced.

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

Drawings

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

Fig. 1 shows a flowchart of a roundabout intersection generation method according to an embodiment of the present disclosure.

Fig. 2A-2C illustrate schematic diagrams of roundabout intersection effects for different roundabout doorway types according to an embodiment of the present disclosure.

Fig. 3 shows a block diagram of a rotary intersection generating device according to an embodiment of the present disclosure.

Fig. 4 shows a block diagram of an electronic device according to an embodiment of the present disclosure.

Fig. 5 is a schematic diagram of a computer system suitable for use in implementing a roundabout intersection generation method according to an embodiment of the present disclosure.

Detailed Description

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

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

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

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

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

Fig. 1 shows a flowchart of a roundabout intersection generation method according to an embodiment of the present disclosure. As shown in fig. 1, the method for generating the roundabout intersection comprises the following steps:

In step S101, a roundabout local link, a roundabout exit link, and a roundabout entrance link are identified from the high-precision map data;

In step S102, generating a roundabout centerline based on the roundabout local roadway;

In step S103, generating a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet link, the roundabout inlet link, the roundabout local link, and the roundabout centerline; the central line of the rotary island, the inlet node of the rotary island, the outlet node of the rotary island, the inlet connecting line of the rotary island and the outlet connecting line of the rotary island are rotary island intersection data in standard navigation map data.

In this embodiment, the method for generating the roundabout intersection may be executed by a server. The high-precision map data is a data storage mode taking lanes as storage objects, and mainly comprises the following contents: high-precision road data, high-precision lane data (lane lines, types, relationships, etc.), high-precision component data (ground signs, facilities, etc.), and the like. The high-precision road and the properties of the high-precision lane and the high-precision lane line on the high-precision road, such as the position of the high-precision road, the position of the high-precision lane line, whether the high-precision lane line is a solid line or a broken line, the road direction of the high-precision road, the roundabout properties of the high-precision road and the lane, and the like, can be determined based on the high-precision map data. Therefore, the roundabout intersection can be identified by the high-precision map data in which the roundabout intersection can include the roundabout local road, the roundabout exit road, the roundabout entrance road, and the like. It can be appreciated that in this embodiment, the roundabout local roads may be first identified from the high-precision map data, and corresponding roundabout centerlines may be generated, and the roundabout entry roads and the roundabout exit roads may be identified from the high-precision map data after the roundabout centerlines are generated.

Since the standard navigation map data is a data storage mode using roads as storage objects, the content mainly comprises: basic road network data, attribute information (electronic eyes, guide lines, prohibition information, etc.) on roads, public travel information such as riding steps, etc. Therefore, the roundabout intersection to be generated is stored in the standard navigation map data in the form of a road and the attribute possessed by the road. In standard navigation map data, roads are typically represented by line segments. For this purpose, the roundabout intersection in the standard navigation map data may be expressed by a roundabout center line, a roundabout entry node, a roundabout exit node on the roundabout center line, a roundabout entry connection line from the roundabout entry node into the roundabout, a roundabout exit connection line from the roundabout exit node out of the roundabout intersection, and corresponding other attribute data. The central line of the rotary island represents the local line road of the rotary island intersection, the inlet connecting line of the rotary island represents the inlet road of the rotary island, the outlet connecting line of the rotary island represents the outlet road of the rotary island, the inlet node of the rotary island represents the inlet of the rotary island intersection, and the outlet node of the rotary island represents the outlet of the rotary island.

The embodiment of the disclosure provides a scheme for generating the roundabout intersection data in standard navigation map data based on high-precision map data. The method and the system can automatically generate the roundabout intersection data in the standard navigation map data, so that the manufacturing efficiency and accuracy of the standard navigation map data can be improved.

The high-precision map data stores data such as road passing direction, attribute, position and topological connection relation with other high-precision roads. The road passing direction of the high-precision road is consistent with the vehicle running direction on the corresponding real road, and the attribute of the high-precision road can include, but is not limited to, whether the high-precision road is the attribute of the roundabout local road; the position of the high-precision road may include a position of a polygon vertex corresponding to the road surface of the high-precision road. Therefore, the embodiments of the present disclosure can identify the roundabout local link, the roundabout exit link, and the roundabout entrance link based on the road traffic direction, the attribute, the position, the topological connection relationship with other highprecision roads, and the like of the highprecision road.

As described above, the roads in the standard navigation map data are expressed in line segments. In order to express the identified roundabout local road as a road in the standard navigation map data, a corresponding roundabout centerline may be generated based on the roundabout local road, e.g., the roundabout centerline may be a road centerline corresponding to the roundabout local road, which may be used to express the roundabout local road in the standard navigation map data. It should be noted that, the road center line may be generated based on the lane boundary line of the high-precision road, that is, after the center line of the two lane boundary lines of the boundary of the high-precision road is generated, the road is smoothed to obtain the road center line, and the road smoothing method may refer to the method adopted in the prior art for manufacturing the road in the standard navigation map data, which is not particularly limited in this disclosure.

In the standard navigation map data, the roundabout local roads include the roundabout center line, and the entrance nodes, the entrance roads, and the like thereof need to be expressed. The embodiment of the disclosure generates a rotary island inlet node, a rotary island outlet node on a rotary island center line, a rotary island inlet connecting line connected to the rotary island inlet node and a rotary island outlet connecting line connected to the rotary island outlet node based on a rotary island outlet road, a rotary island inlet road, a rotary island local line road and a rotary island center line which are identified in high-precision map data. The roundabout entrance node expresses the entrance of the roundabout local line road in the standard navigation map data, the roundabout exit node expresses the exit of the roundabout local line road in the standard navigation map data, the roundabout entrance connecting line expresses the roundabout entrance road in the standard navigation map data, and the roundabout exit connecting line expresses the roundabout exit road in the standard navigation map data. In addition, in the standard navigation map data, corresponding attributes may be given to the central line of the rotary island, the entrance node of the rotary island, the exit node of the rotary island, the entrance connecting line of the rotary island and the exit connecting line of the rotary island, for example, corresponding road directions of the central line of the rotary island, the entrance connecting line of the rotary island and the exit connecting line of the rotary island may be given, and the line segments are marked as the attributes of the local line road of the rotary island, the entrance of the rotary island, the exit of the rotary island and the like, and the road directions of the central line of the rotary island, the entrance connecting line of the rotary island and the exit connecting line of the rotary island may be consistent with the road directions of the corresponding high-precision roads in the high-precision map data.

In an alternative implementation manner of the present embodiment, step S101, that is, the step of identifying the roundabout local link, the roundabout exit link, and the roundabout entrance link from the high-precision map data, may be implemented in at least one of the following manners:

determining the roundabout local line road by utilizing the roundabout attribute of the high-precision road in the high-precision map data;

And identifying the roundabout local line road by utilizing the geometric characteristics of the high-precision road in the high-precision map data.

In this alternative implementation, the roundabout local roads, the roundabout exit roads, and the roundabout entrance roads may be first identified from the high-precision map data in order to generate the roundabout intersection data in the standard navigation map data, as described above. It is understood that the roundabout local roads, the roundabout exit roads, and the roundabout entrance roads identified from the high-precision map data are all high-precision map data including attributes and geometric features. When high-precision map data is produced, the attributes of the roundabout road can be given to the roundabout local road, and the attributes of the roundabout lanes can be given to the lanes in the roundabout, and the like. Therefore, the roundabout local line road and/or the roundabout lane in the high-precision map data can be identified by the roundabout attribute of the road and/or the lane in the high-precision map data, and after the roundabout local line road is identified, the roundabout exit road and the roundabout entrance road can be identified from the high-precision lane in topological communication with the roundabout local line road. If the roundabout lane is identified, the roundabout local line road can be identified based on the high-precision road to which the roundabout lane belongs, and then the roundabout exit road and the roundabout entrance road are identified from the high-precision lane which is in topological communication with the roundabout local line road.

In addition, there may be a roundabout local road or a roundabout lane in the real world, but the roundabout attribute is not represented in the high-precision map data. This situation cannot be identified directly by attribute data in the high-definition map data. However, the roundabout local line road has specific geometric features, and the geometric features of the high-precision road are stored in the high-precision map data, so that the high-precision road with the geometric features conforming to the roundabout local line road can be screened from the high-precision map data through the geometric features of the high-precision road. The roundabout local road has a specific geometric feature, and may include, for example, a road direction capable of topologically communicating into a closed loop road and/or a closed loop lane, and each high-precision road or each high-precision lane on the closed loop road and/or the closed loop lane configured to be a single counterclockwise direction with respect to the closed loop road or the closed loop lane. In this way, the identified closed loop road or the closed loop road where the closed loop lane is located is the roundabout local road, and the entry road and the exit road topologically connected to the roundabout local road are the roundabout entrance road and the roundabout exit road.

It should be noted that, in the embodiment of the present disclosure, the first implementation manner may be used alone, that is, based on the attribute data, the roundabout local link, the roundabout entrance link, and the roundabout exit link may be identified from the high-precision map data; the second embodiment can also be used alone, namely, the geometric features are directly utilized to identify the roundabout local roads, the roundabout entrance roads and the roundabout exit roads.

Of course, in order to more comprehensively and accurately find out the roundabout intersection, the embodiment of the disclosure may also first identify the roundabout local line road, the roundabout entrance road and the roundabout exit road from the high-precision map data based on the attribute data by using the first implementation manner; then, the second embodiment is used to identify the roundabout local road, the roundabout entrance road, and the roundabout exit road based on the geometric features for the high-precision road and the high-precision lane to which the roundabout attribute is not given.

In an optional implementation manner of this embodiment, the step of determining the roundabout local link by using the roundabout attribute of the high-precision link in the high-precision map data may be implemented as follows:

Extracting candidate high-precision roads with the roundabout attribute from the high-precision map data;

According to the position data of the candidate high-precision roads, connecting the candidate high-precision roads with topological connection relations in series from head to tail to form a road string;

Determining an annular road string with the road length within a set length range and the road direction being anticlockwise after the road strings are connected in series as the roundabout local line road; and/or the number of the groups of groups,

According to the position data of the high-precision road, connecting the high-precision road with a topological connection relationship in series from end to form a road string;

and determining the road string with the road length within a set length range and the road direction after the series connection being in a ring shape in the anticlockwise direction as the roundabout local line road.

In this alternative implementation, one way to determine the roundabout local link is: and firstly extracting candidate high-precision roads with the ring island attribute from the high-precision map data, then connecting any two candidate high-precision roads with consistent starting position and ending position and topological connection relation with each other in series according to the position relation and the topological connection relation, and if a plurality of candidate high-precision roads are connected in series to form a closed ring-shaped road, the road length of the closed ring-shaped road is in a set length range, the road direction of each candidate high-precision road on the closed ring-shaped road is a single anticlockwise direction relative to the closed ring-shaped road, and the closed ring-shaped road formed by connecting the plurality of candidate high-precision roads in series can be determined as the identified ring island local line road. The method and the device not only utilize the roundabout attribute of the high-precision road in the high-precision map data to identify the roundabout local road, but also verify the identified candidate high-precision road through setting the length range and the road direction, thereby avoiding the situation of identification errors caused by data production errors or other reasons and reducing the error rate. It should be noted that the annular road is understood to be approximately circular or elliptical in shape. If the shape of the closed road formed by connecting the ends in series is not similar to a circle or an ellipse, the closed road cannot be identified as a roundabout local road.

Another way to determine the roundabout local link is: in the process, any two high-precision roads with topological communication relationship can be found from the high-precision map, wherein the end position of one high-precision road is consistent with the start position of the other high-precision road, and the two high-precision roads are connected in series end to end. If a plurality of high-precision roads are connected in series to form a closed loop road, the road length of the closed loop road is within a set length range, and the road direction of each high-precision road forming the closed loop road is a single anticlockwise direction relative to the loop road, the closed loop road can be identified as a roundabout local line road. In the specific implementation, the method can start from a first-section high-precision road without the roundabout attribute, and detect the road in the road direction according to the topological connection relation, and stop detecting the road if the road length (including the length of the first-section high-precision road) of the detected road exceeds the set length range; during the road exploring process, if the ending position of a certain high-precision road is found to be consistent with the starting position of the first high-precision road, the high-precision road through which the road exploring is conducted can form a road string, and if the road directions of all the high-precision roads in the road string are in the annular anticlockwise direction, the road string is the identified roundabout local line road.

In some embodiments, after the above-mentioned first method for determining the roundabout local line road identifies the roundabout local line road, the roundabout entrance road, and the roundabout exit road from the high-precision map data, in order to avoid a situation that the high-precision map data does not embody the high-precision road actually belonging to the roundabout intersection in the attribute, the above-mentioned second method for determining the roundabout local line road may be used for further supplementary identification. According to the method, the attributes are used for identifying the roundabout local line road, then the rest unprocessed high-precision road is identified according to the geometric information, so that the identification processing time is saved, and the integrity and accuracy of an identification result are ensured.

In an alternative implementation manner of the present embodiment, step S101, that is, the step of identifying the roundabout local link, the roundabout exit link, and the roundabout entrance link from the high-precision map data, may be implemented as follows:

Acquiring an entering road and an exiting road of any high-precision road of the roundabout local road;

determining the entry road which does not belong to the roundabout local line road as the roundabout entry road;

and determining the exit road which does not belong to the roundabout local line road as the roundabout exit road.

In this alternative implementation, as described above, the roundabout local link is obtained by connecting a plurality of high-precision links in the high-precision map data end to end, and the roundabout entrance link and the roundabout exit link are links having a topological connection relationship with the high-precision links that constitute the roundabout local link, but are not the high-precision links on the roundabout local link. Therefore, the exit road and the entry road of any high-precision road forming the local line road of the rotary island can be found based on the topological communication relationship between the high-precision roads in the high-precision map data, and after the high-precision roads belonging to the local line road of the rotary island in the exit road and the entry road are removed, the rest of the entry road can be used as the rotary island entrance road of the local line road of the rotary island, and the rest of the exit road can be used as the rotary island exit road of the local line road of the rotary island.

In an optional implementation manner of this embodiment, step S103, that is, the steps of generating a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and generating a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet road, the roundabout inlet road, the roundabout local road, and the roundabout centerline, may be implemented as follows:

Determining a rotary island entrance and exit type based on the spatial distribution characteristics of the rotary island exit road, the rotary island entrance road and the rotary island local line road;

For different types of the rotary island entrances and exits, generating rotary island entrance nodes and rotary island exit nodes on the rotary island central line based on the rotary island exit road, the rotary island entrance road, the rotary island local line road and the rotary island central line, and generating rotary island entrance connecting lines connected to the rotary island entrance nodes and rotary island exit connecting lines connected to the rotary island exit nodes.

In the optional implementation manner, the space distribution characteristics of the roundabout local line road, the roundabout outlet road and the roundabout inlet road identified based on the high-precision map data are different, and the types of the entrances and exits of the roundabout local line road are different. The generation modes of corresponding entrance and exit data in the standard navigation map data are different at the roundabout intersections with different entrance and exit types. The ingress and egress data may include, but is not limited to, a rotary island egress node, a rotary island ingress node, a rotary island egress connection line, and a rotary island ingress connection line.

The entrance and exit types of the roundabout intersection can be roughly classified into three types as follows: bidirectional port type, cross port type, and single port type. The bidirectional entrance and exit type is characterized in that a rotary island exit road and a rotary island entrance road are uplink and downlink roads in the real world, as shown in fig. 2A; the cross entrance type is characterized in that a rotary island exit road and a rotary island entrance road in the real world are crossed with each other, as shown in fig. 2B; in addition to the bidirectional entrance type and the cross entrance type, the entrance type of the rest of the roundabout intersections can be considered as a single entrance type, and a typical roundabout intersection of a single entrance type is shown in fig. 2C.

The high-precision map data expresses the geometric characteristics of a high-precision road, and the space distribution characteristics between the roundabout access road and the roundabout entrance road corresponding to the roundabout intersections with different entrance and exit types are different, so that the entrance and exit types of the roundabout intersections can be determined based on the geometric characteristics of the recognized roundabout access road and the roundabout entrance road, and then the roundabout exit nodes, the roundabout entrance connecting line and the roundabout exit connecting line of the roundabout intersections are generated based on the difference of the entrance and exit types.

In an optional implementation manner of this embodiment, the step of determining the type of the roundabout gateway based on the spatial distribution characteristics of the roundabout exit road, the roundabout entrance road and the roundabout local road may be implemented as follows:

acquiring the rotary island outlet road and the rotary island inlet road which are adjacent transversely;

if the attribute of the lane line of the adjacent area between the rotary island outlet road and the rotary island inlet road which are transversely adjacent does not comprise a diversion belt or physical isolation, acquiring two external high-precision roads which are respectively in topological communication with the rotary island outlet road and the rotary island inlet road along the direction away from the rotary island local line road;

if the external high-precision road which is respectively in topological communication with the rotary island outlet road and the rotary island inlet road corresponds to a bidirectional road in standard navigation map data, determining that the rotary island entrance and exit type is a bidirectional entrance and exit type;

The step of generating a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and generating a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet roadway, the roundabout inlet roadway, the roundabout local line roadway, and the roundabout centerline may be implemented as follows:

taking the two external high-precision roads as a whole to generate a road center line;

Determining the road center line as the rotary island outlet connecting line and the rotary island inlet connecting line;

and after the central line of the road is prolonged, determining an intersection point of the central line of the rotary island and the central line of the rotary island as the rotary island outlet node and the rotary island inlet node.

In this optional implementation manner, the roundabout exit road and the roundabout entrance road identified in the high-precision map data are topologically communicated with the roundabout local road, and the roundabout exit road and the roundabout entrance road that are laterally adjacent may be obtained from the roundabout exit road and the roundabout entrance road that are topologically communicated with the same roundabout local road. The rotary island outlet road and the rotary island inlet road which are transversely adjacent can be understood as no other road exists between the rotary island outlet road and the rotary island inlet road, the rotary island outlet road and the rotary island inlet road which are transversely adjacent share the same boundary lane line, or the adjacent areas only have the guide belt, the physical isolation and other spacers, and no other road exists.

After the cross adjacent roundabout exit road and the roundabout entrance road are screened, whether the lane line between the cross adjacent roundabout exit road and the roundabout entrance road is a common lane line or a lane line with a diversion belt or a physical isolation attribute can be further judged. The high-precision map data stores the attribute of the lane line, if the lane line is adjacent to the guide belt or the physical isolation facility, the lane line is endowed with the guide belt or the physical isolation attribute, and if the lane line is not adjacent to the guide belt or the physical isolation facility and is a common lane line on the real road surface, the lane line is endowed with the attribute of a broken line or a solid line according to the actual situation. Therefore, if the attribute of the lane line between the laterally adjacent roundabout exit road and the roundabout entrance road does not include a diversion belt or physical isolation, an external high-precision road in topological communication with the roundabout exit road and the roundabout entrance road can be found along the direction away from the roundabout local road. In the high-precision map data, the external high-precision road in topological communication with the roundabout exit road is an exit road of the roundabout exit road, and the external high-precision road in topological communication with the roundabout entrance road is an entrance road of the roundabout entrance road.

The high-precision road in the high-precision map data and the standard road in the standard navigation map data have a corresponding relation, that is, the high-precision road corresponding to the same road in the real world and the standard road are pre-established with a corresponding relation, and the standard road corresponding to the external high-precision road can be determined based on the corresponding relation. The up-down road in the real world is expressed as two high-precision roads laterally adjacent but opposite in road passing direction in the high-precision map data, and as the same two-way road in the standard navigation map data. Therefore, if two external high-precision roads that are topologically connected to the roundabout exit road and the roundabout entrance road respectively correspond to the same bidirectional road in the standard navigation map data, the two external high-precision roads are uplink and downlink roads in the real world, and at this time, the entrance type of the roundabout intersection can be considered as the bidirectional entrance type.

For the bidirectional entrance and exit type, the two external high-precision roads respectively corresponding to the transversely adjacent roundabout exit roads and the roundabout entrance roads can be taken as a whole to generate a road center line. That is, a road center line, which is both a roundabout exit link and a roundabout entrance link, may be generated based on the leftmost lane boundary line and the rightmost lane boundary line in the two circumscribing high-definition roads. That is, the rotary island outlet connecting line and the rotary island inlet connecting line are the same line, but the road passing direction may be different, the road passing direction of the rotary island outlet connecting line is a direction away from the rotary island center line, and the road passing direction of the rotary island inlet connecting line is a direction toward the rotary island center line. After the central line of the road is extended towards one side of the central line of the rotary island, the intersection point generated by the central line of the rotary island is not only the outlet node of the rotary island, but also the inlet node of the rotary island. That is, the rotary island outlet connection line and the rotary island inlet connection line of the rotary island intersection of the bidirectional entrance and exit type are the same line, and the rotary island outlet node and the rotary island inlet node are also the same. Corresponding rotary island inlet connection lines, rotary island outlet connection lines, rotary island inlet nodes and rotary island outlet nodes in the standard-definition navigation map data are shown in fig. 2A. The central line of the rotary island, the inlet connecting line of the rotary island, the outlet connecting line of the rotary island, the inlet node of the rotary island and the outlet node of the rotary island respectively form relevant data of the rotary island intersection with a bidirectional entrance and exit type in standard navigation data. It should be noted that, the road center line may be generated based on the boundary line of the two borderlines circumscribing the high-definition road, that is, after the center line of the two borderlines is generated, the road is smoothed to obtain the road center line, and the road smoothing method may refer to the method adopted in the prior art for manufacturing the road in the standard navigation map data, which is not particularly limited in this disclosure.

if the rotary island entrance road and the rotary island exit road which are intersected exist, determining that the rotary island entrance and exit type is a cross entrance and exit type;

Along the direction away from the roundabout local line road, two external high-precision roads which are respectively in topological communication with the roundabout entrance road and the roundabout exit road are obtained;

respectively generating the road center lines of the two external high-precision roads;

Respectively determining the central lines of the two externally connected high-precision roads as the rotary island outlet connecting line and the rotary island inlet connecting line;

respectively extending the ring island outlet connecting line and the ring island inlet connecting line to obtain two intersection points with the center line of the ring island;

Adjusting the positions of the two intersection points on the central line of the rotary island to obtain the rotary island outlet node and the rotary island inlet node; the length of a line segment of the central line of the rotary island between the rotary island outlet node and the rotary island inlet node is a set length threshold.

In this alternative implementation, for the roundabout exit roads and roundabout entrance roads identified in the high-precision map data, intersecting roundabout exit roads and roundabout entrance roads may be screened out from them. The intersecting roundabout exit road and roundabout entrance road are understood to be the same roundabout local road, where the intersection exists between the boundary lanes of the roundabout exit road and the roundabout entrance road.

If there is a roundabout exit road and a roundabout entrance road that intersect, the roundabout may be determined to be of the cross-gate type. And (3) finding out an external high-precision road which is respectively in topological communication with the roundabout exit road and the roundabout entrance road along the direction away from the roundabout local road. In the high-precision map data, the external high-precision road in topological communication with the roundabout exit road is an exit road of the roundabout exit road, and the external high-precision road in topological communication with the roundabout entrance road is an entrance road of the roundabout entrance road.

Then, a road center line of the circumscribing high-precision road corresponding to the roundabout exit road and the roundabout entrance road, respectively, may be generated, the road center line of the circumscribing high-precision road corresponding to the roundabout exit road may be determined as a roundabout exit connection line, and the road center line of the circumscribing high-precision road corresponding to the roundabout entrance road may be determined as a roundabout entrance connection line. After the ring island outlet connection line is extended toward one side of the ring island centerline, the intersection point with the ring island centerline may be determined as a candidate outlet node, and after the ring island inlet connection line is extended toward one side of the ring island centerline, the intersection point with the ring island centerline may be determined as a candidate inlet node. It should be noted that, the road center line may be generated based on the lane boundary line of the external high-precision road, that is, after the center line of the two lane boundary lines of the boundary of the external high-precision road is generated, the road is smoothed to obtain the road center line, and the road smoothing method may refer to the method adopted in the prior art for manufacturing the road in the standard navigation map data, which is not particularly limited in this disclosure.

And adjusting the positions of the candidate entrance nodes and the candidate exit nodes so that the line segment length of the central line of the rotary island between the candidate entrance nodes and the candidate exit nodes after adjustment is a set length threshold value, wherein the candidate entrance nodes and the candidate exit nodes can be respectively determined to be the rotary island entrance nodes and the rotary island exit nodes. The roundabout inlet connection line, the roundabout outlet connection line, the roundabout inlet node, and the roundabout outlet node corresponding to the roundabout intersection of the intersection type are shown in fig. 2B. The central line of the rotary island, the inlet connecting line of the rotary island, the outlet connecting line of the rotary island, the inlet node of the rotary island and the outlet node of the rotary island which are generated in the mode of the embodiment respectively form related data of the rotary island of the cross entrance and exit type in standard navigation data.

determining the type of the rotary island passageway of the non-bidirectional passageway type and the non-crossed passageway type as a single passageway type;

And respectively extending the rotary island outlet connecting line and the rotary island inlet connecting line, and determining the intersection point of the rotary island outlet connecting line and the rotary island central line as the rotary island outlet node and the rotary island inlet node.

In this alternative implementation, if the entrance type of the roundabout intersection is neither a bidirectional entrance type nor a cross entrance type, the entrance type of the roundabout intersection may be determined as a single entrance type. The roundabout intersection with a single entrance and exit type has no intersection between the roundabout exit road and the roundabout entrance road, and is not adjacent, and is generally in topological communication with the roundabout exit road first and then with the roundabout entrance road in the passing direction of the roundabout local line road, as shown in fig. 2C.

For a single entrance-exit type roundabout intersection, an external high-precision road in topological communication with the roundabout exit road and the roundabout entrance road can be found along the direction away from the roundabout local road. In the high-precision map data, the external high-precision road in topological communication with the roundabout exit road is an exit road of the roundabout exit road, and the external high-precision road in topological communication with the roundabout entrance road is an entrance road of the roundabout entrance road.

As described above, there is a correspondence between the high-precision road in the high-precision map data and the standard road in the standard navigation map data, that is, a correspondence is established in advance between the high-precision road corresponding to the same road in the real world and the standard road, and the standard road corresponding to the external high-precision road can be determined based on the correspondence. The up-down road in the real world is expressed as two high-precision roads laterally adjacent but opposite in road passing direction in the high-precision map data, and as the same two-way road in the standard navigation map data. Therefore, if two external high-precision roads that are topologically connected to the roundabout exit road and the roundabout entrance road respectively correspond to the same bidirectional road in the standard navigation map data, the two external high-precision roads are uplink and downlink roads in the real world, and at this time, the entrance type of the roundabout intersection can be considered as the bidirectional entrance type. If two external high-precision roads which are respectively in topological communication with the roundabout exit road and the roundabout entrance road are not the same two-way road but two one-way roads in the standard navigation map data, the entrance and exit type of the roundabout intersection can be considered as a single entrance and exit type instead of a two-way entrance and exit type.

Further, if the roundabout exit road and the roundabout entrance type are adjacent, but the lane boundary line at the adjacent area has the property of a diversion or physical isolation, the entrance type of the roundabout intersection is also a single entrance type, not a bidirectional entrance type.

For a single entrance type, the road center line of the external high-precision road corresponding to the above-mentioned laterally adjacent roundabout exit road and roundabout entrance road respectively may be generated, the road center line of the external high-precision road corresponding to the roundabout exit road may be determined as the roundabout exit connection line, and the road center line of the external high-precision road corresponding to the roundabout entrance road may be determined as the roundabout entrance connection line. After the ring island outlet connection line is extended toward one side of the ring island center line, the intersection point with the ring island center line may be determined as a ring island outlet node, and after the ring island inlet connection line is extended toward one side of the ring island center line, the intersection point with the ring island center line may be determined as a ring island inlet node. The rotary island intersection with two-way entrance and exit is shown in fig. 2A, and the rotary island entrance connecting line, the rotary island exit connecting line, the rotary island entrance node and the rotary island exit node are corresponding to the standard navigation map data. The central line of the rotary island, the inlet connecting line of the rotary island, the outlet connecting line of the rotary island, the inlet node of the rotary island and the outlet node of the rotary island respectively form relevant data of the rotary island intersection with a bidirectional entrance and exit type in standard navigation data. It should be noted that, the road center line may be generated based on the lane boundary line of the external high-precision road, that is, after the center line of the two lane boundary lines of the boundary of the external high-precision road is generated, the road is smoothed to obtain the road center line, and the road smoothing method may refer to the method adopted in the prior art for manufacturing the road in the standard navigation map data, which is not particularly limited in this disclosure.

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

Fig. 3 shows a block diagram of a rotary intersection generating device according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device by software, hardware, or a combination of both. As shown in fig. 3, the roundabout intersection creating device includes:

An identification module 301 configured to identify a roundabout local link, a roundabout exit link, and a roundabout entrance link from the high-precision map data;

A first generation module 302 configured to generate a roundabout centerline based on the roundabout local roadway;

A second generation module 303 configured to generate a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and to generate a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet link, the roundabout inlet link, the roundabout local link, and the roundabout centerline; the central line of the rotary island, the inlet node of the rotary island, the outlet node of the rotary island, the inlet connecting line of the rotary island and the outlet connecting line of the rotary island are rotary island intersection data in standard navigation map data.

The high-precision map data stores data such as road passing direction, attribute, position and topological connection relation with other high-precision roads. The road passing direction of the high-precision road is consistent with the vehicle running direction on the corresponding real road, and the attribute of the high-precision road can include, but is not limited to, whether the high-precision road is the attribute of the roundabout local road; the position of the high-precision road may include a position of a polygon vertex corresponding to the road surface of the high-precision road. Therefore, the embodiments of the present disclosure can identify the roundabout local link, the roundabout exit link, and the roundabout entrance link based on the road traffic direction, the attribute, the position, the topological connection relationship with other highprecision roads, and the like of the highprecision road. As described above, the roads in the standard navigation map data are expressed in line segments. In order to express the identified roundabout local road as a road in the standard navigation map data, a corresponding roundabout centerline may be generated based on the roundabout local road, e.g., the roundabout centerline may be a road centerline corresponding to the roundabout local road, which may be used to express the roundabout local road in the standard navigation map data.

In an alternative implementation of this embodiment, the identification module may be implemented in at least one of the following ways:

In an optional implementation manner of this embodiment, determining the roundabout local road by using the roundabout attribute of the high-precision road in the high-precision map data may be implemented as follows:

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

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

In an optional implementation manner of this embodiment, the determining the type of the roundabout gateway based on the spatial distribution characteristics of the roundabout exit road, the roundabout entrance road and the roundabout local road may be implemented as follows:

the second generation module may be implemented as follows:

For the bidirectional entrance and exit type, the two external high-precision roads respectively corresponding to the transversely adjacent roundabout exit roads and the roundabout entrance roads can be taken as a whole to generate a road center line. That is, a road center line, which is both a roundabout exit link and a roundabout entrance link, may be generated based on the leftmost lane boundary line and the rightmost lane boundary line in the two circumscribing high-definition roads. That is, the rotary island outlet connecting line and the rotary island inlet connecting line are the same line, but the road passing direction may be different, the road passing direction of the rotary island outlet connecting line is a direction away from the rotary island center line, and the road passing direction of the rotary island inlet connecting line is a direction toward the rotary island center line. After the central line of the road is extended towards one side of the central line of the rotary island, the intersection point generated by the central line of the rotary island is not only the outlet node of the rotary island, but also the inlet node of the rotary island. That is, the rotary island outlet connection line and the rotary island inlet connection line of the rotary island intersection of the bidirectional entrance and exit type are the same line, and the rotary island outlet node and the rotary island inlet node are also the same. Corresponding rotary island inlet connection lines, rotary island outlet connection lines, rotary island inlet nodes and rotary island outlet nodes in the standard-definition navigation map data are shown in fig. 2A. The central line of the rotary island, the inlet connecting line of the rotary island, the outlet connecting line of the rotary island, the inlet node of the rotary island and the outlet node of the rotary island respectively form relevant data of the rotary island intersection with a bidirectional entrance and exit type in standard navigation data.

the second generation module may be implemented as follows:

Then, a road center line of the circumscribing high-precision road corresponding to the roundabout exit road and the roundabout entrance road, respectively, may be generated, the road center line of the circumscribing high-precision road corresponding to the roundabout exit road may be determined as a roundabout exit connection line, and the road center line of the circumscribing high-precision road corresponding to the roundabout entrance road may be determined as a roundabout entrance connection line. After the ring island outlet connection line is extended toward one side of the ring island centerline, the intersection point with the ring island centerline may be determined as a candidate outlet node, and after the ring island inlet connection line is extended toward one side of the ring island centerline, the intersection point with the ring island centerline may be determined as a candidate inlet node.

the second generation module may be implemented as follows:

For a single entrance type, the road center line of the external high-precision road corresponding to the above-mentioned laterally adjacent roundabout exit road and roundabout entrance road respectively may be generated, the road center line of the external high-precision road corresponding to the roundabout exit road may be determined as the roundabout exit connection line, and the road center line of the external high-precision road corresponding to the roundabout entrance road may be determined as the roundabout entrance connection line. After the ring island outlet connection line is extended toward one side of the ring island center line, the intersection point with the ring island center line may be determined as a ring island outlet node, and after the ring island inlet connection line is extended toward one side of the ring island center line, the intersection point with the ring island center line may be determined as a ring island inlet node. The rotary island intersection with two-way entrance and exit is shown in fig. 2A, and the rotary island entrance connecting line, the rotary island exit connecting line, the rotary island entrance node and the rotary island exit node are corresponding to the standard navigation map data. The central line of the rotary island, the inlet connecting line of the rotary island, the outlet connecting line of the rotary island, the inlet node of the rotary island and the outlet node of the rotary island respectively form relevant data of the rotary island intersection with a bidirectional entrance and exit type in standard navigation data.

The present disclosure also discloses an electronic device, fig. 4 shows a block diagram of the electronic device according to an embodiment of the present disclosure, and as shown in fig. 4, the electronic device 400 includes a memory 401 and a processor 402; wherein,

The memory 401 is used to store one or more computer instructions, which are executed by the processor 402 to implement the above-described method steps.

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

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

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

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

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

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

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

Claims

1. A method for generating a roundabout intersection comprises the following steps:

2. The method of claim 1, wherein the identifying a roundabout local link, a roundabout exit link, and a roundabout entry link from the high-precision map data comprises at least one of:

3. The method of claim 2, wherein the determining the roundabout local roadway using the roundabout attributes of the high-precision roadway in the high-precision map data comprises:

4. A method according to any one of claims 1-3, wherein said identifying a roundabout local link, a roundabout exit link, and a roundabout entry link from high-precision map data comprises:

5. A method according to any one of claims 1-3, wherein the generating a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet link, the roundabout inlet link, the roundabout local link, and the roundabout centerline comprises:

6. The method of claim 5, wherein determining a roundabout doorway type based on spatially distributed features of the roundabout exit roads, the roundabout entry roads, and the roundabout local roads comprises:

The generating a roundabout inlet node, a roundabout outlet node on the roundabout centerline, and generating a roundabout inlet connection line connected to the roundabout inlet node and a roundabout outlet connection line connected to the roundabout outlet node based on the roundabout outlet roadway, the roundabout inlet roadway, the roundabout local line roadway, and the roundabout centerline, comprises:

7. The method of claim 5, wherein determining a roundabout doorway type based on spatially distributed features of the roundabout exit roads, the roundabout entry roads, and the roundabout local roads comprises:

8. The method of any of claims 5-7, wherein the determining a roundabout doorway type based on spatially distributed features of the roundabout exit roads, the roundabout entry roads, and the roundabout local roads comprises:

9. A roundabout intersection generating device, comprising:

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of claims 1-8.

11. A computer readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed by a processor, implement the method of any of claims 1-8.