WO2023273260A1 - 车道级导航地图的构建方法、装置、设备以及存储介质 - Google Patents

车道级导航地图的构建方法、装置、设备以及存储介质 Download PDF

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Publication number
WO2023273260A1
WO2023273260A1 PCT/CN2021/142311 CN2021142311W WO2023273260A1 WO 2023273260 A1 WO2023273260 A1 WO 2023273260A1 CN 2021142311 W CN2021142311 W CN 2021142311W WO 2023273260 A1 WO2023273260 A1 WO 2023273260A1
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WIPO (PCT)
Prior art keywords
lane
level
road
information
electronic map
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PCT/CN2021/142311
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English (en)
French (fr)
Inventor
莫高鹏
刘玲玲
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北京百度网讯科技有限公司
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Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Priority to KR1020227035595A priority Critical patent/KR20220146661A/ko
Priority to JP2022557955A priority patent/JP7538880B2/ja
Priority to US17/954,193 priority patent/US20230019719A1/en
Publication of WO2023273260A1 publication Critical patent/WO2023273260A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G01C21/3819—Road shape data, e.g. outline of a route
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/387—Organisation of map data, e.g. version management or database structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3885—Transmission of map data to client devices; Reception of map data by client devices
    • G01C21/3896—Transmission of map data from central databases

Definitions

  • the present disclosure relates to the technical field of artificial intelligence, specifically the technical field of intelligent transportation, and in particular to a method for constructing a lane-level navigation map, a lane-level navigation method, a device, equipment, a storage medium, and a computer program product.
  • the design of urban roads is becoming more and more complex, and people are increasingly relying on mobile phone navigation for travel.
  • the mobile phone navigation map is a road-level electronic map and cannot provide lane-level navigation information.
  • the existing lane-level electronic maps are dedicated to unmanned driving and cannot be applied to mobile phones.
  • Embodiments of the present disclosure provide a method for constructing a lane-level navigation map, a lane-level navigation method, a device, a device, a storage medium, and a computer program product.
  • a method for constructing a lane-level navigation map including: determining the lane change position in the road-level electronic map; extracting the lane information of the lane change position, the lane information including the lane connection relationship; Stored in the road-level electronic map to obtain a lane-level navigation map.
  • a lane-level navigation method including: generating a road-level navigation route according to the lane-level navigation map; determining the lane change position on the road-level navigation route; and reading the lane information of the lane change position ; The lane-level navigation route is obtained based on the road-level navigation route and the lane information of the lane change position.
  • an apparatus for constructing a lane-level navigation map including: a determination module configured to determine the lane change position in the road-level electronic map; an extraction module configured to extract the lane change position Lane information, the lane information includes lane connectivity; the navigation module is configured to store the lane information in a road-level electronic map to obtain a lane-level navigation map.
  • an aspect which provides a lane-level navigation device, including: a route generation module configured to generate a road-level navigation route according to a lane-level navigation map; a location confirmation module configured to Determine the lane change position on the road-level navigation route; the information reading module is configured to read the lane information of the lane change position; the navigation module is configured to obtain the lane-level navigation based on the road-level navigation route and the lane information of the lane change position route.
  • an electronic device including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are The above-mentioned at least one processor executes, so that the above-mentioned at least one processor can execute the above-mentioned lane-level navigation map construction method and lane-level navigation method.
  • a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to make the computer execute the lane-level navigation map construction method and the lane-level navigation method.
  • a computer program product including a computer program.
  • the computer program When the computer program is executed by a processor, the above-mentioned method for constructing a lane-level navigation map and the method for lane-level navigation are implemented.
  • FIG. 1 is an exemplary system architecture diagram to which an embodiment of the present disclosure can be applied;
  • Fig. 2 is a flowchart of an embodiment of the construction method of the lane-level navigation map according to the present disclosure
  • Fig. 3 is a flow chart of another embodiment of a method for constructing a lane-level navigation map according to the present disclosure
  • FIG. 4 is a flow chart of another embodiment of a method for constructing a lane-level navigation map according to the present disclosure
  • FIG. 5 is a flow chart of an embodiment of extracting lane marking information and lane connectivity relationship corresponding to change points from lane-level electronic maps as lane information according to the present disclosure
  • Fig. 6 is a schematic diagram of the lane connection relationship of the direct front-to-back connection
  • Fig. 7 is a schematic diagram of the lane connection relationship at the turning intersection
  • FIG. 8 is a flowchart of an embodiment of a lane-level navigation method according to the present disclosure.
  • FIG. 9 is a schematic diagram of a lane-level navigation route
  • Fig. 10 is a schematic structural diagram of an embodiment of a construction device for a lane-level navigation map according to the present disclosure
  • Fig. 11 is a schematic structural diagram of an embodiment of a lane-level navigation device according to the present disclosure.
  • Fig. 12 is a block diagram of an electronic device for implementing the lane-level navigation map construction method or the lane-level navigation method according to the embodiment of the present disclosure.
  • FIG. 1 shows an exemplary system architecture 100 to which embodiments of the method for constructing a lane-level navigation map or the apparatus for constructing a lane-level navigation map of the present disclosure can be applied.
  • a system architecture 100 may include terminal devices 101 , 102 , 103 , a network 104 and a server 105 .
  • the network 104 is used as a medium for providing communication links between the terminal devices 101 , 102 , 103 and the server 105 .
  • Network 104 may include various connection types, such as wires, wireless communication links, or fiber optic cables, among others.
  • terminal devices 101, 102, 103 Users can use terminal devices 101, 102, 103 to interact with server 105 through network 104 to obtain lane-level navigation and the like.
  • client applications such as map applications and the like, may be installed on the terminal devices 101, 102, and 103.
  • the terminal devices 101, 102, and 103 may be hardware or software.
  • the terminal devices 101, 102, 103 When the terminal devices 101, 102, 103 are hardware, they may be various electronic devices, including but not limited to smart phones, tablet computers, laptop computers, desktop computers and the like.
  • the terminal devices 101, 102, and 103 are software, they can be installed in the above-mentioned electronic devices. It can be implemented as a plurality of software or software modules, or as a single software or software module. No specific limitation is made here.
  • the server 105 can provide various services based on map navigation. For example, the server 105 can analyze and process the road-level navigation routes obtained from the terminal devices 101, 102, 103, and generate processing results (such as lane-level navigation routes, etc.).
  • the server 105 may be hardware or software.
  • the server 105 can be implemented as a distributed server cluster composed of multiple servers, or as a single server.
  • the server 105 is software, it can be implemented as multiple software or software modules (for example, for providing distributed services), or as a single software or software module. No specific limitation is made here.
  • the method for constructing the lane-level navigation map is generally executed by the server 105 , and correspondingly, the device for constructing the lane-level navigation map is generally disposed in the server 105 .
  • terminal devices, networks and servers in Fig. 1 are only illustrative. According to the implementation needs, there can be any number of terminal devices, networks and servers.
  • the road-level electronic map mentioned in the embodiments of the present disclosure may be a traditional navigation map used by various mobile terminals, which only records road-level data and does not record any lane-related information.
  • the lane-level electronic map can be a high-precision navigation map, which contains a wealth of lane marking information.
  • the lane marking information can be the style of the lane marking, or the number of lanes, and can realize lane-level navigation.
  • FIG. 2 shows a flow 200 of an embodiment of a method for constructing a lane-level navigation map according to the present disclosure.
  • the construction method of the lane-level navigation map includes the following steps:
  • Step 201 Determine the lane change position in the road-level electronic map.
  • the execution subject of the lane-level navigation map construction method can determine the lane change position in the road-level electronic map.
  • the road-level electronic map is characterized by abstracting a road in the real world into a vector line, and attribute information such as the shape and direction of the road are recorded based on the vector line.
  • Road-level electronic maps only record road-level data and do not record lane attribute information.
  • a lane also known as a traffic lane or a roadway, is a roadway that is separated by lane markings on the road surface, has a certain width, and is available for vehicles to drive.
  • the changed position refers to the position where the lane marking on the road surface changes, which may be the position where the marking style of the lane marking changes, or the position where the marking direction of the lane marking changes.
  • the execution subject detects the lane markings on the road, and if a position where the lane markings change is detected, the position is recorded.
  • Step 202 extracting lane information of the lane change position, where the lane information includes lane connectivity.
  • the execution subject may further extract the lane information of the current lane change position.
  • the lane information may be the style of lane markings or the number of lanes.
  • the lane information includes the lane connectivity relationship, which may be the driving direction of the lane or the access relationship of adjacent lanes. For example, if the lane marking between two adjacent lanes changes from a dotted line to a solid line along the road direction, the vehicle can change lanes on the dotted line section, but cannot change lanes on the solid line section.
  • Step 203 storing the lane information in the road-level electronic map to obtain a lane-level navigation map.
  • the execution subject may store the lane information in the road-level electronic map to obtain the lane-level navigation map.
  • the storage may adopt a split storage manner, which is not limited in this embodiment of the present disclosure.
  • splite is an open source, embedded relational database, supports SQL language, is used to store a large amount of data, and can use, update, maintain and other operations on the data.
  • Lane information is stored in the road-level electronic map vector line data.
  • One lane change position can use one primary key ID, and one lane change position ID can correspond to multiple pieces of information before and after the change.
  • a road in the real world is represented by a vector line.
  • the vector line also records the lane change position on the road and the lane information of the lane change position.
  • the method for constructing a lane-level navigation map provided by an embodiment of the present disclosure first determines the lane change position in the road-level electronic map; then extracts the lane information of the lane change position, and the lane information includes the lane connection relationship; stores the lane information in the road-level electronic map In the map, get the lane-level navigation map.
  • the lane-level navigation map obtained in this way has a small amount of data and high use efficiency, and can realize lane-level navigation and improve navigation accuracy.
  • FIG. 3 shows a flow 300 of another embodiment of the method for constructing a lane-level navigation map according to the present disclosure.
  • the construction method of the lane-level navigation map includes the following steps:
  • Step 301 Obtain a lane-level electronic map and a road-level electronic map.
  • the above-mentioned execution subject can obtain the lane-level electronic map and the road-level electronic map.
  • both the lane-level electronic map and the road-level electronic map may be pre-built electronic navigation maps.
  • the road-level electronic map can be a traditional navigation map used by various mobile terminals, which only records road-level data and does not record any lane-related information.
  • the lane-level electronic map can be a high-precision navigation map commonly used in the field of unmanned driving.
  • the map which contains rich vector information, realizes the recording of the three-dimensional information of the road.
  • acquiring the lane-level electronic map includes: acquiring a three-dimensional navigation map; removing height coordinate information from the three-dimensional navigation map to obtain the lane-level electronic map.
  • the execution subject can first obtain a three-dimensional navigation map.
  • the three-dimensional navigation map is a map for unmanned driving.
  • lane-level navigation information can also be provided.
  • the height coordinate information of the three-dimensional navigation map may be removed to obtain a lane-level electronic map.
  • a 3D navigation map expresses 3D three-dimensional space information, such as a sign on the road.
  • the 3D navigation map will record the width and height of the sign, and the height coordinate information can be removed, and only the information of the road plane, such as the road surface Lane marking information.
  • the execution subject can obtain a road-level electronic map, which represents a road in the real world as a vector line, and the vector line records attribute information such as the shape and direction of the road.
  • Step 302 under the same coordinate system, simultaneously load the lane-level electronic map and the road-level electronic map.
  • the execution subject after the execution subject acquires the lane-level electronic map and the road-level electronic map, it can simultaneously load the lane-level electronic map and the road-level electronic map while ensuring the same coordinate system, so that the lane-level electronic The map and the road-level electronic map are superimposed and displayed, and the lane marking information of the lane-level electronic map and the vector line information of the road-level electronic map can be seen at the same time.
  • the same coordinate system defaults to the National Survey Bureau coordinate system.
  • Step 303 Determine the change point of the lane line in the lane-level electronic map.
  • the execution subject can determine the change point of the lane line based on the displayed lane-level electronic map.
  • the change point of the lane line may be a position where the direction of the lane changes, such as a turning intersection; it may also be a position where the style of the lane line changes, such as the position where the lane line changes from a solid line to a dashed line.
  • Step 304 Determine the lane change position based on the position of the change point in the road-level electronic map.
  • the execution subject determines the change point of the lane line in the lane-level electronic map, it determines the position of the change point in the road-level electronic map based on the superimposed and displayed road-level electronic map, thereby obtaining the road-level electronic map.
  • the location of the lane change in the map is the location of the lane change in the map.
  • determining the lane change position may be: making a vertical line perpendicular to the road surface at the change point, and the intersection point of the vertical line and the road vector line in the road-level electronic map is the lane change position .
  • Step 305 extracting the lane information of the lane change position, where the lane information includes lane connectivity.
  • Step 306 Store the lane information in the road-level electronic map to obtain a lane-level navigation map.
  • steps 305-306 have been introduced in detail in steps 202-203 in the embodiment shown in FIG. 2 , and will not be repeated here.
  • the construction method of the lane-level navigation map in this embodiment first obtains the lane-level electronic map and the road-level electronic map; map; determine the change point of the lane line in the lane-level electronic map; determine the lane change position based on the position of the change point in the road-level electronic map; extract the lane information of the lane change position, the lane information includes the lane connection relationship; store the lane information In the road-level electronic map, a lane-level navigation map is obtained. Compared with the embodiment corresponding to FIG. 2 , the accuracy of the lane-level navigation map is further improved.
  • FIG. 4 shows a flow 400 of another embodiment of the method for constructing a lane-level navigation map according to the present disclosure.
  • the construction method of the lane-level navigation map includes the following steps:
  • Step 401 Obtain a lane-level electronic map and a road-level electronic map.
  • Step 402 under the same coordinate system, simultaneously load the lane-level electronic map and the road-level electronic map.
  • Step 403 determine the change point of the lane line in the lane-level electronic map.
  • Step 404 based on the position of the change point in the road-level electronic map, determine the lane change position.
  • steps 401-404 have been introduced in detail in steps 301-304 in the embodiment shown in FIG. 3 , and will not be repeated here.
  • Step 405 from the lane-level electronic map, extract the lane marking information and lane connectivity relationship corresponding to the change point as lane information.
  • the execution subject after determining the lane change position, extracts the lane marking information and the lane connectivity relationship corresponding to the change point from the lane-level electronic map as lane information. All lane markings on the road are recorded in the lane-level electronic map.
  • the lane marking information corresponding to the change point can be the number of lanes at the change point; it can also be the lane marking style at the change point, for example, solid line, dashed line .
  • the lane connection relationship can be the driving direction of the lane, or the access relationship of adjacent lanes.
  • the lane change position includes: original coordinates of the lane change position, projected coordinates of the lane change position, and relative positions of the lane change position. Since a road in the road-level electronic map is represented by a vector line, the actual position of the lane marking in reality may be inconsistent with the position on the vector line.
  • the original coordinates of the lane change position represent the actual position of the lane marking in reality, and the projected coordinates of the lane change position represent the position of the lane marking on the vector line.
  • the lane change position may occur in the middle of the road or at an intersection, so the relative position of the lane change position indicates that the lane change position is in the middle of the road or at the intersection.
  • the original coordinates of the lane change position and the projected coordinates of the lane change position are consistent, at the intersection.
  • the original coordinates of the lane change position are inconsistent with the projected coordinates of the lane change position. In this case, it is necessary to prompt the steering according to the projected coordinates of the lane change position. This improves navigation accuracy.
  • Step 406 storing the lane information in the road-level electronic map to obtain the lane-level navigation map.
  • step 406 has been introduced in detail in step 203 in the embodiment shown in FIG. 2 , and will not be repeated here.
  • the construction method of the lane-level navigation map in this embodiment first determines the lane change position; then, from the lane-level electronic map, extracts the lane marking information and lane connectivity relationship corresponding to the change point as lane information ; Finally, store the lane information in the road-level electronic map to obtain the lane-level navigation map.
  • the navigation accuracy is further improved.
  • FIG. 5 shows a process 500 of an embodiment of extracting lane marking information and lane connection relations corresponding to change points from a lane-level electronic map as lane information according to an embodiment of the present disclosure.
  • the method for extracting the lane marking information corresponding to the change point and the lane connection relationship includes the following steps:
  • Step 501 identifying the road direction in the lane-level electronic map.
  • the execution subject identifies the road direction in the lane-level electronic map after determining the lane change position.
  • the road direction can be judged according to the ground arrow in the lane-level electronic map, or can be judged according to the direction of the road vector line in the superimposedly displayed road-level electronic map.
  • Step 502 based on the road direction, confirm the front lane line and the back lane line of the change point.
  • the execution subject after the execution subject recognizes the road direction in the lane-level electronic map, it can confirm the front lane line and the back lane line at the change point based on the road direction. For example, when moving forward along the road, the lane line before passing the change point is the front lane line, and the lane line after passing the change point is the rear lane line.
  • Step 503 Determine the lane connection relationship based on the connection relationship between the front lane line and the rear lane line.
  • the executive body determines the lane communication relationship according to the connection relationship between the front lane line and the back lane line.
  • Figure 6 shows a schematic diagram of the lane connectivity relationship between the front and back lanes, where the lane line between the 2nd lane and the 3rd lane changes from a solid line to a dashed line along the road direction, and the front lane line and the rear lane line are continuous Connection, only the style of the lane line is different.
  • the lane is directly connected to the front and back, and the lane can be changed at the rear lane line.
  • FIG 7 shows a schematic diagram of the lane connection relationship at the turning intersection.
  • the dotted line perpendicular to the road surface indicates the lane change position.
  • the lane connection relationship is, The vehicle can travel from A1 to C1, from A2 to C2, from A3 to C3, and the dotted line can change lanes. It can travel from A3 to C4, from B1 to C4, and cannot travel from B1 to C3. Travel from G4 to D3 at the two lane change positions.
  • Step 504 Determine the lane marking information of the front lane marking, the lane marking information of the rear lane marking, and the lane connection relationship as lane information.
  • the lane information includes lane marking information of the front lane line, lane marking information of the rear lane line, and lane connection relationship.
  • the lane marking information may be the position of the lane marking, the road direction of the lane change position, the marking style of the front lane marking, the marking style of the rear lane marking, the number of lanes of the front lane marking, and the number of lanes of the rear lane marking.
  • the lane connection relationship can be the serial number of the entering lane, the serial number of the exiting lane, and the type of lane connection.
  • the present embodiment first identifies the road direction in the lane-level electronic map; then based on the road direction, confirms the front lane line and the rear lane line of the change point; The connection relationship determines the lane connection relationship; the lane marking information of the front lane line, the lane marking information of the rear lane line, and the lane connection relationship are determined as lane information.
  • the navigation accuracy is further improved.
  • FIG. 8 shows a flow 800 of an embodiment of the lane-level navigation method according to the present disclosure.
  • the construction method of the lane-level navigation map includes the following steps:
  • Step 801 Generate a road-level navigation route according to the lane-level navigation map.
  • the lane-level navigation map can be obtained according to the construction methods shown in FIG. 2 to FIG. 4 .
  • the execution subject After receiving the user's navigation request, the execution subject reads the user's starting location and destination location from the road-level electronic map, and generates a road-level navigation route according to the navigation algorithm of the road-level electronic map.
  • Step 802. Determine the lane change position on the road-level navigation route.
  • the execution subject confirms the lane change position on the road-level navigation route according to the stored lane information.
  • Step 803 read the lane information of the lane change position.
  • the execution subject reads the lane information of the lane change position after determining the lane change position on the road-level navigation route. It can be the road direction of the lane change position, the marking style of the front lane line, the line marking style of the rear lane line, the number of lanes in the front lane line, the number of lanes in the rear lane line, the number of the entering lane, the number of the exiting lane, and the type of lane connection .
  • Step 804 Obtain a lane-level navigation route based on the road-level navigation route and the lane information of the lane change position.
  • the execution subject obtains the lane-level navigation route based on the road-level navigation route and the lane information of the lane change position.
  • FIG. 9 shows a schematic diagram of a lane-level navigation route, where black arrows represent road lines in the road-level electronic map, and red dotted lines represent lane change positions.
  • black arrows represent road lines in the road-level electronic map
  • red dotted lines represent lane change positions.
  • the user's road-level navigation route enters from the L1 road section, exits from the L3 road section, and drives in the middle lane when entering from the L1 road section.
  • the lane information of the lane change positions change lanes and drive to the rightmost lane before the third lane change position, and drive to the rightmost lane without changing lanes after the third lane change position.
  • the user is reminded to turn right to enter the L3 road section at the fourth lane change position. If driving in the middle lane at this time, the compact line will not be able to enter the rightmost lane, and the user will not be able to enter. L3 section.
  • the user will be reminded to change lanes before the third lane changes position, so that the user can change lanes in time and enter the L3 road section smoothly.
  • the method for obtaining a lane-level navigation route in this embodiment can provide a lane-level navigation route according to the relationship of connectable lanes, thereby improving navigation accuracy.
  • the present disclosure provides an embodiment of a lane-level navigation map construction device, which is similar to the method embodiment shown in FIG. 2 Correspondingly, the device can be specifically applied to various electronic devices.
  • the device 1000 for constructing a lane-level navigation map in this embodiment may include a determination module 1001 , an extraction module 1002 , and a navigation module 1003 .
  • the determination module 1001 is configured to determine the lane change position in the road-level electronic map
  • the extraction module 1002 is configured to extract the lane information of the lane change position, and the lane information includes the lane connection relationship
  • the navigation module 1003 is configured to Lane information is stored in the road-level electronic map to obtain a lane-level navigation map.
  • the determination module 1001 the extraction module 1002, the specific processing of the navigation module 1003 and the technical effects brought by them can refer to step 201 in the corresponding embodiment of FIG. The relevant description of -203 will not be repeated here.
  • the determining module 1001 includes: an acquiring electronic map submodule configured to acquire a lane-level electronic map and a road-level electronic map; a loading electronic map submodule configured to Under the system, the lane-level electronic map and the road-level electronic map are loaded at the same time; the confirmation change point sub-module is configured to determine the change point of the lane line in the lane-level electronic map; the lane change position sub-module is configured to be based on the change point in the road The position in the advanced electronic map to determine the lane change position.
  • acquiring the lane-level electronic map in the acquiring electronic map submodule includes: an acquiring unit configured to acquire a three-dimensional navigation map; a dimensionality reduction unit configured to remove the height from the three-dimensional navigation map coordinate information to obtain a lane-level electronic map.
  • the extracting module 1002 includes: an extracting lane information submodule configured to extract lane marking information and lane connectivity relationships corresponding to change points from the lane-level electronic map as lane information.
  • the lane information extraction submodule includes: a road direction identification unit configured to identify the road direction in the lane-level electronic map; a lane line confirmation unit configured to confirm the road direction based on the road direction The front lane line and the rear lane line of the change point; confirm the lane connection relationship unit, configured to determine the lane connection relationship based on the connection relationship between the lane center line of the front lane line and the lane center line of the rear lane line; confirm the lane information The unit is configured to determine the lane marking information of the front lane marking, the lane marking information of the rear lane marking, and the lane connection relationship as lane information.
  • the lane marking information in the lane information submodule includes one or more of the following: the position of the lane marking, the road direction of the lane change position, and the marking of the front lane line Style, the marking style of the rear lane line, the number of lanes of the front lane line, the number of lanes of the rear lane line; and the lane connection relationship in the lane information sub-module includes one or more of the following: entering the lane number, exiting the lane number , Lane connection type.
  • the lane change position includes one or more of the following: original coordinates of the lane change position, projected coordinates of the lane change position, and relative positions of the lane change position.
  • the present disclosure provides an embodiment of a lane-level navigation device.
  • This device embodiment corresponds to the method embodiment shown in FIG. 8 , and the device can specifically Used in various electronic equipment.
  • the lane-level navigation device 1100 of this embodiment may include a route generation module 1101 , a location confirmation module 1102 , an information reading module 1103 , and a navigation module 1104 .
  • the route generation module 1101 is configured to generate a road-level navigation route according to the lane-level navigation map
  • the position confirmation module 1102 is configured to determine the lane change position on the road-level navigation route
  • the information reading module 1103 is configured to It is configured to read the lane information of the lane change position
  • the navigation module 1104 is configured to obtain a lane-level navigation route based on the road-level navigation route and the lane information of the lane change position.
  • the technical effects of the lane-level navigation map, the lane change position, and the lane information of the lane change position can refer to the relevant descriptions of steps 201-203 in the corresponding embodiment in FIG. This will not be repeated here.
  • the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.
  • FIG. 12 shows a schematic block diagram of an example electronic device 1200 that may be used to implement embodiments of the present disclosure.
  • Electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smart phones, wearable devices, and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions, are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
  • the device 1200 includes a computing unit 1201 that can execute according to a computer program stored in a read-only memory (ROM) 1202 or loaded from a storage unit 1208 into a random-access memory (RAM) 1203. Various appropriate actions and treatments. In the RAM 1203, various programs and data necessary for the operation of the device 1200 can also be stored.
  • the computing unit 1201, ROM 1202, and RAM 1203 are connected to each other through a bus 1204.
  • An input/output (I/O) interface 1205 is also connected to the bus 1204 .
  • the I/O interface 1205 includes: an input unit 1206, such as a keyboard, a mouse, etc.; an output unit 1207, such as various types of displays, speakers, etc.; a storage unit 1208, such as a magnetic disk, an optical disk, etc. ; and a communication unit 1209, such as a network card, a modem, a wireless communication transceiver, and the like.
  • the communication unit 1209 allows the device 1200 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.
  • the computing unit 1201 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing units 1201 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc.
  • the computing unit 1201 executes various methods and processes described above, such as a method for constructing a lane-level navigation map or a lane-level navigation method. For example, in some embodiments, the method for constructing a lane-level navigation map may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1208 .
  • part or all of the computer program may be loaded and/or installed on the device 1200 via the ROM 1202 and/or the communication unit 1209.
  • the computer program When the computer program is loaded into the RAM 1203 and executed by the computing unit 1201, one or more steps of the lane-level navigation map construction method or the lane-level navigation method described above can be executed.
  • the computing unit 1201 may be configured in any other appropriate way (for example, by means of firmware) to execute a lane-level navigation map construction method or a lane-level navigation method.
  • Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips Implemented in a system of systems (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOC system of systems
  • CPLD load programmable logic device
  • computer hardware firmware, software, and/or combinations thereof.
  • programmable processor can be special-purpose or general-purpose programmable processor, can receive data and instruction from storage system, at least one input device, and at least one output device, and transmit data and instruction to this storage system, this at least one input device, and this at least one output device an output device.
  • Program codes for implementing the methods of the embodiments of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special purpose computer, or other programmable data processing devices, so that the program codes, when executed by the processor or controller, make the functions/functions specified in the flow diagrams and/or block diagrams Action is 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.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • a machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • a machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer discs, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • the systems and techniques described herein 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 the user. ); and a keyboard and pointing device (eg, a mouse or a trackball) through which a user can provide input to the computer.
  • a display device e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor
  • a keyboard and pointing device eg, a mouse or a trackball
  • Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and can be in any form (including Acoustic input, speech input or, tactile input) to receive input from the user.
  • the systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., as a a user computer having a graphical user interface or web browser through which a user can interact with embodiments of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system.
  • the components of the system can be interconnected by any form or medium of digital data communication, eg, a communication network. Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN) and the Internet.
  • a computer system may include clients and servers.
  • Clients and servers are generally remote from each other and typically interact through a communication network.
  • the relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other.
  • the server can be a server of a distributed system, or a server combined with a blockchain.
  • the server can also be a cloud server, or an intelligent cloud computing server or an intelligent cloud host with artificial intelligence technology.
  • steps may be reordered, added or deleted using the various forms of flow shown above.
  • each step described in the present disclosure may be executed in parallel, sequentially, or in a different order, as long as the desired result of the technical solution disclosed in the present disclosure can be achieved, no limitation is imposed herein.

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Abstract

一种车道级导航地图的构建方法及装置、车道级导航方法及装置、电子设备、存储介质以及计算机程序产品，涉及人工智能技术领域，具体为智能交通技术领域。该车道级导航地图的构建方法包括：确定道路级电子地图中的车道变化位置（201）；提取车道变化位置的车道信息，车道信息包括车道联通关系（202）；将车道信息存储在道路级电子地图中，得到车道级导航地图（203）。可以基于道路级电子地图实现车道级导航，提高了导航精度。

Description

车道级导航地图的构建方法、装置、设备以及存储介质
相关申请的交叉引用
本专利申请要求于2021年06月29日提交的、申请号为202110729722.0、发明名称为“车道级导航地图的构建方法、装置、设备以及存储介质”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本公开涉及人工智能技术领域，具体为智能交通技术领域，尤其涉及一种车道级导航地图的构建方法、车道级导航方法、装置、设备、存储介质以及计算机程序产品。
背景技术
城市道路的设计越来越复杂，人们出行也越来越依赖于手机导航。但是手机导航地图是道路级电子地图，无法提供车道级导航信息。而现有的车道级电子地图专门为无人驾驶服务，无法应用于手机端。
发明内容
本公开实施例提供了一种车道级导航地图的构建方法、车道级导航方法、装置、设备、存储介质以及计算机程序产品。
根据本公开的一方面，提供了一种车道级导航地图的构建方法，包括：确定道路级电子地图中的车道变化位置；提取车道变化位置的车道信息，车道信息包括车道联通关系；将车道信息存储在道路级电子地图中，得到车道级导航地图。
根据本公开的另一方面，提供了一种车道级导航方法，包括：根据车道级导航地图，生成道路级导航路线；确定道路级导航路线上的车道变化位置；读取车道变化位置的车道信息；基于道路级导航路线及车道变化位置的车道 信息得到车道级导航路线。
根据本公开的又一方面，提供了一种车道级导航地图的构建装置，包括：确定模块，被配置为确定道路级电子地图中的车道变化位置；提取模块，被配置为提取车道变化位置的车道信息，车道信息包括车道联通关系；导航模块，被配置为将车道信息存储在道路级电子地图中，得到车道级导航地图。
根据本公开的又一方面，提供了一方面，提供了一种车道级导航装置，包括：路线生成模块，被配置为根据车道级导航地图，生成道路级导航路线；位置确认模块，被配置为确定道路级导航路线上的车道变化位置；信息读取模块，被配置为读取车道变化位置的车道信息；导航模块，被配置为基于道路级导航路线及车道变化位置的车道信息得到车道级导航路线。
根据本公开的又一方面，提供了一种电子设备，包括：至少一个处理器；以及与至少一个处理器通信连接的存储器；其中，存储器存储有可被至少一个处理器执行的指令，指令被上述至少一个处理器执行，以使上述至少一个处理器能够执行上述车道级导航地图的构建方法及车道级导航方法。
根据本公开的又一方面，提供了一种存储有计算机指令的非瞬时计算机可读存储介质，其中，上述计算机指令用于使上述计算机执行上述车道级导航地图的构建方法及车道级导航方法。
根据本公开的再一方面，提供了一种计算机程序产品，包括计算机程序，上述计算机程序在被处理器执行时实现上述车道级导航地图的构建方法及车道级导航方法。
应当理解，本部分所描述的内容并非旨在标识本公开的实施例的关键或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的说明书而变得容易理解。
附图说明
附图用于更好地理解本方案，不构成对本公开的限定。其中：
图1是本公开实施例可以应用于其中的示例性系统架构图；
图2是根据本公开的车道级导航地图的构建方法的一个实施例的流程 图；
图3是根据本公开的车道级导航地图的构建方法的另一个实施例的流程图；
图4是根据本公开的车道级导航地图的构建方法的又一个实施例的流程图；
图5是根据本公开的从车道级电子地图中，提取变化点对应的车道标线信息和车道连通关系作为车道信息的一个实施例的流程图；
图6是直接前后连通的车道连通关系示意图；
图7是转向路口处的车道连通关系示意图；
图8是根据本公开的车道级导航方法的一个实施例的流程图；
图9是车道级导航路线的示意图；
图10是根据本公开的车道级导航地图的构建装置的一个实施例的结构示意图；
图11是根据本公开的车道级导航装置的一个实施例的结构示意图；
图12是用来实现本公开实施例的车道级导航地图的构建方法或车道级导航方法的电子设备的框图。
具体实施方式
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。
图1示出了可以应用本公开的车道级导航地图的构建方法或车道级导航地图的构建装置的实施例的示例性系统架构100。
如图1所示，系统架构100可以包括终端设备101、102、103，网络104和服务器105。网络104用以在终端设备101、102、103和服务器105之间提供通信链路的介质。网络104可以包括各种连接类型，例如有线、无线通信链路或者光纤电缆等等。
用户可以使用终端设备101、102、103通过网络104与服务器105交 互，以获取车道级导航等。终端设备101、102、103上可以安装有各种客户端应用，例如地图应用等等。
终端设备101、102、103可以是硬件，也可以是软件。当终端设备101、102、103为硬件时，可以是各种电子设备，包括但不限于智能手机、平板电脑、膝上型便携计算机和台式计算机等等。当终端设备101、102、103为软件时，可以安装在上述电子设备中。其可以实现成多个软件或软件模块，也可以实现成单个软件或软件模块。在此不做具体限定。
服务器105可以提供各种基于地图导航的服务。例如，服务器105可以对从终端设备101、102、103获取到的道路级导航路线进行分析和处理，并生成处理结果(例如车道级导航路线等)。
需要说明的是，服务器105可以是硬件，也可以是软件。当服务器105为硬件时，可以实现成多个服务器组成的分布式服务器集群，也可以实现成单个服务器。当服务器105为软件时，可以实现成多个软件或软件模块(例如用来提供分布式服务)，也可以实现成单个软件或软件模块。在此不做具体限定。
需要说明的是，本公开实施例所提供的车道级导航地图的构建方法一般由服务器105执行，相应地，车道级导航地图的构建装置一般设置于服务器105中。
应该理解，图1中的终端设备、网络和服务器的数目仅仅是示意性的。根据实现需要，可以具有任意数目的终端设备、网络和服务器。
需要说明的是，在本公开实施例中提及的道路级电子地图可以是各类移动终端使用的传统导航地图，其只记录道路级别的数据，而不记录任何车道相关的信息。车道级电子地图可以是一种高精度导航地图，其包含了丰富的车道标线信息，车道标线信息可以是车道标线样式，可以是车道数，能够实现车道级导航。继续参考图2，其示出了根据本公开的车道级导航地图的构建方法的一个实施例的流程200。该车道级导航地图的构建方法包括以下步骤：
步骤201、确定道路级电子地图中的车道变化位置。
在本实施例中，车道级导航地图的构建方法的执行主体(例如图1所示的服务器105)可以确定道路级电子地图中的车道变化位置。其中，道 路级电子地图的特点是将现实世界中的一条道路抽象成一条矢量线，道路的形状、方向等属性信息均基于该矢量线进行记录。道路级电子地图只记录道路级别的数据，不记录车道属性信息。车道，又称行车线、车行道，是由路面上的车道标线分隔开的、具有一定宽度的、可供车辆行驶的车行道。变化位置，是指路面上的车道标线发生变化的位置，可以是车道标线的标线样式发生变化的位置，也可以是车道标线的标线方向发生变化的位置。具体地，上述执行主体对道路中的车道标线进行检测，若检测到有车道标线发生变化的位置，则记录该位置。
步骤202、提取车道变化位置的车道信息，车道信息包括车道联通关系。
在本实施例中，上述执行主体在记录车道变化位置后，可以进一步提取当前车道变化位置的车道信息。其中，车道信息可以是车道标线的样式，可以是车道数。车道信息包括车道连通关系，车道连通关系可以是车道的可行驶方向，也可以是相邻车道的可进入关系。例如，两个相邻车道之间的车道标线沿道路方向由虚线变为实线，则车辆在虚线路段可以变道行驶，在实线路段不能变道行驶。
步骤203、将车道信息存储在道路级电子地图中，得到车道级导航地图。
在本实施例中，上述执行主体在得到车道变化位置的车道信息后，可以将车道信息存储在道路级电子地图中，得到车道级导航地图。其中，存储可以采用splite存储方式，本公开实施例对此不做限定。其中，splite是一款开源的、嵌入式关系型数据库，支持SQL语言，用来存储大量的数据，并且能够对数据进行使用、更新、维护等操作。将车道信息存储在道路级电子地图矢量线数据中，一个车道变化位置可采用1个主键ID，并且1个车道变化位置ID可以对应多条变化前信息和变化后信息。在车道级导航地图中，现实世界中的一条道路用一条矢量线表示，矢量线除了道路的形状、方向等属性信息，也会记录道路上的车道变化位置及车道变化位置的车道信息。
本公开实施例提供的车道级导航地图的构建方法，首先确定道路级电子地图中的车道变化位置；然后提取车道变化位置的车道信息，车道信息 包括车道联通关系；将车道信息存储在道路级电子地图中，得到车道级导航地图。这样得到的车道级导航地图数据量小，使用效率高，且能实现车道级导航，提升了导航精度。
进一步继续参考图3，其示出了根据本公开的车道级导航地图的构建方法的另一个实施例的流程300。该车道级导航地图的构建方法包括以下步骤：
步骤301、获取车道级电子地图，以及道路级电子地图。
在本实施例中，上述执行主体可以获取车道级电子地图，以及道路级电子地图。其中，车道级电子地图和道路级电子地图都可以是已经预先构建好的电子导航地图。例如，道路级电子地图可以是各类移动终端使用的传统导航地图，其只记录道路级别的数据，而不记录任何车道相关的信息，车道级电子地图可以是无人驾驶领域常用的高精度导航地图，其包含了丰富的矢量信息，实现了对道路三维空间立体信息的记录。
在本实施例的一些可选方式中，获取车道级电子地图包括：获取三维导航地图；将三维导航地图去掉高度坐标信息，得到车道级电子地图。
在本实施例中，上述执行主体可以先获取三维导航地图，三维导航地图是一种为无人驾驶服务的地图，除了提供道路级别的导航信息，还能够提供车道级别的导航信息。
在本实施例中，上述执行主体在获取三维导航地图后，可以去掉三维导航地图的高度坐标信息，得到车道级电子地图。例如，三维导航地图表达的是3D的立体空间信息，例如道路上的一个标牌，三维导航地图会记录标牌的宽度和高度，可以将高度坐标信息去掉，只保留路平面的信息，例如路面上的车道标线信息。
在本实施例中，上述执行主体可以获取道路级电子地图，道路级电子地图将现实世界中的一条道路表示成一条矢量线，矢量线记录了道路的形状、方向等属性信息。
步骤302、在同一坐标系下，同时加载车道级电子地图与道路级电子地图。
在本实施例中，上述执行主体在获取车道级电子地图，以及道路级电 子地图后，可以在保证同一个坐标系的情况下，同时加载车道级电子地图和道路级电子地图，使车道级电子地图和道路级电子地图叠加在一起显示，可同时看到车道级电子地图的车道标线信息和道路级电子地图的矢量线信息。其中，同一个坐标系默认是国测局坐标系。
步骤303、确定车道级电子地图中车道线的变化点。
在本实施例中，上述执行主体在同时加载车道级电子地图和道路级电子地图后，可以基于显示的车道级电子地图，确定车道线的变化点。车道线的变化点可以是车道方向发生变化的位置，例如转向路口处；也可以是车道线的样式发生变化的位置，例如车道线由实线变为虚线的位置。
步骤304、基于变化点在道路级电子地图中的位置，确定车道变化位置。
在本实施例中，上述执行主体在确定车道级电子地图中车道线的变化点后，基于叠加显示的道路级电子地图，确定变化点在道路级电子地图中的位置，由此得到道路级电子地图中的车道变化位置。
在本实施例的一些可选方式中，确定车道变化位置可以是：在变化点处做一条垂直于路面的垂线，垂线与道路级电子地图中的道路矢量线的交点，是车道变化位置。
步骤305、提取车道变化位置的车道信息，车道信息包括车道联通关系。
步骤306、将车道信息存储在道路级电子地图中，得到车道级导航地图。
在本实施例中，步骤305-306具体操作已在图2所示的实施例中步骤202-203进行了详细的介绍，在此不再赘述。
从图3中可以看出，本实施例中的车道级导航地图的构建方法首先获取车道级电子地图，以及道路级电子地图；然后在同一坐标系下，同时加载车道级电子地图与道路级电子地图；确定车道级电子地图中车道线的变化点；基于变化点在道路级电子地图中的位置，确定车道变化位置；提取车道变化位置的车道信息，车道信息包括车道联通关系；将车道信息存储在道路级电子地图中，得到车道级导航地图。与图2对应的实施例相比，进一步提升了车道级导航地图的精度。
进一步继续参考图4，其示出了根据本公开的车道级导航地图的构建方法的又一个实施例的流程400。该车道级导航地图的构建方法包括以下步骤：
步骤401、获取车道级电子地图，以及道路级电子地图。
步骤402、在同一坐标系下，同时加载车道级电子地图与道路级电子地图。
步骤403、确定车道级电子地图中车道线的变化点。
步骤404、基于变化点在道路级电子地图中的位置，确定车道变化位置。
在本实施例中，步骤401-404具体操作已在图3所示的实施例中步骤301-304进行了详细的介绍，在此不再赘述。
步骤405、从车道级电子地图中，提取变化点对应的车道标线信息和车道连通关系作为车道信息。
在本实施例中，上述执行主体在确定车道变化位置后，从车道级电子地图中，提取变化点对应的车道标线信息和车道连通关系作为车道信息。车道级电子地图中记录了路面上所有的车道标线，变化点对应的车道标线信息可以是变化点处的车道数；也可以是变化点处的车道标线样式，例如，实线、虚线。车道连通关系可以是车道的可行驶方向，也可以是相邻车道的可进入关系。
在本实施例的一些可选实现方式中，车道变化位置包括：车道变化位置的原始坐标、车道变化位置的投影坐标、车道变化位置的相对位置。由于道级电子地图中的一条道路用一条矢量线表示，因此车道标线的在现实中的实际位置和在矢量线上的位置可能不一致。车道变化位置的原始坐标表示车道标线的在现实中的实际位置，车道变化位置的投影坐标表示车道标线在矢量线上的位置。车道变化位置可能出现在路中段或路口处，因此车道变化位置的相对位置表示车道变化位置在路中段或者路口。在路中段，车道变化位置的原始坐标和车道变化位置的投影坐标一致，在路口处。车道变化位置的原始坐标和车道变化位置的投影坐标不一致，这时需根据车道变化位置的投影坐标提示转向。这样提高了导航精度。
步骤406、将车道信息存储在道路级电子地图中，得到车道级导航地 图。
在本实施例中，步骤406具体操作已在图2所示的实施例中步骤203进行了详细的介绍，在此不再赘述。
从图4中可以看出，本实施例中的车道级导航地图的构建方法首先确定车道变化位置；然后从车道级电子地图中，提取变化点对应的车道标线信息和车道连通关系作为车道信息；最后将车道信息存储在道路级电子地图中，得到车道级导航地图。与图3对应的实施例相比，进一步提升了导航精度。
进一步继续参考图5，其示出了根据本公开实施例的从车道级电子地图中，提取变化点对应的车道标线信息和车道连通关系作为车道信息的一个实施例的流程500。该提取变化点对应的车道标线信息和车道连通关系方法包括以下步骤：
步骤501、识别车道级电子地图中的道路方向。
在本实施例中，上述执行主体在确定车道变化位置后，在车道级电子地图中识别道路方向。可以根据车道级电子地图中的地面箭头来判断道路方向，也可以根据叠加显示的道路级电子地图中的道路矢量线方向来判断道路方向。
步骤502、基于道路方向，确认变化点的前车道线和后车道线。
在本实施例中，上述执行主体在识别车道级电子地图中的道路方向后，可以基于道路方向，确认变化点的前车道线和后车道线。例如，沿道路方向前进，经过变化点前的车道线为前车道线，经过变化点后的车道线为后车道线。
步骤503、基于前车道线和后车道线之间的连接关系，确定车道连通关系。
在本实施例中，上述执行主体在确认变化点的前车道线和后车道线后，根据前车道线和后车道线的车道之间的连接关系，确定车道联通关系。例如，如图6所示，其显示了直接前后连通的车道连通关系示意图，其中，2车道和3车道之间的车道线沿道路方向由实线变为虚线，前车道线和后车道线连续连接，只是车道线样式不同，此时车道直接前后连通，且在后车道线处可变道行驶。如图7所示，其显示了转向路口处的车道连通关系 示意图，该路段有三个车道变化位置，垂直于路面的虚线表示车道变化位置，在第一个车道变化位置处，车道连通关系为，车辆可以由A1行驶到C1，由A2行驶到C2，由A3行驶到C3，且虚线可变道行驶，可以由A3行驶到C4，由B1行驶到C4，不能由B1行驶到C3，可以在第二个车道变化位置处由G4行驶到D3。
步骤504、将前车道线的车道标线信息、后车道线的车道标线信息以及车道联通关系，确定为车道信息。
在本实施例中，车道信息包括前车道线的车道标线信息、后车道线的车道标线信息以及车道联通关系。车道标线信息可以是车道标线的位置、车道变化位置的道路方向、前车道线的标线样式、后车道线的标线样式、前车道线的车道数、后车道线的车道数。车道联通关系可以是进入车道序号、退出车道序号、车道联通类型。
从图5中可以看出，本实施例首先识别车道级电子地图中的道路方向；然后基于道路方向，确认变化点的前车道线和后车道线；基于前车道线和后车道线之间的连接关系，确定车道连通关系；将前车道线的车道标线信息、后车道线的车道标线信息以及车道联通关系，确定为车道信息。与图4对应的实施例相比，进一步提升了导航精度。
进一步继续参考图8，其示出了根据本公开的车道级导航方法的一个实施例的流程800。该车道级导航地图的构建方法包括以下步骤：
步骤801、根据车道级导航地图，生成道路级导航路线。
在本实施例中，车道级导航地图可以根据图2～图4所示的构建方法得到。上述执行主体在接收到用户的导航请求后，道路级电子地图中读取用户的始发地位置和目的地位置，根据道路级电子地图的导航算法生成道路级导航路线。
步骤802、确定道路级导航路线上的车道变化位置。
在本实施例中，上述执行主体在生成道路级导航路线后，根据存储的车道信息确认道路级导航路线上的车道变化位置。
步骤803、读取车道变化位置的车道信息。
在本实施例中，上述执行主体在确定道路级导航路线上的车道变化位置后，读取车道变化位置的车道信息。可以是车道变化位置的道路方向、 前车道线的标线样式、后车道线的标线样式、前车道线的车道数、后车道线的车道数、进入车道序号、退出车道序号、车道联通类型。
步骤804、基于道路级导航路线及车道变化位置的车道信息得到车道级导航路线。
在本实施例中，上述执行主体基于道路级导航路线及车道变化位置的车道信息得到车道级导航路线。例如，如图9所示，其显示了车道级导航路线的示意图，其中，黑色箭头代表道路级电子地图中的道路线，红色虚线代表车道变化位置。设用户的道路级导航路线是从L1路段进入，从L3路段退出，从L1路段进入时在中间车道行驶，该条道路级导航路线上共有四个车道变化位置，根据车道变化位置的车道信息可知，在第3个车道变化位置前可变道行驶到最右侧车道，在第3个车道变化位置后不变道行驶到最右侧车道。若只在道路级电子地图中，在第4个车道变化位置处才提醒用户要右转进入L3路段，若此时在中间车道上行驶，将不能压实线进入最右侧车道，用户无法进入L3路段。在车道级导航地图中，将在第3个车道变化位置前就提醒用户变道行驶，使用户能及时变道，顺利进入L3路段。
从图8中可以看出，本实施例中的获取车道级导航路线的方法，可以根据可连通的车道关系提供车道级的导航路线，提高了导航精度。
进一步参考图10，作为对上述车道级导航地图的构建方法的实现，本公开提供了一种车道级导航地图的构建装置的一个实施例，该装置实施例与图2所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图10所示，本实施例的车道级导航地图的构建装置1000可以包括确定模块1001，提取模块1002，导航模块1003。其中，确定模块1001，被配置为确定道路级电子地图中的车道变化位置；提取模块1002，被配置为提取车道变化位置的车道信息，车道信息包括车道联通关系；导航模块1003，被配置为将车道信息存储在道路级电子地图中，得到车道级导航地图。
在本实施例中，车道级导航地图的构建装置1000中：确定模块1001，提取模块1002，导航模块1003的具体处理及其所带来的技术效果可分别参考图2对应实施例中的步骤201-203的相关说明，在此不再赘述。
在本实施例的一些可选实现方式中，确定模块1001包括：获取电子地图子模块，被配置为获取车道级电子地图，以及道路级电子地图；加载电子地图子模块，被配置为在同一坐标系下，同时加载车道级电子地图与道路级电子地图；确认变化点子模块，被配置为确定车道级电子地图中车道线的变化点；确认车道变化位置子模块，被配置为基于变化点在道路级电子地图中的位置，确定车道变化位置。
在本实施例的一些可选实现方式中，获取电子地图子模块中的获取车道级电子地图包括：获取单元，被配置为获取三维导航地图；降维单元，被配置为将三维导航地图去掉高度坐标信息，得到车道级电子地图。
在本实施例的一些可选实现方式中，提取模块1002包括：提取车道信息子模块，被配置为从车道级电子地图中，提取变化点对应的车道标线信息和车道连通关系作为车道信息。
在本实施例的一些可选实现方式中，提取车道信息子模块包括：识别道路方向单元，被配置为识别车道级电子地图中的道路方向；确认车道线单元，被配置为基于道路方向，确认变化点的前车道线和后车道线；确认车道连通关系单元，被配置为基于前车道线的车道中心线和后车道线的车道中心线之间的连接关系，确定车道联通关系；确认车道信息单元，被配置为将前车道线的车道标线信息、后车道线的车道标线信息以及车道联通关系，确定为车道信息。
在本实施例的一些可选实现方式中，提取车道信息子模块中的车道标线信息包括以下一种或多种：车道标线的位置、车道变化位置的道路方向、前车道线的标线样式、后车道线的标线样式、前车道线的车道数、后车道线的车道数；以及提取车道信息子模块中的车道连通关系包括以下一种或多种：进入车道序号、退出车道序号、车道联通类型。
在本实施例的一些可选实现方式中，车道变化位置包括以下一种或多种：车道变化位置的原始坐标、车道变化位置的投影坐标、车道变化位置的相对位置。
进一步参考图11，作为对上述车道级导航方法的实现，本公开提供了一种车道级导航装置的一个实施例，该装置实施例与图8所示的方法实施例相对应，该装置具体可以应用于各种电子设备中。
如图11所示，本实施例的车道级导航装置1100可以包括路线生成模块1101，位置确认模块1102，信息读取模块1103，导航模块1104。其中，路线生成模块1101，被配置为根据车道级导航地图，生成道路级导航路线；位置确认模块1102，被配置为确定所述道路级导航路线上的车道变化位置；信息读取模块1103，被配置为读取所述车道变化位置的车道信息；导航模块1104，被配置为基于所述道路级导航路线及所述车道变化位置的车道信息得到车道级导航路线。
在本实施例中，车道级导航装置1100中：车道级导航地图、车道变化位置、车道变化位置的车道信息的技术效果可分别参考图2对应实施例中的步骤201-203的相关说明，在此不再赘述。
根据本公开的实施例，本公开还提供了一种电子设备、一种可读存储介质和一种计算机程序产品。
图12出了可以用来实施本公开的实施例的示例电子设备1200的示意性框图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。
如图12所示，设备1200包括计算单元1201，其可以根据存储在只读存储器(ROM)1202中的计算机程序或者从存储单元1208加载到随机访问存储器(RAM)1203中的计算机程序，来执行各种适当的动作和处理。在RAM 1203中，还可存储设备1200操作所需的各种程序和数据。计算单元1201、ROM 1202以及RAM 1203通过总线1204彼此相连。输入/输出(I/O)接口1205也连接至总线1204。
设备1200中的多个部件连接至I/O接口1205，包括：输入单元1206，例如键盘、鼠标等；输出单元1207，例如各种类型的显示器、扬声器等；存储单元1208，例如磁盘、光盘等；以及通信单元1209，例如网卡、调制解调器、无线通信收发机等。通信单元1209允许设备1200通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
计算单元1201可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元1201的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元1201执行上文所描述的各个方法和处理，例如车道级导航地图的构建方法或车道级导航方法。例如，在一些实施例中，车道级导航地图的构建方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元1208。在一些实施例中，计算机程序的部分或者全部可以经由ROM 1202和/或通信单元1209而被载入和/或安装到设备1200上。当计算机程序加载到RAM 1203并由计算单元1201执行时，可以执行上文描述的车道级导航地图的构建方法或车道级导航方法的一个或多个步骤。备选地，在其他实施例中，计算单元1201可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行车道级导航地图的构建方法或车道级导航方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本公开实施例的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器 上执行。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
为了提供与用户的交互，可以在计算机上实施此处描述的系统和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)和互联网。
计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器 可以为分布式系统的服务器，或者是结合了区块链的服务器。服务器也可以是云服务器，或者是带人工智能技术的智能云计算服务器或智能云主机。
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本发公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开公开的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护范围之内。

Claims (19)

  1. 一种车道级导航地图的构建方法，所述方法包括：
    确定道路级电子地图中的车道变化位置；
    提取所述车道变化位置的车道信息，所述车道信息包括车道联通关系；以及
    将所述车道信息存储在所述道路级电子地图中，得到车道级导航地图。
  2. 根据权利要求1所述的方法，其中，所述确定道路级电子地图中的车道变化位置包括：
    获取车道级电子地图，以及所述道路级电子地图；
    在同一坐标系下，同时加载所述车道级电子地图与所述道路级电子地图；
    确定所述车道级电子地图中车道线的变化点；
    基于所述变化点在所述道路级电子地图中的位置，确定所述车道变化位置。
  3. 根据权利要求2所述的方法，其中，所述获取车道级电子地图包括：
    获取三维导航地图；
    将所述三维导航地图去掉高度坐标信息，得到所述车道级电子地图。
  4. 根据权利要求2或3所述的方法，其中，所述提取所述车道变化位置的车道信息包括：
    从所述车道级电子地图中，提取所述变化点对应的车道标线信息和车道连通关系作为所述车道信息。
  5. 根据权利要求4所述的方法，其中，所述从所述车道级电子地图中，提取所述变化点对应的车道标线信息和车道连通关系作为 所述车道信息包括：
    识别所述车道级电子地图中的道路方向；
    基于所述道路方向，确认所述变化点的前车道线和后车道线；
    基于所述前车道线的车道中心线和所述后车道线的车道中心线之间的连接关系，确定所述车道联通关系；
    将所述前车道线的车道标线信息、所述后车道线的车道标线信息以及所述车道联通关系，确定为所述车道信息。
  6. 根据权利要求5所述的方法，其中，
    所述车道标线信息包括以下一种或多种：
    车道标线的位置、所述车道变化位置的道路方向、所述前车道线的标线样式、所述后车道线的标线样式、所述前车道线的车道数、所述后车道线的车道数；以及
    所述车道连通关系包括以下一种或多种：
    进入车道序号、退出车道序号、车道联通类型。
  7. 根据权利要求1-6任一项所述的方法，所述车道变化位置包括以下一种或多种：
    车道变化位置的原始坐标、车道变化位置的投影坐标、车道变化位置的相对位置。
  8. 一种车道级导航方法，所述方法包括：
    根据如权利要求1-7任一项所述的车道级导航地图，生成道路级导航路线；
    确定所述道路级导航路线上的车道变化位置；
    读取所述车道变化位置的车道信息；
    基于所述道路级导航路线及所述车道变化位置的车道信息得到车道级导航路线。
  9. 一种车道级导航地图的构建装置，所述装置包括：
    确定模块，被配置为确定道路级电子地图中的车道变化位置；
    提取模块，被配置为提取所述车道变化位置的车道信息，所述车道信息包括车道联通关系；以及
    导航模块，被配置为将所述车道信息存储在所述道路级电子地图中，得到车道级导航地图。
  10. 根据权利要求9所述的装置，其中，所述确定模块包括：
    获取电子地图子模块，被配置为获取车道级电子地图，以及所述道路级电子地图；
    加载电子地图子模块，被配置为在同一坐标系下，同时加载所述车道级电子地图与所述道路级电子地图；
    确认变化点子模块，被配置为确定所述车道级电子地图中车道线的变化点；
    确认车道变化位置子模块，被配置为基于所述变化点在所述道路级电子地图中的位置，确定所述车道变化位置。
  11. 根据权利要求10所述的装置，其中，所述获取车道级电子地图包括：
    获取单元，被配置为获取三维导航地图；
    降维单元，被配置为将所述三维导航地图去掉高度坐标信息，得到所述车道级电子地图。
  12. 根据权利要求10或11所述的装置，其中，所述提取模块包括：
    提取车道信息子模块，被配置为从所述车道级电子地图中，提取所述变化点对应的车道标线信息和车道连通关系作为所述车道信息。
  13. 根据权利要求12所述的装置，其中，所述提取车道信息子模块包括：
    识别道路方向单元，被配置为识别所述车道级电子地图中的道路方向；
    确认车道线单元，被配置为基于所述道路方向，确认所述变化点的前车道线和后车道线；
    确认车道连通关系单元，被配置为基于所述前车道线的车道中心线和所述后车道线的车道中心线之间的连接关系，确定所述车道联通关系；
    确认车道信息单元，被配置为将所述前车道线的车道标线信息、所述后车道线的车道标线信息以及所述车道联通关系，确定为所述车道信息。
  14. 根据权利要求13所述的装置，其中，
    所述车道标线信息包括以下一种或多种：
    车道标线的位置、所述车道变化位置的道路方向、所述前车道线的标线样式、所述后车道线的标线样式、所述前车道线的车道数、所述后车道线的车道数；以及
    所述车道连通关系包括以下一种或多种：
    进入车道序号、退出车道序号、车道联通类型。
  15. 根据权利要求9-14任一项所述的装置，所述车道变化位置包括以下一种或多种：
    车道变化位置的原始坐标、车道变化位置的投影坐标、车道变化位置的相对位置。
  16. 一种车道级导航装置，所述装置包括：
    路线生成模块，被配置为根据如权利要求9-15任一项所述的车道级导航地图，生成道路级导航路线；
    位置确认模块，被配置为确定所述道路级导航路线上的车道变化位置；
    信息读取模块，被配置为读取所述车道变化位置的车道信息；
    导航模块，被配置为基于所述道路级导航路线及所述车道变化位置的车道信息得到车道级导航路线。
  17. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8中任一项所述的方法。
  18. 一种存储有计算机指令的非瞬时计算机可读存储介质，其中，所述计算机指令用于使所述计算机执行根据权利要求1-8中任一项所述的方法。
  19. 一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据权利要求1-8中任一项所述的方法。
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