CN112614365B - Electronic map processing method and device - Google Patents
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- CN112614365B CN112614365B CN202011474989.1A CN202011474989A CN112614365B CN 112614365 B CN112614365 B CN 112614365B CN 202011474989 A CN202011474989 A CN 202011474989A CN 112614365 B CN112614365 B CN 112614365B
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- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
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Abstract
The specification discloses an electronic map processing method and device, which can determine each first type marking, each second type marking and each lane in an electronic map, determine a first corresponding relation between each lane and each first type marking and a second corresponding relation between each first type marking and each traffic signal lamp, determine the type information of each lane, determine a traffic signal lamp set corresponding to each lane according to the first corresponding relation and the second corresponding relation, and determine the traffic signal lamps related to the lane in the traffic signal lamp set. The traffic signal lamp related to each lane in the electronic map can be automatically determined without manual operation, and the effect of automatically matching the lanes with the traffic signal lamps is achieved.
Description
Technical Field
The present disclosure relates to the field of electronic maps, and in particular, to a method and an apparatus for processing an electronic map.
Background
At present, unmanned equipment needs to rely on an electronic map in the driving process, and particularly when the unmanned equipment passes through a road intersection, the lane information where the unmanned equipment is located can be determined, and traffic lights needing to be identified by the unmanned equipment can be determined according to the matching relation between the lane information and the traffic lights in the electronic map, so that the unmanned equipment can pass through the road intersection smoothly according to the information of the traffic lights needing to be identified by the unmanned equipment.
Therefore, in the electronic map, it is necessary to manually determine the matching relationship between each piece of lane information and each piece of traffic signal light in advance.
Disclosure of Invention
Embodiments of the present disclosure provide an electronic map processing method and apparatus, so as to partially solve the above problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
the present specification provides an electronic map processing method, including:
determining road traffic marking lines and lanes in the electronic map, wherein the road traffic marking lines comprise first type marking lines and second type marking lines;
determining a first corresponding relation between each lane and each first type marking according to the information of each lane and the information of each first type marking, and acquiring a second corresponding relation between each first type marking and each traffic signal lamp;
for each lane, determining the type information of the lane according to the information of each second type marking line in the electronic map, and determining a traffic signal light set consisting of each traffic signal light corresponding to the lane according to the first corresponding relation and the second corresponding relation;
and according to the type information of the lane, determining the traffic light associated with the lane in the traffic light set.
Optionally, determining a first corresponding relationship between each lane and each first-type marking according to the information of each lane and the information of each first-type marking specifically includes:
and for each lane, selecting the first type marking intersected with the lane from the first type markings according to the position information of the lane and the position information of each first type marking, and taking the first type marking as the first type marking corresponding to the lane.
Optionally, selecting, from the first type markings according to the position information of the lane and the position information of each first type marking, a first type marking intersecting with the lane, specifically including:
respectively determining the external rectangles of the lane and each first type marking;
and aiming at each first-type marking line, if the intersection exists between the circumscribed rectangle of the lane and the circumscribed rectangle of the first-type marking line, establishing the first corresponding relation between the first-type marking line and the lane.
Optionally, determining the type information of the lane according to the information of each second type marking line in the electronic map specifically includes:
determining the second type marking located in the lane as a designated second type marking according to the position information of each second type marking and the position information of the lane;
identifying type information of the designated second type reticle;
and taking the type information of the specified second type marking as the type information of the lane.
Optionally, according to the type information of the lane, determining a traffic light associated with the lane in the traffic light set specifically includes:
determining type information of each traffic signal lamp in the traffic signal lamp set;
matching the type information of the lane and the type information of the traffic signal lamp;
and determining the association result of the lane and the traffic signal lamp according to the matching result.
Optionally, the types of lanes include a left turn lane type, a straight lane type; the type information of the traffic signal lamp comprises a left turn signal lamp type and a straight signal lamp type;
according to the type information of the lane, determining a traffic light associated with the lane in the traffic light set, specifically including:
if the type information of the lane is the type of the left-turn lane and the lane comprises a left-turn waiting area, selecting a traffic signal lamp of a straight signal lamp type from the traffic signal lamp set, and associating the traffic signal lamp of the straight signal lamp type with the lane.
Optionally, the type information of the traffic signal lamp comprises a circular signal lamp type;
according to the type information of the lane, determining a traffic light associated with the lane in the traffic light set, specifically including:
and according to the matching result of the lane and each traffic signal lamp, if no traffic signal lamp related to the lane exists in each traffic signal lamp, the traffic signal lamp of the circular signal lamp type is related to the lane.
The present specification provides an electronic map processing apparatus, the apparatus including:
the first determining module is used for determining each road traffic marking and each lane in the electronic map, and the road traffic markings comprise a first type marking and a second type marking;
the acquisition module is used for determining a first corresponding relation between each lane and each first type marking according to the information of each lane and the information of each first type marking, and acquiring a second corresponding relation between each first type marking and each traffic signal lamp;
the second determining module is used for determining the type information of each lane according to the information of each second type marking in the electronic map aiming at each lane, and determining a traffic signal light set formed by each traffic signal light corresponding to each lane according to the first corresponding relation and the second corresponding relation;
and the association module is used for determining the traffic signal lamp associated with the lane in the traffic signal lamp set according to the type information of the lane.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the electronic map processing method described above.
The electronic device provided by the present specification includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the electronic map processing method when executing the program.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
the specification can determine road traffic markings and lanes in an electronic map, wherein the road traffic markings comprise first type markings and second type markings, determine a first corresponding relation between each lane and each first type marking according to information of each lane and information of each first type marking, acquire a second corresponding relation between each first type marking and each traffic signal lamp, determine type information of each lane according to information of each second type marking in the electronic map, determine a traffic signal lamp set formed by each traffic signal lamp corresponding to each lane according to the first corresponding relation and the second corresponding relation, and determine the traffic signal lamp associated with each lane in the traffic signal lamp set according to the type information of each lane. By the method, the specification can determine the traffic signal lamp set corresponding to each lane based on the first corresponding relation and the second corresponding relation, and then the traffic signal lamps related to each lane can be determined according to the type of each lane.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
fig. 1 is a flowchart of an electronic map processing method provided in an embodiment of the present specification;
fig. 2 is a schematic diagram of a road intersection provided in an embodiment of the present disclosure;
FIG. 3 is a schematic view of another intersection provided by embodiments of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic map processing apparatus provided in an embodiment of the present specification;
fig. 5 is a schematic view of an electronic device implementing an electronic map processing method according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without making any creative effort belong to the protection scope of the present specification.
In the driving process of the vehicle, if the vehicle encounters a road intersection, the information of the traffic lights needs to be observed, and whether the vehicle stops to wait or continues to pass is judged according to the information of the traffic lights, wherein different lanes need to observe different traffic lights due to different driving rules of different lanes, and in the field of unmanned driving, the information of the traffic lights corresponding to different lanes needs to be marked in advance in the electronic map due to the fact that the unmanned device needs to depend on the electronic map in driving, so that the unmanned device can obtain the information of the traffic lights corresponding to the lanes where the unmanned device is located when the unmanned device reaches the road intersection.
At present, the traffic lights corresponding to different lanes are marked in an electronic map, that is, a method for determining a matching relationship (or called as an association relationship) between a lane and a traffic light is usually marked manually according to experience, so that the labor cost is high.
Therefore, the present specification provides an electronic map processing method to partially solve the problems of the above.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an electronic map processing method provided in an embodiment of the present specification, which may specifically include the following steps:
s100: in the electronic map, road traffic marked lines and lanes are determined, wherein the road traffic marked lines comprise a first type marked line and a second type marked line.
In this specification, the electronic map may include a high-precision map, and may also include a three-dimensional map and the like. The electronic map may be determined in advance based on sensed data collected by a sensor mounted on the vehicle, or may be generated on-line based on real-time sensed data collected by a real-time acquisition sensor. The sensor may include an image sensor, a laser radar, and the like, and thus, the sensing data may include image data, point cloud data, and the like. The vehicle may be a common vehicle driven by a person, for example, a passenger car, or may be an unmanned device, and in this specification, the unmanned device mainly includes an intelligent unmanned device such as an unmanned vehicle or an unmanned aerial vehicle, and is mainly used for replacing a person to deliver goods (for example, to transport sorted goods in a large goods warehouse), or to transport goods from one location to another location.
The electronic map processing method and the electronic map generating method provided in this specification can be implemented by an electronic device, and the electronic device may include a vehicle having a data processing function, an unmanned device, a server, and the like, where the server is a device for performing scheduling, and may be a single device or a distributed server composed of multiple devices, and this specification does not limit this.
In addition, the specific process of generating the electronic map may refer to an existing manner, for example, the electronic map may be generated by a method such as Simultaneous Localization And Mapping (SLAM). Since the present specification is directed to determining the association relationship between the lanes and the traffic lights in the electronic map, the generated electronic map may include at least information about each traffic light and information about each road traffic marking.
The information of the traffic signal may include location information, quantity information, type information, and the like of the traffic signal. In determining the type information of the traffic signal lamps, the traffic signal lamps may be classified into different types according to different rules, for example, according to the shapes of the traffic signal lamps, the traffic signal lamps may include an arrow signal lamp type traffic signal lamp and a circular signal lamp type traffic signal lamp, and for example, according to the functions of the traffic signal lamps, the types of the traffic signal lamps may include a left-turn type, a right-turn type, a straight type, a u-turn type, a non-motorway type, and the like. The type information of the traffic signal lamp can be determined according to modes such as image processing, and the specific determination process can refer to the existing mode.
The information of the road traffic markings may include position information, type information, etc. of the road traffic markings, wherein the road traffic markings may include first type markings, second type markings, etc. for informing of special regulations such as compliance, prohibition, restriction, etc. of road traffic, markings to be strictly followed by vehicle drivers and pedestrians, may include prohibition markings, e.g., stop lines, etc. The second type of marking is used for markings for roadway, driving direction, road edges, sidewalks and the like, and may include markings, such as traffic marking guide arrows and the like.
Furthermore, the information of each lane can be determined according to each road traffic marking. The road traffic markings may include lane lines, and two adjacent lane lines may determine one lane, and since the position information of the lane lines may be determined, the present specification may also determine the position information of the lane. The process of determining the lanes according to the road traffic marking can refer to the existing mode, and in addition, the information such as the number of lanes can be determined in the specification.
S102: and determining a first corresponding relation between each lane and each first type marking according to the information of each lane and the information of each first type marking, and acquiring a second corresponding relation between each first type marking and each traffic signal lamp.
After determining the road traffic markings and the information of the lanes, a first correspondence between the lanes and the first type markings may be determined based on the information of the lanes and the information of the first type markings.
Specifically, for each lane, according to the position information of the lane and the position information of each first-type marking, each first-type marking within a preset distance from the lane can be determined, and then at least one first-type marking is selected from the determined first-type markings to serve as the first-type marking corresponding to the lane.
In a preferred embodiment, the first-type marking intersecting with the lane may be selected as the first-type marking corresponding to the lane among the first-type markings based on the position information of the lane and the position information of each first-type marking. The electronic map can be selected from all the first type marked lines contained in the electronic map, and can also be selected from all the first type marked lines within a preset distance from the lane.
Specifically, if the first-type marking is regarded as a linear-shaped marking and the lane is regarded as a linear-shaped or regional-shaped lane, when the first-type marking intersects with the lane, a first corresponding relationship between the first-type marking and the lane can be determined, further, when the first-type marking intersects with the lane, an included angle between the first-type marking and the lane can be determined, and when the value of the included angle is within a preset included angle range, the first corresponding relationship between the first-type marking and the lane can be determined.
Of course, the first type mark line can be regarded as an area shape mark line, and the lane can be regarded as an area shape lane, so that the information of the lane and the minimum circumscribed rectangle of each first type mark line can be respectively determined, further, the information of the minimum circumscribed rectangle of the lane and each first type mark line can be determined, and the information of the circumscribed rectangle can include position information, skeleton line information and the like. And aiming at each first-type marking line, if the intersection exists between the circumscribed rectangle of the lane and the circumscribed rectangle of the first-type marking line, establishing the first corresponding relation between the first-type marking line and the lane. In other words, if the circumscribed rectangle of the lane overlaps the circumscribed rectangle of the first-type marking and they are connected, the first correspondence relationship between the two can be determined. The manner of determining the circumscribed rectangle of the lane and the first-type marking can refer to the existing manner, such as the manner of target detection.
It should be noted here that there may be many-to-many correspondence between the lanes and the first-type markings, that is, one lane may correspond to a plurality of first-type markings, and typically, one lane between two adjacent intersections may correspond to at least two first-type markings, and the two first-type markings are respectively located at the positions of the two intersections. One first type marking may also correspond to a plurality of lanes, and typically two adjacent lanes traveling in the same direction may correspond to the same first type marking.
Since the first type reticle may include a stop line, a stop let row line, a deceleration let row line, etc., for convenience of description, the first type reticle will be described as an example of the stop line.
Fig. 2 is a schematic diagram of a road intersection provided in an embodiment of the present specification. In fig. 2, in an intersection scene, taking one of the driving directions as an example, a road includes three lanes, which are lane a, lane B and lane C, and stop lines L are disposed between the lane a, the lane B, the lane C and the zebra crossing, and the stop lines L intersect with the lane a, the lane B and the lane C, respectively, so that a first corresponding relationship may be established between the lane a, the lane B and the lane C and the stop lines L, that is, the first corresponding relationship is established between the stop lines L and the lane a, the first corresponding relationship is established between the stop lines L and the lane B, and the first corresponding relationship is established between the stop lines L and the lane C.
When the first corresponding relation is determined, a second corresponding relation between each first type marking and each traffic signal lamp can be obtained.
Specifically, in this specification, for each first-type marking, the distance between the first-type marking and each traffic light is determined according to the position information of the first-type marking and the position information of each traffic light, a traffic light having a distance smaller than a preset distance threshold value is selected as a designated traffic light from each traffic light, and a designated traffic light is selected as a traffic light corresponding to the first-type marking from each designated traffic light according to the information of each designated traffic light. That is, since there are many traffic lights and many first-type traffic lines in the electronic map, it is possible to select a traffic light closer to the first-type traffic line among the traffic lights on the basis of the position information of the first-type traffic line and the position information of each traffic light for each first-type traffic line, and then determine the traffic light corresponding to the first-type traffic line among the selected traffic lights on the basis of various rules set. Of course, the present description also supports determining the second corresponding relationship between the first type of marked line and the traffic signal lamp by other existing methods, for example, a method determined by a human based on experience, etc. Since the present specification aims to determine the association relationship between the traffic signal lights and the lanes, how to determine the second correspondence relationship between the first-type marking and the traffic signal lights is not limited in the present specification, and therefore, in the present specification, it is only necessary to acquire the first correspondence relationship between the lanes and the first-type marking and the second correspondence relationship between the first-type marking and the traffic signal lights.
Along the above example, in fig. 2, there are four traffic lights in the crossroad scene, which are respectively located in four directions of the crossroad, and according to the position information of each traffic light and the position information of the first-type marking L, in each traffic light, it can be determined that the first-type marking L corresponds to the traffic light D, that is, the thick solid arrow in fig. 2 indicates that the first-type marking L corresponds to the traffic light D.
S104: and for each lane, determining the type information of the lane according to the information of the second type marking lines in the electronic map, and determining a traffic light set consisting of the traffic lights corresponding to the lane according to the first corresponding relation and the second corresponding relation.
After the first corresponding relationship and the second corresponding relationship are obtained, for each lane, a plurality of traffic lights corresponding to the lane may be determined based on the first corresponding relationship and the second corresponding relationship.
Specifically, for each lane, according to the first corresponding relationship and the information of the lane, the first type marking corresponding to the lane can be determined as the designated first type marking, and then, according to the second corresponding relationship and the designated first type marking, the traffic signal lamp corresponding to the designated first type marking can be determined, so that the traffic signal lamp corresponding to the designated first type marking can be used as the traffic signal lamp corresponding to the lane. Because each traffic signal lamp comprises different types of traffic signal lamps, namely, a group of traffic signal lamps are formed by a plurality of different types of traffic signal lamps, and the second corresponding relation represents the corresponding relation between each first type mark line and each group of traffic signal lamps, the traffic signal lamp corresponding to the lane is actually a group of traffic signal lamps corresponding to the lane, and at least one group of traffic signal lamps can form a traffic signal lamp set.
Along the above example, in fig. 2, the traffic signal D actually includes a left-turn traffic signal, a straight-going traffic signal, and a right-turn traffic signal, and since the first-type mark L has the first corresponding relationship with the lane a, the lane B, and the lane C, respectively, and the first-type mark L has the second corresponding relationship with the traffic signal D, for any lane of the lane a, the lane B, and the lane C, the traffic signal D can be determined to be the traffic signal corresponding to the lane according to the corresponding relationship with the first-type mark L and the second corresponding relationship between the first-type mark and the traffic signal D, that is, the traffic signal set corresponding to the lane includes the left-turn signal, the straight-going traffic signal, and the right-turn signal in the traffic signal D.
In this specification, for each lane, the type information of the lane may also be determined from information of each road traffic marking, particularly information of the second type marking.
The types of lanes may include a non-motor lane type, a left-turn lane type, a straight lane type, a right-turn lane type, a u-turn lane type, and the like, and in actual road traffic, there are lanes having two or more traffic directions in addition to the above lanes, for example, a left-turn lane type (i.e., when a vehicle travels in a left-turn lane, it may turn left or it may travel straight), a u-turn lane type (i.e., when a vehicle travels in a u-turn lane, it may turn left or it may turn around), and the like.
In a preferred embodiment, based on the position information of each second-type marking and the position information of the lane, the second-type marking located within the lane may be determined as the designated second-type marking, the type information designating the second-type marking is identified, and the type information designating the second-type marking is used as the type information of the lane.
Specifically, since the second-type mark lines are generally located in the area where the lane is located, the specified second-type mark line located in the lane can be determined based on the position information of each second-type mark line and the position information of the lane. Since the image data can be used for semantic segmentation of the image data including the designated second-type reticle when generating the electronic map, the semantic information indicated by the designated second-type reticle can be determined based on the result of the semantic segmentation, and of course, the feature information of the image data can be extracted, and the semantic information indicated by the designated second-type reticle can be determined based on the feature information.
The semantic information of the second type marking line can include a left-turn arrow, a straight arrow, a right-turn arrow, a left-turn arrow and a straight arrow, a turning arrow, a non-motor vehicle identifier and the like, namely, the semantic information of the second type marking line can represent the driving direction of the vehicle in the lane where the second type marking line is located.
After determining the semantic information specifying the second type of marking, the type information for the lane may be determined based on the semantic information specifying the second type of marking. For example, if the semantic information of the second type of marking is a left turn arrow, the type of the lane can be determined to be a left turn lane type.
In another embodiment, a plurality of driving tracks can be obtained, and the type information of the lane is determined according to the information of each driving track. Specifically, each acquired driving track can be used as expert data, the driving track located in the lane is selected as an appointed driving track according to the position information of each driving track, and the type of the lane can be determined at the intersection according to the driving direction of each appointed driving track in the lane. For example, if the travel direction of the specified travel trajectory in the lane is a left turn, the type of the lane may be determined as a left turn lane type, and if the travel direction of one specified travel trajectory in the lane is a left turn and the travel direction of the other specified travel trajectory in the lane is a straight travel, the type of the lane may be determined as a left turn lane type.
It should be noted that, the timing of specifying the type information of the lane in the present specification may be before the traffic lights associated with the lane are specified from the type information of the lane in step S106, and therefore, the first correspondence relationship and the second correspondence relationship may be acquired, that is, the traffic light set corresponding to the lane may be specified, the first correspondence relationship and the second correspondence relationship may be acquired, and it is needless to say that, when the information of the lane is specified, the specifying of the lane information may be performed during the generation of the electronic map, and therefore, the specifying of the type information of the lane may be performed during the generation of the electronic map as well, and in this case, the present specification may directly acquire the type information of each lane.
S106: and according to the type information of the lane, determining a traffic signal lamp associated with the lane in the traffic signal lamp set.
For each lane, after determining the traffic light set corresponding to the lane and the type information of the lane, the traffic light associated with the lane may be selected from the traffic light set.
In fact, after the traffic light set corresponding to the lane is determined, the lane may be associated with each traffic light in each traffic light set, because there is a certain relationship between each traffic light at the same position, for example, when the traffic light from left to right is green, the traffic light from front to back is generally red. However, in order to further reduce the interference caused by other traffic lights, the traffic light directly corresponding to the lane may be selected from the traffic light set, so that the vehicle may obey the conventional traffic rules such as red stop and green stop while traveling on the lane.
Therefore, for each traffic signal lamp in the traffic signal lamp set, the type information of the traffic signal lamp can be firstly determined, then the type information of the lane and the type information of the traffic signal lamp are matched, and finally, the association result of the lane and the traffic signal lamp is determined according to the matching result.
In which the determination of the type information of the traffic signal may refer to the content related to the type information about the traffic signal in step S100. If the type information of the lane is the same as the type information of the traffic signal lamp or the type information of the lane includes the type information of the traffic signal lamp, it may be determined that the type information of the lane is matched with the type information of the traffic signal lamp. For example, if the type information of the lane is a straight lane type and the type information of the traffic signal is a straight type, it may be determined that the type information of the lane matches the type information of the traffic signal, or that the matching results of the two match. Therefore, when the type information of the lane matches (or the matching result is consistent with) the type information of the traffic signal, the lane may be associated with the traffic signal, and when the type information of the lane does not match (or the matching result is inconsistent with) the type information of the traffic signal, the lane may not be associated with the traffic signal, that is, the lane may not be associated with the traffic signal.
By way of example, in fig. 2 it is determined that lane a is of a left turn lane type, then in traffic light D a left turn type traffic light may be associated with lane a, indicated by a black thin double arrow in fig. 2, and so on, since lane B is of a straight-ahead lane type and lane C is of a right turn lane type, a straight-ahead type traffic light may be associated with lane B and a right turn type traffic light may be associated with lane C (not shown in fig. 2 with respect to the association of lanes B, C).
It should be noted that, in an actual road, there may be multiple lanes indicating the same type, for example, there may be multiple lanes all of which are of a straight lane type, and therefore, several lanes of the same type may correspond to the same traffic signal lamp. In addition, since one lane may include information of a plurality of driving directions, one lane may correspond to a plurality of traffic lights.
For example, if the type information of the lane is a left turn lane type and the lane includes a left turn waiting area, a traffic light of a straight traffic light type is selected from the traffic light set, and the traffic light of the straight traffic light type is associated with the lane.
Fig. 3 is a schematic view of another intersection provided in an embodiment of the present disclosure. In fig. 3, the left-turn lane includes two portions, one portion is a normal left-turn lane Z1 (indicated by a dark area), and the other portion is a left-turn waiting area Z2 (indicated by a light area), and a stop line M is provided in front of the Z2 area, and a left-turn waiting indicator lamp E is provided at a corner of the intersection. Therefore, in the first correspondence, Z1 corresponds to the stop-line L and Z2 corresponds to the stop-line M, or both Z1 and Z2 may correspond to the stop-line L. In the second correspondence relationship, the stop line L may correspond to the traffic signal light D, the stop line M may correspond to the traffic signal light E, or both the stop lines L and M may correspond to the traffic signal light D. Based on the above, it may be determined that the traffic lights corresponding to Z1 and Z2 are left-turn type traffic lights in the traffic light D or traffic light E, and in consideration of the setting of traffic regulations, when the vehicle travels in the Z1 area, if the straight-run type traffic light is green, the vehicle may enter Z2 from Z1 and wait for green information of the left-turn type traffic light, and if the left-turn type traffic light is green, the vehicle may directly left-turn into the left road area of the crossroad from Z1 or Z2. Thus, Z1 may be associated with a left turn type of traffic signal light D as well as a straight type of traffic signal light, and Z2 may be associated with at least one of traffic signal light E, a left turn type of traffic signal light D.
Referring to fig. 2 and 3, if the lane a is a u-turn capable lane and the traffic signal D includes a u-turn type traffic signal, the lane a may be associated with the u-turn type and left-turn type traffic signals in the traffic signal D.
Referring to the related content in step S100, since the type information of the traffic signal may include a circular signal type and an arrow signal type, if only a traffic signal of the circular signal type exists in the traffic signal set corresponding to the lane, the lane may be associated with the traffic signal of the circular signal type. That is, since the turn signal cannot be specified by the traffic signal of the circular signal type, the matching result of the lane and the traffic signal of the circular signal type is not identical, in other words, if there is no traffic signal associated with the lane in each traffic signal, the traffic signal of the circular signal type is associated with the lane according to the matching result of the lane and each traffic signal.
Of course, in this specification, if the traffic lights include the traffic lights of the left turn type and the straight type, the traffic lights of the right turn type are not included, and the lane has the right turn lane, the traffic lights may not be associated with the right turn lane in consideration of the actual traffic regulations.
The electronic map processing method provided in the present specification is particularly applicable to the field of distribution using an unmanned device, for example, a scene of distribution such as express delivery and takeout using an unmanned device. Specifically, in the above-described scenario, the distribution may be performed using an unmanned vehicle group constituted by a plurality of unmanned devices.
Based on the electronic map processing method shown in fig. 1, an embodiment of the present specification further provides a schematic structural diagram of an electronic map processing apparatus, as shown in fig. 4.
Fig. 4 is a schematic structural diagram of an electronic map processing apparatus provided in an embodiment of the present specification, the apparatus including:
the first determining module 401 is configured to determine road traffic markings and lanes in an electronic map, where the road traffic markings include a first type marking and a second type marking;
an obtaining module 402, configured to determine a first corresponding relationship between each lane and each first-type marking according to information of each lane and information of each first-type marking, and obtain a second corresponding relationship between each first-type marking and each traffic signal lamp;
a second determining module 403, configured to determine, for each lane, type information of the lane according to information of each second type marking in the electronic map, and determine, according to the first corresponding relationship and the second corresponding relationship, a traffic light set formed by traffic lights corresponding to the lane;
and an associating module 404, configured to determine, according to the type information of the lane, a traffic light associated with the lane in the traffic light set.
By the method, the traffic signal lamp set corresponding to each lane can be determined based on the first corresponding relation and the second corresponding relation, and then the traffic signal lamp associated with each lane can be determined according to the type of each lane.
Optionally, the obtaining module 402 is specifically configured to, for each lane, select, according to the position information of the lane and the position information of each first-type marking, a first-type marking intersecting with the lane from the first-type markings, as the first-type marking corresponding to the lane.
Optionally, the obtaining module 402 is specifically configured to determine the circumscribed rectangle of the lane and each first-type marking respectively; and aiming at each first type marking line, if the intersection exists between the circumscribed rectangle of the lane and the circumscribed rectangle of the first type marking line, establishing the first corresponding relation between the first type marking line and the lane.
Optionally, the second determining module 403 is specifically configured to determine, according to the position information of each second type marking and the position information of the lane, the second type marking located in the lane as the designated second type marking; identifying type information of the specified second type reticle; and taking the type information of the specified second type marking as the type information of the lane.
Optionally, the association module 404 is specifically configured to, for each traffic signal lamp in the set of traffic signal lamps, determine type information of the traffic signal lamp; matching the type information of the lane and the type information of the traffic signal lamp; and determining the association result of the lane and the traffic signal lamp according to the matching result.
Optionally, the types of lanes include a left turn lane type, a straight lane type; the type information of the traffic signal lamp comprises a left turn signal lamp type and a straight signal lamp type;
the associating module 404 is specifically configured to, if the type information of the lane is the left-turn lane type and the lane includes a left-turn waiting area, select a traffic light of a straight-going signal light type from the traffic light set, and associate the traffic light of the straight-going signal light type with the lane.
Optionally, the type information of the traffic signal lamp comprises a circular signal lamp type;
the association module 404 is specifically configured to, according to a matching result of the lane and each traffic light, associate the traffic light of the circular signal light type with the lane if there is no traffic light associated with the lane in each traffic light.
The embodiment of the present specification further provides a computer-readable storage medium, which stores a computer program, and the computer program can be used for executing the electronic map processing method described above.
Based on the electronic map processing method described above, the embodiment of the present specification further provides a schematic structural diagram of the electronic device shown in fig. 5. As shown in fig. 5, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to realize the electronic map processing method.
Of course, besides the software implementation, this specification does not exclude other implementations, such as logic devices or combination of software and hardware, and so on, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain a corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical blocks. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry for implementing the logical method flows can be readily obtained by a mere need to program the method flows with some of the hardware description languages described above and into an integrated circuit.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium that stores computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, apparatuses, modules or units described in the above embodiments may be specifically implemented by a computer chip or an entity, or implemented by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (8)
1. An electronic map processing method, characterized in that the method comprises:
determining road traffic marked lines and lanes in an electronic map, wherein the road traffic marked lines comprise a first type marked line and a second type marked line;
determining a first corresponding relation between each lane and each first type marking according to the information of each lane and the information of each first type marking, and acquiring a second corresponding relation between each first type marking and each traffic signal lamp, wherein one lane corresponds to one or more first type markings, and the second type markings at least comprise indicating markings;
for each lane, determining the type information of the lane according to the information of second type marking lines in the electronic map, and determining a traffic light set consisting of traffic lights corresponding to the lane according to the first corresponding relation and the second corresponding relation, wherein the second type marking lines at least comprise tidal lane lines and can cross the boundary of opposite lanes;
according to the type information of the lane, determining a traffic light associated with the lane in the traffic light set;
determining a traffic signal associated with the lane using the following method, wherein:
if the type information of the lane is a left-turn lane type and the lane comprises a left-turn waiting area, selecting a traffic signal lamp of a straight signal lamp type from the traffic signal lamp set, and associating the traffic signal lamp of the straight signal lamp type with the lane, wherein the lane type comprises a left-turn lane type and a straight lane type; the type information of the traffic signal lamp comprises a left turn signal lamp type and a straight signal lamp type;
according to the matching result of the lane and each traffic signal lamp, if no traffic signal lamp related to the lane exists in each traffic signal lamp, the traffic signal lamp of the circular signal lamp type is related to the lane, wherein the type information of the traffic signal lamp comprises the circular signal lamp type;
and according to the matching result of the lane and each traffic signal lamp, if the lane is a right-turn lane and no traffic signal lamp of a right-turn type exists, determining that the right-turn lane is not associated with the traffic signal lamp.
2. The method of claim 1, wherein determining a first correspondence between each lane and each first type marking based on the information for each lane and the information for each first type marking comprises:
and for each lane, selecting the first type marking intersected with the lane from the first type markings according to the position information of the lane and the position information of each first type marking, and taking the first type marking as the first type marking corresponding to the lane.
3. The method of claim 2, wherein selecting, among the first type marks, a first type mark that intersects the lane according to the position information of the lane and the position information of the first type marks, comprises:
respectively determining the external rectangles of the lane and each first type marking;
and aiming at each first type marking line, if the intersection exists between the circumscribed rectangle of the lane and the circumscribed rectangle of the first type marking line, establishing the first corresponding relation between the first type marking line and the lane.
4. The method of claim 1, wherein determining the type information of the lane according to the information of each second type of marked line in the electronic map comprises:
according to the position information of each second type marking and the position information of the lane, determining the second type marking in the lane as a designated second type marking;
identifying type information of the specified second type reticle;
and taking the type information of the specified second type marking as the type information of the lane.
5. The method of claim 1, wherein determining the traffic signal associated with the lane in the traffic signal set according to the type information of the lane specifically comprises:
determining type information of each traffic signal lamp in the traffic signal lamp set;
matching the type information of the lane and the type information of the traffic signal lamp;
and determining the association result of the lane and the traffic signal lamp according to the matching result.
6. An electronic map processing apparatus, characterized in that the apparatus comprises:
the first determining module is used for determining each road traffic marking and each lane in the electronic map, and the road traffic markings comprise a first type marking and a second type marking;
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for determining a first corresponding relation between each lane and each first type marking according to information of each lane and information of each first type marking, and acquiring a second corresponding relation between each first type marking and each traffic signal lamp, one lane corresponds to one or more first type markings, and the second type marking at least comprises an indication marking;
the second determining module is used for determining the type information of each lane according to the information of each second type marking line in the electronic map for each lane, and determining a traffic light set consisting of each traffic light corresponding to each lane according to the first corresponding relation and the second corresponding relation, wherein the second type marking lines at least comprise tidal lane lines and can cross an opposite lane dividing line;
the association module is used for determining a traffic signal lamp associated with the lane in the traffic signal lamp set according to the type information of the lane; determining a traffic signal lamp associated with the lane, specifically comprising: if the type information of the lane is a left-turn lane type and the lane comprises a left-turn waiting area, selecting a traffic signal lamp of a straight signal lamp type from the traffic signal lamp set, and associating the traffic signal lamp of the straight signal lamp type with the lane, wherein the lane type comprises a left-turn lane type and a straight lane type; the type information of the traffic signal lamp comprises a left turn signal lamp type and a straight signal lamp type; according to the matching result of the lane and each traffic signal lamp, if no traffic signal lamp related to the lane exists in each traffic signal lamp, the traffic signal lamp of the circular signal lamp type is related to the lane, wherein the type information of the traffic signal lamp comprises the circular signal lamp type; and according to the matching result of the lane and each traffic signal lamp, if the lane is a right-turn lane and no traffic signal lamp of a right-turn type exists, determining that the right-turn lane is not associated with the traffic signal lamp.
7. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when being executed by a processor, carries out the method of any one of the preceding claims 1 to 5.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-5 when executing the program.
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| CN113689718B (en) * | 2021-08-13 | 2022-09-13 | 吉林大学 | Intelligent signal lamp and lane matching system and method |
| CN114973687B (en) * | 2022-05-13 | 2024-03-05 | 北京百度网讯科技有限公司 | Traffic information processing method, device, equipment and medium |
| CN115547078A (en) * | 2022-09-23 | 2022-12-30 | 北京京东乾石科技有限公司 | Information interaction method and device, electronic equipment and computer readable storage medium |
| CN115810184B (en) * | 2023-02-14 | 2023-07-28 | 高德软件有限公司 | Method and device for determining traffic signal lamp associated road |
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