CN114413920B - Lane data processing method, navigation method and device - Google Patents

Abstract

The disclosure provides a lane data processing method, a navigation method and a navigation device, relates to the technical field of computers, and particularly relates to the technical field of electronic maps and intelligent transportation. The implementation scheme is as follows: acquiring at least one associated intersection of an intersection to be processed, wherein the distance from each associated intersection to the intersection to be processed is smaller than a threshold value, the intersection to be processed is connected with at least one entering road, and each associated intersection is connected with at least one exiting road; determining at least one first lane which can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any one of the at least one entry road, and the first exit road is any one of exit roads connected with the at least one associated intersection; and storing the identification of the target entering road, the identification of the first exiting road and the identification of the at least one first lane in a correlated manner.

Description

Lane data processing method, navigation method and device

Technical Field

The present disclosure relates to the field of computer technology, in particular to the field of electronic maps and intelligent transportation technology, and specifically to a lane data processing method and device, a navigation method and device, an electronic device, a computer-readable storage medium, and a computer program product.

Background Art

An electronic map, or digital map, is a map that is stored and accessed digitally using computer technology. Various types of map elements are drawn on the electronic map, such as roads, shopping malls, schools, hospitals, landmark buildings, and so on.

Driving is the main mode of transportation. When driving, users can use terminal devices (such as mobile phones, tablet computers, car navigation devices, etc.) equipped with electronic map applications for route navigation. The electronic map application can plan a navigation route for the user based on the departure and destination specified by the user. The user can drive along the navigation route and successfully reach the destination.

The methods described in this section are not necessarily methods that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any method described in this section is considered to be prior art simply because it is included in this section. Similarly, unless otherwise indicated, the issues mentioned in this section should not be considered to have been recognized in any prior art.

Summary of the invention

The present disclosure provides a lane data processing method and device, a navigation method and device, an electronic device, a computer-readable storage medium, and a computer program product.

According to one aspect of the present disclosure, a lane data processing method is provided, comprising: acquiring at least one associated intersection of an intersection to be processed, wherein a distance from each associated intersection to the intersection to be processed is less than a threshold, the intersection to be processed is connected to at least one entry road, and each associated intersection is connected to at least one exit road; determining at least one first lane that can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any entry road of the at least one entry road, and the first exit road is any exit road of the exit roads connected to the at least one associated intersection; and storing an identification of the target entry road, an identification of the first exit road, and an identification of the at least one first lane in association with each other.

According to one aspect of the present disclosure, a navigation method is provided, comprising: acquiring a navigation planned route of a vehicle, wherein the navigation planned route includes at least one planned road; determining a target lane corresponding to any planned road based on a preset association relationship among an entry road, an exit road, and a lane of the entry road that can reach the exit road; and sending identifications of the target lanes corresponding to the navigation planned route and the at least one planned road to a navigation terminal, so that the navigation terminal outputs a prompt message for indicating the corresponding target lane in response to the vehicle entering the planned road.

According to one aspect of the present disclosure, a navigation method is provided, comprising: obtaining a navigation planned route of a vehicle, wherein the navigation planned route includes at least one planned road; determining a target lane corresponding to any planned road based on an association relationship among a preset entry road, an exit road, and a lane of the entry road that can reach the exit road; and outputting a prompt message indicating the corresponding target lane in response to the vehicle entering any planned road.

According to one aspect of the present disclosure, a lane data processing device is provided, comprising: an acquisition module, configured to acquire at least one associated intersection of a to-be-processed intersection, wherein a distance from each associated intersection to the to-be-processed intersection is less than a threshold, the to-be-processed intersection is connected to at least one entry road, and each associated intersection is connected to at least one exit road; a first determination module, configured to determine at least one first lane that can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any entry road of the at least one entry road, and the first exit road is any exit road of the exit roads connected to the at least one associated intersection; and a storage module, configured to store an identification of the target entry road, an identification of the first exit road, and an identification of the at least one first lane in association with each other.

According to one aspect of the present disclosure, a navigation device is provided, comprising: an acquisition module configured to acquire a navigation planned route of a vehicle, wherein the navigation planned route includes at least one planned road; a determination module configured to determine a target lane corresponding to any planned road based on a preset association relationship among an entry road, an exit road, and a lane of the entry road that can reach the exit road; and a transmission module configured to send identifications of the target lanes corresponding to the navigation planned route and the at least one planned road to a navigation terminal, so that the navigation terminal outputs a prompt message indicating the corresponding target lane in response to the vehicle entering the planned road.

According to one aspect of the present disclosure, a navigation device is provided, comprising: an acquisition module configured to acquire a navigation planning route of a vehicle, wherein the navigation planning route includes at least one planned road; a determination module configured to determine a target lane corresponding to any planned road based on an association relationship among a preset entry road, an exit road, and a lane of the entry road that can reach the exit road; and an output module configured to output a prompt message indicating the corresponding target lane in response to the vehicle entering any planned road.

According to one aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute any of the methods of the above aspects.

According to one aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute any of the above methods.

According to one aspect of the present disclosure, a computer program product is provided, including a computer program, which implements any of the above methods when executed by a processor.

According to one or more embodiments of the present disclosure, lane-level road connectivity between multiple intersections within a short distance can be extracted and stored, thereby improving navigation accuracy.

It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to similar but not necessarily identical elements.

FIG1 is a schematic diagram showing a lane prompt in a navigation process of the related art;

FIG2 shows a schematic diagram of an exemplary system in which various methods described herein may be implemented according to an embodiment of the present disclosure;

FIG3 shows a flow chart of a lane data processing method according to an embodiment of the present disclosure;

FIG4 shows a schematic diagram of an exemplary to-be-processed intersection and its associated intersections according to an embodiment of the present disclosure;

FIG5 is a schematic diagram showing lane data storage according to an embodiment of the present disclosure;

FIG6 shows a structural diagram and a topological diagram of an exemplary to-be-processed intersection and its associated intersections according to an embodiment of the present disclosure;

FIG7 shows a flowchart of a navigation method according to an embodiment of the present disclosure;

FIG8 shows a flowchart of a navigation method according to some other embodiments of the present disclosure;

FIG9 shows a structural block diagram of a lane data processing device according to an embodiment of the present disclosure;

FIG10 shows a structural block diagram of a navigation device according to an embodiment of the present disclosure;

FIG11 shows a structural block diagram of a navigation device according to some other embodiments of the present disclosure; and

FIG. 12 shows a structural block diagram of an exemplary electronic device that can be used to implement an embodiment of the present disclosure.

DETAILED DESCRIPTION

The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, temporal relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

The terms used in the description of various examples in this disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and/or" used in this disclosure covers any one of the listed items and all possible combinations.

In this disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information are in compliance with relevant laws and regulations and do not violate public order and good morals.

Driving is the main mode of transportation. When driving, users can use terminal devices (such as mobile phones, tablet computers, car navigation devices, etc.) equipped with electronic map applications for route navigation. The electronic map application can plan a navigation route for the user based on the starting and ending locations input by the user. The user can drive along the navigation route and successfully reach the destination.

An intersection is a place where multiple roads meet. Each intersection is connected to multiple roads. In electronic maps, accurate description of the lane connectivity of the roads connected at the intersection is a prerequisite for accurate navigation.

In the related art, the road connectivity of an intersection is usually expressed through the lane information of the road (such as the number of lanes included in the road, the driving direction of each lane, etc.). For example, intersection 1 is connected with entry road A and exit road B, and entry road A is connected to exit road B through a left-turn lane, that is, at intersection 1, entry road A is connected to exit road B through a left-turn lane. However, in the related art, the lane information of the road can only express the road connectivity at a single intersection, but cannot express the road connectivity at multiple intersections. When there are multiple intersections within a short distance, navigation based only on the lane information of the current intersection (single intersection) is not accurate enough and can easily cause the user to deviate.

For example, the left figure of Figure 1 shows a road structure diagram of a certain area, and the right figure is the road topology diagram corresponding to the left figure (the arrow in the right figure shows the driving direction of the road). As shown in Figure 1, intersection A1 is the confluence of roads R1, R2, and R5, and intersection A2 is the confluence of roads R2, R3, and R4. Road R1 includes eight lanes 1-8, of which lanes 1-6 are straight lanes, lane 7 is a straight and right lane, and lane 8 is a right lane. In Figure 1, if the user's navigation starting point is on road R1 and the end point is on road R3, a navigation planning route of R1→R2→R3 can be obtained, and based on the lane information of road R1, entering road R2 from road R1 should be driven along the straight lane (i.e., lane 1-7), so at intersection A1, the navigation application (App) will remind the user to drive along lanes 1-7. However, as shown in the left figure of Figure 1, in fact, only lanes 1-4 can lead to road R3. If the user follows the instructions of the navigation application and drives into lane 5-7, he will not be able to reach R3, causing the vehicle to deviate from the course.

In response to the above problems, the embodiments of the present disclosure provide a lane data processing method and a navigation method, which can extract and store lane-level road connectivity between multiple intersections within a short distance, thereby improving navigation accuracy.

At present, from the perspective of the accuracy of electronic maps, electronic maps can be roughly divided into two categories. One is the standard electronic map, which can show the road and the lane conditions of the road, and is used to meet the navigation needs of ordinary vehicles or pedestrians. The second category is the high-precision map (also known as the high-precision map), which has higher accuracy than the standard electronic map and is mainly used by self-driving cars. The high-precision map has accurate vehicle location information and rich road element data information, which can help cars predict complex road information, such as slope, curvature, heading, etc., so as to better avoid potential risks.

It is understandable that the lane data processing method and navigation method of the embodiments of the present disclosure are generally applicable to standard electronic maps, but not to high-precision maps. Since high-precision maps themselves have accurate road information and can already achieve accurate lane-level navigation, there is no need to use the embodiments of the present disclosure to extract and store lane-level road connectivity across intersections.

The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

2 shows a schematic diagram of an exemplary system 100 in which various methods and apparatuses described herein may be implemented according to an embodiment of the present disclosure. Referring to FIG2 , the system 100 includes one or more client devices 101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120. The client devices 101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.

In an embodiment of the present disclosure, the server 120 may run one or more services or software applications that enable execution of the lane data processing method and/or the navigation method.

In some embodiments, server 120 may also provide other services or software applications that may include non-virtualized environments and virtualized environments. In some embodiments, these services may be provided as web-based services or cloud services, such as provided to users of client devices 101, 102, 103, 104, 105, and/or 106 under a software as a service (SaaS) model.

In the configuration shown in FIG. 2 , the server 120 may include one or more components that implement the functions performed by the server 120. These components may include software components, hardware components, or a combination thereof that can be executed by one or more processors. Users operating client devices 101, 102, 103, 104, 105, and/or 106 may in turn utilize one or more client applications to interact with the server 120 to utilize the services provided by these components. It should be understood that a variety of different system configurations are possible, which may be different from the system 100. Therefore, FIG. 2 is an example of a system for implementing the various methods described herein, and is not intended to be limiting.

The user can use client devices 101, 102, 103, 104, 105 and/or 106 to navigate. The client device can provide an interface that enables the user of the client device to interact with the client device. The client device can also output information to the user via the interface. Although Figure 2 only depicts six client devices, those skilled in the art will appreciate that the present disclosure can support any number of client devices.

Client devices 101, 102, 103, 104, 105 and/or 106 may include various types of computer devices, such as portable handheld devices, general-purpose computers (such as personal computers and laptop computers), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, game systems, thin clients, various messaging devices, sensors or other sensing devices, etc. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux or Linux-like operating systems (such as GOOGLE Chrome OS); or include various mobile operating systems, such as MICROSOFT Windows Mobile OS, iOS, Windows Phone, Android. Portable handheld devices may include cellular phones, smart phones, tablet computers, personal digital assistants (PDAs), etc. Wearable devices may include head-mounted displays (such as smart glasses) and other devices. Game systems may include various handheld game devices, Internet-enabled game devices, etc. Client devices are capable of executing various different applications, such as various Internet-related applications, communication applications (such as email applications), short message service (SMS) applications, and may use various communication protocols.

The network 110 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, the one or more networks 110 may be a local area network (LAN), an Ethernet-based network, a token ring, a wide area network (WAN), the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a public switched telephone network (PSTN), an infrared network, a wireless network (e.g., Bluetooth, Wi-Fi), and/or any combination of these and/or other networks.

Server 120 may include one or more general purpose computers, dedicated server computers (e.g., PC (personal computer) servers, UNIX servers, mid-range servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. Server 120 may include one or more virtual machines running virtual operating systems, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain a server's virtual storage device). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in the server 120 may run one or more operating systems including any of the above operating systems and any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and/or middle-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

In some implementations, server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from users of client devices 101, 102, 103, 104, 105, and 106. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of client devices 101, 102, 103, 104, 105, and 106.

In some embodiments, the server 120 may be a server of a distributed system, or a server combined with a blockchain. The server 120 may also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology. A cloud server is a host product in a cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and virtual private servers (VPS) services.

The system 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as music files. The databases 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The databases 130 may be of different types. In some embodiments, the databases used by the server 120 may be, for example, relational databases. One or more of these databases may store, update, and retrieve data to and from the databases in response to commands.

In some embodiments, one or more of the databases 130 may also be used by applications to store application data. The databases used by the applications may be different types of databases, such as a key-value store, an object store, or a conventional store backed by a file system.

The system 100 of FIG. 2 may be configured and operated in various ways to enable application of various methods and apparatuses described according to the present disclosure.

For the purpose of the embodiment of the present disclosure, in the example of FIG. 2 , the client devices 101, 102, 103, 104, 105, and 106 may include an electronic map application, which may provide various functions based on an electronic map, such as online navigation, offline route planning, location search, etc. Correspondingly, the server 120 may be a server corresponding to the electronic map application. The server 120 may include a service program, which may provide map services to the electronic map application running in the client device based on the electronic map data stored in the database 130. Alternatively, the server 120 may also provide the electronic map data to the client device, and the electronic map application running in the client device may provide map services based on the locally stored electronic map data.

Specifically, the server 120 or the client devices 101, 102, 103, 104, 105 and 106 can execute the lane data processing method of the embodiment of the present disclosure, extract the lane-level road connectivity between multiple intersections within a short distance, and store the obtained lane-level road connectivity in the electronic map, so that the electronic map data is more accurate and precise. Based on the stored lane-level electronic map data, the server 120 or the client devices 101, 102, 103, 104, 105 and 106 can execute the navigation method of the embodiment of the present disclosure to perform navigation, thereby improving the accuracy of navigation and enhancing the navigation experience of the user.

FIG3 shows a flow chart of a lane data processing method 300 according to an embodiment of the present disclosure. The method 300 may be executed at a server (e.g., the server 120 shown in FIG2 ), or at a client device (e.g., the client devices 101, 102, 103, 104, 105, and 106 shown in FIG2 ). That is, the execution body of each step of the method 300 may be the server 120 shown in FIG2 , or the client devices 101, 102, 103, 104, 105, and 106 shown in FIG2 .

As shown in FIG. 3 , the method 300 includes:

Step 310: obtaining at least one associated intersection of the to-be-processed intersection, wherein the distance from each associated intersection to the to-be-processed intersection is less than a threshold, the to-be-processed intersection is connected to at least one entry road, and each associated intersection is connected to at least one exit road;

Step 320: determining at least one first lane that can reach a first exit road from a plurality of lanes included in the target entry road, the target entry lane being any entry road of the at least one entry road, and the first exit road being any exit road of the exit roads connected to the at least one associated intersection; and

Step 330: Store the identification of the target entry road, the identification of the first exit road, and the identification of the at least one first lane in association with each other.

According to the embodiment of the present disclosure, multiple intersections within a short distance (i.e., the intersection to be processed and the associated intersections) are analyzed as a whole, and the accessible lane (first lane) from any entry road (target entry road) of the intersection to be processed to any exit road (first exit road) of its associated intersection is determined, and the identifications of the target entry road, the first exit road, and the first lane are stored in association. In this way, the lane-level road connectivity between multiple intersections within a short distance can be expressed, thereby improving navigation accuracy.

The various steps of method 300 are described in detail below.

In step 310, the intersection to be processed may be any intersection in the electronic map. The associated intersection of the intersection to be processed is an intersection whose distance to the intersection to be processed is less than a threshold, that is, an intersection closer to the intersection to be processed. Depending on different road conditions in the road network, there may be one or more associated intersections of the intersection to be processed.

A diverging intersection is an intersection that connects one entry road and at least two exit roads. Vehicles traveling along the entry road are divided at the diverging intersection and drive into different exit roads. In the case where there are multiple consecutive diverging intersections within a short distance, it is easy for the user's vehicle to deviate and drive into the wrong road. For example, in road scenes such as highways and overpasses, there are often multiple consecutive diverging intersections within a short distance (that is, multiple diverging intersections are gathered in a small area). In this case, it is easy for the user's vehicle to drive into the wrong road.

In order to improve the navigation accuracy when there are multiple continuous diverging intersections in a short distance, according to some embodiments, the intersection to be processed and at least one associated intersection of the intersection to be processed can both be diverging intersections. Specifically, in the method 300 of the embodiment of the present disclosure, diverging intersections can be firstly screened out from multiple intersections included in the electronic map to obtain a diverging intersection set. Then, any diverging intersection in the diverging intersection set is used as the intersection to be processed, and the diverging intersection in the diverging intersection set whose distance to the intersection to be processed is less than a threshold is used as the associated intersection of the intersection to be processed. Thus, not only can the navigation accuracy be improved in a targeted manner when there are multiple continuous diverging intersections in a short distance, but also the processing of all intersections in the electronic map can be avoided, thereby improving the calculation efficiency.

According to some embodiments, the threshold of the distance from the associated intersection to the intersection to be processed may be determined based on the vehicle speed on at least one entrance road to the intersection to be processed. Specifically, the vehicle speed on the road may be the speed limit of the road, that is, the maximum speed of the vehicle allowed by the road; or it may be the average of the speeds of the vehicles on the road over a period of time. Thus, the threshold may be flexibly set according to different road scenarios, thereby analyzing the lane-level connectivity of multiple intersections that are close to each other according to different road scenarios, and ensuring navigation accuracy in different road scenarios.

Further, according to some embodiments, the threshold is positively correlated with the vehicle speed on the incoming road, that is, the greater the vehicle speed on the incoming road, the greater the threshold is set. For example, the vehicle speed on the expressway is faster, and the threshold can be set larger, such as 100m; the vehicle speed on the urban road is slower, and the threshold can be set smaller, such as 60m. Thus, the lane-level connectivity of multiple intersections that are close to each other can be analyzed according to different road scenes, and appropriate driving reaction time and reaction distance can be provided for users in different road scenes, so as to facilitate users to choose the correct road to drive.

According to some embodiments, the threshold of the distance from the associated intersection to the to-be-processed intersection may also be determined based on the vehicle speed on at least one entrance road to the to-be-processed intersection and the output duration of the lane prompt message (e.g., lane guide arrow icon, lane prompt voice, etc.) in the navigation application. Thus, the threshold can be flexibly set in combination with the road scene and the navigation scene to ensure navigation accuracy and user interaction experience in different road scenes.

Further, according to some embodiments, the threshold is positively correlated with the vehicle speed on the incoming road, and is positively correlated with the output duration of the lane prompt message in the navigation application. That is, the greater the vehicle speed on the incoming road, the longer the output duration of the lane prompt message in the navigation application, and the greater the threshold is set. Thus, it is possible to provide users in different road scenarios with appropriate driving reaction time and reaction distance, thereby facilitating users to choose the correct road to drive, and improving the user's navigation experience and interactive experience.

Specifically, the threshold value can be set as the product of the vehicle speed, the output duration of the lane prompt message and a preset constant. For example, if the average vehicle speed of a section of a highway is 90 km/h, the output duration of the lane prompt message is 6 seconds, and the preset constant is 0.6, the threshold value can be set as 90/3.6*6*0.8=90m.

Figure 4 shows a schematic diagram of a to-be-processed intersection and its associated intersections according to an embodiment of the present disclosure. The gray dots in Figure 4 represent intersections. The intersections A1-A5 in Figure 4 are all divergent intersections, and the gray arrows in the figure show the travel directions of roads R1-R11.

For example, when the threshold of the distance from the associated intersection to the intersection to be processed is thr1, taking intersection A1 as the intersection to be processed, only the distance from intersection A2 to intersection A1 is less than thr1, so the associated intersection of intersection A1 is intersection A2. Taking intersection A2 as the intersection to be processed, the distances from intersections A1 and A3 to intersection A2 are less than thr1, so the associated intersections of intersection A2 are intersection A1 and intersection A3; taking intersection A4 as the intersection to be processed, only the distance from intersection A5 to intersection A4 is less than thr1, so the associated intersection of intersection A4 is intersection A5.

For another example, when the threshold is thr2 (thr2 is greater than thr1), intersection A1 is the intersection to be processed, and the distances from intersections A2 and A3 to intersection A1 are less than thr2, so the associated intersections of intersection A1 are intersections A2 and A3.

In an embodiment of the present disclosure, the intersection to be processed is connected to at least one entry road, and each associated intersection is connected to at least one exit road.

In step 320, at least one first lane that can reach the first exit road is determined from the multiple lanes included in the target entry road, the target entry lane is any entry road among the at least one entry road, and the first exit road is any exit road among the exit roads connected to the at least one associated intersection.

According to some embodiments, step 320 may further include the following steps 322-328:

Step 322, obtaining a road surface image of the target entry road and location information of the first exit road;

Step 324: Identify lane indication objects in the road surface image, where the lane indication objects include lane lines and guide arrows.

Step 326: Determine the driving direction information of each of the multiple lanes based on the lane indication object; and

Step 328: Match the driving direction information of each of the multiple lanes with the above-mentioned position information to determine at least one first lane that can reach the first exit road from the multiple lanes.

According to some embodiments, the road surface image in step 322 may be acquired by an image acquisition device disposed on a map acquisition vehicle.

According to some embodiments, in step 324, computer vision technology may be used to identify lane indicator objects in the road surface image. For example, target detection models such as Faster R-CNN, YOLO V3, SSD, etc. may be used to identify lane indicator objects in the road surface image.

According to some embodiments, in step 326, based on the lane lines, the number and position of the lanes included in the target entering the road can be determined; based on the guide arrow, the driving direction information of the lane where the guide arrow is located can be determined. The value of the driving direction information can be, for example, straight ahead, left turn, right turn, straight ahead and right turn, null (i.e., no guide arrow is identified in the current lane), etc.

According to some embodiments, in step 328, by matching the driving direction information of each of the multiple lanes with the position information of the first exit road, at least one first lane that can reach the first exit road can be determined from the multiple lanes. Specifically, the above matching can be to calculate the angle between the driving direction of the lane and the geographical location direction of the first exit road. Alternatively, further obtain the position information of the target entry road, based on the position information of the target entry road and the driving direction information of each lane, predict the position of the exit road that each lane may correspond to, and then match the predicted position with the actual position information of the first exit road, for example, calculate the similarity between the predicted position and the actual position information, and use the corresponding lane with a similarity greater than a threshold as the first lane that can reach the first exit road.

According to some embodiments, after determining the driving direction information of each lane of the target entering the road in step 326, the identification of the target entering the road is further associated with the driving direction information of multiple lanes and stored. This can facilitate navigation route planning and output lane prompt messages to the user.

After at least one first lane in the target entry road that can reach the first exit road is determined in step 320 , in step 330 , the identifier of the target entry road, the identifier of the first exit road, and the identifier of the at least one first lane are associated and stored.

Specifically, a corresponding table can be used to realize the associated storage of the identification of the target entry road, the identification of the first exit road, and the identification of the first lane. Thus, given the target entry road and the first exit road, the lane in the target entry road that can reach the first exit road can be determined by looking up the table.

According to some embodiments, step 330 further includes: associating and storing the identification of the target entry road, the identification of the first exit road, the identification of at least one first lane, and the identification of the intermediate road connecting the target entry road and the first exit road. By storing the intermediate road, navigation route planning can be facilitated.

Specifically, a corresponding table can be used to realize the associated storage of the identification of the target entry road, the identification of the first exit road, the identification of at least one first lane, and the identification of the intermediate road connecting the target entry road and the first exit road. Thus, given the target entry road and the first exit road, the lane in the target entry road that can reach the first exit road can be determined by looking up the table, and the intermediate road passed by the target entry road to enter the first exit road can be determined.

According to some embodiments, the intersection to be processed is also connected to at least one exit road, and method 300 further includes: determining at least one second lane that can reach a second exit road from the multiple lanes included in the target entry road, wherein the second exit road is any exit road among the exit roads connected to the intersection to be processed; and associating and storing the identifier of the target entry road, the identifier of the second exit road, and the identifier of the at least one second lane. In this way, the lane-level road connectivity of a single intersection (intersection to be processed) can be further stored to facilitate navigation planning.

Fig. 5 is a schematic diagram of lane data storage according to an embodiment of the present disclosure. Fig. 5 shows three tables: MARK_INFO (entry lane marking information), NAV_MARK_TOPOLOGY (lane connectivity information), and MARK_PASS (passing road information).

The MARK_INFO table is used to store the association between the entry road identification and the driving direction information of each lane of the entry road. Each association (ie, the entry road with a guide arrow) corresponds to a record in the MARK_INFO table.

As shown in Figure 5, the MARK_INFO table includes three fields: MARK_ID, ROAD_ID, and ARR_DIR. Among them, the MARK_ID field is the primary key (Primary Key, PK) of the MARK_INFO table, which is used to uniquely identify a record in the MARK_INFO table. The ROAD_ID field is used to record the identification of the entry road with a guide arrow. This field is the foreign key (Foreign Key, FK) of the MARK_INFO table and is the primary key of the road network topology table (NAV_ROAD, used to record each road in the road network, not shown in Figure 5). In the road network topology table, the ROAD_ID field is used to uniquely identify a road. The ARR_DIR field is used to record the driving direction information of each lane entering the road, that is, the guide arrow.

The NAV_MARK_TOPOLOGY table is used to store the association between the entry road identification, the exit road identification, and the identification of the lane on the entry road that can reach the exit road. Each association corresponds to a record in the NAV_MARK_TOPOLOGY table.

As shown in Figure 5, the NAV_MARK_TOPOLOGY table includes five fields: TOPO_ID, MARK_ID, IN_ROAD_ID, OUT_ROAD_ID, and IN_MARK_INFO. Among them, TOPO_ID is the primary key of the NAV_MARK_TOPOLOGY table, which is used to uniquely identify a record in the NAV_MARK_TOPOLOGY table. MARK_ID is the foreign key of the NAV_MARK_TOPOLOGY table and the primary key of the MARK_INFO table. The IN_ROAD_ID field is used to record the identification of the entry road, and the OUT_ROAD_ID field is used to record the identification of the exit road. Both are foreign keys of the NAV_MARK_TOPOLOGY table and the primary key of the road network topology table. The IN_MARK_INFO field is used to record the identification of the lane on the entry road that can reach the exit road.

The MARK_PASS table is used to store the association between the entry road identification, the exit road identification, the lane identification on the entry road that can reach the exit road, and the identification of the intermediate road from the entry road to the exit road. Each association corresponds to a record in the MARK_PASS table.

As shown in Figure 5, the MARK_PASS table includes three fields: MARK_PASS_ID, ROAD_ID, and TOPO_ID. Among them, MARK_PASS_ID is the primary key of the MARK_PASS table, which is used to uniquely identify a record in the MARK_PASS table. The TOPO_ID field is the foreign key of the MARK_PASS table and the primary key of the NAV_MARK_TOPOLOGY table, which is used to identify an association between IN_ROAD_ID, OUT_ROAD_ID, and IN_MARK_INFO. The ROAD_ID field is the foreign key of the MARK_PASS table and the primary key of the road network topology table, which is used to record the identifier of the intermediate road passed by the entry road to the exit road.

Using the method 300 of the embodiment of the present disclosure, the to-be-processed intersection A1 and its associated intersection A2 shown in FIG6 are analyzed to obtain three groups of entry road-exit road-lane association relationships, namely: entry road R1-exit road R3-lane 1, entry road R1-exit road R4-lane 2, lane 3, entry road R1-exit road R5-lane 4. The table structure shown in FIG5 is used to store the above three groups of association relationships, and the MARK_INFO table, NAV_MARK_TOPOLOGY table, and MARK_PASS table are obtained as follows:

Table 1. MARK_INFO

MARK_ID ROAD_ID ARR_DIR (guiding arrow) 123456 R1 straight, straight, straight, empty

Table 2. NAV_MARK_TOPOLOGY

MARK_ID topO_ID IN_ROAD_ID OUT_ROAD_ID IN_MARK_INFO 123456 561111 R1 R3 1000 (accessible by lane 1) 123456 561112 R1 R4 0110 (accessible via lanes 2 and 3) 123456 561113 R1 R5 0001 (accessible by lane 4)

Table 3. MARK_PASS

topO_ID MARK_PASS_ID ROAD_ID illustrate 561111 441231 R2 R1 needs to go through R2 to go to R3 561112 441232 R2 R1 needs to go through R2 to go to R4

Based on the method 300 of the embodiment of the present disclosure, an association relationship between an entry road, an exit road, and a lane on the entry road that can reach the exit road can be established, and the association relationship can be stored in an electronic map. The association relationship can express the lane-level road connectivity between multiple intersections within a short distance. The embodiment of the present disclosure further provides a navigation method, which can achieve accurate lane-level navigation based on the stored association relationship between the entry road, the exit road, and the lane on the entry road that can reach the exit road.

FIG7 shows a flow chart of a navigation method 700 according to an embodiment of the present disclosure. The method 700 is an online navigation method, which is executed at a server (e.g., the server 120 shown in FIG2 ). The association relationship between the entry road, the exit road, and the lane in the entry road that can reach the exit road established based on the method 300 of the embodiment of the present disclosure is stored at the server.

As shown in FIG. 7 , the method 700 includes:

Step 710: Obtain a navigation planning route of the vehicle, where the navigation planning route includes at least one planned road;

Step 720: Determine a target lane corresponding to any planned road based on a preset association relationship among an entry road, an exit road, and a lane on the entry road that can reach the exit road; and

Step 730: Send the navigation planned route and the identifiers of the target lanes corresponding to the at least one planned road to the navigation terminal, so that the navigation terminal outputs a prompt message indicating the corresponding target lane in response to the vehicle entering the planned road.

According to the embodiments of the present disclosure, accurate lane-level navigation can be achieved.

According to some embodiments, the navigation planning route can be obtained based on the starting position and the end position specified by the user, using any route planning algorithm. It can be understood that the navigation planning route is a road sequence composed of at least one planned road.

According to some embodiments, in step 720, any planned road in the navigation planning route (the current planned road) can be used as the entry road, and any planned road in the navigation planning route located after the current planned road can be used as the exit road. The association relationship between the preset entry road, the exit road, and the lane in the entry road that can reach the exit road is matched to determine the target lane corresponding to the current planned road.

According to some embodiments, in step 730, the navigation terminal may be a vehicle-mounted device or a mobile device such as a mobile phone, a tablet computer, a smart wearable device, etc. The prompt message of the target lane may be a guide arrow icon displayed on the navigation terminal screen for indicating the target lane, or may be a voice broadcasted by the navigation terminal for indicating the target lane.

FIG8 shows a flowchart of a navigation method 800 according to other embodiments of the present disclosure. Method 800 is an offline navigation method, which is executed at a navigation terminal (e.g., client devices 101, 102, 103, 104, 105, and 106 shown in FIG2). The association relationship between the entry road, the exit road, and the lane in the entry road that can reach the exit road established by the method 300 of the embodiment of the present disclosure is stored locally in the navigation terminal. The navigation terminal can be a vehicle-mounted device, or a mobile device such as a mobile phone, a tablet computer, a smart wearable device, etc.

As shown in FIG. 8 , method 800 includes:

Step 810: Obtain a navigation planning route of the vehicle, where the navigation planning route includes at least one planned road;

Step 820: Determine a target lane corresponding to any planned road based on a preset association relationship among an entry road, an exit road, and a lane on the entry road that can reach the exit road; and

Step 830: In response to the vehicle entering any planned road, output a prompt message for indicating the corresponding target lane.

According to the embodiments of the present disclosure, accurate lane-level navigation can be achieved.

According to some embodiments, the navigation planning route can be obtained based on the starting position and the end position specified by the user, using any route planning algorithm. It can be understood that the navigation planning route is a road sequence composed of at least one planned road.

According to some embodiments, in step 820, any planned road in the navigation planning route (the current planned road) can be used as the entry road, and any planned road in the navigation planning route located after the current planned road can be used as the exit road. The association relationship between the preset entry road, the exit road, and the lane in the entry road that can reach the exit road is matched to determine the target lane corresponding to the current planned road.

According to some embodiments, in step 830, the prompt message of the target lane may be a guide arrow icon displayed on the navigation terminal screen for indicating the target lane, or may be a voice broadcast by the navigation terminal for indicating the target lane.

According to an embodiment of the present disclosure, a lane data processing device is also provided. FIG3 shows a structural block diagram of a lane data processing device 900 according to an embodiment of the present disclosure. As shown in FIG9 , the device 900 includes:

The acquisition module 910 is configured to acquire at least one associated intersection of the to-be-processed intersection, wherein the distance between each associated intersection and the to-be-processed intersection is less than a threshold, the to-be-processed intersection is connected to at least one entry road, and each associated intersection is connected to at least one exit road;

A first determination module 920 is configured to determine at least one first lane that can reach a first exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any entry road of the at least one entry road, and the first exit road is any exit road of the exit roads connected to the at least one associated intersection; and

The first storage module 930 is configured to store the identification of the target entrance road, the identification of the first exit road and the identification of the at least one first lane in association with each other.

According to the embodiment of the present disclosure, multiple intersections within a short distance (i.e., the intersection to be processed and the associated intersections) are analyzed as a whole, and the accessible lane (first lane) from any entry road (target entry road) of the intersection to be processed to any exit road (first exit road) of its associated intersection is determined, and the identifications of the target entry road, the first exit road, and the first lane are stored in association. In this way, the lane-level road connectivity between multiple intersections within a short distance can be expressed, thereby improving navigation accuracy.

According to some embodiments, the threshold is determined based on a vehicle driving speed on the at least one incoming road.

According to some embodiments, the threshold is determined based on a vehicle travel speed on the at least one incoming road and an output duration of a lane prompt message in a navigation application.

According to some embodiments, the intersection to be processed is also connected to at least one exit road, and the device also includes: a second determination module, configured to determine at least one second lane that can reach a second exit road from a plurality of lanes included in the target entry road, wherein the second exit road is any exit road among the exit roads connected to the intersection to be processed; and a second storage module, configured to store the identification of the target entry road, the identification of the second exit road, and the identification of the at least one second lane in association with each other.

According to some embodiments, the first storage module 930 is further configured to: associate and store the identification of the target entry road, the identification of the first exit road, the identification of the at least one first lane, and the identification of the intermediate road connecting the target entry road and the first exit road.

According to some embodiments, the first determination module 920 further includes: an acquisition unit, configured to acquire a road surface image of the target entry road and position information of the first exit road; an identification unit, configured to identify lane indication objects in the road surface image, wherein the lane indication objects include lane lines and guide arrows; a determination unit, configured to determine driving direction information of each of the multiple lanes based on the lane indication objects; and a matching unit, configured to match the driving direction information of each of the multiple lanes with the position information to determine at least one first lane from the multiple lanes that can reach the first exit road.

According to an embodiment of the present disclosure, a navigation device is also provided. FIG10 shows a structural block diagram of a navigation device 1000 according to an embodiment of the present disclosure. As shown in FIG10 , the device 1000 includes:

The acquisition module 1010 is configured to acquire a navigation planning route of the vehicle, wherein the navigation planning route includes at least one planned road;

The determination module 1020 is configured to determine a target lane corresponding to any planned road based on a preset association relationship among an entry road, an exit road, and a lane of the entry road that can reach the exit road; and

The transmission module 1030 is configured to send the identification of the target lane corresponding to the navigation planned route and the at least one planned road to the navigation terminal, so that the navigation terminal outputs a prompt message indicating the corresponding target lane in response to the vehicle entering the planned road.

According to the embodiments of the present disclosure, accurate lane-level navigation can be achieved.

According to an embodiment of the present disclosure, another navigation device is also provided. FIG11 shows a structural block diagram of a navigation device 1100 according to an embodiment of the present disclosure. As shown in FIG11 , the device 1100 includes:

The acquisition module 1110 is configured to acquire a navigation planning route of the vehicle, wherein the navigation planning route includes at least one planned road;

The determination module 1120 is configured to determine a target lane corresponding to any planned road based on a preset association relationship among an entry road, an exit road, and a lane of the entry road that can reach the exit road; and

The output module 1130 is configured to output a prompt message indicating a corresponding target lane in response to the vehicle entering any planned road.

According to the embodiments of the present disclosure, accurate lane-level navigation can be achieved.

It should be understood that the various modules or units of the device 900 shown in FIG. 9 may correspond to the various steps in the method 300 described with reference to FIG. 3 , the various modules or units of the device 1000 shown in FIG. 10 may correspond to the various steps in the method 700 described with reference to FIG. 7 , and the various modules or units of the device 1100 shown in FIG. 11 may correspond to the various steps in the method 800 described with reference to FIG. 8 . Thus, the operations, features and advantages described above for methods 300, 700, and 800 are also applicable to the devices 900, 1000, and 1100 and the modules and units included therein. For the sake of brevity, some operations, features and advantages are not described in detail herein.

Although specific functions are discussed above with reference to specific modules, it should be noted that the functions of the various modules discussed herein can be divided into multiple modules, and/or at least some functions of multiple modules can be combined into a single module. For example, the first determining module 920 and the first storage module 930 described above can be combined into a single module in some embodiments.

It should also be understood that various technologies can be described herein in the general context of software hardware elements or program modules. The various modules described above with respect to Figures 9-11 can be implemented in hardware or in hardware in combination with software and/or firmware. For example, these modules can be implemented as computer program codes/instructions, which are configured to be executed in one or more processors and stored in a computer-readable storage medium. Alternatively, these modules can be implemented as hardware logic/circuits. For example, in some embodiments, one or more of modules 910-1130 can be implemented together in a system on chip (System on Chip, SoC). SoC can include an integrated circuit chip (which includes a processor (e.g., a central processing unit (CPU), a microcontroller, a microprocessor, a digital signal processor (DSP), etc.), a memory, one or more communication interfaces, and/or one or more components in other circuits), and can optionally execute the received program code and/or include embedded firmware to perform functions.

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

With reference to Figure 12, the structural block diagram of the electronic device 1200 that can be used as the server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present disclosure described and/or required herein.

As shown in FIG12 , the electronic device 1200 includes a computing unit 1201, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1202 or a computer program loaded from a storage unit 1208 into a random access memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 can also be stored. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other via a bus 1204. An input/output (I/O) interface 1205 is also connected to the bus 1204.

Multiple components in the electronic device 1200 are connected to the I/O interface 1205, including: an input unit 1206, an output unit 1207, a storage unit 1208, and a communication unit 1209. The input unit 1206 can be any type of device that can input information to the device 1200. The input unit 1206 can receive input digital or character information, and generate key signal input related to user settings and/or function control of the electronic device, and can include but is not limited to a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote control. The output unit 1207 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video/audio output terminal, a vibrator, and/or a printer. The storage unit 1208 can include but is not limited to a disk and an optical disk. 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, and may include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver and/or a chipset, such as a Bluetooth ^™ device, an 802.11 device, a Wi-Fi device, a WiMAX device, a cellular communication device and/or the like.

The computing unit 1201 may be a variety of general and/or special processing components with processing and computing capabilities. Some examples of the computing unit 1201 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1201 performs the various methods and processes described above, such as methods 300, 700, or 800. For example, in some embodiments, the methods 300, 700, or 800 may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 1208. In some embodiments, 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. When the computer program is loaded into the RAM 1203 and executed by the computing unit 1201, one or more steps of the methods 300, 700, or 800 described above may be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured to execute the method 300 , 700 , or 800 in any other appropriate manner (eg, by means of firmware).

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 (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and/or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

The program code for implementing the method 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 device, so that the program code, when executed by the processor or controller, implements the functions/operations specified in the flow chart and/or block diagram. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

In the context of the present disclosure, 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, device, or equipment. 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, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide interaction with a user, 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 (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types 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 input from the user can be received in any form (including acoustic input, voice input, or tactile input).

The systems and techniques described herein may 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., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communications network). Examples of communications networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document is not limited here.

Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but is only limited by the claims after authorization and their equivalents. Various elements in the embodiments or examples may be omitted or replaced by their equivalents. In addition, each step may be performed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples may be combined in various ways. It is important that with the evolution of technology, many of the elements described herein may be replaced by equivalent elements that appear after the present disclosure.

Claims (18)

1. A lane data processing method, comprising:

Determining a plurality of continuous branch intersections from a plurality of intersections, so as to determine any branch intersection of the plurality of continuous branch intersections as an intersection to be processed, wherein the branch intersections are connected with at least one entering road and at least two exiting roads;

Determining at least one associated intersection of the intersections to be processed from the plurality of consecutive intersections, wherein a distance from each associated intersection to the intersection to be processed is less than a threshold;

Determining at least one second lane which can reach a second exit road from a plurality of lanes included in a target entry road, wherein the target entry road is any one of at least one entry road connected with the intersection to be processed, and the second exit road is any one of at least two exit roads connected with the intersection to be processed;

Determining at least one first lane which can reach a first exit road from a plurality of lanes included in a target entry road, wherein the first exit road is any one of at least two exit roads connected by the at least one associated intersection; and

Storing an identification of the target entry road, an identification of the second exit road, an identification of the first exit road, an identification of the at least one second lane and an identification of the at least one first lane in association,

Wherein the association storage is performed based on an entering lane marking information table, a lane communication information table and a passing road information table:

The entering lane mark information table is configured to store an association relationship between an identification of the target entering road and traveling direction information of each lane of the target entering road;

The lane connectivity information table is configured to store an association of an identification of the target entry road, an identification of the first exit road and the second exit road, an identification of the at least one second lane of the target entry road that can reach the second exit road, and the at least one first lane that can reach the first exit road; and

The passing road information table is configured to store an association of an identification of the target entry road, an identification of the first exit road and the second exit road, an identification of the at least one second lane of the target entry road that can reach the second exit road and the at least one first lane that can reach the first exit road, an identification of an intermediate road through which the target entry road enters the first exit road and the second exit road.

2. The method of claim 1, wherein the threshold is determined based on a vehicle travel speed on the at least one inbound road.

3. The method of claim 1, wherein the threshold is determined based on a vehicle travel speed on the at least one incoming road and an output duration of a lane prompt message in a navigation application.

4. A method according to any of claims 1-3, wherein storing an identification of the target entry road, an identification of the first exit road, and an identification of the at least one first lane in association comprises:

and storing the identification of the target entering road, the identification of the first exiting road, the identification of the at least one first lane and the identification of an intermediate road used for communicating the target entering road and the first exiting road in an associated mode.

5. A method according to any of claims 1-3, wherein determining at least one first lane from a plurality of lanes comprised by the target entry lane that is reachable to the first exit lane comprises:

Acquiring a pavement image of the target entering road and position information of the first exiting road;

Identifying a lane indication object in the pavement image, wherein the lane indication object comprises a lane line and a guide arrow;

determining respective traveling direction information of the plurality of lanes based on the lane indication object; and

And matching the driving direction information of each of the plurality of lanes with the position information to determine at least one first lane which can reach the first exit road from the plurality of lanes.

6. The method of claim 5, further comprising:

and storing the identification of the target entering road and the driving direction information of the lanes in a correlated mode.

7. A navigation method, comprising:

acquiring a navigation planning route of a vehicle, wherein the navigation planning route comprises at least one planning road;

the lane data processing method according to any one of claims 1 to 6, wherein a target lane corresponding to any one planned road is determined based on a preset association relationship of an entry road, an exit road, and lanes of the entry road that can reach the exit road; and

And sending the identification of the target lane corresponding to each of the navigation planning route and the at least one planning road to a navigation terminal so that the navigation terminal responds to the condition that the vehicle drives into the planning road and outputs a prompt message for indicating the corresponding target lane.

8. A navigation method, comprising:

acquiring a navigation planning route of a vehicle, wherein the navigation planning route comprises at least one planning road;

the lane data processing method according to any one of claims 1 to 6, wherein a target lane corresponding to any one planned road is determined based on a preset association relationship of an entry road, an exit road, and lanes of the entry road that can reach the exit road; and

And responding to the condition that the vehicle drives into any planned road, and outputting a prompt message for indicating a corresponding target lane.

9. A lane data processing apparatus comprising:

a waiting intersection determination module configured to determine a plurality of consecutive bifurcation intersections from a plurality of intersections, to determine any bifurcation intersection of the plurality of consecutive bifurcation intersections as a waiting intersection, wherein the bifurcation intersection is connected with at least one entry road and at least two exit roads;

an associated intersection determination module configured to determine at least one associated intersection of the intersections to be processed from the plurality of consecutive intersections, wherein a distance from each associated intersection to the intersection to be processed is less than a threshold;

a second determining module configured to determine at least one second lane that can reach a second exit road from among a plurality of lanes included in a target entry road, wherein the target entry road is any one of at least one entry road connected to the intersection to be processed, and the second exit road is any one of at least two exit roads connected to the intersection to be processed;

A first determining module configured to determine at least one first lane that can reach a first exit road from among a plurality of lanes included in a target entry road, wherein the first exit road is any one of at least two exit roads connected by the at least one associated intersection; and

A storage module configured to store an identification of the target entry road, an identification of the second exit road, an identification of the first exit road, an identification of the at least one second lane, and an identification of the at least one first lane in association,

Wherein the association storage is performed based on an entering lane marking information table, a lane communication information table and a passing road information table:

The entering lane mark information table is configured to store an association relationship between an identification of the target entering road and traveling direction information of each lane of the target entering road;

The lane connectivity information table is configured to store an association of an identification of the target entry road, an identification of the first exit road and the second exit road, an identification of the at least one second lane of the target entry road that can reach the second exit road, and the at least one first lane that can reach the first exit road; and

The passing road information table is configured to store an association of an identification of the target entry road, an identification of the first exit road and the second exit road, an identification of the at least one second lane of the target entry road that can reach the second exit road and the at least one first lane that can reach the first exit road, an identification of an intermediate road through which the target entry road enters the first exit road and the second exit road.

10. The apparatus of claim 9, wherein the threshold is determined based on a vehicle travel speed on the at least one inbound road.

11. The apparatus of claim 9, wherein the threshold is determined based on a vehicle travel speed on the at least one incoming road and an output duration of a lane prompt message in a navigation application.

12. The apparatus of any of claims 9-11, wherein the storage module is further configured to:

and storing the identification of the target entering road, the identification of the first exiting road, the identification of the at least one first lane and the identification of an intermediate road used for communicating the target entering road and the first exiting road in an associated mode.

13. The apparatus of any of claims 9-11, wherein the first determination module further comprises:

An acquisition unit configured to acquire a road surface image of the target entering road and position information of the first exiting road;

an identification unit configured to identify a lane indication object in the road surface image, the lane indication object including a lane line and a guide arrow;

a determining unit configured to determine travel direction information of each of the plurality of lanes based on the lane indication object; and

And a matching unit configured to match the travel direction information of each of the plurality of lanes with the position information to determine at least one first lane from the plurality of lanes that can reach the first exit road.

14. A navigation device, comprising:

an acquisition module configured to acquire a navigation planned route of a vehicle, wherein the navigation planned route includes at least one planned road;

A determining module configured to determine a target lane corresponding to any planned road based on a preset association relationship of an entry road, an exit road, and a lane of the entry road that can reach the exit road according to the lane data processing method of any one of claims 1 to 6; and

And the transmission module is configured to send the identification of the target lane corresponding to each of the navigation planning route and the at least one planning road to the navigation terminal so that the navigation terminal responds to the condition that the vehicle drives into the planning road and outputs a prompt message for indicating the corresponding target lane.

15. A navigation device, comprising:

an acquisition module configured to acquire a navigation planned route of a vehicle, wherein the navigation planned route includes at least one planned road;

A determining module configured to determine a target lane corresponding to any planned road based on a preset association relationship of an entry road, an exit road, and a lane of the entry road that can reach the exit road according to the lane data processing method of any one of claims 1 to 6; and

And the output module is configured to respond to the condition that the vehicle drives into any planned road and output a prompt message for indicating a corresponding target lane.

16. An electronic device, comprising:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein the method comprises the steps of

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

17. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-8.

18. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-8.