CN114526753B

CN114526753B - Cross-road intersection rule association method and device, computer equipment and readable storage medium

Info

Publication number: CN114526753B
Application number: CN202210432747.9A
Authority: CN
Inventors: 李锐
Original assignee: Shenzhen Yishi Huolala Technology Co Ltd
Current assignee: Shenzhen Yishi Huolala Technology Co Ltd
Priority date: 2022-04-24
Filing date: 2022-04-24
Publication date: 2022-07-15
Anticipated expiration: 2042-04-24
Also published as: CN114526753A

Abstract

The application discloses a correlation method of a cross-road intersection rule. The method for associating the crossing traffic rules comprises the following steps: acquiring a local topological graph of a road network, wherein the local topological graph at least comprises roads corresponding to a cross road intersection; respectively acquiring original lines between any incoming edge and any outgoing edge in a local topological graph; connecting the starting point of any incoming edge and the starting point of any outgoing edge as a new line; replacing the original line with the same incoming edge and outgoing edge by the newly-built line; and associating the newly-built line with the cross-road intersection. The application also discloses a cross-road intersection rule association device, computer equipment and a computer readable storage medium. The newly-built route is a connection line between the starting point of any incoming edge and the starting point of any outgoing edge, the newly-built route replaces the original route, a local topological graph is actually reconstructed, in the reconstructed local topological graph, the route between any incoming edge and any outgoing edge can be represented by the single newly-built route, and each intersection crossing rule can be corresponding to the unique newly-built route.

Description

Cross-road intersection rule association method and device, computer equipment and readable storage medium

Technical Field

The present application relates to the field of path planning technologies, and in particular, to a method and an apparatus for associating a crossroad intersection rule, a computer device, and a computer-readable storage medium.

Background

Traffic regulations, abbreviated as crossing regulations, mean that in the real world, some types of turning actions are not allowed at intersections, for example, in some intersections, when driving from west to east, left turning is prohibited from 6 o 'clock to 23 o' clock, so when planning a route, the influence of crossing regulations on route planning needs to be considered. Generally, for a crossing gauge related to a single intersection, the crossing gauge is relatively easy to be represented in a topological graph, and does not affect other edges in the topological graph, however, some crossing gauges related to a plurality of intersections, namely, a crossing gauge, although the turning action at the single intersection may be allowed, some turning series among the plurality of intersections related to the crossing gauge are prohibited, so that the crossing gauge is difficult to be represented in the existing topological graph.

Disclosure of Invention

In order to solve at least one technical problem in the foregoing background, embodiments of the present application provide a method for associating a cross-road intersection rule, an apparatus for associating a cross-road intersection rule, a computer device, and a computer-readable storage medium.

The method for associating the cross-road intersection rule comprises the following steps:

obtaining a local topological graph of a road network, wherein the local topological graph at least comprises roads corresponding to a cross road intersection;

respectively acquiring original lines between any incoming edge and any outgoing edge in the local topological graph;

connecting the starting point of any incoming edge and the starting point of any outgoing edge as a new line;

replacing the original line with the same incoming edge and the same outgoing edge by the newly-built line; and

and associating the newly-built line with a cross road intersection.

In some embodiments, obtaining a local topology map of a road network comprises:

acquiring a global topological graph of a road network;

dividing the plurality of cross road intersection plans into a plurality of clusters according to the distribution of roads corresponding to the plurality of cross road intersection plans; and

and in the global topological graph, dividing roads corresponding to the cross-road intersection rules in the same cluster into a local topological graph.

In some embodiments, dividing the plurality of intersection plans into a plurality of clusters according to the distribution of the roads corresponding to the plurality of intersection plans includes:

a plurality of intersection plans corresponding to at least one same road are divided into a cluster.

In some embodiments, obtaining a global topology graph of a road network comprises:

converting intersections in the map into points, and converting roads between the intersections into edges connecting different points;

adding directions to the sides according to the driving directions of roads in the map; and

and adding numbers to the edges according to the actual length of the road.

In some embodiments, in the local topology map, obtaining an original line between any incoming edge and any outgoing edge respectively includes:

acquiring the length of each road in the local topological graph; and

and for any group of incoming edges and outgoing edges, acquiring a path with the shortest road length between the incoming edges and the outgoing edges as the original line.

In some embodiments, the shortest path is obtained according to Dijkstra's algorithm.

In some embodiments, associating the newly created line with a crossroad intersection comprises:

identifying whether each newly-built line corresponds to a cross-road intersection rule or not; and

and for the newly-built line corresponding to the crossing intersection rule, associating a preset identifier and/or associating the road length of the replaced original line.

The device for associating the crossing intersection rule comprises:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a local topological graph of a road network, and the local topological graph at least comprises roads corresponding to a cross road intersection;

the second acquisition module is used for respectively acquiring original lines between any incoming edge and any outgoing edge in the local topological graph;

the connecting module is used for connecting the starting point of any incoming edge and the starting point of any outgoing edge as a new line;

the replacing module is used for replacing the original line with the same incoming edge and the same outgoing edge by the newly-built line; and

and the association module is used for associating the newly-built line with the cross road intersection.

The computer device of the embodiment of the application comprises: one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, the one or more computer programs configured to: the method for associating the cross-road intersection rule is implemented according to any embodiment of the application.

The non-transitory computer-readable storage medium of an embodiment of the present application stores a computer program that, when executed by one or more processors, causes the processors to perform the method of associating a cross-road intersection rule described in any of the embodiments of the present application.

In the method for associating a crossroad intersection gauge, the apparatus for associating a crossroad intersection gauge, the computer device, and the computer readable storage medium according to the embodiments of the present application, a newly-created line is a connection line between a starting point of any incoming edge and a starting point of any outgoing edge, a local topological graph is actually reconstructed by replacing the newly-created line with an original line, and in the reconstructed local topological graph, lines between any incoming edge and any outgoing edge can be represented by a single newly-created line, and then the newly-created line is associated with a crossroad intersection gauge, so that each crossroad intersection gauge can be corresponding to a unique newly-created line, and thus, the crossroad intersection gauge is easily represented in the reconstructed local topological graph.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic flow chart diagram of a method for correlating cross-road traffic regulations in accordance with certain embodiments of the present disclosure;

FIG. 2 is a first exemplary diagram of a local topology of certain embodiments of the present application;

FIG. 3 is a second exemplary diagram of a local topology of certain embodiments of the present application;

FIG. 4 is a third exemplary diagram of a local topology of certain embodiments of the present application;

FIG. 5 is a first flow diagram illustrating a method for correlating a cross-road intersection in accordance with certain embodiments of the present disclosure;

FIG. 6 is a second flow chart illustrating a method for correlating cross-road intersection metrics in accordance with certain embodiments of the present disclosure;

FIG. 7 is a third flow chart illustrating a method for correlating a crossroad intersection metric according to some embodiments of the present disclosure;

FIG. 8 is a fourth flowchart illustrating a method for associating a crossroad traffic rule in accordance with certain embodiments of the present disclosure;

FIG. 9 is a fifth flowchart illustrating a method for associating a crossroad intersection rule according to some embodiments of the present disclosure;

FIG. 10 is a block diagram illustrating an apparatus associated with a crossroad intersection rule in accordance with certain embodiments of the present disclosure;

FIG. 11 is a schematic representation of a computer readable storage medium in communication with a processor of certain embodiments of the present application;

FIG. 12 is a schematic diagram of a computer device according to some embodiments of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the embodiments of the present application, and are not construed as limiting the embodiments of the present application.

Referring to fig. 1, fig. 1 is a schematic flow chart of a correlation method of a cross-road traffic regulation according to some embodiments of the present disclosure, where the correlation method includes the steps of:

01: acquiring a local topological graph of a road network, wherein the local topological graph at least comprises roads corresponding to a cross road intersection;

02: respectively acquiring original lines between any incoming edge and any outgoing edge in a local topological graph;

03: connecting the starting point of any incoming edge and the starting point of any outgoing edge as a new line;

04: replacing the original line with the same incoming edge and outgoing edge by the newly-built line; and

05: and associating the newly-built line with the cross-road intersection.

In the method for associating a crossroad intersection rule in the embodiment of the application, a newly-built line is a connection line between a starting point of any incoming edge and a starting point of any outgoing edge, a local topological graph is actually reconstructed by replacing the newly-built line with an original line, in the reconstructed local topological graph, any line between the incoming edge and the outgoing edge can be represented by the newly-built line, and then the newly-built line is associated with the crossroad intersection rule, so that each crossroad intersection rule can be corresponding to the unique newly-built line, and therefore, the crossroad intersection rule can be easily represented in the reconstructed local topological graph.

Step 01, obtaining a local topological graph of a road network, wherein the topological graph can be abstracted according to map road network data, and the local topological graph at least includes roads corresponding to the intersection gauge, that is, the local topological graph includes all roads directly related to the intersection gauge, so as to associate the intersection gauge in the local topological graph subsequently.

In step 02, in the local topology map, the original lines between any incoming edge and any outgoing edge are respectively obtained, specifically, in the local topology map, the incoming edge is the edge where the starting point in the local topology map is located, the outgoing edge is the edge where the ending point in the local topology map is located, in the example shown in fig. 2, where fig. 2 is the first exemplary diagram of the local topology map of some embodiments of the present application, the starting point in the local topology map includes point 1 and point 2, the incoming edge is (1, 3) and (2, 3), the ending point in the local topology map includes point 4, point 7 and point 8, the outgoing edge is (3, 4), (5, 7) and (6, 8), the original lines between any incoming edge and any outgoing edge are respectively obtained, which includes the original lines from edge (1, 3) to (3, 4), the original lines from edge (1, 3) to (5, 7), and the original lines from edge (1, 3) to (6), 8) the original lines from the edges (2, 3) to (3, 4), the original lines from the edges (2, 3) to (5, 7), and the original lines from the edges (2, 3) to (6, 8), that is, the original lines from each incoming edge to each outgoing edge are acquired, respectively.

In step 03, connecting the starting point of any incoming edge and the starting point of outgoing edge as a new line, as in the example shown in fig. 3, where fig. 3 is a second example of a local topology of some embodiments of the present application, connecting the starting point 1 of the incoming edge (1, 3) with the starting point 5 of the outgoing edge (5, 7) results in the new line (1, 5), connecting the starting point 1 of the incoming edge (1, 3) with the starting point 6 of the outgoing edge (6, 8) results in the new line (1, 6), connecting the starting point 2 of the incoming edge (2, 3) with the starting point 5 of the outgoing edge (5, 7) results in the new line (2, 5), connecting the starting point 2 of the incoming edge (2, 3) with the starting point 6 of the outgoing edge (6, 8) results in the new line (2, 6), in the example shown in fig. 3, for convenience of distinction, the new line is shown in dashed lines, and at the same time, because the starting point 1 of the incoming edge (1, 3) and the outgoing edge (3), 4) if the starting points 3 of the incoming edges (2, 3) have roads directly connected with the starting points 3 of the outgoing edges (3, 4), the edges (2, 3) can be used as new lines. By creating a new line, the line between the starting point of any incoming edge and the starting point of any outgoing edge in the local topological graph can be represented by the new line, and further, any cross-road intersection rule can find the corresponding new line to be associated with the new line.

In step 04, the original line with the same incoming edge and outgoing edge is replaced by the newly-built line, and when the newly-built line can be used to represent the path between the incoming edge and the outgoing edge, the newly-built line can be used to replace the original line, so that the path moving from any incoming edge to any outgoing edge can find the separately-built line for representation, and therefore, the original line does not need to be reserved to reconstruct the local topological graph, and the reconstructed local topological graph is simpler. In the examples shown in fig. 3 and 4, fig. 4 is a third exemplary diagram of a partial topology diagram of some embodiments of the present application, in which the original lines (1, 3), (3, 5) are replaced by new lines (1, 5), the original lines (1, 3), (3, 6) are replaced by new lines (1, 6), the original lines (2, 3), (3, 5) are replaced by new lines (2, 5), and the original lines (2, 3), (3, 6) are replaced by new lines (2, 6).

In step 05, the newly-built lines and the crossroad intersection compasses are associated, and as mentioned above, the path from any incoming edge to any outgoing edge can be represented by one of the newly-built lines, so that any crossroad intersection compass always has one newly-built line corresponding to the newly-built line, and the crossroad intersection compasses are associated with the corresponding newly-built lines, so that the crossroad intersection compasses can be considered during path planning, and the other newly-built lines cannot be influenced to be used in the planned path.

In the reconstructed local topological graph, all passable topological relations of the original road network are reserved, so that the navigation route planning work can be normally completed. Aiming at the situation of violating the intersection rule, a topological edge (a newly-built line) is also necessarily matched with the local topological graph after reconstruction, the intersection rule can be recorded in the attribute of the newly-built line, and the navigation route planning can be carried out according to the corresponding intersection rule attribute.

Referring to fig. 5, fig. 5 is a first flowchart of a method for correlating a crossroad intersection traffic rule according to some embodiments of the present disclosure, in some embodiments, step 01: the method for acquiring the local topological graph of the road network comprises the following steps:

011: acquiring a global topological graph of a road network;

012: dividing the plurality of cross-road intersection plans into a plurality of clusters according to the distribution of roads corresponding to the plurality of cross-road intersection plans; and

013: in the global topological graph, roads corresponding to the cross-road intersection rules in the same cluster are divided into a local topological graph.

In step 011, a global topological graph of the road network is obtained, and it can be understood that the global topological graph is necessarily obtained first before the local topological graph is obtained, and the local topological graph is further obtained in the global topological graph according to the needs. In step 012, the multiple intersection rules are divided into multiple clusters according to the distribution of the roads corresponding to the multiple intersection rules, and in the multiple different intersection rules, there may be some roads related to some intersection rules, and the associated intersection rules are divided into a cluster, so as to conveniently and reasonably divide the local topological graph from the global topological graph in the following. In step 013, in the global topological graph, the roads corresponding to the intersection plans in the same cluster are divided into one local topological graph, and specifically, before the local topological graph is reconstructed, the global topological graph needs to be divided into a plurality of local topological graphs according to the intersection plans, so that when the

above steps

02, 03 and 04 are performed, the calculation amount is small, and the local topological graphs can be quickly processed.

Referring to fig. 6, fig. 6 is a second flowchart of a method for associating a crossroad intersection rule according to some embodiments of the present application, in some embodiments, step 013: in the global topological graph, dividing the roads corresponding to the crossroad intersection in the same cluster into a local topological graph, and comprising the following steps of 0131: a plurality of intersection plans corresponding to at least one same road are divided into a cluster.

Specifically, the crossroad is represented by a set of road ID sequences, for example, crossroad (2, 3) (3, 5) shown in fig. 3 indicates that the sequence from the road (2, 3) to (3, 5) is prohibited. When at least one identical road ID exists in the two crossing traffic rules, the two crossing traffic rules are divided into a cluster. Of course, when the intersection gauge 1 and the intersection gauge 2 are in a cluster and the intersection gauge 2 and the intersection gauge 3 are in a cluster, the intersection gauge 1, the intersection gauge 2 and the intersection gauge 3 are in the same cluster, and so on. And when the same road ID does not exist between one certain cross-road intersection gauge and any other cross-road intersection gauge, the certain cross-road intersection gauge is independently a cluster.

Referring to fig. 7, fig. 7 is a third flow chart of a method for associating a crossroad intersection rule according to some embodiments of the present application, in some embodiments, step 011: the method for acquiring the global topological graph of the road network comprises the following steps:

0111: converting intersections in the map into points, and converting roads between the intersections into edges connecting different points;

0112: adding directions for the sides according to the driving directions of roads in the map; and

0113: the sides are added with numbers according to the actual length of the road.

By implementing the

steps

0111, 0112 and 0113, the map can be converted into a global topological graph, so that a local road network graph can be obtained subsequently, and the path can be planned. Specifically, intersections and roads are represented in a point and edge mode respectively, useless information amount in a topological graph can be reduced, the edge attribute can be further improved according to the direction added to the edges, the actual length of the roads is represented by the added numbers, and the shortest path can be conveniently planned through an algorithm. Specifically, referring to the partial topology shown in fig. 3, the number on the edge indicates the actual length of the road corresponding to the edge.

Referring to fig. 8, fig. 8 is a fourth flowchart illustrating a method for associating a crossroad traffic rule according to some embodiments of the present disclosure, in some embodiments, step 02: respectively acquiring an original line between any incoming edge and any outgoing edge, comprising the following steps:

021: acquiring the length of each road in the local topological graph; and

022: and for any group of incoming edges and outgoing edges, acquiring the path with the shortest road length between the incoming edges and the outgoing edges as an original line.

By implementing the

steps

021 and 022, the original route is the route with the shortest road length between the incoming edge and the outgoing edge, and the newly-built route which is finally used as a substitute is also actually represented as the shortest route, and the rest non-shortest routes do not need to be replaced, because in the actual route planning, the non-shortest routes are not planned into the route by default, and therefore, the non-shortest routes do not need to be replaced. In one example, the shortest path described above may be obtained according to Dijkstra's algorithm.

Referring to fig. 9, fig. 9 is a fifth flowchart illustrating a method for associating a crossroad intersection rule according to some embodiments of the present disclosure, where in some embodiments, step 05: the method for associating the newly-built line with the cross road intersection comprises the following steps:

051: identifying whether each newly-built line corresponds to a cross-road intersection rule or not; and

052: and for the newly-built line corresponding to the cross-road intersection rule, associating the preset identifier and/or associating the road length of the replaced original line.

In step 051, it is identified whether each new line corresponds to a cross-road intersection gauge, it can be understood that not every new line corresponds to a cross-road intersection gauge, a new line without a corresponding cross-road intersection gauge can be planned into a path to be planned, and a new line with a corresponding cross-road intersection gauge cannot be planned into a path to be planned, so it is necessary to identify whether the new line corresponds to a cross-road intersection gauge.

In step 052, associating a preset identifier with the newly created line corresponding to the crossing intersection rule, and/or associating the road length of the replaced original line, where the preset identifier may be any identifier, such as a color code of the newly created line being red, a line type of the newly created line being thickened, and the like, and is not limited herein. And associating the road length of the replaced original line, so that the path can be conveniently planned according to the total length of the road. Certainly, for a newly-built line without a corresponding crossing intersection, the preset identifier does not need to be associated, but the road length of the replaced original line can also be associated.

Referring to fig. 10, fig. 10 is a block diagram illustrating an association apparatus 10 of a cross-road intersection traffic rule according to some embodiments of the present application, where the association apparatus 10 of the present application includes a first obtaining module 11, a second obtaining module 12, a connection module 13, a replacing module 14, and an association module 15. The association apparatus 10 according to the embodiment of the present application may be configured to implement the association method according to the embodiment of the present application, and specifically, the first obtaining module 11 may be configured to implement step 01, that is, the first obtaining module 11 is configured to obtain a local topological graph of a road network, where the local topological graph at least includes roads corresponding to a crossing intersection; the second obtaining module 12 may be configured to implement step 02, that is, the second obtaining module 12 is configured to obtain, in the local topological graph, original lines between any incoming edge and any outgoing edge; the connection module 13 can be configured to implement step 03, that is, the connection module 13 is configured to connect a starting point of any incoming edge and a starting point of any outgoing edge as a newly-built route; the replacing module 14 can be used to implement step 04, that is, the replacing module 14 is used to replace the original line with the new line, which has the same incoming edge and outgoing edge; the association module 15 can be used to implement step 05, that is, the association module 15 is used to associate the newly-built line with the intersection crossing rule.

With continued reference to fig. 10, in some embodiments, the first obtaining module 11 may be configured to implement

steps

011, 012, 013, and 014, that is, the first obtaining module 11 may be configured to obtain a global topology map of the road network; dividing the plurality of cross-road intersection plans into a plurality of clusters according to the distribution of roads corresponding to the plurality of cross-road intersection plans; and dividing roads corresponding to the cross-road intersection rules in the same cluster into a local topological graph in the global topological graph.

With continued reference to fig. 10, in some embodiments, the first obtaining module 11 may be configured to implement step 0131, that is, the first obtaining module 11 may be configured to divide the plurality of intersection plans corresponding to at least one identical road into a cluster.

Referring to fig. 10, in some embodiments, the first obtaining module 11 may be configured to implement

steps

0111, 0112, and 0113, that is, the first obtaining module 11 may be configured to convert intersections in a map into points, and roads between the intersections are converted into edges connecting different points; adding directions to the sides according to the driving directions of roads in the map; and adding numbers to the edges according to the actual length of the road.

Continuing to refer to fig. 10, in some embodiments, the second obtaining module 12 may be configured to implement

steps

021 and 022, that is, the second obtaining module 12 may be configured to obtain the length of each road in the local topology map; and for any group of incoming edges and outgoing edges, acquiring the path with the shortest road length between the incoming edges and the outgoing edges as an original line.

Continuing to refer to fig. 10, in some embodiments, the association module 15 may be configured to perform

steps

051 and 052, that is, the association module 15 may be configured to identify whether each newly-built line corresponds to a crossroad crossing rule; and for the newly-built line corresponding to the cross-road intersection rule, associating the preset identification and/or associating the road length of the replaced original line.

It should be noted that, when the device 10 for associating a crossing intersection rule implements the method for associating a crossing intersection rule according to any embodiment of the present application, details of implementation and effects achieved may refer to the description of the method for associating a crossing intersection rule, and are not described herein again.

In addition, referring to fig. 11, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the method for associating a cross-road intersection rule according to any of the above embodiments. The computer-readable storage medium includes, but is not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards. That is, a storage device includes any medium that stores or transmits information in a form readable by a device (e.g., a computer, a cellular phone), and may be a read-only memory, a magnetic or optical disk, or the like.

The contents of the method embodiments of the present application are all applicable to the storage medium embodiments, the functions specifically implemented by the storage medium embodiments are the same as those of the method embodiments, and the beneficial effects achieved by the storage medium embodiments are also the same as those achieved by the method described above, and for details, refer to the description of the method embodiments, and are not described herein again.

In addition, referring to fig. 12, an embodiment of the present application further provides a computer device, where the computer device may be a server, a personal computer, a network device, and the like. The computer device includes one or more processors, memory, and one or more computer programs. Wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors. One or more computer programs are configured to perform the method of associating cross-road intersection rules as described in any of the embodiments above.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application and that variations, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims

1. A method for associating crossroad traffic rules, the method comprising:

obtaining a local topological graph of a road network, wherein the local topological graph at least comprises roads corresponding to a cross road intersection rule;

replacing the original line with the same incoming edge and outgoing edge with the newly-built line; and

associating the newly-built line with a crossing intersection rule;

the method for acquiring the local topological graph of the road network comprises the following steps:

acquiring a global topological graph of a road network;

and in the global topological graph, dividing roads corresponding to the cross road intersection in the same cluster into a local topological graph.

2. The method of claim 1, wherein the dividing the plurality of intersection plans into a plurality of clusters according to the distribution of the roads corresponding to the plurality of intersection plans comprises:

3. The method for associating intersection traffic rules according to claim 1, wherein obtaining a global topology graph of a road network comprises:

and adding numbers to the edges according to the actual length of the road.

4. The method according to claim 1, wherein the step of obtaining the original route between any incoming edge and any outgoing edge in the local topology map comprises:

acquiring the length of each road in the local topological graph; and

and for any group of incoming edges and outgoing edges, acquiring the path with the shortest road length between the incoming edges and the outgoing edges as the original line.

5. The method of claim 4, wherein the shortest path is obtained according to Dijkstra's algorithm.

6. The method of claim 1, wherein associating the newly-built line with the intersection comprises:

and for the newly-built line corresponding to the cross road intersection rule, associating a preset identifier and/or associating the road length of the replaced original line.

7. An apparatus for correlating a crossroad traffic rule, the apparatus comprising:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a local topological graph of a road network, and the local topological graph at least comprises roads corresponding to a cross-road intersection rule; the obtaining of the local topological graph of the road network specifically includes: acquiring a global topological graph of a road network; dividing the plurality of cross road intersection plans into a plurality of clusters according to the distribution of roads corresponding to the plurality of cross road intersection plans; dividing roads corresponding to the cross-road intersection rules in the same cluster into a local topological graph in the global topological graph;

the connecting module is used for connecting a starting point of any incoming edge and a starting point of any outgoing edge as a newly-built line;

the replacing module is used for replacing the original line with the same incoming edge and outgoing edge by the newly-built line; and

and the association module is used for associating the newly-built line with the cross-road intersection.

8. A computer device, comprising:

one or more processors;

a memory; and

one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, the one or more computer programs configured to: -performing the method of associating a crossroad intersection rule according to any of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing a computer program, which when executed by one or more processors causes the processors to perform the method of associating cross-road traffic rules of any of claims 1 to 6.