Method, apparatus, and computer program product for perceiving road structure

The present disclosure provides a method, an apparatus, an electronic device, a storage medium and a program product for perceiving a road structure, and relates to the technical field of artificial intelligence and, in particular, to the technical field of deep learning and automatic driving. A specific implementation includes: determining, based on map data, a first perceiving result characterizing a road structure around a current position; determining, by a road structure perceiving model trained in advance, a second perceiving result characterizing the road structure around the current position; and generating a final perceiving result characterizing the road structure around the current position based on the first perceiving result and the second perceiving result.