Vector-based map processing method and device

Abstract

The embodiment of the invention provides a vector-based map processing method and device, and the method comprises the steps: carrying out the matching of an initial vector and an update vector of a target map according to a preset matching rule, and determining a vector matching pair; determining a pose adjustment parameter of the updated vector and a relocation parameter of each vector point in the updated vector according to the vector matching pair; adjusting the update vector according to the pose adjustment parameter and the relocation parameter to obtain an adjusted update vector; according to a matching distance between an initial vector and an update vector in the vector matching pair and an association relationship between the initial vector and the adjusted update vector, determining a confidence coefficient of the update vector; and according to the vector matching pair, the pose adjustment parameter and / or the confidence coefficient of the update vector, determining whether the target map changes.

Description

technical field [0001] The embodiments of this specification relate to the field of computer technology, and in particular, to a vector-based map processing method. Background technique [0002] High-precision maps accurately describe the location, attributes, geometry and other information of various road elements (such as stop signs, road signs, etc.) in the real world, and are one of the data sources for autonomous driving technology. Most autonomous or assisted driving vehicles on the market rely on high-precision maps to help complete tasks such as perception, positioning, and planning. This requires that high-precision maps can accurately and real-time reflect the actual state of road elements. That is, it is necessary to accurately discover the current changes in the high-precision map, so as to update the high-precision map in time. [0003] At present, the current situation changes in the high-precision map are generally checked manually to determine whether a cer...

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Problems solved by technology

[0003] At present, the current status changes in high-precision maps are generally checked manually to determine whether a certain road element has changed, and then after manually determining the location of the road element change, on-site measurement and data collection are carried out to achieve real-time analysis. Update of high-precision maps; in this way, the current situational changes of road elements in high-precision maps cannot be obtained in time, and it is implemented manually, with long processing cycles, high costs, and poor accuracy

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