Processing method and device for generating positioning information of high-definition map, and equipment

Abstract

The disclosure provides a processing method and device for generating positioning information of a high-definition map, and relates to the field of artificial intelligence, in particular to the field of automatic driving. The specific implementation scheme is as follows: historical positioning information of a vehicle on a historical trajectory is acquired, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical trajectory; weight information of a frame is determined according to the strength of a positioning signal corresponding to the frame indicated by the global positioning information of the frame; and optimization positioning information of the frame is determined according to the global positioning information, the inter-frame positioning information and the weight information of the frame; wherein the optimization positioning information is used to generate a high-definition map.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of artificial intelligence, and particularly relates to a processing method and device for generating positioning information of a high-definition map, which can be used in the field of automatic driving. BACKGROUND

[0002] With the rapid development of artificial intelligence, the demand for automatic driving is also increasing. The vehicle of automatic driving generally travels according to a high-definition map that has been drawn, wherein the high-definition map is generated according to the positioning information of the vehicle.

[0003] At present, when collecting the positioning information of the vehicle, the vehicle can be positioned by itself to obtain the positioning information of the vehicle, or a Global Navigation Satellite System-Inertial Measurement Unit (GNSS-IMU) post-solution method can be used to obtain the positioning information of the vehicle.

[0004] However, in the above-mentioned methods, the positioning information is obtained based on a positioning signal (for example, a positioning signal of a global positioning system or a positioning signal of a base station). If the positioning signal is missing, the positioning information of the vehicle obtained is inaccurate, which further leads to an inaccurate high-definition map. SUMMARY

[0005] The present disclosure provides a processing method, device and equipment for generating positioning information of a high-definition map.

[0006] According to a first aspect of the present disclosure, a processing method for generating positioning information of a high-definition map is provided, comprising:

[0007] obtaining historical positioning information of a vehicle on a historical trajectory, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical trajectory;

[0008] determining weight information of the frame according to the strength of the positioning signal corresponding to the frame indicated by the global positioning information of the frame;

[0009] determining optimized positioning information of the frame according to the global positioning information, the inter-frame positioning information and the weight information of the frame; wherein the optimized positioning information is used to generate a high-definition map.

[0010] According to a second aspect of the present disclosure, a processing device for positioning information is provided, comprising:

[0011] The acquisition unit is configured to acquire historical positioning information of a vehicle on a historical trajectory, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical trajectory.

[0012] The first determination unit is configured to determine weight information of the frame according to an intensity of a positioning signal corresponding to the frame indicated by the global positioning information of the frame.

[0013] The second determination unit is configured to determine optimized positioning information of the frame according to the global positioning information, the inter-frame positioning information and the weight information of the frame, wherein the optimized positioning information is used to generate a high-definition map.

[0014] According to a third aspect of the present disclosure, an electronic device is provided, comprising at least one processor, and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of the first aspect.

[0015] According to a fourth 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 the computer to perform the method of the first aspect.

[0016] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program stored in a readable storage medium, and at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to enable the electronic device to perform the method of the first aspect.

[0017] The technical solution of the present disclosure solves the problem that the high-definition map generated due to inaccurate positioning information of a vehicle is not accurate.

[0018] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings are used to better understand the present scheme, and do not limit the present disclosure. Among them:

[0020] Figure 1 is a schematic diagram of a use scenario according to the present disclosure;

[0021] Figure 2 is a schematic diagram according to the first embodiment of the present disclosure;

[0022] Figure 3 is a schematic diagram according to a second embodiment of the present disclosure;

[0023] Figure 4 is a schematic diagram according to a third embodiment of the present disclosure;

[0024] Figure 5 is a schematic diagram according to a fourth embodiment of the present disclosure;

[0025] Figure 6 is a schematic diagram according to a fifth embodiment of the present disclosure;

[0026] Figure 7 is a schematic diagram according to a sixth embodiment of the present disclosure;

[0027] Figure 8 is a schematic diagram according to a seventh embodiment of the present disclosure;

[0028] Figure 9 is a schematic block diagram of an example electronic device to implement embodiments of the present disclosure. DETAILED DESCRIPTION

[0029] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to assist in understanding, and should be considered as merely exemplary. Thus, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of known functions and constructions are omitted in the following description for clarity and conciseness.

[0030] The present disclosure provides a processing method and device for generating positioning information of a high-precision map, which is applied to the field of automatic driving in the field of artificial intelligence to improve the accuracy of the positioning information of a vehicle and thus improve the precision of the generated high-precision map.

[0031] The use scenario of the present disclosure is in a scenario where the GPS signal or the base station signal is relatively weak, such as in a tunnel or a tree-lined road. At this time, the accuracy of the global positioning information of the vehicle is relatively low. Therefore, how to improve the accuracy of the global positioning information of the vehicle in this scenario is a problem to be solved by the present disclosure.

[0032] Specifically, the use scenario of the present disclosure can be seen from Figure 1 , Figure 1 is a schematic diagram of a use scenario according to the present disclosure. The schematic diagram includes a vehicle 101, a road, and a large number of trees. Figure 1When the vehicle 101 travels on a road with more trees, the GPS signal of the vehicle 101 is blocked by the tree shade, and thus the accuracy of the global positioning information of the vehicle 101 is reduced. Therefore, the method of the present disclosure is used to process the positioning information at this time, so as to improve the accuracy of the positioning information at this time.

[0033] According to an embodiment of the present disclosure, the present disclosure further provides a processing method for generating positioning information of a high-definition map, Figure 2 FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure, comprising:

[0034] S201, obtaining historical positioning information of a vehicle on a historical trajectory, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical trajectory.

[0035] For example, the historical trajectory is a trajectory traveled by the vehicle in a past time period, and the historical positioning information is information capable of representing the position of each frame of the historical trajectory. For example, the historical positioning information can be longitude and latitude information of each frame, and specific national highway and provincial highway information.

[0036] In this embodiment, a frame is a unit of each time on the historical trajectory. In an example, a frame can also be a unit of each point on the historical trajectory. The global positioning information of each frame comprises global pose information, and the global pose information further comprises position information and attitude information. For example, the global pose information is position information of longitude 30 and latitude 60, and attitude information that the vehicle travels at a speed of 60 miles and is in a straight state. It should be noted that the position information can be various information capable of representing the specific geographical position of the vehicle, and is not limited to longitude and latitude information and provincial and city information. The attitude information can include direction, acceleration, angular velocity, and speed. The global positioning information is obtained by a GPS, a base station, or a high-definition map stored in a server.

[0037] In this embodiment, the inter-frame positioning information is obtained by a sensor carried by the vehicle, and the sensor comprises a camera, a range finder, a wheel speed meter, and the like. Specifically, the inter-frame positioning information is obtained by an inertial measurement unit, a wheel speed meter, and a camera. The inter-frame positioning information is information that can be obtained by the vehicle at any time and is not limited by the external environment.

[0038] S202, determining weight information of the frame according to the strength of the positioning signal corresponding to the frame indicated by the global positioning information of the frame.

[0039] Exemplarily, the intensity of the positioning signal is used to represent the intensity of the positioning signal corresponding to the frame. Specifically, the intensity levels can be different, for example, the intensity levels are 12 levels, respectively, intensity level 1, intensity level 2, intensity level 3, intensity level 4, and intensity level 5, and so on. Here, the intensity of the intensity level 12 is greater than the intensity of the intensity level 11, and the intensity levels gradually decrease according to the size of the number.

[0040] In this embodiment, the intensity of different frames can be the same or different. Further, the weight information of different frames is different according to the intensity of the positioning signal of the frame. Wherein, the weight information is a measurement index for representing the intensity of the positioning signal of the frame. Further, the signal with strong positioning signal intensity can be represented by the large value in the weight information.

[0041] S203, according to the global positioning information of the frame, the inter-frame positioning information and the weight information, determine the optimized positioning information of the frame; wherein, the optimized positioning information is used to generate a high-precision map.

[0042] Exemplarily, the optimized positioning information of the frame is the positioning information after adjusting the original positioning information of the frame, wherein the accuracy of the optimized positioning information of the frame is relatively high. The high-precision map is a map that can represent specific positioning information.

[0043] The present disclosure provides a processing method for generating positioning information of a high-precision map, comprising: obtaining historical positioning information of a vehicle on a historical trajectory, determining weight information of a frame according to intensity of a positioning signal corresponding to the frame indicated by global positioning information of the frame, and determining optimized positioning information of the frame according to global positioning information of the frame, inter-frame positioning information and weight information. Through this technical solution, inaccurate positioning information during vehicle driving can be corrected, and the accuracy of the generated high-precision map is further improved.

[0044] According to the embodiments of the present disclosure, the present disclosure also provides a processing method for generating positioning information of a high-precision map, Figure 3 is a schematic diagram according to the second embodiment of the present disclosure, comprising:

[0045] S301, obtaining historical positioning information of a vehicle on a historical trajectory, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical trajectory.

[0046] Exemplarily, this step can refer to step S101, which will not be repeated here.

[0047] S302, if the global positioning information of the frame indicates that the frame has a positioning signal, the weight information of the frame is first preset value information. If the global positioning information of the frame indicates that the frame does not have a positioning signal, the weight information of the frame is second preset value information; wherein the first preset value information and the second preset value information represent different values.

[0048] Exemplarily, the positioning signal is a signal that can represent a specific position, and the first preset value information and the second preset value information are both values set in advance, and the number of the first preset value information and the number of the second preset value information are not limited herein. For example, the first preset value information is a, and when the global positioning information of the fifth frame indicates that the fifth frame has a positioning signal, the weight information of the fifth frame is set to a. The second preset value information is b, and when the global positioning information of the sixth frame indicates that the sixth frame does not have a positioning signal, the weight information of the sixth frame is set to b. The advantage of such setting is that different degrees of adjustment are made according to whether the global positioning information of different frames has a positioning signal, and since the adjustment is made for frames, the global position problem caused by vehicle end positioning drift can be effectively corrected.

[0049] In one example, the global positioning information includes map indication data, a solution of a global positioning system (GPS) signal, and a global positioning standard deviation; wherein the map indication data is used to indicate whether the frame has corresponding high-precision map data; and the global positioning standard deviation represents the difference between the measurement positioning information corresponding to the frame and the real positioning information corresponding to the frame.

[0050] In the embodiment, whether the frame has corresponding high-precision map data can be obtained according to the map indication data, and the map indication data can include digital information and graphical information that can be used as map description information. The solution of the GPS signal includes any one of the following: fixed solution, floating point solution, differential solution, and single point solution. The fixed solution is the ambiguity when using carrier phase observation value positioning, and the ambiguity is theoretically an integer. After the integer ambiguity is solved by an algorithm, the positioning accuracy is greatly improved. Sometimes the solution of the GPS signal is not an integer, which is a floating point solution. The 3D coordinates calculated by the GPS signal receiver without using any differential correction information are single point solution. In the embodiment, for example, the measurement positioning information corresponding to the frame is a, and the real positioning information corresponding to the frame is b, and the difference between the two is the global positioning standard deviation. It is worth noting that the difference is not limited to one-dimensional difference, but can be three-dimensional position difference or rigid body position difference.

[0051] The advantage of such an arrangement is that the information in the global positioning information is not single, and whether the global positioning information exists can be determined in more than one way. If one of the determination methods does not take effect, other methods can be used to determine whether the global positioning information exists, thereby ensuring the smooth progress of subsequent work.

[0052] In one example, if the map indication data of the frame indicates that the frame has corresponding high-precision map data, it is determined that the frame has positioning signals; or if the solution of the GPS signal of the frame is a real-time dynamic (RTK) fixed solution and the global positioning standard deviation of the frame is less than a preset value, it is determined that the frame has positioning signals.

[0053] For example, first, a specified frame is determined, and whether there is corresponding high-precision map data in the map indication data of the frame is determined. If there is, it can be determined that the frame has positioning signals, and the positioning signals are obtained based on GPS or base stations.

[0054] In one example, another way to determine that the frame has positioning signals is to determine whether the solution of the GPS signal of the frame is real-time dynamic (RTK) and the global positioning standard deviation of the frame is less than a preset value. Since the global positioning standard deviation of the frame is less than the preset value, it can be concluded that the global standard deviation meets the condition. Therefore, under the premise that the above two conditions are met, the frame has positioning signals.

[0055] In one example, if the global positioning information of the frame indicates that the frame meets the preset condition, it is determined that the frame does not have positioning signals.

[0056] The preset condition includes one or more of the following: the map indication data indicates that the frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is greater than or equal to a preset value. The advantage of such an arrangement is that it can fully exploit the function of using vehicle-mounted sensors to obtain information and fully utilize the information of high-precision maps.

[0057] For example, the frame without positioning signals can be as follows:

[0058] The first case is that the map indication data indicates that the frame does not have corresponding high-precision map data.

[0059] The second case is that the solution of the GPS signal of the frame is not an RTK fixed solution. In this case, the solution of the GPS signal can be a floating-point solution, a differential solution, and a single-point solution.

[0060] The third case is that the global positioning standard deviation of the frame is greater than or equal to a preset value.

[0061] The fourth case is that the map indication data represents that the frame does not have corresponding high-precision map data and the solution of the GPS signal of the frame is not an RTK fixed solution.

[0062] The fifth case is that the map indication data represents that the frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is greater than or equal to a preset value.

[0063] The sixth case is that the solution of the GPS signal of the frame is not an RTK fixed solution and the global positioning standard deviation of the frame is greater than or equal to a preset value. It should be noted that the case in which the frame does not have positioning signals is not limited to the above manner, and the above cases are only for more clear illustration. The advantage of such setting is that the judgment of the positioning signal is realized in multiple ways, and the flexibility is higher.

[0064] S303, determining the optimized positioning information of the frame according to the global positioning information of the frame, the inter-frame positioning information, and the weight information; wherein the optimized positioning information is used to generate the high-precision map.

[0065] Exemplarily, this step can refer to step S103, which will not be repeated here.

[0066] The present disclosure provides a processing method for generating positioning information of a high-precision map, comprising: obtaining historical positioning information of a vehicle on a historical trajectory, if the global positioning information of a frame represents that the frame has positioning signals, the weight information of the frame is first preset value information. If the global positioning information of the frame represents that the frame does not have positioning signals, the weight information of the frame is second preset value information; wherein the values represented by the first preset value information and the second preset value information are different, the optimized positioning information of the frame is determined according to the global positioning information of the frame, the inter-frame positioning information, and the weight information; wherein the optimized positioning information is used to generate the high-precision map. Through this technical solution, it can be determined whether the frame has positioning signals according to the global positioning information of the frame, and then the weight information of the frame is determined. The advantage of such setting is that it can solve the problem of deviation of positioning information caused by the absence of global positioning information, and can optimize the positioning information of this part.

[0067] According to the embodiments of the present disclosure, the present disclosure also provides a processing method for generating positioning information of a high-precision map, Figure 4 is a schematic diagram according to the third embodiment of the present disclosure, comprising:

[0068] S401, obtaining historical positioning information of a vehicle on a historical trajectory, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical trajectory.

[0069] Exemplarily, this step can refer to step S101, which will not be repeated here.

[0070] S402, determining the weight information of the frame according to the intensity of the positioning signal corresponding to the frame indicated by the global positioning information of the frame.

[0071] For example, this step can refer to step S102, which will not be described here again.

[0072] S403, establishing the constraint condition information of the frame according to the global positioning information of the frame, the inter-frame positioning information of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of the next frame adjacent to the frame.

[0073] For example, the to-be-determined optimization positioning information of the frame is the positioning information after the current positioning information of the frame is optimized, and the to-be-determined optimization positioning information of the frame includes the to-be-determined optimization global positioning information of the frame and the to-be-determined optimization inter-frame positioning information of the frame. Further, the to-be-determined optimization positioning information of the next frame adjacent to the frame also includes the to-be-determined optimization global positioning information and the to-be-determined optimization inter-frame positioning information.

[0074] For example, if the current frame is the third frame, the constraint condition information of the third frame is established according to the global positioning information of the third frame, the inter-frame positioning information of the third frame, the to-be-determined optimization positioning information of the third frame, and the to-be-determined optimization positioning information of the fourth frame. The advantage of such setting is that the optimization positioning information of the frame can be determined according to the different positioning information of the frame and the adjacent frame, and the accuracy of the constraint condition information of the frame can be improved because the positioning information of each aspect of the frame is considered.

[0075] For example, the constraint condition information includes the inter-frame positioning constraint condition, the global positioning constraint condition, and the relative constraint condition; the constraint condition information of the frame is established according to the global positioning information of the frame, the inter-frame positioning information of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of the next frame adjacent to the frame, including:

[0076] The inter-frame positioning constraint condition of the frame is established according to the inter-frame positioning information of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of the next frame adjacent to the frame; the global positioning constraint condition of the frame is established according to the global positioning information of the frame and the to-be-determined optimization positioning information of the frame; the relative constraint condition of the frame is established according to the inter-frame positioning information of the frame, the preset parameter of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of the next frame adjacent to the frame; the preset parameter represents a preset offset set when the frame does not have a positioning signal; and the relative constraint condition represents the constraint of the global positioning information on the inter-frame positioning information.

[0077] Exemplarily, the inter-frame positioning information of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of a next frame adjacent to the frame jointly determine the inter-frame positioning constraint condition of the frame, wherein the to-be-determined optimization positioning information of the frame and the to-be-determined optimization positioning information of the next frame adjacent to the frame are both to-be-determined numerical quantities, and the inter-frame positioning information of the frame is obtained by the sensor carried by the vehicle, so that the above information can be obtained for each frame.

[0078] Exemplarily, the global positioning constraint condition of the frame can be obtained by the global positioning information of the frame, and the to-be-determined optimization positioning information of the frame is a to-be-determined numerical quantity. In the case that the global positioning information exists, the global positioning constraint condition of the frame can be used because the global positioning information of the frame exists.

[0079] Exemplarily, the relative constraint condition of the frame is jointly determined by the to-be-determined optimization positioning information of the frame, the to-be-determined optimization positioning information of the next frame adjacent to the frame, the preset parameter of the frame, and the inter-frame positioning information of the frame. The preset parameter of the frame is set because the inter-frame positioning information of the frame deviates in the case that the global positioning information does not exist, so that the inter-frame positioning information of the frame is adjusted by the preset parameter of the frame, and the accuracy is improved. The advantage of such setting is that each type of constraint condition in the constraint condition information is calculated, so that the final constraint condition is relatively objective and comprehensive.

[0080] Exemplarily, the weight information includes a first weight corresponding to the global positioning constraint condition and a second weight corresponding to the relative constraint condition. If the global positioning information of the frame indicates that the frame has a positioning signal, the first weight of the frame is a first value, and the second weight of the frame is a second value. The second value is less than the first value. If the global positioning information of the frame indicates that the frame does not have a positioning signal, the first weight of the frame is the second value, and the second weight of the frame is a third value. The second value is less than the third value. The advantage of such setting is that the weight of the global positioning constraint condition can be strengthened when the positioning signal exists, and the weight of the global positioning constraint condition can be weakened when the positioning signal does not exist, which is a more reasonable and actual way, and the result obtained can be more in line with the actual situation.

[0081] In this embodiment, the weight information is jointly determined by the global positioning constraint condition and the relative constraint condition. In one example, the weight information is composed of the sum of the global positioning constraint condition and the relative constraint condition, and different weights are set for the global positioning constraint condition and the relative constraint condition.

[0082] In this embodiment, when the global positioning information of the frame determines that the frame has the positioning signal, it can be indicated that the current frame has the GPS signal, and the value of the first weight can be set as the first value and the value of the second weight can be set as the second value. For example, when the global positioning information of the fifth frame determines that the frame has the positioning signal, the first value of the fifth frame can be set as 3, and the second value of the fifth frame can be set as a value less than 3. When the frame does not have the positioning signal, it can be determined that the current frame does not have the GPS signal, and the second value of the fifth frame can be set as 0, and the third value of the fifth frame can be set as a value greater than 0.

[0083] In one example, the second value is zero, and the first value and the third value are both positive numbers.

[0084] For example, the values of the first value and the third value are not limited, and the values of the first value and the third value can be the same positive number or different positive numbers. The advantage of such setting is that the different values of the first value and the third value can play a role in adjusting to different degrees, which is a more intelligent way.

[0085] S404, determining the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame.

[0086] For example, after obtaining the constraint condition information and the weight information of the frame, the constraint condition information of the frame and the weight information matched with the constraint condition are combined to determine the optimized positioning information of the frame.

[0087] In one example, the inter-frame positioning constraint information of the frame is determined according to the inter-frame positioning constraint condition of the frame and the third preset weight corresponding to the inter-frame positioning constraint condition of the frame.

[0088] For example, the inter-frame positioning constraint condition of the frame and the third preset weight jointly determine the inter-frame positioning constraint information of the frame, and further, the inter-frame positioning constraint information of the frame can be determined by the product of the inter-frame positioning constraint condition of the frame and the third preset weight.

[0089] In one example, the global positioning constraint information of the frame is determined according to the global positioning constraint condition of the frame and the first weight corresponding to the global positioning constraint condition of the frame.

[0090] For example, the global positioning constraint condition of the frame and the first weight jointly determine the global positioning constraint information of the frame, and further, the global positioning constraint information of the frame can be determined by the product of the global positioning constraint condition of the frame and the first weight.

[0091] In this embodiment, the relative constraint information of the frame is determined according to the relative constraint condition of the frame and the second weight corresponding to the relative constraint condition of the frame.

[0092] Exemplarily, the relative constraint condition of the frame and the second weight jointly determine the relative constraint information of the frame, and further, a product of the relative constraint condition of the frame and the second weight jointly determines the relative constraint information of the frame.

[0093] In the embodiment, the inter-frame positioning constraint information of the frame, the global positioning constraint information of the frame, and the relative constraint information of the frame are processed by using the least square method to obtain the optimized positioning information of the frame.

[0094] Exemplarily, the optimized positioning information of the frame is determined by the inter-frame positioning constraint information of the frame, the global positioning constraint information of the frame, and the relative constraint information of the frame, and in an example, the inter-frame positioning constraint information of the frame, the global positioning constraint information of the frame, and the relative constraint information of the frame are added to obtain a final result, and then the least square method is used to determine the result. The advantage of this setting is that the solution obtained by the least square method is the optimal solution under various constraint conditions, and thus can represent the optimal optimized positioning information and has the minimum variance.

[0095] Exemplarily, the inter-frame positioning constraint condition of the i-th frame is The global positioning constraint condition of the i-th frame is The relative constraint condition of the i-th frame is Wherein, T i is the optimized positioning information to be determined of the i-th frame; T j is the optimized positioning information to be determined of the j-th frame, and the j-th frame is the next frame adjacent to the i-th frame; is the inter-frame positioning information of the i-th frame; is the global positioning information of the i-th frame; is a preset parameter of the i-th frame; i and j are both positive integers greater than or equal to 1.

[0096] Exemplarily, it is assumed that the i-th frame e = e ri * the third weight + e gi * the first weight + e oi * the second weight, and the optimized positioning information of the frame is determined by taking the minimum value of e, and further, when e is the minimum value, the values of T i and T j are determined, and the values are the final optimized positioning information of the i-th frame and the optimized positioning information of the j-th frame. The advantage of this setting is that the inter-frame positioning constraint condition of the i-th frame, the global positioning constraint condition of the i-th frame, and the relative constraint condition of the i-th frame can be accurately obtained by using the specific formula.

[0097] Exemplarily, the inter-frame positioning information of each frame is determined according to the global positioning information of each frame and the global positioning information of the next frame adjacent to each frame.

[0098] In this embodiment, the inter-frame positioning information can represent the difference in positioning information between different frames, and can be determined by the difference in global positioning information between adjacent frames. For example, the inter-frame positioning information of the third frame is determined by the global positioning information of the third frame and the global positioning information of the fourth frame. The advantage of this setting is that the characteristics of the images captured by the vehicle-mounted camera can be used for adjacent frame matching, and the sensors of the vehicle can be fully utilized.

[0099] S405, acquire the original data of the map, and generate a high-precision map according to the optimized positioning information of the frame and the original data.

[0100] In this embodiment, after acquiring the original data of the map, the original data of the map is three-dimensional data information or specific building information, etc., and the high-precision map is determined according to the optimized positioning information of the frame and the original data. The advantage of this setting is that it provides more accurate positioning information for the server to make a high-precision map, so that the process of making a high-precision map will not fail due to incompatible global positioning information.

[0101] The present disclosure provides a processing method for generating positioning information of a high-precision map, comprising: acquiring historical positioning information of a vehicle on a historical trajectory, wherein the historical positioning information comprises global positioning information of each frame of the vehicle on the historical trajectory and inter-frame positioning information; determining weight information of the frame according to the strength of the positioning signal corresponding to the frame indicated by the global positioning information of the frame; establishing constraint condition information of the frame according to the global positioning information of the frame, the inter-frame positioning information of the frame, the to-be-determined optimized positioning information of the frame, and the to-be-determined optimized positioning information of the next frame adjacent to the frame; and determining the optimized positioning information of the frame according to the constraint condition information and the weight information of the frame. By using this technical solution, the to-be-determined optimized positioning information of the frame can be adaptively adjusted according to different weight information and constraint condition information, so that the positioning information of each frame can be adjusted and the accuracy of the positioning information of each frame can be improved.

[0102] Figure 5 is a schematic diagram according to the fourth embodiment of the present disclosure, specifically, Figure 5 a schematic diagram of a trajectory is shown. It includes a trajectory composed of global positioning information before optimization, a trajectory composed of inter-frame positioning information before optimization, and a trajectory composed of optimized positioning information.

[0103] For convenience of description, Figure 5The part shown in FIG. 6 is divided into three parts, i.e., a first part with positioning signals, a second part without positioning signals, and a third part with positioning signals. There are three trajectories in each of the first part, the second part, and the third part, which are respectively composed of global positioning information, inter-frame positioning information, and optimized positioning information. From Figure 5 As can be seen from FIG. 6, in the first part with positioning signals, the trajectories formed by the global positioning information and the inter-frame positioning information are relatively stable, but in the second part without positioning signals, the trajectories formed by the global positioning information and the inter-frame positioning information gradually become unstable in the early stage of the second part and have relatively large jitter in the later stage. After passing through the second part without positioning signals, when the vehicle travels to the third part with positioning signals, the trajectory formed by the global positioning information has a jump, and the trajectory formed by the inter-frame positioning information has a certain deviation.

[0104] As can be seen from the optimized positioning information obtained after the processing of the positioning information for generating a high-precision map according to the present disclosure, the trajectory composed of the optimized positioning information is relatively stable in the first part with positioning signals, the second part without positioning signals, and the third part with positioning signals.

[0105] According to an embodiment of the present disclosure, the present disclosure further provides a positioning information processing apparatus, Figure 6 is a schematic diagram according to the fifth embodiment of the present disclosure, and the apparatus 60 comprises:

[0106] An acquisition unit 601 is configured to acquire historical positioning information of a vehicle on a historical trajectory, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical trajectory.

[0107] A first determination unit 602 is configured to determine weight information of a frame according to an intensity of a positioning signal corresponding to the frame indicated by global positioning information of the frame.

[0108] A second determination unit 603 is configured to determine optimized positioning information of the frame according to the global positioning information, the inter-frame positioning information, and the weight information of the frame, wherein the optimized positioning information is used to generate a high-precision map.

[0109] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described apparatus can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0110] According to an embodiment of the present disclosure, the present disclosure further provides a positioning information processing apparatus, Figure 7 is a schematic diagram according to the sixth embodiment of the present disclosure, and the apparatus 70 comprises:

[0111] The acquisition unit 701 is configured to acquire historical positioning information of a vehicle on a historical track, wherein the historical positioning information comprises global positioning information and inter-frame positioning information of each frame of the vehicle on the historical track.

[0112] The first determination unit 702 is configured to determine weight information of a frame according to an intensity of a positioning signal corresponding to the frame indicated by the global positioning information of the frame.

[0113] The second determination unit 703 is configured to determine optimized positioning information of the frame according to the global positioning information, the inter-frame positioning information and the weight information of the frame, wherein the optimized positioning information is used to generate a high-definition map.

[0114] In one example, the first determination unit 702 comprises:

[0115] The first determination module 7021 is configured to, if the global positioning information of the frame indicates that the frame has the positioning signal, determine the weight information of the frame as first preset value information.

[0116] The second determination module 7022 is configured to, if the global positioning information of the frame indicates that the frame does not have the positioning signal, determine the weight information of the frame as second preset value information, wherein the first preset value information and the second preset value information represent different values.

[0117] In one example, the global positioning information comprises map indication data, a solution of a global positioning system (GPS) signal, and a global positioning standard deviation.

[0118] The map indication data is used to indicate whether the frame has corresponding high-definition map data, and the global positioning standard deviation represents a difference between measured positioning information corresponding to the frame and real positioning information corresponding to the frame.

[0119] In one example, the apparatus further comprises:

[0120] The third determination unit 704 is configured to, if it is determined that the map indication data of the frame indicates that the frame has corresponding high-definition map data, determine that the frame has the positioning signal, or if it is determined that the solution of the GPS signal of the frame is a real-time kinematic (RTK) fixed solution and the global positioning standard deviation of the frame is less than a preset value, determine that the frame has the positioning signal.

[0121] In one example, the apparatus further comprises:

[0122] The fourth determination unit 705 is configured to, if it is determined that the global positioning information of the frame indicates that the frame meets a preset condition, determine that the frame does not have the positioning signal.

[0123] The preset condition includes one or more of the following: the map indication data represents that the frame does not have corresponding high-precision map data, a solution of a GPS signal of the frame is not an RTK fixed solution, and a global positioning standard deviation of the frame is greater than or equal to a preset value.

[0124] In one example, the second determination unit 703 includes:

[0125] The establishment module 7031 is configured to establish constraint condition information of the frame according to the global positioning information of the frame, the inter-frame positioning information of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of a next frame adjacent to the frame.

[0126] The third determination module 7032 is configured to determine the optimization positioning information of the frame according to the constraint condition information of the frame and the weight information.

[0127] In one example, the constraint condition information includes inter-frame positioning constraint conditions, global positioning constraint conditions, and relative constraint conditions; and the establishment module 7031 includes:

[0128] The first establishment submodule 70311 is configured to establish inter-frame positioning constraint conditions of the frame according to the inter-frame positioning information of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of the next frame adjacent to the frame.

[0129] The second establishment submodule 70312 is configured to establish global positioning constraint conditions of the frame according to the global positioning information of the frame and the to-be-determined optimization positioning information of the frame.

[0130] The third establishment submodule 70313 is configured to establish relative constraint conditions of the frame according to the inter-frame positioning information of the frame, a preset parameter of the frame, the to-be-determined optimization positioning information of the frame, and the to-be-determined optimization positioning information of the next frame adjacent to the frame; wherein the preset parameter represents a preset offset set when the frame does not have positioning signals; and the relative constraint conditions represent a constraint of the global positioning information on the inter-frame positioning information.

[0131] In one example, the weight information includes a first weight corresponding to the global positioning constraint conditions and a second weight corresponding to the relative constraint conditions.

[0132] If the global positioning information of the frame represents that the frame has positioning signals, the first weight of the frame is valued as a first value, and the second weight of the frame is valued as a second value; wherein the second value is less than the first value. If the global positioning information of the frame represents that the frame does not have positioning signals, the first weight of the frame is valued as the second value, and the second weight of the frame is valued as a third value; wherein the second value is less than the third value.

[0133] In one example, the second value is zero, and the first value and the third value are both positive numbers. In one example, the third determining module 7032 includes:

[0134] The first determining sub-module 70321 is configured to determine inter-frame positioning constraint information of the frame according to the inter-frame positioning constraint condition of the frame and a preset third weight corresponding to the inter-frame positioning constraint condition of the frame.

[0135] The second determining sub-module 70322 is configured to determine global positioning constraint information of the frame according to the global positioning constraint condition of the frame and a first weight corresponding to the global positioning constraint condition of the frame.

[0136] The third determining sub-module 70323 is configured to determine relative constraint information of the frame according to the relative constraint condition of the frame and a second weight corresponding to the relative constraint condition of the frame.

[0137] The fourth determining sub-module 70324 is configured to process the inter-frame positioning constraint information of the frame, the global positioning constraint information of the frame, and the relative constraint information of the frame in a least square manner to obtain optimized positioning information of the frame.

[0138] In one example, the inter-frame positioning constraint condition of the i-th frame is The global positioning constraint condition of the i-th frame is The relative constraint condition of the i-th frame is

[0139] wherein, T i is the optimized positioning information to be determined of the i-th frame; T j is the optimized positioning information to be determined of the j-th frame, the j-th frame being a next frame adjacent to the i-th frame; is the inter-frame positioning information of the i-th frame; is the global positioning information of the i-th frame; is a preset parameter of the i-th frame; i and j are both positive integers greater than or equal to 1.

[0140] In one example, the inter-frame positioning information of each frame is determined according to the global positioning information of each frame and the global positioning information of a next frame adjacent to each frame.

[0141] In one example, the apparatus further includes:

[0142] The generating unit 706 is configured to obtain original data of the map, and generate a high-definition map according to the optimized positioning information of the frame and the original data.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0144] According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0145] According to embodiments of the present disclosure, the present disclosure also provides a computer program product, which comprises a computer program stored in a readable storage medium, at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to make the electronic device execute the scheme provided by any of the above embodiments.

[0146] Figure 8 is a schematic diagram according to the seventh embodiment of the present disclosure, as Figure 8 shown, the server 800 in the present disclosure can include a processor 801 and a memory 802.

[0147] The memory 802 is configured to store programs; the memory 802 can include volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviated: RAM), such as static random access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM) and the like; the memory can also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory 802 is configured to store computer programs (such as application programs, functional modules and the like for implementing the above method), computer instructions and the like, and the above computer programs, computer instructions and the like can be stored in one or more memories 802. And the above computer programs, computer instructions, data and the like can be called by the processor 801.

[0148] The above computer programs, computer instructions and the like can be stored in one or more memories 802. And the above computer programs, computer instructions and the like can be called by the processor 801.

[0149] The processor 801 is configured to execute the computer programs stored in the memory 802 to implement each step in the method related by the above embodiments.

[0150] For details, refer to the relevant description in the foregoing method embodiments.

[0151] The processor 801 and the memory 802 can be independent structures, or integrated into an integrated structure. When the processor 801 and the memory 802 are independent structures, the memory 802 and the processor 801 can be coupled and connected through the bus 803.

[0152] The server of the embodiment can execute the technical solutions in the above method, and the specific implementation process and technical principles are the same, which will not be repeated here.

[0153] According to the embodiments of the present disclosure, the present disclosure further provides a non-transitory computer-readable storage medium having computer instructions stored therein, wherein the computer instructions are used to make a computer execute the scheme provided by the corresponding embodiments described above.

[0154] According to the embodiments of the present disclosure, the present disclosure further provides a computer program product, which comprises a computer program stored in a readable storage medium, at least one processor of a server can read the computer program from the readable storage medium, and the at least one processor executes the computer program to make the server execute the scheme provided by the corresponding embodiments described above.

[0155] According to the embodiments of the present disclosure, the present disclosure further provides a computer program product, which comprises a computer program stored in a readable storage medium, at least one processor of a control device of a vehicle can read the computer program from the readable storage medium, and the at least one processor executes the computer program to make the control device of the vehicle execute the scheme provided by the corresponding embodiments described above.

[0156] Figure 9 A schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, electronic devices, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present disclosure described and / or claimed in this document.

[0157] As Figure 9As shown, the electronic device 900 includes a computing unit 901 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 902 or a computer program loaded into a random access memory (RAM) 903 from a storage unit 908. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0158] A plurality of components in the electronic device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, and the like; an output unit 907, such as various types of displays, a speaker, and the like; a storage unit 908, such as a magnetic disk, an optical disk, and the like; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the electronic device 900 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0159] The computing unit 901 can be various general-purpose and / or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, and the like. The computing unit 901 performs various methods and processes described above, such as the processing method for generating positioning information for a high-definition map. For example, in some embodiments, the model training of the method for image processing can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the model training of the method for image processing described above can be performed. Alternatively, in other embodiments, the computing unit 901 can be configured to perform the model training of the method for image processing by any other appropriate means, such as by means of firmware.

[0160] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0161] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or electronic device.

[0162] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0163] To provide for interaction with a user, the systems and techniques described here 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, 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, speech, or tactile input.

[0164] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0165] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as cloud computing server or cloud host, which is a host product in the cloud computing service system, and solves the defects of large management difficulty and weak business scalability in traditional physical host and VPS (Virtual Private Server, or VPS for short) services. The server can also be a distributed system server or a server combined with a blockchain.

[0166] It should be understood that various forms of flow shown above can be used, with steps reordered, added, or removed. For example, steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without limitation herein, as long as the desired results of the technical solutions of the present disclosure can be achieved.

[0167] The above detailed description does not limit the scope of the disclosure. Various modifications, combinations, sub-combinations and alternatives can be made to the detailed description. Any modification, equivalent replacement and improvement etc. made within the spirit and principle of the disclosure shall be included in the scope of the disclosure.

Claims

1. A method for processing positioning information to generate high-precision maps, comprising: Obtain historical positioning information of the vehicle on the historical trajectory, wherein the historical positioning information includes global positioning information and inter-frame positioning information of the vehicle for each frame on the historical trajectory; The weight information of the frame is determined based on the strength of the positioning signal corresponding to the frame indicated by the global positioning information of the frame. Based on the global positioning information of the frame, the inter-frame positioning information of the frame, the optimized positioning information to be determined of the frame, and the optimized positioning information to be determined of the next frame adjacent to the frame, constraint information of the frame is established. The constraint information includes inter-frame positioning constraints, global positioning constraints, and relative constraints. The relative constraints represent the constraints of global positioning information on inter-frame positioning information. The inter-frame positioning constraints are established based on the inter-frame positioning information of the frame, the optimized positioning information to be determined of the frame, and the optimized positioning information to be determined of the next frame adjacent to the frame. The global positioning constraints of the frame are established based on the global positioning information of the frame and the optimized positioning information to be determined of the frame. The relative constraints of the frame are established based on the inter-frame positioning information of the frame, the preset parameters of the frame, the optimized positioning information to be determined of the frame, and the optimized positioning information to be determined of the next frame adjacent to the frame. The preset parameters represent the preset offset set when the frame does not have a positioning signal. Based on the constraint information and weight information of the frame, the optimized positioning information of the frame is determined; wherein, the optimized positioning information is used to generate a high-precision map.

2. The method according to claim 1, wherein, The weight information of the frame is determined based on the strength of the positioning signal corresponding to the frame, as indicated by the global positioning information of the frame, including: If the global positioning information of the frame indicates that the frame has a positioning signal, then the weight information of the frame is the first preset value information. If the global positioning information of the frame indicates that the frame does not have a positioning signal, then the weight information of the frame is the second preset value information; wherein, the value represented by the first preset value information is different from that represented by the second preset value information.

3. The method according to claim 2, wherein, The global positioning information includes map indication data, the solution of the Global Positioning System (GPS) signal, and the global positioning standard deviation; The map indication data is used to indicate whether the frame has corresponding high-precision map data; the global positioning standard deviation represents the difference between the measured positioning information corresponding to the frame and the actual positioning information corresponding to the frame.

4. The method according to claim 3, further comprising: If it is determined that the map indication data of the frame indicates that the frame has corresponding high-precision map data, then it is determined that the frame has a positioning signal; or, If it is determined that the solution of the GPS signal of the frame is a real-time dynamic RTK fixed solution and the global positioning standard deviation of the frame is less than a preset value, then it is determined that the frame has a positioning signal.

5. The method according to claim 3 or 4, further comprising: If it is determined that the global positioning information of the frame indicates that the frame meets the preset conditions, then it is determined that the frame does not have a positioning signal; The preset conditions include one or more of the following: the map indication data characterization frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is greater than or equal to a preset value.

6. The method according to claim 1, wherein, The weight information includes a first weight corresponding to the global positioning constraint and a second weight corresponding to the relative constraint. Wherein, if the global positioning information of the frame indicates that the frame has a positioning signal, then the first weight of the frame is a first value, and the second weight of the frame is a second value; wherein, the second value is less than the first value; If the global positioning information of the frame indicates that the frame does not have a positioning signal, then the first weight of the frame is a second value, and the second weight of the frame is a third value; wherein the second value is less than the third value.

7. The method according to claim 6, wherein, The second value is zero, while the first and third values ​​are both positive numbers.

8. The method according to claim 6 or 7, wherein, Based on the constraint information and weight information of the frame, the optimized positioning information of the frame is determined, including: The inter-frame positioning constraint information of the frame is determined based on the inter-frame positioning constraint conditions of the frame and the preset third weight corresponding to the inter-frame positioning constraint conditions of the frame. The global positioning constraint information of the frame is determined based on the global positioning constraint conditions of the frame and the first weight corresponding to the global positioning constraint conditions of the frame. The relative constraint information of the frame is determined based on the relative constraint conditions of the frame and the second weight corresponding to the relative constraint conditions of the frame. The frame-to-frame positioning constraint information, the frame-to-global positioning constraint information, and the frame-to-relative constraint information are processed using the least squares method to obtain the frame-to-optimal positioning information.

9. The method according to claim 8, wherein the inter-frame positioning constraint condition of the i-th frame is: The global positioning constraint for the i-th frame is: The relative constraint condition for the i-th frame is: ; in, The optimized positioning information to be determined for the i-th frame; The optimized positioning information to be determined for the j-th frame; the j-th frame is the next frame adjacent to the i-th frame; This refers to the inter-frame positioning information for the i-th frame; This refers to the global positioning information for the i-th frame; These are the preset parameters for the i-th frame; i and j are both positive integers greater than or equal to 1.

10. The method according to claim 9, wherein, The inter-frame positioning information of each frame is determined based on the global positioning information of each frame and the global positioning information of the next frame adjacent to each frame.

11. The method according to claim 9 or 10, further comprising: The original map data is obtained, and the high-precision map is generated based on the optimized positioning information of the frame and the original data.

12. A processing apparatus for generating positioning information for high-precision maps, comprising: The acquisition unit is used to acquire the historical positioning information of the vehicle on the historical trajectory, wherein the historical positioning information includes the global positioning information and inter-frame positioning information of the vehicle for each frame on the historical trajectory; The first determining unit is used to determine the weight information of the frame based on the strength of the positioning signal corresponding to the frame indicated by the global positioning information of the frame. The second determining unit is used to determine the optimized positioning information of the frame based on the frame's global positioning information, inter-frame positioning information, and weight information; wherein the optimized positioning information is used to generate a high-precision map. The second determining unit includes: A module is established to establish constraint information for a frame based on the frame's global positioning information, inter-frame positioning information, undetermined optimized positioning information, and undetermined optimized positioning information of the next frame adjacent to the frame. The constraint information includes inter-frame positioning constraints, global positioning constraints, and relative constraints. The relative constraints represent the constraint of global positioning information on inter-frame positioning information. The inter-frame positioning constraints are established based on the frame's inter-frame positioning information, the undetermined optimized positioning information, and the undetermined optimized positioning information of the next frame adjacent to the frame. The global positioning constraints are established based on the frame's global positioning information and the undetermined optimized positioning information. The relative constraints are established based on the frame's inter-frame positioning information, preset parameters, the undetermined optimized positioning information, and the undetermined optimized positioning information of the next frame adjacent to the frame. The preset parameters represent a preset offset set when the frame does not have a positioning signal. The third determining module is used to determine the optimized positioning information of the frame based on the constraint information and weight information of the frame.

13. The apparatus according to claim 12, wherein, The first determining unit includes: The first determining module is configured to determine the weight information of the frame as a first preset value if the global positioning information of the frame indicates that the frame has a positioning signal. The second determining module is used to determine the weight information of a frame if the global positioning information of the frame indicates that the frame does not have a positioning signal; wherein the first preset value information and the second preset value information represent different values.

14. The apparatus according to claim 13, wherein, The global positioning information includes map indication data, the solution of the Global Positioning System (GPS) signal, and the global positioning standard deviation; The map indication data is used to indicate whether the frame has corresponding high-precision map data; the global positioning standard deviation represents the difference between the measured positioning information corresponding to the frame and the actual positioning information corresponding to the frame.

15. The apparatus of claim 14, further comprising: The third determining unit is configured to determine that the frame has a positioning signal if the map indication data of the frame indicates that the frame has corresponding high-precision map data; or, if the solution of the GPS signal of the frame is a real-time dynamic RTK fixed solution and the global positioning standard deviation of the frame is less than a preset value, then determine that the frame has a positioning signal.

16. The apparatus according to claim 14 or 15, further comprising: The fourth determining unit is used to determine that the frame does not have a positioning signal if the global positioning information of the frame indicates that the frame meets the preset conditions. The preset conditions include one or more of the following: the map indication data characterization frame does not have corresponding high-precision map data, the solution of the GPS signal of the frame is not an RTK fixed solution, and the global positioning standard deviation of the frame is greater than or equal to a preset value.

17. The apparatus according to claim 12, wherein, The weight information includes a first weight corresponding to the global positioning constraint and a second weight corresponding to the relative constraint. Wherein, if the global positioning information of the frame indicates that the frame has a positioning signal, then the first weight of the frame is a first value, and the second weight of the frame is a second value; wherein, the second value is less than the first value; If the global positioning information of the frame indicates that the frame does not have a positioning signal, then the first weight of the frame is a second value, and the second weight of the frame is a third value; wherein the second value is less than the third value.

18. The apparatus according to claim 17, wherein, The second value is zero, while the first and third values ​​are both positive numbers.

19. The apparatus according to claim 16 or 17, wherein, The third determining module includes: The first determining submodule is used to determine the inter-frame positioning constraint information of the frame based on the inter-frame positioning constraint conditions of the frame and the preset third weight corresponding to the inter-frame positioning constraint conditions of the frame. The second determining submodule is used to determine the global positioning constraint information of the frame based on the global positioning constraint conditions of the frame and the first weight corresponding to the global positioning constraint conditions of the frame. The third determining submodule is used to determine the relative constraint information of the frame based on the relative constraint conditions of the frame and the second weight corresponding to the relative constraint conditions of the frame. The fourth determination submodule is used to process the inter-frame positioning constraint information, the global positioning constraint information, and the relative constraint information of the frame using the least squares method to obtain the optimized positioning information of the frame.

20. The apparatus according to claim 19, wherein the inter-frame positioning constraint condition of the i-th frame is: The global positioning constraint for the i-th frame is: The relative constraint condition for the i-th frame is: ; in, The optimized positioning information to be determined for the i-th frame; The optimized positioning information to be determined for the j-th frame; the j-th frame is the next frame adjacent to the i-th frame; This refers to the inter-frame positioning information for the i-th frame; This refers to the global positioning information for the i-th frame; These are the preset parameters for the i-th frame; i and j are both positive integers greater than or equal to 1.

21. The apparatus according to claim 20, wherein, The inter-frame positioning information of each frame is determined based on the global positioning information of each frame and the global positioning information of the next frame adjacent to each frame.

22. The apparatus according to claim 20 or 21, further comprising: The generation unit is used to acquire the original data of the map and generate the high-precision map based on the optimized positioning information of the frame and the original data.

23. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.

24. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-11.

25. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-11.

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