A map registration method, device and computer storage medium

Abstract

Embodiments of the present application provide a map registration method and device, electronic equipment and computer storage medium. Obtain coordinate data of a first intersection pair in a first precision map and coordinate data of a second intersection pair in a second precision map; identify the coordinate data of the road cut appearing in the road data between the first intersection pair; based on the second precision map data, determine the coordinate data of the reference intersection existing in the road data between the second intersection pair; according to the distance difference value between the road cut and the coordinate data of the first intersection pair in the first precision map data, and the distance difference value between the reference intersection and the coordinate data of the second intersection pair in the second precision map data, determine whether there is a road cut corresponding to the reference intersection; if there is, it is determined that the first intersection pair and the second intersection pair have a matching relationship. The accuracy of map registration is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of computer, and particularly relate to a map registration method and device and computer storage medium. BACKGROUND

[0002] Compared with a traditional map, a high-precision map is a map with higher precision, richer and more detailed road attribute information. Since the high-precision map contains more information and has a larger data volume, the high-precision map usually only contains relevant data of high-level roads such as expressways and urban expressways, and is mainly used for autonomous driving.

[0003] During driving, if a vehicle switches from a high-level road to a lower-level road, the navigation map also needs to switch from a high-precision map to a traditional map. To ensure the accuracy of the switching, the high-precision map and the traditional map need to be registered in advance, the roads in the high-precision map and the roads in the traditional map are associated (matched), the registration relationship between the roads in the high-precision map and the traditional map is determined, and the positions of the roads in the traditional map are corrected according to the high-precision map. The core of the road registration is the registration of the intersection, that is, the accuracy of the registration of the intersection determines whether the road registration is correct.

[0004] Since the position accuracy of the traditional map is low, if the registration of the intersection is performed only based on the position information of the intersection in the high-precision map and the traditional map, the accuracy of the matching relationship obtained is low. Therefore, how to perform the map registration is a problem to be solved. SUMMARY

[0005] In view of this, embodiments of the present application provide a map registration method to at least partially solve the above problems.

[0006] According to a first aspect of embodiments of the present application, a map registration method is provided, comprising:

[0007] obtaining coordinate data of a first intersection pair in first-precision map data and coordinate data of a second intersection pair in second-precision map data; the precision of the first-precision map is higher than the precision of the second-precision map;

[0008] identifying coordinate data of a road cutout appearing in road data between the first intersection pair;

[0009] determining coordinate data of a reference intersection existing in road data between the second intersection pair based on the second-precision map data;

[0010] determine whether there is a road cut corresponding to the reference intersection according to a distance difference between the road cut and the coordinate data of the first intersection pair in the first precision map data, and a distance difference between the reference intersection and the coordinate data of the second intersection pair in the second precision map data;

[0011] If there is, determine that the first intersection pair and the second intersection pair have a matching relationship.

[0012] According to a second aspect of the embodiment of the present application, a map registration device is provided, comprising:

[0013] An intersection pair acquisition module is configured to acquire coordinate data of a first intersection pair in a first precision map and coordinate data of a second intersection pair in a second precision map; the precision of the first precision map is higher than the precision of the second precision map;

[0014] A road cut identification module is configured to identify coordinate data of a road cut appearing in road data between the first intersection pair;

[0015] A reference intersection determination module is configured to determine coordinate data of a reference intersection existing in road data between the second intersection pair based on the second precision map data;

[0016] A corresponding relationship determination module is configured to determine whether there is a road cut corresponding to the reference intersection according to a distance difference between the road cut and the coordinate data of the first intersection pair in the first precision map data, and a distance difference between the reference intersection and the coordinate data of the second intersection pair in the second precision map data;

[0017] A matching relationship determination module is configured to determine that the first intersection pair and the second intersection pair have a matching relationship if there is a road cut corresponding to the reference intersection.

[0018] According to a third aspect of the embodiment of the present application, an electronic device is provided, comprising a processor, a memory, a communication interface and a communication bus, the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is configured to store at least one executable instruction, and the executable instruction causes the processor to perform operations corresponding to the map registration method of the first aspect.

[0019] According to a fourth aspect of the embodiment of the present application, a computer storage medium is provided, and the computer storage medium stores a computer program, and the program is executed by a processor to implement the map registration method of the first aspect.

[0020] In this embodiment, for maps of different precision, the coordinates of the road gap between the two intersections in the first intersection pair are determined using road data corresponding to the roads in the first intersection pair (a map with higher precision). Then, the matching relationship between the first and second intersection pairs is determined based on whether a road gap (reference intersection) exists between the two intersections in the second intersection pair (a map with lower precision). Since if the first and second intersection pairs are matched, and a reference intersection exists between the two intersections in the second intersection pair of the second precision map, then this reference intersection should correspond to a road gap in the first precision map. Therefore, this embodiment improves the accuracy of map registration by determining the correspondence between the road gap in the first precision map (with higher coordinate data precision) and the reference intersection in the first precision map. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0022] Figure 1 This is a flowchart illustrating the steps of a map registration method according to Embodiment 1 of this application;

[0023] Figure 2 This is a diagram of the intersection.

[0024] Figure 3 for Figure 1 A schematic diagram of a scenario example in the illustrated embodiment;

[0025] Figure 4 This is a flowchart illustrating the steps of a map registration method according to Embodiment 2 of this application;

[0026] Figure 5 This is a structural block diagram of a map registration device according to Embodiment 3 of this application;

[0027] Figure 6 This is a schematic diagram of the structure of an electronic device according to Embodiment 4 of this application. Detailed Implementation

[0028] In order for those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by those skilled in the art shall fall within the scope of protection of the present application.

[0029] The specific implementation of the embodiments of the present application will be further described below with reference to the drawings of the embodiments of the present application.

[0030] Embodiment one,

[0031] Referring to Figure 1 , Figure 1 is a flowchart of steps of a map registration method according to an embodiment of the present application. Specifically, the map registration method provided by the present embodiment includes the following steps:

[0032] Step 102, obtaining coordinate data of a first intersection pair in a first precision map and coordinate data of a second intersection pair in a second precision map.

[0033] Wherein, the precision of the first precision map is higher than the precision of the second precision map.

[0034] For example, the first precision map can be a high-precision map obtained after data splicing and road information labeling operations are performed on road point cloud data collected by a laser radar or the like; correspondingly, the second precision map can be a traditional two-dimensional map corresponding to the high-precision map, and the second precision map can be a map obtained after image processing is performed on road images collected by an image collection device. Since the second precision map is obtained after processing the collected images, the precision of the second precision map is relatively low.

[0035] The intersection pair refers to a set of intersections composed of two intersections, as shown in Figure 2 , for example: in the first precision map, the first intersection pair (A1, B1) is composed of intersection A1 and intersection B1; in the second precision map, the second intersection pair (A2, B2) is composed of intersection A2 and intersection B2, and the purpose of the present application is to determine whether the first intersection pair (A1, B1) and the second intersection pair (A2, B2) have a matching relationship, that is, whether the intersection A1 in the first precision map corresponds to the same geographical position as the intersection A2 in the second precision map; whether the intersection B1 in the first precision map corresponds to the same geographical position as the intersection B2 in the second precision map.

[0036] Step 104, identifying coordinate data of a road cut between the first intersection pair.

[0037] The road gap can refer to a gap formed when the edge of the road is discontinuous. Since the first-precision map usually only contains high-level roads such as highways, urban expressways, and the like, and correspondingly, the intersections in the first-precision map are usually only intersections between the above high-level roads, in the first-precision map, the road gap can correspond to an intersection (an intersection between a high-level road and a non-high-level road, or an intersection between two non-high-level roads) in the real environment, or can correspond to a POI (Point Of Interest) in the real environment.

[0038] Since the first intersection pair is a pair of intersections in the first-precision map, and the first-precision map can be obtained based on road data (such as road point cloud data), the coordinate data of the road gap between the first intersection pair can be determined based on the point cloud data corresponding to the road between the first intersection pair. In addition, since the point cloud data has high precision, the coordinate data of the road gap obtained based on the point cloud data is also more accurate.

[0039] In step 106, coordinate data of a reference intersection existing in the road data between the second intersection pair is determined based on the second-precision map data.

[0040] In step 108, whether there is a road gap corresponding to the reference intersection is determined according to the distance difference between the coordinate data of the road gap in the first-precision map data and the first intersection pair, and the distance difference between the coordinate data of the reference intersection in the second-precision map data and the second intersection pair.

[0041] Specifically, whether there is a road gap corresponding to the reference intersection can be determined according to the first distance difference between the coordinate data of the road gap and the intersection in the first intersection pair, and the second distance difference between the coordinate data of the reference intersection and the intersection in the second intersection pair.

[0042] Specifically, when the difference between the distance difference between a certain road gap and the coordinate data of the first intersection in the first intersection pair, and the distance difference between the reference intersection and the coordinate data of the third intersection in the second intersection pair is small (less than a preset distance threshold), it can be determined that the road gap is the road gap corresponding to the reference intersection; or when the difference between the distance difference between a certain road gap and the second intersection in the first intersection pair, and the distance difference between the reference intersection and the fourth intersection in the second intersection pair is small, it can be determined that the road gap is the road gap corresponding to the reference intersection.

[0043] The distance threshold can be set according to the actual situation such as the precision of the map, and the specific setting method of the distance threshold in the embodiments of the present application is not limited.

[0044] In step 110, if there is a road cut corresponding to the reference intersection, it is determined that the first intersection pair and the second intersection pair have a matching relationship.

[0045] The number of reference intersections in the second intersection pair can be one or multiple. When the number of reference intersections is multiple, if there is a corresponding road cut for each reference intersection, it can be determined that the first intersection pair and the second intersection pair have a matching relationship.

[0046] Referring to Figure 3 , Figure 3 is a scene diagram corresponding to Embodiment One of the present application. Hereinafter, Embodiment One of the present application will be described with reference to the diagram shown in Figure 3 .

[0047] As shown in Figure 3 , A1 and B1 are intersections in a first precision map, and A1 and B1 form a first intersection pair (A1, B1); A2 and B2 are intersections in a second precision map, and A2 and B2 form a second intersection pair (A2, B2). In the first precision map and the second precision map, the thick solid line represents a high-level road such as a highway or an urban expressway, and the thin solid line represents a non-high-level road. The coordinate data of the first intersection pair (A1, B1) and the coordinate data of the second intersection pair (A2, B2) are obtained respectively; the coordinate data of a road cut C1 appearing in the road data between the first intersection pair (A1, B1) is identified, and the coordinate data of a reference intersection C2 existing in the road data between the second intersection pair (A2, B2) is determined. If A1C1-A2C2≤L0 (a preset distance threshold), wherein A1C1 is a distance difference between the coordinate data of the road cut C1 and the coordinate data of the intersection A1 in the first intersection pair (A1, B1); A2C2 is a distance difference between the coordinate data of the reference intersection C2 and the coordinate data of the intersection A2 in the second intersection pair (A2, B2), it is determined that the road cut C1 is a road cut corresponding to the reference intersection C2, and then it can be determined that the first intersection pair (A1, B1) and the second intersection pair (A2, B2) have a matching relationship.

[0048] In the embodiments of the present application, for different precision maps, the coordinate data of the road gap between the two intersections in the first intersection pair is determined by means of the high-precision road data corresponding to the first intersection pair in the first-precision map (a map with higher precision), and then it is determined whether the first intersection pair and the second intersection pair have a matching relationship according to whether there is a road gap corresponding to the reference intersection between the two intersections in the second intersection pair of the second-precision map (a map with lower precision). Since if the first intersection pair and the second intersection pair have a matching relationship, and there is a reference intersection between the two intersections in the second intersection pair of the second-precision map, the reference intersection should correspond to a road gap in the first-precision map, therefore, by judging the corresponding relationship between the road gap in the first-precision map with higher coordinate data precision and the reference intersection in the first-precision map, the present application determines whether the first intersection pair and the second intersection pair have a matching relationship, which can improve the accuracy of map registration.

[0049] The map registration method of the present embodiment can be executed by any appropriate electronic device with data processing capability, including but not limited to servers, PC machines, etc.

[0050] Embodiment two,

[0051] Reference Figure 4 , Figure 4 The flow chart of the steps of a map registration method according to Embodiment Two of the present application. Specifically, the map registration method provided in the present embodiment includes the following steps:

[0052] Step 402, obtaining coordinate data of a first intersection pair in a first-precision map and coordinate data of a second intersection pair in a second-precision map.

[0053] Wherein, the precision of the first-precision map is higher than the precision of the second-precision map.

[0054] For example, the first-precision map can be a high-precision map obtained after data splicing and road information labeling operations based on road point cloud data collected by laser radar and other collection devices; correspondingly, the second-precision map can be a traditional map corresponding to the high-precision map.

[0055] Step 404, calculating the distance difference between the first intersection pair as the third distance difference, and calculating the distance difference between the second intersection pair as the fourth distance difference.

[0056] Also take the example in Figure 3 , the distance difference between the coordinate data of intersection A1 and intersection B1 in the first intersection pair (A1, B1) is calculated as the third distance difference; correspondingly, the distance difference between the coordinate data of intersection A2 and intersection B2 in the second intersection pair (A2, B2) is calculated as the fourth distance difference.

[0057] In step 406, it is determined whether the difference between the third distance difference value and the fourth distance difference value is less than a second preset threshold value. If not, step 408 is performed. If yes, step 410 is performed.

[0058] In the embodiments of the present application, the second preset threshold value can be set according to the actual situation such as the accuracy of the map, and the specific value of the second preset threshold value is not limited.

[0059] In step 408, it is determined that the first intersection pair and the second intersection pair do not have a matching relationship, and the map registration process is ended.

[0060] If the difference between the third distance difference value and the fourth distance difference value is greater than or equal to the second preset threshold value, it indicates that the distance difference between the two intersections in the first intersection pair and the distance difference between the two intersections in the second intersection pair are far apart. Therefore, in this case, subsequent distance calculation by means of the road data corresponding to the road is not needed, and it can be determined that the first intersection pair and the second intersection pair do not have a matching relationship. In this way, the efficiency of matching relationship detection can be improved, and the efficiency of map registration can be improved.

[0061] In step 410, the coordinate information of the road cut of the road cut between the first intersection pair is identified, and the coordinate data of the reference intersection existing in the road data between the second intersection pair is determined based on the second accuracy map data.

[0062] The road cut can refer to the gap formed when the road edge is discontinuous. Since the first accuracy map usually only contains high-level roads such as expressways and urban expressways, and correspondingly, the intersections in the first accuracy map are usually intersections between the above high-level roads, therefore, in the first accuracy map, the road cut can correspond to a real environment. An intersection (an intersection between a high-level road and a non-high-level road, or an intersection between two non-high-level roads), or a POI.

[0063] Since the first intersection pair is the intersection pair in the first accuracy map, and the first accuracy map can be obtained based on road data (such as road point cloud data), the coordinate data of the road cut between the first intersection pair can be determined based on the point cloud data corresponding to the road between the first intersection pair. In addition, since the accuracy of the point cloud data is high, the coordinate data of the road cut obtained based on the point cloud data is also more accurate.

[0064] In step 412, it is determined whether the number of road cuts is greater than or equal to the number of reference intersections. If not, step 408 is performed. If yes, step 414 is performed.

[0065] As above, the road break in the first precision map may correspond to an intersection in the real environment, or may correspond to a POI in the real environment, that is, under the premise that the intersection pair has a matching relationship, the road break determined in step 410 corresponds to the reference intersection or a POI. That is, whether the number of road breaks is greater than or equal to the number of reference intersections is a necessary condition for the intersection pair to have a matching relationship, and vice versa. If the number of road breaks is less than the number of reference intersections, it indicates that the intersection pair does not have a matching relationship.

[0066] Therefore, in the embodiment of the application, before the road break is identified, it is judged whether the number of road breaks is greater than or equal to the number of reference intersections. When the number of road breaks is less than the number of reference intersections, it is determined that the intersection pair does not have a matching relationship, without the need for subsequent distance calculation. In this way, the detection efficiency is improved on the premise of ensuring the accuracy of the matching relationship detection, and the efficiency of map registration is further improved.

[0067] Step 414, according to the distance difference between the road break in the first precision map data and the coordinate data of the first intersection pair, and the distance difference between the reference intersection in the second precision map data and the coordinate data of the second intersection pair, determine whether there is a road break corresponding to the reference intersection. If not, step 408 is executed; if yes, step 416 is executed.

[0068] Optionally, in some embodiments, according to the distance difference between the road break in the first precision map data and the coordinate data of the first intersection pair, and the distance difference between the reference intersection in the second precision map data and the coordinate data of the second intersection pair, determining whether there is a road break corresponding to the reference intersection can include:

[0069] Calculate the first distance difference between the road break in the first precision map data and the coordinate data of the intersection in the first intersection pair, and the second distance difference between the reference intersection in the second precision map data and the coordinate data of the intersection in the second intersection pair.

[0070] Determine whether there is a first distance whose difference from the second distance difference is less than a first preset threshold value, and if yes, determine that there is a road break corresponding to the reference intersection.

[0071] The first preset threshold value in the embodiment of the application can be set according to the actual situation such as the precision of the map, and the specific value of the first preset threshold value is not limited.

[0072] Optionally, in some embodiments, if the number of reference intersections is multiple, and whether there is a road break corresponding to each reference intersection is determined according to the distance difference between the road break and the coordinate data of the first intersection pair in the first-precision map data, and the distance difference between the reference intersection and the coordinate data of the second intersection pair in the second-precision map data, the method can comprise:

[0073] According to the distance difference between the road break and the coordinate data of the first intersection pair in the first-precision map data, and the distance difference between each reference intersection and the coordinate data of the second intersection pair in the second-precision map data, it is determined whether there is a road break corresponding to each reference intersection.

[0074] If there is, it is determined that the first intersection pair and the second intersection pair have a matching relationship, comprising:

[0075] If there is a road break corresponding to each reference intersection, it is determined that the first intersection pair and the second intersection pair have a matching relationship.

[0076] Step 416, it is determined that the first intersection pair and the second intersection pair have a matching relationship, and the first-precision map and the second-precision map are registered according to the matching relationship.

[0077] Since the precision of the first-precision map is higher than that of the second-precision map, and it has been determined in this step that the first intersection pair in the first-precision map and the second intersection pair in the second-precision map have a matching relationship, the map registration can be performed according to the above matching relationship, that is, the coordinate data of each intersection in the second-precision map is corrected according to the coordinate data of each intersection in the first-precision map.

[0078] Optionally, in some embodiments, the registration of the first-precision map and the second-precision map according to the matching relationship can comprise:

[0079] According to the coordinate data of the intersection in the first intersection pair, the coordinate data of the intersection in the second intersection pair is corrected;

[0080] According to the coordinate data of the road break corresponding to the reference intersection, the coordinate data of the reference intersection is corrected.

[0081] In the embodiment of the present application, for different accuracy maps, the coordinate data of the road gap between the two intersections in the first intersection pair is determined by means of the high-precision road data corresponding to the first intersection pair in the first-precision map (a map with higher precision), and then it is determined whether the first intersection pair and the second intersection pair have a matching relationship according to whether there is a road gap corresponding to the reference intersection between the two intersections in the second intersection pair of the second-precision map (a map with lower precision). Since if the first intersection pair and the second intersection pair have a matching relationship, and there is a reference intersection between the two intersections in the second intersection pair of the second-precision map, the reference intersection should correspond to a road gap in the first-precision map, therefore, by judging the corresponding relationship between the road gap in the first-precision map with higher coordinate data precision and the reference intersection in the first-precision map, the embodiment of the present application determines whether the first intersection pair and the second intersection pair have a matching relationship, which can improve the accuracy of map registration.

[0082] Meanwhile, in the embodiment of the present application, before recognizing the road gap based on the road data, the distance difference between the first intersection pair and the distance difference between the second intersection pair are compared, and when the two distance differences are far apart, it is not necessary to use the road data corresponding to the road gap for subsequent distance difference calculation, that is, it can be determined that the first intersection pair and the second intersection pair do not have a matching relationship, which can improve the efficiency of matching relationship detection and further improve the efficiency of map registration.

[0083] In addition, in the embodiment of the present application, after recognizing the road gap coordinate data appearing in the road data between the first intersection pair, from the number relationship between the road gap and the reference intersection, when the number of road gaps is less than the number of reference intersections, it is determined that the intersection pair does not have a matching relationship without subsequent distance difference calculation, which further improves the detection efficiency and improves the efficiency of map registration under the premise of ensuring the accuracy of matching relationship detection.

[0084] The map registration method of the embodiment can be executed by any appropriate electronic device with data processing capability, including but not limited to: servers, PC machines, etc.

[0085] Embodiment three,

[0086] Reference Figure 5 , Figure 5 is a structural block diagram of a map registration device according to the third embodiment of the present application. The map registration device provided by the embodiment of the present application comprises:

[0087] The intersection pair acquisition module 502 is configured to acquire the coordinate data of the first intersection pair in the first-precision map and the coordinate data of the second intersection pair in the second-precision map; the precision of the first-precision map is higher than the precision of the second-precision map;

[0088] The road gap recognition module 504 is configured to recognize coordinate data of a road gap present in the road data between the first intersection pair.

[0089] The reference intersection determination module 506 is configured to determine, based on the second-precision map data, coordinate data of a reference intersection present in the road data between the second intersection pair.

[0090] The corresponding relationship determination module 508 is configured to determine, according to a distance difference between the coordinate data of the road gap in the first-precision map data and the first intersection pair and a distance difference between the coordinate data of the reference intersection in the second-precision map data and the second intersection pair, whether there is a road gap corresponding to the reference intersection.

[0091] The matching relationship determination module 510 is configured to determine that the first intersection pair and the second intersection pair have a matching relationship if there is a road gap corresponding to the reference intersection.

[0092] Optionally, in some embodiments, the corresponding relationship determination module 508 is specifically configured to:

[0093] calculate a first distance difference between the coordinate data of the road gap in the first-precision map data and an intersection in the first intersection pair and a second distance difference between the coordinate data of the reference intersection in the second-precision map data and an intersection in the second intersection pair;

[0094] determine whether there is a first distance difference whose difference from the second distance difference is less than a first preset threshold value, and determine that there is a road gap corresponding to the reference intersection if there is.

[0095] Optionally, in some embodiments, the apparatus further includes:

[0096] The first determination module is configured to, before determining, according to the distance difference between the coordinate data of the road gap in the first-precision map data and the first intersection pair and the distance difference between the coordinate data of the reference intersection in the second-precision map data and the second intersection pair, whether there is a road gap corresponding to the reference intersection, determine whether the number of road gaps in the first-precision map data is greater than or equal to the number of reference intersections in the second-precision map data, and trigger the corresponding relationship determination module 508 if the number of road gaps in the first-precision map data is greater than or equal to the number of reference intersections in the second-precision map data.

[0097] Optionally, in some embodiments, the apparatus further includes:

[0098] The first false matching relationship determination module is configured to determine that the first intersection pair and the second intersection pair do not have a matching relationship if the number of road gaps in the first-precision map data is less than the number of reference intersections in the second-precision map data.

[0099] Optionally, in some embodiments, the apparatus further comprises:

[0100] a correction module configured to correct the coordinate data of the reference intersection according to the coordinate data of the road cut corresponding to the reference intersection; and correct the coordinate data of the intersection pair according to the coordinate data of the intersection pair.

[0101] Optionally, in some embodiments, the apparatus further comprises:

[0102] a distance difference calculation module configured to calculate a distance difference between the first intersection pair as a third distance difference before identifying the coordinate data of the road cut appearing in the road data between the first intersection pair, and calculate a distance difference between the second intersection pair as a fourth distance difference.

[0103] a second judgment module configured to judge whether a difference between the third distance difference and the fourth distance difference is less than a second preset threshold value; if yes, trigger the road cut identification module 504.

[0104] Optionally, in some embodiments, the apparatus further comprises:

[0105] a second false matching relationship determination module configured to determine that the first intersection pair and the second intersection pair do not have a matching relationship if the difference between the third distance difference and the fourth distance difference is greater than or equal to the second preset threshold value.

[0106] Optionally, in some embodiments, if the number of reference intersections in the second high-precision map data is multiple, the corresponding relationship determination module 508 is specifically configured to determine, for each reference intersection, whether there is a road cut corresponding to the reference intersection according to the distance difference between the coordinate data of the road cut and the first intersection pair in the first high-precision map data, and the distance difference between the coordinate data of each reference intersection and the second intersection pair in the second high-precision map data.

[0107] The matching relationship determination module 510 is specifically configured to determine that the first intersection pair and the second intersection pair have a matching relationship if there is a road cut corresponding to each reference intersection.

[0108] The map registration apparatus of the embodiment is used to implement the corresponding map registration method in the foregoing plurality of method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described here. In addition, the function implementation of each module in the map registration apparatus of the embodiment can be referred to the description of the corresponding part in the foregoing method embodiments, which will not be described here either.

[0109] Embodiment four,

[0110] ReferenceFigure 6 FIG. 4 shows a structural schematic diagram of an electronic device according to Embodiment Four of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device.

[0111] As shown in FIG. 4, the electronic device can include a processor 602, a communications interface 604, a memory 606, and a communications bus 608. Figure 6

[0112]

[0113] The processor 602, the communications interface 604, and the memory 606 complete mutual communication through the communications bus 608.

[0114] The communications interface 604 is configured to communicate with other electronic devices or servers.

[0115] The processor 602 is configured to execute the program 610, and specifically can execute the related steps in the above map registration method embodiments.

[0116] Specifically, the program 610 can include program code, which includes computer operation instructions.

[0117] The processor 602 can be a processor CPU, or an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device can be the same type of processor, such as one or more CPUs; or can be different types of processors, such as one or more CPUs and one or more ASICs.

[0118] The memory 606 is configured to store the program 610. The memory 606 can include a high-speed RAM memory, and can also include a non-volatile memory, such as at least one disk memory.

[0119] ​​The program 610 can be specifically used to enable the processor 602 to perform the following operations: obtaining coordinate data of a first intersection pair in first precision map data and coordinate data of a second intersection pair in second precision map data; the precision of the first precision map is higher than the precision of the second precision map; identifying coordinate data of a road break appearing in road data between the first intersection pair; determining, based on the second precision map data, coordinate data of a reference intersection existing in road data between the second intersection pair; determining, according to a distance difference between the road break in the first precision map data and the coordinate data of the first intersection pair and a distance difference between the reference intersection in the second precision map data and the coordinate data of the second intersection pair, whether the road break corresponding to the reference intersection exists; and if the road break exists, determining that the first intersection pair and the second intersection pair have a matching relationship.

[0120] The specific implementation of each step in the program 610 can refer to the corresponding description in the corresponding steps and units of the above-described map registration method embodiments, and will not be described here. It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the foregoing method embodiments, and will not be described here.

[0121] Through the electronic device of the embodiment, the coordinate data of the road break between the two intersections in the first intersection pair is determined by means of the road data corresponding to the road between the first intersection pair in the first precision map (a map with higher precision), and then whether the first intersection pair and the second intersection pair have a matching relationship is determined according to whether the road break corresponding to the intersection (reference intersection) between the two intersections in the second intersection pair of the second precision map (a map with lower precision) exists. Since if the first intersection pair and the second intersection pair have a matching relationship, and the reference intersection exists between the two intersections in the second intersection pair of the second precision map, the reference intersection should correspond to a road break in the first precision map, therefore, by judging the corresponding relationship between the road break in the first precision map with higher coordinate data precision and the reference intersection in the first precision map, whether the first intersection pair and the second intersection pair have a matching relationship is determined, which can improve the accuracy of map registration.

[0122] It should be noted that, according to the needs of implementation, each component / step described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or part of the operations of the components / steps can be combined into a new component / steps, to achieve the purpose of the embodiments of the present application.

[0123] The above-described methods according to embodiments of the present application can be implemented in hardware, firmware, or software, or any combination thereof, and can be stored in a recording medium such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or be downloaded by network from a remote recording medium or non-transitory machine-readable medium originally stored in a remote recording medium or non-transitory machine-readable medium and to be stored in a local recording medium, so that such software implementing the methods described herein can be stored in a recording medium on a general-use computer, a special-purpose processor, or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that the computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the map registration methods described herein. Furthermore, when a general-purpose computer accesses code for implementing the map registration methods shown herein, the execution of the code transforms the general-purpose computer into a special-purpose computer for executing the map registration methods shown herein.

[0124] Those skilled in the art can understand that the units and method steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of the present application.

[0125] The above embodiments are only used to illustrate but not limit the embodiments of the present application, and a person of ordinary skill in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, therefore all equivalent technical solutions belong to the scope of the embodiments of the present application, and the patent protection scope of the embodiments of the present application should be defined by the claims.

Claims

1. A method for map registration, comprising: obtaining coordinate data of a first pair of junctions in first-precision map data and coordinate data of a second pair of junctions in second-precision map data; the first-precision map has a higher precision than the second-precision map; identifying coordinate data of a road break appearing in road data between the first pair of junctions; determining coordinate data of a reference junction existing in road data between the second pair of junctions based on the second-precision map data; calculating a first distance difference value between the coordinate data of the road break and a junction in the first pair of junctions in the first-precision map data, and a second distance difference value between the coordinate data of the reference junction and a junction in the second pair of junctions in the second-precision map data; determining whether there is a first distance difference value having a difference from the second distance difference value less than a first preset threshold value, and if there is, determining that there is a road break corresponding to the reference junction; determining that the first pair of junctions and the second pair of junctions have a matching relationship.

2. The method of claim 1, wherein, The method further comprises: determining whether the number of road breaks in the first-precision map data is greater than or equal to the number of reference junctions in the second-precision map data; if the number of road breaks in the first-precision map data is greater than or equal to the number of reference junctions in the second-precision map data, performing the step of calculating the first distance difference value between the coordinate data of the road break and a junction in the first pair of junctions in the first-precision map data, and the second distance difference value between the coordinate data of the reference junction and a junction in the second pair of junctions in the second-precision map data.

3. The method of claim 2, wherein, The method further comprises: if the number of road breaks in the first-precision map data is less than the number of reference junctions in the second-precision map data, determining that the first pair of junctions and the second pair of junctions do not have a matching relationship.

4. The method of claim 1, wherein, After determining that the first pair of junctions and the second pair of junctions have a matching relationship, the method further comprises: correcting the coordinate data of a junction in the second pair of junctions according to the coordinate data of a junction in the first pair of junctions; correcting the coordinate data of the reference junction according to the coordinate data of the road break corresponding to the reference junction.

5. The method of claim 1, wherein, Before identifying the coordinate data of the road break appearing in road data between the first pair of junctions, the method further comprises: calculating a distance difference value between the first pair of junctions as a third distance difference value, and calculating a distance difference value between the second pair of junctions as a fourth distance difference value; determining whether the difference between the third distance difference value and the fourth distance difference value is less than a second preset threshold value; if yes, performing the step of identifying the coordinate data of the road break appearing in road data between the first pair of junctions.

6. The method of claim 5, wherein, The method further comprises: if the difference between the third distance difference value and the fourth distance difference value is greater than or equal to the second preset threshold value, determining that the first pair of junctions and the second pair of junctions do not have a matching relationship.

7. The method of claim 1, wherein, if the number of reference junctions in the second-precision map data is multiple, the method further comprises: For each of the reference intersections, it is judged whether there is a first distance difference value whose difference with the second distance difference value is less than a first preset threshold value, and if there is, it is determined that there is a road break corresponding to the reference intersection; The determination that the first intersection pair and the second intersection pair have a matching relationship comprises: If for each of the reference intersections, there is a road break corresponding to the reference intersection, it is determined that the first intersection pair and the second intersection pair have a matching relationship.

8. A map registration apparatus, comprising: An intersection pair acquisition module configured to acquire coordinate data of a first intersection pair in a first precision map and coordinate data of a second intersection pair in a second precision map; The first precision map has a higher precision than the second precision map; A road break identification module configured to identify coordinate data of a road break appearing in road data between the first intersection pair; A reference intersection determination module configured to determine, based on the second precision map data, coordinate data of a reference intersection existing in road data between the second intersection pair; A corresponding relationship determination module configured to calculate a first distance difference value between coordinate data of a road break and coordinate data of an intersection in the first intersection pair in the first precision map data, and a second distance difference value between coordinate data of a reference intersection and coordinate data of an intersection in the second intersection pair in the second precision map data; It is judged whether there is a first distance difference value whose difference with the second distance difference value is less than a first preset threshold value, and if there is, it is determined that there is a road break corresponding to the reference intersection; A matching relationship determination module configured to determine that the first intersection pair and the second intersection pair have a matching relationship.

9. A computer storage medium having a computer program stored thereon, the program being executed by a processor to implement the map registration method of any one of claims 1-7.

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