Matching object identification method, electronic device, storage medium and program product

Abstract

Embodiments of the present application provide a method, electronic device, storage medium, and program product for identifying a matched object. The method, applied to a vehicle-mounted device, includes: obtaining contour coordinate points of a map object adjusted based on the direction of travel, wherein the contour coordinate points of the map object are at least three coordinate points that identify the closed contour range of the map object; obtaining contour coordinate points of a matching object based on the direction of travel, wherein the contour coordinate points of the matching object are coordinate points corresponding to the positions of the contour coordinate points of the map object; and determining whether the matching object and the map object are the same object based on a point-to-point matching result between the contour coordinate points of the matching object and the contour coordinate points of the map object. Embodiments of the present application only require point-to-point matching calculations to achieve matching object identification, thereby improving the efficiency of the matching calculations and reducing the time consumed by the matching calculations.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of electronic information technology, and in particular to a matching object recognition method, electronic device, storage medium, and computer program product. Background Art

[0002] In many application scenarios, such as autonomous driving and navigation, the precise location of moving objects is required. This precise location typically requires comparing matching objects in image data captured by sensors installed on the moving object with map objects in map data to identify the moving object's location and context. However, implementing this approach requires multiple, complex matching calculations between matching objects and map objects, resulting in low matching efficiency and a long computational time. Summary of the Invention

[0003] In view of this, embodiments of the present application provide a matching object identification method, electronic device, storage medium, and computer program product to at least partially solve the above-mentioned problems.

[0004] According to a first aspect of an embodiment of the present application, a method for identifying a matching object is provided, which is applied to a vehicle terminal, and includes: obtaining contour coordinate points of a map object adjusted based on a driving direction, where the contour coordinate points of the map object are: at least three coordinate points that identify a closed contour range of the map object; obtaining contour coordinate points of a matching object based on the driving direction, where the contour coordinate points of the matching object are: coordinate points corresponding to the positions of the contour coordinate points of the map object; and determining whether the matching object and the map object are the same object based on a point-to-point matching result between the contour coordinate points of the matching object and the contour coordinate points of the map object.

[0005] According to the second aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the matching method of the first aspect.

[0006] According to a third aspect of an embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the matching method as described in the first aspect is implemented.

[0007] According to a fourth aspect of an embodiment of the present application, a computer program product is provided. When the computer program product is executed by a processor, it implements the matching method as described in the first aspect.

[0008] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0010] Figure 1 A schematic diagram of a scene of the prior art of this application;

[0011] Figure 2 This is a schematic diagram of the matching calculation of the prior art of this application;

[0012] Figure 3 A schematic diagram of a matching method according to an embodiment of the present invention;

[0013] Figure 4 A flowchart of a matching method provided in an embodiment of the present application;

[0014] Figure 5 A schematic diagram of a matching method provided in an embodiment of the present application that adjusts the outline coordinate points of a map object based on the driving direction;

[0015] Figure 6 A flowchart of step 41 of a matching method provided in an embodiment of the present application;

[0016] Figure 7 A flowchart of step 42 of a matching method provided in an embodiment of the present application;

[0017] Figure 8 A flowchart of step 43 of a matching method provided in an embodiment of the present application;

[0018] Figure 9 A schematic diagram of another matching method provided in an embodiment of the present application;

[0019] Figure 10 A schematic diagram of another matching method provided in an embodiment of the present application;

[0020] Figure 11 A flowchart of another matching method provided in an embodiment of the present application;

[0021] Figure 12 A structural diagram of a matching device provided in an embodiment of the present application;

[0022] Figure 13 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable 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 below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field should fall within the scope of protection of the embodiments of the present application.

[0024] The specific implementation of the embodiment of the present application is further explained below in conjunction with the accompanying drawings of the embodiment of the present application.

[0025] See also Figure 1 In autonomous driving scenarios, to achieve vehicle positioning and scene recognition, it is often necessary to identify matching objects in the actual driving scene obtained by vehicle sensors with map objects in a high-precision map, thereby determining the actual position and space of the vehicle located on the vehicle-side computer 101. This typically requires a series of computational operations between the matching objects and map objects, such as object recognition, coordinate extraction, vector modeling, direction determination, spatial transformation, geographic coordinate mapping, and feature matching. However, these computational operations are very inefficient for the vehicle-side computer 101, which has very limited computing power.

[0026] Specifically, see Figure 2After receiving image data from the sensor, the vehicle computer needs to perform image recognition to identify a matching object. The vehicle computer then obtains map data from the server, thereby obtaining a map object. The vehicle computer then rotates the matching object four times: 0, 90, 180, and 270 degrees. The resulting matching objects 21, 22, 23, and 24 in four different orientations are then compared four times with map object 25. Each comparison operation includes calculating the vehicle's current direction of travel; aligning the point sequence of the identified object with the point sequence of the map object based on the direction of travel; and performing point-by-point coordinate matching. The best matching result from these four different orientations is then selected as the matching object recognition result. Vehicle positioning and scene recognition are determined based on the matching object recognition results. Therefore, the vehicle computer requires these complex calculations, requiring the matching object to be adjusted to four different orientations and then performing four point sequence comparisons. This is computationally intensive and inefficient.

[0027] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations.

[0028] The embodiment of the present application provides a matching method, which is applied to the vehicle terminal. For ease of understanding, the application scenario of the identification method of the matching object provided in the first embodiment of the present application is described. Figure 3 As shown, Figure 3 A schematic diagram of a scenario of a matching object recognition method provided in Example 1 of the present application. Figure 3 The scene shown includes a vehicle terminal 301 and a traveling object 302. The vehicle terminal 301 is a device for executing the matching object identification method provided in an embodiment of the present application. The vehicle terminal 301 can be a smart phone, a tablet computer, a laptop computer, or other vehicle-mounted terminal devices. Of course, this is only an exemplary description and does not mean that the present application is limited to this.

[0029] The vehicle terminal 301 can access the network, connect to the cloud through the network, and exchange data. In this application, the network includes a local area network (LAN), a wide area network (WAN), and a mobile communication network; such as the World Wide Web (WWW), Long Term Evolution (LTE), 2G (2nd Generation Mobile Network), 3G (3rd Generation Mobile Network), and 5G (5th Generation Mobile Network). The cloud can include various devices connected through the network, such as servers, relay devices, and end-to-end (Device-to-Device, D2D) devices. Of course, this is just an example and does not mean that the application is limited to this.

[0030] The moving object may be provided with a sensor for image acquisition. The moving object acquires the image of the target object through the sensor and transmits the acquired image of the target object to the vehicle terminal. The vehicle terminal 301 may obtain map data from the server terminal 302, which may be a cloud terminal.

[0031] Combine Figure 3 The scenario shown in the figure describes in detail the matching object identification method provided in the first embodiment of the present application. It should be noted that: Figure 3 This is just one application scenario of the matching object identification method provided in the first embodiment of the present application, and does not mean that the matching object identification method must be applied to Figure 3 Optionally, the matching object recognition method provided in the embodiment of the present application can be applied to electronic devices, referring to Figure 4 As shown, Figure 4 This is a flow chart of a matching object identification method provided in an embodiment of the present application. The method includes the following steps:

[0032] Step 41: Obtain outline coordinate points of the map object adjusted based on the driving direction. The outline coordinate points of the map object are: at least three coordinate points that identify a closed outline range of the map object.

[0033] It should be noted that the driving direction of the driving object is the direction in the actual physical space, and the outline coordinate points of the map object adjusted according to the driving direction, that is, the orientation of the map object is the same as the driving direction.

[0034] For example, Figure 5 As shown, Figure 5A schematic diagram of adjusting the outline coordinate points of a map object based on the driving direction provided in an embodiment of the present application is provided. The map object in the map data is adjusted from direction A to direction B that is consistent with the driving direction.

[0035] It should also be noted that a map object can be any object in the map data, for example, a map object can be a signboard, a road sign, a ground sign, a building, a tree, etc. For example, a ground sign can include a ground arrow sign, a ground zebra crossing, etc.

[0036] Specifically, since most map objects are rectangular, using four points can more accurately describe the outline of the map object, and the outline coordinate points are four coordinate points.

[0037] Specifically, in order to accurately describe the outline of a map object using contour points, four coordinate points are drawn with connected contour lines in a preset clockwise direction, and the contour lines overlap to form a closed surface object.

[0038] Those skilled in the art use clockwise or counterclockwise as the preset clockwise direction as needed.

[0039] In some specific implementations of this application, see Figure 6 , step 41, comprising:

[0040] Step 411: Rotate the map object in the map data along the driving direction to obtain a first contour coordinate point of the map object located at a preset position along the driving direction.

[0041] Step 412: along the preset clockwise direction, sequentially obtain the second outline coordinate point, the third outline coordinate point, and the fourth outline coordinate point of the map object.

[0042] Specifically, the preset position is the position of the upper left corner, and the coordinate point of the upper left corner is selected as the first contour coordinate point.

[0043] If the preset clockwise direction is clockwise, the coordinate point of the upper right corner is selected as the second contour coordinate point, the coordinate point of the lower right corner is selected as the third contour coordinate point, and the coordinate point of the lower left corner is selected as the fourth contour coordinate point.

[0044] In this embodiment of the present application, by selecting the first, second, third, and fourth outline coordinate points, the outline of a map object can be accurately described using four outline coordinate points. Furthermore, defining the outline of a map object using four points in a preset clockwise order reduces computational complexity compared to calculating the outline of all points in the map object.

[0045] Step 42: Obtain the outline coordinate points of the matching object based on the driving direction. The outline coordinate points of the matching object are coordinate points corresponding to the positions of the outline coordinate points of the map object.

[0046] Specifically, an image of the matching object is obtained by an image sensor installed on the traveling object 302 , and coordinate points on the contour line of the matching object corresponding to the contour coordinate points of the map object are obtained based on the traveling direction.

[0047] In some specific implementations of this application, see Figure 7 , step 42, comprising:

[0048] Step 421: Obtain the contour line of the matching object based on the driving direction.

[0049] Step 422: According to a preset clockwise direction, coordinate points on the contour line of the matching object corresponding to the positions of the contour coordinate points of the map object are identified in sequence as the contour coordinate points of the matching object.

[0050] In this embodiment, the contour line of the matching object is obtained based on the driving direction, and then coordinate points on the contour line of the matching object corresponding to the contour coordinate points of the map object are identified according to a preset clockwise direction. Because the contour coordinate points of both the map object and the target object are identified according to the preset clockwise direction, and the positions of the contour coordinate points correspond, the contour ranges of both the map object and the matching object can be determined using the contour coordinate points of the map object and the matching object.

[0051] Step 43: Determine whether the matching object and the map object are the same object based on the point-to-point matching result between the outline coordinate points of the matching object and the outline coordinate points of the map object.

[0052] The embodiment of the present application only requires the point-to-point matching results of the outline coordinate points of the matching object and the outline coordinate points of the map object to determine whether the outline range of the matching object and the outline range of the map object are consistent, and then determine whether the two are the same object.

[0053] In some specific implementations of this application, see Figure 8 , step 43, comprising:

[0054] Step 431: Calculate the differences between the coordinate values ​​of the four outline coordinate points of the matching object and the four outline coordinate points of the map object.

[0055] Step 432: If the difference between the contour coordinate points of at least two matching objects and the contour coordinate points of the map object is below a preset threshold, it is determined that the matching object and the map object are the same object.

[0056] This embodiment of the present application determines that the matching object and the map object are the same object by calculating the difference between the coordinate values ​​of the four outline coordinate points of the matching object and the four outline coordinate points of the map object, and then comparing the difference with a preset threshold. If the difference between the outline coordinate points of at least two matching objects and the outline coordinate points of the map object is below the preset threshold, it indicates that the outlines of the matching object and the map object have a large range of consistency, and therefore the matching object and the map object are determined to be the same object.

[0057] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations.

[0058] In some specific implementations of the embodiments of this application, see Figure 9 The outline coordinate points of the map object adjusted based on the driving direction are calculated by the server (cloud) 302 according to the map data corresponding to the driving direction and the map object. In the embodiment of the present application, the map data in the high-precision map is processed by the server (cloud) 302 with powerful computing power, and the map object in the map data is adjusted according to the driving direction of the driving object, so that the direction is consistent with the driving direction. In the embodiment of the present application, the vehicle-side does not need to perform this calculation, thereby avoiding the calculation efficiency of the map data in the high-precision map for adjusting the driving direction due to the low computing power of the vehicle-side 301.

[0059] In other specific implementations of the embodiments of this application, see Figure 10The contour coordinate points of the map object adjusted based on the driving direction are pre-stored locally on the vehicle terminal 301 based on the driving positioning data of the vehicle terminal 301. That is, the contour coordinate points of the map object adjusted based on the driving direction are calculated by the server terminal (cloud) 302 based on the driving direction and the map data corresponding to the map object. The vehicle terminal 301 pre-downloads the contour coordinate points of the map object corresponding to the current driving positioning data of the driving object from the server terminal (cloud) 302 to the vehicle terminal 301. In this embodiment of the application, the vehicle terminal 301 does not need to calculate the driving direction adjustment of the map data. The server terminal (cloud) 302 performs this calculation. The vehicle terminal 301 pre-downloads the contour coordinate points of the corresponding map object from the server terminal (cloud) 302 to the vehicle terminal 301 based on the current driving positioning data. This embodiment of the application avoids the impact of communication between the server terminal (cloud) 302 and the vehicle terminal 301 on computing efficiency. The contour coordinate points of the map object pre-downloaded locally on the vehicle terminal 301 can be directly used for subsequent recognition calculations, further improving computing efficiency.

[0060] To further illustrate the implementation of the present application, see Figure 11 , the embodiment of the present application also provides an identification method, including:

[0061] Step 111: The server (cloud) rotates the map object according to the received driving direction to obtain the map object along the driving direction and at the upper left corner contour coordinate point.

[0062] Step 112: Obtain the upper right corner outline coordinate point, the lower right corner outline coordinate point, and the lower left corner outline coordinate point of the map object in the clockwise direction.

[0063] Step 113: The server (cloud) sends the adjusted four outline coordinate points of the map object to the vehicle computer.

[0064] Step 114 : The vehicle computer pre-stores the upper left corner outline coordinate point, the upper right corner outline coordinate point, the lower right corner outline coordinate point, and the lower left corner outline coordinate point of the map object.

[0065] Step 115: The vehicle computer obtains the contour line of the matching object based on the driving direction.

[0066] Step 116 : In a clockwise direction, identify the upper left corner contour coordinate point, the upper right corner contour coordinate point, the lower right corner contour coordinate point, and the lower left corner contour coordinate point on the contour line of the matching object.

[0067] Step 117: Calculate the differences between the coordinate values ​​of the upper left corner, upper right corner, lower right corner, and lower left corner of the matching object and the coordinate values ​​of the upper left corner, upper right corner, lower right corner, and lower left corner of the pre-stored map object.

[0068] Step 118: If the difference between the contour coordinate points of at least two matching objects and the contour coordinate points of the map object is below a preset threshold, it is determined that the matching object and the map object are the same object.

[0069] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations.

[0070] Based on the method described in the first embodiment above, the present application also provides a matching object identification device for executing the method described in the first embodiment above, see Figure 12 As shown, the identification device includes:

[0071] The first coordinate point obtaining module 121 is configured to obtain contour coordinate points of a map object adjusted based on the driving direction. The contour coordinate points of the map object are at least three coordinate points that identify a closed contour range of the map object.

[0072] The second coordinate point obtaining module 122 is used to obtain the outline coordinate points of the matching object based on the driving direction. The outline coordinate points of the matching object are coordinate points corresponding to the positions of the outline coordinate points of the map object.

[0073] The coordinate point comparison module 123 is used to determine whether the matching object and the map object are the same object based on the point-to-point matching result of the outline coordinate points of the matching object and the outline coordinate points of the map object.

[0074] Optionally, in a specific example, the contour coordinate points are four coordinate points.

[0075] Optionally, in a specific example, four coordinate points are connected by a contour line drawn in a preset clockwise direction, and the contour line overlaps at its beginning and end to form a closed surface object.

[0076] Optionally, in a specific example, the first coordinate point obtaining module 121 is used to: rotate the map object in the map data along the driving direction to obtain a first contour coordinate point of the map object along the driving direction and located at a preset position; and obtain a second contour coordinate point, a third contour coordinate point, and a fourth contour coordinate point of the map object in sequence along the preset clockwise direction.

[0077] Optionally, in a specific example, the second coordinate point acquisition module 122 is used to: obtain the contour line of the matching object based on the driving direction; and identify the coordinate points on the contour line of the matching object corresponding to the contour coordinate point positions of the map object in sequence according to the preset clockwise direction as the contour coordinate points of the matching object.

[0078] Optionally, in a specific example, the coordinate point comparison module 123 is used to: respectively calculate the difference in coordinate values ​​between the four contour coordinate points of the matching object and the four contour coordinate points of the map object; if the difference between the contour coordinate points of at least two matching objects and the contour coordinate points of the map object is below a preset threshold, it is confirmed that the matching object and the map object are the same object.

[0079] Optionally, in a specific example, the outline coordinate points of the map object adjusted based on the driving direction are pre-stored locally on the vehicle terminal according to the driving positioning data of the vehicle terminal.

[0080] Optionally, in a specific example, the outline coordinate points of the map object adjusted based on the driving direction are calculated by the server according to the map data corresponding to the driving direction and the map object.

[0081] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations.

[0082] Based on the method described in the above embodiment, the present application provides an electronic device for executing the method described in the above embodiment 1, referring to Figure 13 , shows a structural diagram of an electronic device according to Example 3 of the present application. The specific embodiments of the present application do not limit the specific implementation of the electronic device.

[0083] like Figure 13 As shown, the electronic device 130 may include: a processor 1302 , a communications interface 1304 , a memory 1306 , and a communication bus 1308 .

[0084] in:

[0085] The processor 1302 , the communication interface 1304 , and the memory 1306 communicate with each other via a communication bus 1308 .

[0086] The communication interface 1304 is used to communicate with other electronic devices or servers.

[0087] The processor 1302 is configured to execute the program 1310 , and specifically may execute the relevant steps in the above matching method embodiment.

[0088] Specifically, the program 1310 may include program codes, which include computer operation instructions.

[0089] Processor 1302 may be a central processing unit (CPU), 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 may be processors of the same type, such as one or more CPUs, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0090] The memory 1306 is used to store the program 1310. The memory 1306 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0091] Program 1310 can be specifically configured to cause processor 1302 to execute and implement the matching method described in Example 1. The specific implementation of each step in program 1310 can be found in the corresponding descriptions of the corresponding steps and units in the above-mentioned matching method embodiment and will not be repeated here. Those skilled in the art will clearly understand that, for ease and brevity of description, the specific operating processes of the devices and modules described above can refer to the corresponding process descriptions in the above-mentioned method embodiment and will not be repeated here.

[0092] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations.

[0093] Based on the method described in the above embodiment, an embodiment of the present application provides a computer storage medium on which a computer program is stored. When the program is executed by a processor, the method described in the above embodiment is implemented.

[0094] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations.

[0095] Based on the method described in the above embodiment, an embodiment of the present application provides a computer program product, which implements the method described in the above embodiment when executed by a processor.

[0096] The matching object identification solution provided by the embodiment of the present application only requires obtaining the contour coordinate points of the map object adjusted based on the driving direction and the contour coordinate points of the matching object. The contour coordinate points of the map object and the contour coordinate points of the matching object correspond to each other and describe the contours of the map object and the matching object, respectively. The embodiment of the present application determines whether the matching object and the map object are the same object by performing point-to-point matching on the contour coordinate points of the matching object and the contour coordinate points of the map object. The embodiment of the present application does not require multiple geometric operations in different directions on the matching object and the map object respectively. The matching object can be identified only through point-to-point matching calculations, which improves the efficiency of the matching calculations and reduces the time consumed by the matching calculations.

[0097] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0098] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or be implemented as computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded via a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as ASIC or FPGA). It can be understood that a computer, a processor, a 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, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0099] Those skilled in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of this application.

[0100] The above implementation methods are only used to illustrate the embodiments of the present application, and are not intended to limit the embodiments of the present application. Ordinary technicians in the relevant technical field 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 also fall within the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims

1. A matching object recognition method, applied to a vehicle computer, comprising: Obtaining contour coordinate points of a map object adjusted based on the driving direction, wherein the contour coordinate points of the map object are: at least three coordinate points that identify a closed contour range of the map object; the map object is a map object corresponding to the current driving location data of the driving object; Obtaining an image of a matching object through an image sensor mounted on the traveling object, and obtaining contour coordinate points of the matching object based on the traveling direction from the image of the matching object, wherein the contour coordinate points of the matching object are coordinate points corresponding to the positions of the contour coordinate points of the map object; It is determined whether the matching object and the map object are the same object based on a point-to-point matching result between the outline coordinate points of the matching object and the outline coordinate points of the map object.

2. The method according to claim 1, wherein The outline coordinate points are four coordinate points.

3. The method according to claim 2, wherein: The four coordinate points are connected by a contour line drawn in a preset clockwise direction, and the contour line overlaps at its ends to form a closed surface object.

4. The method according to claim 3, wherein: The step of obtaining the outline coordinate points of the map object adjusted based on the driving direction includes: Rotating the map object in the map data along the driving direction to obtain a first outline coordinate point of the map object located at a preset position along the driving direction; Along the preset clockwise direction, the second outline coordinate point, the third outline coordinate point, and the fourth outline coordinate point of the map object are obtained in sequence.

5. The method according to claim 4, wherein The obtaining of the contour coordinate points of the matching object based on the driving direction includes: Based on the driving direction, obtaining a contour line of the matching object; According to the preset clockwise direction, coordinate points on the contour line of the matching object corresponding to the positions of the contour coordinate points of the map object are identified in sequence as the contour coordinate points of the matching object.

6. The method according to claim 5, wherein: The determining, based on a point-to-point matching result between the outline coordinate points of the matching object and the outline coordinate points of the map object, whether the matching object and the map object are the same object includes: respectively calculating the differences between the coordinate values ​​of the four outline coordinate points of the matching object and the four outline coordinate points of the map object; If the difference between the outline coordinate points of at least two matching objects and the outline coordinate points of the map object is below a preset threshold, it is determined that the matching object and the map object are the same object.

7. The method according to any one of claims 1 to 6, wherein: The outline coordinate points of the map object adjusted based on the driving direction are pre-stored locally on the vehicle terminal according to the driving positioning data of the vehicle terminal.

8. The method according to claim 7, wherein: The outline coordinate points of the map object adjusted based on the driving direction are calculated by the server according to the map data corresponding to the driving direction and the map object.

9. An electronic device comprising: A processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, where the executable instruction enables the processor to perform an operation corresponding to the method according to any one of claims 1 to 8.

10. A storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. A computer program product, wherein when the computer program product is executed by a processor, the computer program product implements the method according to any one of claims 1 to 8.

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