Information visualization method, device, storage medium and electronic device

Abstract

The present invention discloses an information visualization method, device, storage medium and electronic device. The method comprises: obtaining vehicle positioning information and a map file; parsing the map file to extract map feature information in the map file; drawing a visualization window based on the vehicle positioning information and the map feature information to obtain a visualization display screen, wherein the visualization display screen includes a test map and a vehicle identification, and the visualization display screen is used to display the position of the vehicle identification in the test map. The above technical scheme performs a visualization display screen based on the vehicle positioning information and the map feature information, realizes the real-time display of the vehicle's position in the test map, makes the test process more intuitive, and improves the test experience.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to an information visualization method, device, storage medium and electronic equipment. Background Art

[0002] In the field of autonomous driving, high-precision positioning technology is a necessary condition for achieving autonomous driving. At present, the positioning technology of autonomous driving vehicles mainly includes the following methods: GPS positioning, odometer positioning, GPS / IMU combined navigation system positioning and matching positioning, so as to obtain vehicle positioning data.

[0003] However, in the process of implementing the present invention, the inventors found that there are at least the following technical problems in the prior art: the vehicle positioning data obtained from the current autonomous driving test is not intuitive and the testing experience is poor. Summary of the invention

[0004] The embodiments of the present invention provide an information visualization method, device, storage medium and electronic device to realize the visualization of vehicle positioning information, make the testing process more intuitive and improve the testing experience.

[0005] In a first aspect, an embodiment of the present invention provides an information visualization method, including:

[0006] Obtain vehicle location information and map files;

[0007] Performing information analysis on the map file to extract map feature information from the map file;

[0008] A visualization window is drawn based on the vehicle positioning information and the map feature information to obtain a visualization display screen, wherein the visualization display screen includes a test map and a vehicle identification, and the visualization display screen is used to display the position of the vehicle identification in the test map.

[0009] In a second aspect, an embodiment of the present invention further provides an information visualization device, including:

[0010] Information acquisition module, used to obtain vehicle positioning information and map files;

[0011] A map parsing module, used to parse the map file and extract map feature information from the map file;

[0012] A window drawing module is used to draw a visual window based on the vehicle positioning information and the map feature information to obtain a visual display screen, wherein the visual display screen includes a test map and a vehicle logo, and the visual display screen is used to display the position of the vehicle logo in the test map.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0014] one or more processors;

[0015] a storage device for storing one or more programs,

[0016] When the one or more programs are executed by the one or more processors, the one or more processors implement any information visualization method described in any one of the embodiments of the present invention.

[0017] In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute any of the information visualization methods described in the embodiments of the present invention.

[0018] The present invention obtains vehicle positioning information and map files, parses the map files, and extracts map feature information in the map files, thereby realizing parsing of map files and extraction of map feature information; further, a visual display screen is drawn according to the vehicle positioning information and the map feature information, and the visual display screen includes a test map and a vehicle logo, thereby realizing real-time display of the position of the vehicle logo in the test map, making the test process more intuitive and improving the test experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required to describe the embodiments. Obviously, the drawings introduced are only drawings of a part of the embodiments to be described in the present invention, rather than all the drawings. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a flowchart of an information visualization method provided by Embodiment 1 of the present invention;

[0021] Figure 2 This is a schematic diagram of a visualization window provided by the first embodiment of the present invention;

[0022] Figure 3 It is a flowchart of an information visualization method provided by Embodiment 2 of the present invention;

[0023] Figure 4 It is a flowchart of an information visualization method provided by Embodiment 3 of the present invention;

[0024] Figure 5 is a structural schematic diagram of an information visualization device provided by Embodiment 4 of the present invention;

[0025] Figure 6 It is a structural schematic diagram of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention.

[0027] It should also be noted that, for ease of description, only the part relevant to the present invention but not all content is shown in the accompanying drawings. It should be mentioned before discussing exemplary embodiments in more detail that some exemplary embodiments are described as processing or methods depicted as flow charts. Although the flow chart describes each operation (or step) as sequential processing, many operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. When its operation is completed, the processing can be terminated, but it can also have additional steps not included in the accompanying drawings. The processing can correspond to methods, functions, procedures, subroutines, subprograms, etc.

[0028] Embodiment 1

[0029] Figure 1 This is a flowchart of an information visualization method provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of information visualization in the high-precision positioning test of autonomous driving. The method can be executed by the information visualization device provided in the embodiment of the present invention. The device can be implemented by software and / or hardware. The device can be configured on an electronic computing device, such as a vehicle-mounted terminal. Specifically, the following steps are included:

[0030] S110: Obtain vehicle positioning information and map files.

[0031] Among them, the vehicle positioning information may be the real-time position information of the vehicle during the driving process of the autonomous driving vehicle. The vehicle positioning information includes but is not limited to latitude, longitude, vehicle coordinate system x-direction speed, vehicle coordinate system y-direction speed, vehicle coordinate system z-direction speed, vehicle coordinate system x-direction acceleration, vehicle coordinate system y-direction acceleration, vehicle coordinate system z-direction acceleration, heading angle, pitch angle, roll angle, UTM coordinate system x-coordinate, UTM coordinate system y-coordinate, UTM coordinate system z-coordinate, latitude standard deviation, longitude standard deviation, roll angle standard deviation, pitch angle standard deviation, heading angle standard deviation, GNSS time, differential status, GNSS stability status, sending timestamp, etc.

[0032] The map file may be a map file containing the test area. Optionally, the map file may be a high-precision map file in XML format. High-precision map files in XML format contain a variety of road annotation information, which facilitates map integration and interaction. Road annotation information may be object information related to the road in the high-precision map file. The road annotation information includes but is not limited to information such as points, lane lines, roads, and road circumscribed polygons. The map file can be obtained from a preset storage location. The preset storage location may be a storage medium located in the vehicle-mounted terminal or a storage medium located in a remote server. This embodiment does not impose any restrictions on this.

[0033] Specifically, the methods for obtaining vehicle positioning information include but are not limited to GPS / IMU combined navigation system positioning method, matching positioning method and multi-sensor fusion positioning method. Among them, GPS positioning mainly relies on satellites to confirm the vehicle position, and has the characteristics of all-weather and small cumulative error, but it will produce serious position offset in an obstructed environment. At the same time, the output frequency of GPS positioning is difficult to meet the requirements of the autonomous driving system. Odometer positioning relies on gyroscopes, accelerometers, etc. to calculate the track of autonomous driving vehicles. It has a high output frequency and is not affected by environmental occlusion, but the positioning error will increase over time. The GPS / IMU combined navigation system positioning method combines GPS positioning and odometer positioning, and has the common advantages of both, while reducing the impact of occlusion and error accumulation on vehicle positioning accuracy. The matching positioning method uses sensors to scan the surrounding environment, build an offline environmental map, and then match the environmental information detected by the sensor in real time with the offline environmental map to obtain the relative position of the autonomous driving vehicle in the offline map, thereby correcting the positioning result and effectively reducing the impact of occlusion and error accumulation. The multi-sensor fusion positioning method can be a Kalman filter algorithm, which fuses the vehicle positioning information obtained by the GPS / IMU combined navigation system positioning method and the matching positioning method to obtain more robust and reliable vehicle positioning information.

[0034] S120: parse the map file to extract map feature information from the map file.

[0035] Among them, map feature information may be information used to characterize map features, and may include features of the road on which the vehicle is traveling. Map feature information includes, but is not limited to, information such as points, lane lines, roads, road circumscribed polygons, and intersections. Points are the smallest units in a map file. A map file may be composed of multiple points. Lane lines, roads, road circumscribed polygons, and intersections are also composed of multiple points. Points may include, but are not limited to, preset map identifiers and coordinate information. Coordinate information may be three-dimensional coordinate information, specifically UTM three-dimensional coordinate information. Lane lines and road circumscribed polygons may be composed of multiple points. Roads include road categories and lanes. Intersections include intersection center points, road circumscribed polygons, connection methods, and intersection types.

[0036] Specifically, the method for parsing information of a map file includes: in some embodiments, the map file can be parsed through a hierarchical object model to extract map feature information in the map file. The hierarchical object model divides the map file into independent elements, attributes, and annotations, etc., and then represents the map file in the form of a node tree. The node tree can then be classified according to attributes, annotations, etc., and the map feature information of the same category can be divided into the same branch to achieve classification and extraction of map feature information in the map file. In some embodiments, the map file can be scanned based on a sequential mode, and when the file start and end, element start and end, file end, etc. are scanned, an event processing function is notified, and the event processing function performs corresponding parsing actions, and then the same scan is continued until the document ends, completing the parsing of the map file and the extraction of map feature information.

[0037] S130. Draw a visualization window based on the vehicle positioning information and the map feature information to obtain a visualization display screen, wherein the visualization display screen includes a test map and a vehicle identification, and the visualization display screen is used to display the position of the vehicle identification in the test map.

[0038] The visualization window can be used to display a visualization display screen corresponding to the vehicle positioning information and the map feature information. The visualization display screen includes a test map and a vehicle identifier, wherein the test map can be drawn based on the map feature information. The vehicle identifier is a simplified representation of the vehicle in the test map, and the shape of the vehicle identifier can include but is not limited to a circle, a triangle, and a water drop. The visualization display screen can display the real-time position of the vehicle identifier in the test map, that is, when the vehicle positioning information of the vehicle changes, the position of the vehicle identifier in the test map changes accordingly.

[0039] Based on the above embodiment, the visualization window further includes an information display area, and the information display area is used to display the vehicle positioning information.

[0040] The information display area can be used to display real-time vehicle positioning information, so that users can observe changes in vehicle positioning information. The information display area can be located at any position of the visualization window, specifically on the right side of the visualization display screen, for easy operation.

[0041] Specifically, when the vehicle position changes, the vehicle positioning information displayed in the information display area changes accordingly, realizing real-time updating of the vehicle positioning information, making it easier for users to observe changes in the vehicle positioning information and improving the user testing experience.

[0042] Based on the above embodiment, the visualization window also includes a positioning start button. When the positioning start button is turned on, the vehicle positioning information in the information display area is updated in real time, and / or the position of the vehicle logo in the visualization display screen is updated in real time.

[0043] The positioning start button is used to manage the reception and closing of vehicle positioning information. When the positioning start button is turned on, the vehicle positioning information will be obtained and displayed in real time in the information display area, and / or the position of the vehicle logo in the test map will be updated in real time according to the vehicle positioning information. By setting the positioning start button, it is convenient to manage the reception and closing of vehicle positioning information and realize the positioning test of the vehicle.

[0044] For example, the visualization window is as follows: Figure 2 As shown, on the left side of the visualization window, there is a test map, which may include latitude and longitude information, and the vehicle logo is displayed in the test map. The position of the vehicle logo in the test map can be updated in real time according to the vehicle positioning information; on the right side of the visualization window, there are a start button, a vehicle status display area, a vehicle coordinate information display area, a vehicle speed information display area, and a vehicle attitude information display area. Among them, the start button is a positioning start button, which is used to manage the reception and closing of vehicle positioning information. The vehicle status display area, the vehicle coordinate information display area, the vehicle speed information display area, and the vehicle attitude information display area are sub-areas of the information display area. The vehicle status display area is used to display the stability of the vehicle's positioning, the vehicle coordinate information display area is used to display the vehicle's two-dimensional UTM coordinates, the vehicle speed information display area is used to display the vehicle's driving speed, and the vehicle attitude information display area is used to display the vehicle's yaw angle, pitch angle, and roll angle.

[0045] An embodiment of the present invention provides an information visualization method, which obtains vehicle positioning information and a map file, parses the map file, and extracts map feature information in the map file, thereby realizing the parsing of the map file and the extraction of the map feature information; further, a visualization display screen is drawn according to the vehicle positioning information and the map feature information, and the visualization display screen includes a test map and a vehicle logo, thereby realizing the real-time display of the position of the vehicle logo in the test map, making the test process more intuitive and improving the test experience.

[0046] Embodiment 2

[0047] Figure 3 This is a flowchart diagram of an information visualization method provided in the second embodiment of the present invention. Based on the above embodiment, "obtaining vehicle positioning information and map files" and "parsing the map files to extract map feature information from the map files" are further refined. The specific implementation method can refer to the detailed description of this technical solution. Among them, the technical terms that are the same as or corresponding to the above embodiment are not repeated here. Figure 3 As shown, the method of the embodiment of the present invention specifically includes the following steps:

[0048] S210, subscribing to an encapsulated data packet of positioning information, and parsing the encapsulated data packet to obtain vehicle positioning information, wherein the encapsulated data packet is encapsulated and published after the vehicle positioning information is generated by the vehicle positioning device.

[0049] The encapsulated data packet may include the positioning information of the currently traveling vehicle. After the vehicle positioning information is generated by the vehicle positioning device, the encapsulated data packet is encapsulated and published.

[0050] Specifically, the encapsulation and publishing methods include but are not limited to the following: In some embodiments, the message transmission mechanism of the Robot Operating System (ROS) can be used to package the positioning information into a rosmsg format file and publish it through the ROS publishing mechanism. The ROS message transmission mechanism takes a short time, so that the vehicle positioning information can be transmitted quickly, and the real-time visualization of the information can be guaranteed. In some embodiments, the positioning information can be encapsulated using Protobuf and published through TCP or UDP. In some embodiments, the positioning information is integrated by defining a structure and published through TCP or UDP. This embodiment does not limit the encapsulation and publishing methods.

[0051] Furthermore, after the vehicle positioning device completes the encapsulation and release of the positioning information, the information visualization device can subscribe to and parse the positioning information. The subscription and parsing methods include but are not limited to the following: In some embodiments, the ROS subscription mechanism is used to subscribe to messages, and the messages are parsed to obtain the vehicle positioning information. In another embodiment, tcp or udp is used to receive messages, and the Protobuf or structure is parsed to obtain the vehicle positioning information. This embodiment does not limit the subscription and parsing methods.

[0052] It should be noted that the purpose of encapsulation and parsing in this implementation is that the program file for generating positioning information is relatively complete and stable. When performing information visualization programming, in order to avoid interference with the program for generating positioning information, a new program file needs to be established. The new program file needs to call the positioning information generated by the positioning information program file. In order to ensure the security and effectiveness of the transmission of positioning information, the encapsulation and parsing method is used for transmission.

[0053] S220: traverse the map file based on a preset map identifier, and extract map feature information in the map file according to a feature identifier corresponding to the preset map identifier.

[0054] The map file includes preset map identifiers and feature identifiers. The preset map identifiers can correspond to elements in the map one by one. The elements can be points in the map. The preset map identifiers can be used to traverse each element in the map file. The feature identifiers can be name identifiers, such as annotation names or attribute names. The elements in the map file can be classified according to the feature identifiers, that is, the elements with the same feature identifiers are classified into one category, so as to decompose the map file and extract the map feature information.

[0055] S230. Draw a visualization window based on the vehicle positioning information and the map feature information to obtain a visualization display screen, wherein the visualization display screen includes a test map and a vehicle identification, and the visualization display screen is used to display the position of the vehicle identification in the test map.

[0056] An embodiment of the present invention provides an information visualization method, which can reduce the changes to the program for generating positioning information by encapsulating and parsing positioning information, realize the division of information visualization process and positioning information generation process, and improve the stability of the information visualization process; and draw a visualization display screen according to vehicle positioning information and map feature information, the visualization display screen includes a test map and a vehicle logo, realizes the real-time display of the position of the vehicle logo in the test map, makes the test process more intuitive, and improves the test experience.

[0057] Embodiment 3

[0058] Figure 4 A flowchart of an information visualization method provided for Embodiment 3 of the present invention is provided, and the embodiment of the present invention can be combined with each optional solution in the above embodiment. In the embodiment of the present invention, optionally, the visual window drawing based on the vehicle positioning information and the map feature information to obtain a visual display screen includes: inputting the vehicle positioning information and the map feature information into a preset window drawing model to obtain a visual display screen.

[0059] like Figure 4 As shown, the method of the embodiment of the present invention specifically includes the following steps:

[0060] S310: Obtain vehicle positioning information and map files.

[0061] S320: parse the map file to extract map feature information from the map file.

[0062] S330: Input the vehicle positioning information and the map feature information into a preset window drawing model to obtain a visual display screen.

[0063] Among them, the preset window drawing model can be a function model based on the graphics library, which can visualize the vehicle positioning information and map feature information, draw the test map and vehicle identification, and display the vehicle's position in real time on the test map, so that users can observe the vehicle positioning situation in real time.

[0064] Specifically, the graphics library may be a qcustomplot library, and the drawing function may include but is not limited to ggplot and ggplot2. The drawing function may be used to draw the test map and the vehicle logo, and the position of the vehicle may be displayed in real time on the test map.

[0065] On the basis of the above embodiment, the vehicle positioning information and the map feature information are input into a preset window drawing model to obtain a visual display screen, including: drawing based on the map feature information to obtain a test map; drawing the test map based on the vehicle positioning information to obtain a test map including a vehicle logo, wherein the vehicle logo is located at a position corresponding to the vehicle positioning information in the test map; rendering the test map including the vehicle logo to a preset area of ​​the visualization window to obtain a visual display screen.

[0066] In an embodiment of the present invention, map feature information and vehicle positioning information are drawn in sequence to obtain a test map including a vehicle identification, and the test map including the vehicle identification is rendered to a preset area of ​​a visualization window to obtain a visualization display screen, thereby realizing visualization of information; further, the position of the vehicle identification in the test map can be changed in real time according to the vehicle positioning information, making the test process more intuitive and convenient for viewing the real-time positioning status of the vehicle.

[0067] An embodiment of the present invention provides an information visualization method, which obtains vehicle positioning information and a map file, parses the map file, and extracts map feature information in the map file, thereby realizing the parsing of the map file and the extraction of the map feature information; further, a visualization display screen is drawn according to the vehicle positioning information and the map feature information, and the visualization display screen includes a test map and a vehicle logo, thereby realizing the real-time display of the position of the vehicle logo in the test map, making the test process more intuitive and improving the test experience.

[0068] Embodiment 4

[0069] Figure 5 This is a schematic diagram of the structure of an information visualization device provided in the fourth embodiment of the present invention. The information visualization device provided in this embodiment can be implemented by software and / or hardware, and can be configured in a terminal and / or a server to implement the information visualization method in the embodiment of the present invention. The device can specifically include: an information acquisition module 410, a map parsing module 420, and a window drawing module 430.

[0070] Among them, the information acquisition module 410 is used to obtain vehicle positioning information and map files; the map parsing module 420 is used to perform information parsing on the map file and extract map feature information in the map file; the window drawing module 430 is used to perform visual window drawing based on the vehicle positioning information and the map feature information to obtain a visual display screen, wherein the visual display screen includes a test map and a vehicle logo, and the visual display screen is used to display the position of the vehicle logo in the test map.

[0071] An embodiment of the present invention provides an information visualization device, which obtains vehicle positioning information and a map file, performs information analysis on the map file, and extracts map feature information in the map file, thereby realizing the analysis of the map file and the extraction of the map feature information; further, a visualization display screen is drawn according to the vehicle positioning information and the map feature information, and the visualization display screen includes a test map and a vehicle logo, thereby realizing the real-time display of the position of the vehicle logo in the test map, making the test process more intuitive and improving the test experience.

[0072] Based on any optional technical solution in the embodiment of the present invention, optionally, the information acquisition module 410 can be specifically used for:

[0073] Subscribe to the encapsulated data packet of the positioning information, and parse the encapsulated data packet to obtain the vehicle positioning information, wherein the encapsulated data packet is encapsulated and published after the vehicle positioning information is generated by the vehicle positioning device.

[0074] Based on any optional technical solution in the embodiment of the present invention, optionally, the map file includes a preset map identifier and a feature identifier, and the map parsing module 420 can be specifically used for:

[0075] The map file is traversed based on a preset map identifier, and map feature information in the map file is extracted according to a feature identifier corresponding to the preset map identifier.

[0076] Based on any optional technical solution in the embodiment of the present invention, optionally, the window drawing module 430 may include:

[0077] The display screen drawing unit is used to input the vehicle positioning information and the map feature information into a preset window drawing model to obtain a visual display screen.

[0078] Based on any optional technical solution in the embodiment of the present invention, optionally, the display screen drawing unit may be specifically used for:

[0079] Drawing based on the map feature information to obtain a test map;

[0080] The test map is drawn based on the vehicle positioning information to obtain a test map including a vehicle identifier, wherein the vehicle identifier is located at a position corresponding to the vehicle positioning information on the test map;

[0081] The test map including the vehicle identification is rendered to a preset area of ​​the visualization window to obtain a visualization display screen.

[0082] Based on any optional technical solution in the embodiments of the present invention, optionally, the visualization window further includes an information display area, and the information display area is used to display the vehicle positioning information.

[0083] Based on any optional technical solution in the embodiments of the present invention, optionally, the visualization window also includes a positioning start button. When the positioning start button is in the turned-on state, the vehicle positioning information in the information display area is updated in real time, and / or the position of the vehicle logo in the visualization display screen is updated in real time.

[0084] The information visualization device provided in the embodiment of the present invention can execute the information visualization method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0085] Embodiment 5

[0086] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Figure 6 A block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 6 The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0087] like Figure 6 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0088] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0089] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0090] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0091] A program / utility 36 having a set (at least one) of program modules 26 may be stored, for example, in system memory 28, such program modules 26 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 26 generally perform the functions and / or methods of the embodiments described herein.

[0092] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and / or any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Figure 6 As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0093] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing an information visualization method provided by the embodiment of the present invention.

[0094] Embodiment 6

[0095] Embodiment 6 of the present invention further provides a storage medium including computer executable instructions, wherein the computer executable instructions are used to perform an information visualization method when executed by a computer processor, the method comprising:

[0096] Obtain vehicle location information and map files;

[0097] Performing information analysis on the map file to extract map feature information from the map file;

[0098] A visualization window is drawn based on the vehicle positioning information and the map feature information to obtain a visualization display screen, wherein the visualization display screen includes a test map and a vehicle identification, and the visualization display screen is used to display the position of the vehicle identification in the test map.

[0099] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0100] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0101] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0102] Computer program code for performing the operation of embodiments of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0103] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An information visualization method, characterized in that: include: Acquire vehicle positioning information and map files; wherein the vehicle positioning information is acquired by a GPS / IMU combined navigation system positioning method, a matching positioning method, and a multi-sensor fusion positioning method; Parsing the map file to extract map feature information from the map file; wherein the map feature information includes points, lane lines, roads, road circumscribed polygons, and intersection information; Drawing a visualization window based on the vehicle positioning information and the map feature information to obtain a visualization display screen, wherein the visualization display screen includes a test map and a vehicle identifier, the test map is drawn according to the map feature information, and the visualization display screen is used to display the position of the vehicle identifier in the test map; The map file includes a preset map identifier and a feature identifier, and the information parsing of the map file to extract map feature information in the map file includes: Traversing the map file based on the preset map identifier, and extracting map feature information in the map file according to the feature identifier corresponding to the preset map identifier; The step of drawing a visualization window based on the vehicle positioning information and the map feature information to obtain a visualization display screen includes: Inputting the vehicle positioning information and the map feature information into a preset window drawing model to obtain the visual display screen; wherein the preset window drawing model is a function model based on a graphics library; The step of inputting the vehicle positioning information and the map feature information into a preset window drawing model to obtain the visual display screen includes: Drawing based on the map feature information to obtain a test map; The test map is drawn based on the vehicle positioning information to obtain a test map including the vehicle identifier, wherein the vehicle identifier is located at a position corresponding to the vehicle positioning information on the test map; Rendering the test map including the vehicle identification to a preset area of ​​the visualization window to obtain the visualization display screen; The information analysis of the map file further includes: Dividing the map file into independent elements, attributes and annotations through a hierarchical object model, and representing the map file in the form of a node tree; The node tree is classified according to attributes and comments, the map feature information of the same category is divided into the same branch, and the map feature information in the map file is classified.

2. The method according to claim 1, characterized in that The obtaining of vehicle positioning information includes: Subscribe to the encapsulated data packet of the positioning information, and parse the encapsulated data packet to obtain the vehicle positioning information, wherein the encapsulated data packet is encapsulated and published after the vehicle positioning information is generated by the vehicle positioning device.

3. The method according to claim 1, characterized in that The visualization window also includes an information display area, and the information display area is used to display the vehicle positioning information.

4. The method according to claim 3, characterized in that The visualization window also includes a positioning start button. When the positioning start button is turned on, the vehicle positioning information in the information display area is updated in real time, and / or the position of the vehicle logo in the visualization display screen is updated in real time.

5. An information visualization device, characterized in that: include: An information acquisition module is used to acquire vehicle positioning information and map files; wherein the vehicle positioning information is acquired by a GPS / IMU combined navigation system positioning method, a matching positioning method, and a multi-sensor fusion positioning method; A map parsing module, used to parse the map file and extract map feature information from the map file; wherein the map feature information includes points, lane lines, roads, road circumscribed polygons and intersection information; A window drawing module, used for performing visual window drawing based on the vehicle positioning information and the map feature information to obtain a visual display screen, wherein the visual display screen includes a test map and a vehicle identifier, the test map is drawn according to the map feature information, and the visual display screen is used to display the position of the vehicle identifier in the test map; The map file includes a preset map identifier and a feature identifier, and the map parsing module is specifically used to traverse the map file based on the preset map identifier, and extract map feature information in the map file according to the feature identifier corresponding to the preset map identifier; Wherein, the window drawing module includes: A display screen drawing unit, used for inputting the vehicle positioning information and the map feature information into a preset window drawing model to obtain the visual display screen; wherein the preset window drawing model is a function model based on a graphics library; The display screen drawing unit is specifically used to draw based on the map feature information to obtain a test map; draw the test map based on the vehicle positioning information to obtain a test map including the vehicle identification, wherein the vehicle identification is located at a position corresponding to the vehicle positioning information in the test map; render the test map including the vehicle identification to a preset area of ​​the visualization window to obtain the visualization display screen; The map parsing module is further used to divide the map file into independent elements, attributes and annotations through a hierarchical object model, and represent the map file in the form of a node tree; classify the node tree according to attributes and annotations, classify map feature information of the same category into the same branch, and classify the map feature information in the map file.

6. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the information visualization method as described in any one of claims 1 to 4.

7. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to perform the information visualization method according to any one of claims 1 to 4 when executed by a computer processor.

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