A matching method and system between different maps based on intersection topology information

Abstract

The present invention relates to a method and system for matching between different maps based on intersection topology information. The method for matching a traditional map and a high-precision map includes: obtaining a path planning result at the road level of the traditional map, where the path planning result at the road level includes: intersection information associated with the roads passed by the path; matching the intersections associated with the roads in the path planning result at the road level to the high-precision map according to the positions of the intersections; sequentially selecting two consecutive intersections matched to the high-precision map, and obtaining the connecting road between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain the path planning result at the road level of the high-precision map; the road result of the traditional map does not need to include road center line point information, which greatly reduces the data traffic of service requests; regardless of the map specification differences, the expression of real-world intersections is consistent; high efficiency and high matching success rate.

Description

Technical Field

[0001] The present invention relates to the fields of navigation systems and electronic maps, and particularly to a method and system for matching between different maps based on intersection topology information. Background Art

[0002] With the popularization of high-precision maps, it has become particularly important to combine the road-level results of traditional map-based navigation with high-precision maps for lane-level planning to assist autonomous driving. Due to the accuracy errors between traditional maps and high-precision maps, as well as different map-making standards among different map providers, the success rate of matching road results between the two maps is very low, and it cannot be widely applied. Moreover, the traditional matching method is to match the coordinates of the center points of the roads, and the matching efficiency is also low. Summary of the Invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a method and system for matching between different maps based on intersection topology information to solve the problem of low matching efficiency between different maps.

[0004] According to a first aspect of the present invention, there is provided a method for matching between different maps based on intersection topology information. The method for matching a traditional map and a high-precision map includes:

[0005] Step 1, obtaining a road-level path planning result of the traditional map, where the road-level path planning result includes: intersection information associated with the roads passed by the path;

[0006] Step 2, matching the intersections associated with the roads in the road-level path planning result to the high-precision map according to the positions of the intersections;

[0007] Step 3, sequentially selecting two consecutive intersections matched to the high-precision map, and obtaining the connecting roads between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain a road-level path planning result of the high-precision map.

[0008] Based on the above technical solutions, the present invention can also be improved as follows.

[0009] Optionally, the road-level path planning result further includes: road ID and road type.

[0010] Optionally, the intersection information includes the coordinates of the center point of each intersection and the out-degree and in-degree of the intersection.

[0011] Optionally, in Step 2, the position of the intersection is the coordinate of the center point of the intersection, and Step 2 includes:

[0012] Step 201: For each intersection, load the high-precision map and obtain the set of intersection data on the high-precision map for the coordinates of the intersection center point.

[0013] Step 202: Filter the intersections on the high-precision map that are inconsistent with the topological information of the traditional map according to the out-degree and in-degree information of the intersections.

[0014] Step 203: Repeat steps 201 - 202 until all intersections on the traditional map are matched to the high-precision map, obtaining the intersection matching result on the high-precision map.

[0015] Optionally, in step 3, when there is more than one connecting road between two intersections, filter the more than one connecting roads according to the road types of the corresponding roads on the traditional map. After obtaining the set of roads on the unique passing path between the two intersections, convert the roads on the traditional map to the roads on the high-precision map.

[0016] Optionally, after step 3, it further includes:

[0017] Step 4: Based on the road-level path planning result of the high-precision map, perform lane-level path planning on the high-precision map.

[0018] Optionally, step 4 includes:

[0019] Step 401: Match the start and end coordinates to the high-precision map and plan the starting lane and the ending lane.

[0020] Step 402: Within the range of the obtained road-level path planning result of the high-precision map, obtain the lane-level planning result according to the search algorithm.

[0021] According to the second aspect of the present invention, there is provided a matching system between different maps based on intersection topological information. The matching system for matching the traditional map and the high-precision map includes: a data acquisition module, an intersection matching module, and a road matching module;

[0022] The data acquisition module is used to obtain the road-level path planning result of the traditional map, and the road-level path planning result includes: intersection information associated with the roads passed by the path;

[0023] The intersection matching module is used to match the intersections associated with the roads in the road-level path planning result to the high-precision map according to the positions of the intersections;

[0024] The road matching module is used to sequentially select two consecutive intersections matched to the high-precision map, and obtain the connecting roads between the two intersections on the high-precision map through the road topology associated with the intersections, obtaining the road-level path planning result of the high-precision map.

[0025] According to a third aspect of the present invention, there is provided an electronic device including a memory and a processor. When the processor executes a computer management program stored in the memory, the steps of a method for matching different maps based on intersection topology information are implemented.

[0026] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer management program stored thereon. When the computer management program is executed by a processor, the steps of a method for matching different maps based on intersection topology information are implemented.

[0027] A method, system, electronic device, and storage medium for matching different maps based on intersection topology information provided by the present invention can be used by autonomous driving vehicles by matching based on traditional map intersection topology information and high-precision maps. The positions of intersections are matched based on the center coordinate points of the intersections, and then the road connection relationships are determined according to the matched intersections. The road results of the traditional map do not need to include road center line point information, which greatly reduces the data traffic of service requests. Regardless of the differences in map specifications, the expression of real-world intersections is consistent, with high efficiency and high matching success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a flowchart of a method for matching different maps based on intersection topology information provided by the present invention;

[0029] Figure 2 is a structural block diagram of a system for matching different maps based on intersection topology information provided by the present invention;

[0030] Figure 3 is a schematic hardware structure diagram of a possible electronic device provided by the present invention;

[0031] Figure 4 is a schematic hardware structure diagram of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0033] Figure 1 is a flowchart of a method for matching different maps based on intersection topology information provided by the present invention. As Figure 1 shown, the method for matching a traditional map and a high-precision map includes:

[0034] Step 1, obtaining a road-level path planning result of the traditional map. The road-level path planning result includes intersection information associated with the roads passed by the path.

[0035] In specific implementation, the path planning result can be obtained by requesting navigation services on a third-party navigation software based on the starting and ending point information. Since the road planning result is a continuous topological sequence, each road only needs to store the information of the entrance intersection, except for the end point. The road where the end point is located needs to output the information of the exit intersection.

[0036] Step 2: Match the intersections associated with the roads in the road-level path planning result to the high-precision map according to the positions of the intersections.

[0037] Step 3: Select two consecutive intersections matched to the high-precision map in sequence, and obtain the connecting road between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain the road-level path planning result of the high-precision map.

[0038] A matching method between different maps based on intersection topology information provided by the present invention performs matching based on the intersection topology information of the traditional map and the high-precision map. The road result of the traditional map does not need to include the information of the road center line points, which greatly reduces the data traffic of the service request; regardless of the map specification differences, the expression of real-world intersections is consistent; it has high efficiency and high matching success rate.

[0039] Embodiment 1

[0040] Embodiment 1 provided by the present invention is an embodiment of a matching method between different maps based on intersection topology information provided by the present invention. Combining Figure 1 as can be seen, the embodiments of the method for matching the traditional map and the high-precision map include:

[0041] Step 1: Obtain the road-level path planning result of the traditional map. The road-level path planning result includes: the intersection information associated with the roads passed by the path.

[0042] In a possible embodiment, the road-level path planning result further includes: road ID and road type (for example: main road, auxiliary road, elevated road, etc.).

[0043] In a possible embodiment, the intersection information includes the coordinates of the center point of each intersection and the out-degree and in-degree of the intersection.

[0044] Step 2: Match the intersections associated with the roads in the road-level path planning result to the high-precision map according to the positions of the intersections.

[0045] In a possible embodiment, the position of the intersection in Step 2 is the center point coordinates of the intersection. Step 2 includes:

[0046] Step 201: For each intersection, load the high-precision map and obtain the set of intersection data of the center point coordinates of the intersection on the high-precision map.

[0047] Step 202: Filter the road intersections on the high-precision map that are inconsistent with the topological information of the traditional map according to the out-degree and in-degree information of the intersections.

[0048] Step 203: Repeat steps 201 - 202 until all the intersections on the traditional map are matched to the high-precision map, and obtain the intersection matching result on the high-precision map.

[0049] Step 3: Sequentially select two consecutive intersections matched to the high-precision map, and obtain the connecting road between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain the road-level path planning result of the high-precision map.

[0050] In a possible embodiment, in step 3, when there is more than one connecting road between two intersections (such as the main road and the auxiliary road), at this time, filter the more than one connecting road according to the road type of the corresponding road on the traditional map. After obtaining the road set on the only passable path between the two intersections, convert the roads on the traditional map to the roads on the high-precision map.

[0051] Loop and execute step 3 until the road planning result corresponding to the traditional map on the high-precision map is obtained, and thus the data matching between the two maps is completed.

[0052] In a possible embodiment, after step 3, it further includes:

[0053] Step 4: Based on the road-level path planning result of the high-precision map, perform lane-level path planning on the high-precision map.

[0054] Step 4 includes:

[0055] Step 401: Match the starting and ending point coordinates to the high-precision map, and plan to obtain the starting lane and the ending lane.

[0056] Step 402: Within the range of the obtained road-level path planning result of the high-precision map, obtain a lane-level planning result according to the classic search algorithm, which can be used by the autonomous driving vehicle.

[0057] Embodiment 2

[0058] Embodiment 2 provided by the present invention is an embodiment of a matching system between different maps based on intersection topological information provided by the present invention. Figure 2 It is a structural diagram of a matching system between different maps based on intersection topological information provided by an embodiment of the present invention. As can be seen from Figure 2 the matching system embodiment for matching the traditional map and the high-precision map includes: a data acquisition module, an intersection matching module, and a road matching module.

[0059] A data acquisition module, configured to acquire the path planning result at the road level of a traditional map, where the path planning result at the road level includes: intersection information associated with the roads passed by the path.

[0060] An intersection matching module, configured to match the intersections associated with the roads in the path planning result at the road level to the high-precision map according to the positions of the intersections.

[0061] A road matching module, configured to sequentially select two consecutive intersections matched to the high-precision map, and obtain the connecting roads between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain the path planning result at the road level of the high-precision map.

[0062] It can be understood that a matching system between different maps based on intersection topology information provided by the present invention corresponds to the matching method between different maps based on intersection topology information provided in the foregoing embodiments. The relevant technical features of the matching system between different maps based on intersection topology information can refer to the relevant technical features of the matching method between different maps based on intersection topology information, which will not be elaborated herein.

[0063] Please refer to Figure 3 , Figure 3 which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 3 shown, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: acquiring the path planning result at the road level of a traditional map, where the path planning result at the road level includes: intersection information associated with the roads passed by the path; matching the intersections associated with the roads in the path planning result at the road level to the high-precision map according to the positions of the intersections; sequentially selecting two consecutive intersections matched to the high-precision map, and obtaining the connecting roads between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain the path planning result at the road level of the high-precision map.

[0064] Please refer to Figure 4 , Figure 4 which is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 4As shown in the figure, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, the following steps are implemented: obtaining a path planning result at the road level of a traditional map, where the path planning result at the road level includes: intersection information associated with the roads through which the path passes; matching the intersections associated with the roads in the path planning result at the road level to a high-precision map according to the positions of the intersections; sequentially selecting two consecutive intersections matched to the high-precision map, and obtaining the connecting roads between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain a path planning result at the road level of the high-precision map.

[0065] A matching method, system, electronic device, and storage medium between different maps based on intersection topology information provided by an embodiment of the present invention can be used by an autonomous driving vehicle through matching based on the intersection topology information of a traditional map and a high-precision map; the positions of intersections are matched based on the intersection center coordinate points, and then the road connection relationship is determined according to the intersection matching; the road result of the traditional map does not need to include road center line point information, which greatly reduces the data traffic of service requests; regardless of the differences in map specifications, the expression of real-world intersections is consistent; it has high efficiency and high matching success rate.

[0066] It should be noted that in the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0067] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0069] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more processes and / or blocks Figure 1 of the one or more processes and / or boxes Figure 1 specified in the box or boxes.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, so that the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more processes and / or blocks Figure 1 of the one or more processes and / or boxes Figure 1 specified in the box or boxes.

[0071] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention.

[0072] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A matching method between different maps based on intersection topology information, characterized in that The method for matching a traditional map and a high-precision map includes: Step 1, obtaining the road-level path planning result of the traditional map, where the road-level path planning result includes: intersection information associated with the roads passed by the path; Step 2, matching the intersections associated with the roads in the road-level path planning result to the high-precision map according to the positions of the intersections; Step 3, sequentially selecting two consecutive intersections matched to the high-precision map, and obtaining the connecting roads between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain the road-level path planning result of the high-precision map; In Step 2, the position of the intersection is the center point coordinate of the intersection, and Step 2 includes: Step 201, for each intersection, loading the high-precision map and obtaining the set of intersection data of the center point coordinate of the intersection on the high-precision map; Step 202, filtering the intersections on the high-precision map whose topological information is inconsistent with that of the traditional map according to the out-degree and in-degree information of the intersections; Step 203, repeatedly executing Steps 201-202 until all the intersections on the traditional map are matched to the high-precision map, so as to obtain the intersection matching result on the high-precision map.

2. The matching method according to claim 1, wherein The road-level path planning result further includes: road ID and road type.

3. The matching method according to claim 1, wherein The intersection information includes the coordinates of the center point of each intersection and the out-degree and in-degree of the intersection.

4. The matching method according to claim 1, wherein In Step 3, when there are more than one connecting roads between two intersections, filtering the more than one connecting roads according to the road type of the corresponding roads on the traditional map, and after obtaining the set of roads on the unique passing path between the two intersections, converting the roads on the traditional map to the roads on the high-precision map.

5. The matching method according to claim 1, wherein After Step 3, it further includes: Step 4, based on the road-level path planning result of the high-precision map, performing lane-level path planning on the high-precision map.

6. The matching method according to claim 5, wherein Step 4 includes: Step 401, matching the start and end coordinates to the high-precision map and planning to obtain the starting lane and the ending lane; Step 402, within the range of the obtained road-level path planning result of the high-precision map, obtaining the lane-level planning result according to the search algorithm.

7. A matching system between different maps based on intersection topology information, characterized in that, The matching system for matching a traditional map and a high-precision map includes: a data acquisition module, an intersection matching module, and a road matching module; The data acquisition module is used to obtain the road-level path planning result of the traditional map, where the road-level path planning result includes: intersection information associated with the roads passed by the path; The intersection matching module is used to match the intersections associated with the roads in the road-level path planning result to the high-precision map according to the positions of the intersections; The road matching module is used to sequentially select two consecutive intersections matched to the high-precision map, and obtain the connecting roads between the two intersections on the high-precision map through the road topology associated with the intersections, so as to obtain the road-level path planning result of the high-precision map; In the intersection matching module, the position of the intersection is the center point coordinate of the intersection, and the processing process of the intersection matching module includes: Step 201, for each intersection, loading the high-precision map and obtaining the set of intersection data of the center point coordinate of the intersection on the high-precision map; Step 202: Filter the road intersections on the high-precision map that are inconsistent with the topological information of the traditional map according to the out-degree and in-degree information of the road intersections. Step 203: Repeat Steps 201-202 until all the road intersections on the traditional map are matched to the high-precision map, and obtain the road intersection matching result on the high-precision map.

8. An electronic device, characterized in that, It includes a memory and a processor. When the processor executes the computer management program stored in the memory, it implements the steps of the method for matching different maps based on road intersection topological information according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, It stores a computer management program thereon. When the computer management program is executed by the processor, it implements the steps of the method for matching different maps based on road intersection topological information according to any one of claims 1-6.

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