A method and apparatus for local map construction, a vehicle-mounted terminal, and a storage medium

Abstract

The present application discloses a method, apparatus, vehicle-mounted terminal and storage medium for constructing a local map. The method includes obtaining a map element information table and current position information of a target vehicle; determining target map tile index information corresponding to the current position information from the map tile index information; obtaining a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship; reorganizing the target map element points in the target map element point set to obtain a reorganized target map element point set; and constructing a target local map according to the reorganized target map element point set. By reorganizing the target map element points in the target map element point set and constructing a target local map according to the reorganized target map element point set, the present application improves the orderliness of the target map element points in the target local map and the accuracy of the target local map.

Description

Technical Field

[0001] This application relates to the technical field of vehicle autonomous driving, and particularly to a method and device for constructing a local map, an in-vehicle terminal, and a storage medium. Background Art

[0002] High-precision maps play an important role in the field of vehicle autonomous driving. The map elements they contain can provide a high-precision guarantee for autonomous driving vehicles. Related technologies usually load a global high-precision map and parse it into various map elements. The autonomous driving vehicle obtains map element information within a certain area centered on its own position from the global map, and constructs a local map based on the obtained map element information for use by other modules.

[0003] In the method for constructing a local map in related technologies, the high-precision map is split into local maps, which destroys the structural characteristics and orderliness of the map elements. Even if the map elements within a single local map are globally ordered, when the target local map contains multiple local maps, it cannot be guaranteed that the map elements are still globally ordered within the scope of the target local map, resulting in a low accuracy of the target local map. Summary of the Invention

[0004] To solve the technical problems of low orderliness of map elements and low accuracy of local maps in the existing local map construction methods, the present invention provides a method and device for constructing a local map, an in-vehicle terminal, and a storage medium, which reorganize the target map element points in the target map element point set, and construct a target local map based on the reorganized target map element point set, ensuring the orderliness of the target map element points in the target local map and improving the accuracy of the target local map.

[0005] On the one hand, an embodiment of the present application provides a method for constructing a local map, including:

[0006] Obtain a map element information table and the current position information of the target vehicle; the map element information table represents the mapping relationship between map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element;

[0007] Determine target map tile index information corresponding to the current position information from the map tile index information;

[0008] Based on the mapping relationship, obtain a target map element point set corresponding to the target map tile index information from the map element point set;

[0009] Recombine the target map element points in the target map element point set to obtain a recombined target map element point set; each of the target map element points in the recombined target map element point set is arranged in an orderly manner;

[0010] Construct a target local map according to the recombined target map element point set.

[0011] Furthermore, the generation process of the map element information table includes:

[0012] Obtain the source file information of the high-precision map;

[0013] Perform deserialization processing on the source file information to obtain the map element information table.

[0014] Furthermore, the determining the target map tile index information corresponding to the current position information from the map tile index information includes:

[0015] Determine the relative position information of the target vehicle in a preset coordinate system according to the current position information;

[0016] Determine the candidate map tile index information corresponding to the current position information from the map tile index information according to the relative position information and the map tile size information corresponding to the high-precision map; the map tile size information is determined based on the map level of the high-precision map;

[0017] Determine the associated map tile index information according to the candidate map tile index information; wherein, the distance between the associated map tile corresponding to the associated map tile index information and the candidate map tile corresponding to the candidate map tile index information satisfies a first preset condition;

[0018] Use the candidate map tile index information and the associated map tile index information as the target map tile index information.

[0019] Furthermore, the map element includes a first type of element, the target map element point set includes a first type of element point set, the first type of element point set includes at least one first type of element point, the first type of element is at least one of an intersection element, a crosswalk element, and a traffic signal element, and the recombining the target map element points in the target map element point set to obtain a recombined target map element point set includes:

[0020] Determine the center point corresponding to the first type of element point set and the center point position information corresponding to the center point according to the position information of each first type of element point;

[0021] Reorganize the at least one first type of element points according to the central point position information and the position information of each of the first type of element points, to obtain a reorganized set of first type of element points;

[0022] Use the reorganized set of first type of element points as the reorganized target map element point set.

[0023] Further, the reorganizing the at least one first type of element points according to the central point position information and the position information of each of the first type of element points to obtain a reorganized set of first type of element points includes:

[0024] Determine the vectors formed by the position information of each of the first type of element points and the central point position information respectively, to obtain the vector information corresponding to each of the first type of element points;

[0025] Determine the angles between the vector information corresponding to each of the first type of element points and a preset direction, to obtain the angle information corresponding to each of the first type of element points;

[0026] Sort the angle information corresponding to each of the first type of element points to obtain an angle sequence;

[0027] Obtain the position information corresponding to each of the angle information in the angle sequence;

[0028] Use the position information corresponding to each of the angle information in the angle sequence as the reorganized set of first type of element points.

[0029] Further, the map elements include second type of elements, the target map element point set includes a set of second type of element points, the set of second type of element points includes at least one second type of element point, and the reorganizing the target map element points in the target map element point set to obtain a reorganized target map element point set includes:

[0030] Search for associated element points for the at least one second type of element point to obtain an element point search result for the at least one second type of element point; the associated element points are element points whose distances from the at least one second type of element point satisfy a second preset condition;

[0031] Determine the search order corresponding to the element point search result;

[0032] Sort the element point search result according to the search order to obtain a reorganized set of second type of element points;

[0033] Use the reorganized set of second type of element points as the reorganized target map element point set.

[0034] Further, the associative element point search for the at least one second type of element point to obtain the element point search result of the at least one second type of element point includes:

[0035] Using any one second type of element point in the second type of element point set as the initial search center point;

[0036] Taking the initial search center point as the first current search center point, using the second type of element points in the second type of element point set except the initial search center point as the first current search area, and performing an associative element point search on the first current search area with a preset search radius to obtain the first current associative point search result;

[0037] When the first current associative point search result indicates that there is a positive point in the first current search area, adding the positive point to the positive point set; the positive point is a point in the first current search area whose distance from the first current search center point satisfies the third preset condition;

[0038] Taking the positive point as the first current search center point again, using the second type of element points in the first current search area except the positive point as the first current search area again, and performing an associative element point search on the first current search area again with the preset search radius;

[0039] Repeating the operation of adding the positive point to the positive point set when the first current associative point search result indicates the existence of a positive point until the operation of re - performing the associative element point search on the first current search area, and stopping the positive point search until the first current associative point search result indicates that there is no positive point in the first current search area;

[0040] Generating the element point search result of the at least one second type of element point according to the positive point set obtained after the positive point search stops.

[0041] Further, the method further includes:

[0042] When the first current associative point search result indicates that there is no positive point in the first current search area, taking the initial search center point as the second current search center point; using the second type of element points in the first current search area except the positive point set as the second current search area, and performing an associative element point search on the second current search area with the preset search radius to obtain the second current associative point search result;

[0043] When the second current associated point search result indicates the existence of a negative point, add the negative point to the negative point set; the negative point is a point in the second current search area whose distance from the second current search center point satisfies a fourth preset condition.

[0044] Use the negative point as the second current search center point again, use the second type of element points in the second current search area except the negative point as the second current search area again, and use the preset search radius as the search radius to perform an associated element point search on the second current search area again.

[0045] Repeat the operation of adding the negative point to the negative point set when the second current associated point search result indicates the existence of a negative point until the operation of performing an associated element point search on the second current search area again, and stop the negative point search until the second current associated point search result indicates that there is no negative point in the second current search area.

[0046] Generate an element point search result of the at least one second type of element point according to the negative point set obtained after the negative point search stops.

[0047] Further, the sorting the element point search results according to the search order to obtain a reorganized second type of element point set includes:

[0048] Determine a first target search order corresponding to each negative point in the negative point set, a second target search order corresponding to each positive point in the positive point set, and a third target search order corresponding to the initial search center point according to the search order.

[0049] Reverse the order of each negative point in the negative point set according to the first target search order to obtain a sorted negative point set.

[0050] Add the initial search center point to the sorted negative point set according to the third target search order to obtain a first merged point set.

[0051] Add each positive point in the positive point set to the first merged point set in sequence according to the second target search order to obtain a second merged point set.

[0052] Use the second merged point set as the reorganized second type of element point set.

[0053] Further, the constructing a target local map according to the reorganized target map element point set includes:

[0054] Use the candidate map tile and the associated map tile as the target map tile.

[0055] Obtain the target map element points located in the target map tile from the recombined target map element point set;

[0056] Construct the target local map according to the target map element points located in the target map tile.

[0057] On the other hand, the present invention provides a local map construction device, including:

[0058] A first acquisition module, configured to acquire a map element information table and the current position information of the target vehicle; the map element information table represents the mapping relationship between map elements, map tile index information, and map element point sets; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element;

[0059] A determination module, configured to determine the target map tile index information corresponding to the current position information from the map tile index information;

[0060] A second acquisition module, configured to acquire the target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship;

[0061] A recombination module, configured to recombine the target map element points in the target map element point set to obtain a recombined target map element point set; the target map element points in the recombined target map element point set are arranged in an orderly manner;

[0062] A construction module, configured to construct a target local map according to the recombined target map element point set.

[0063] Further, the device further includes:

[0064] A generation module, configured to generate the map element information table.

[0065] Further, the generation module includes:

[0066] A source file information acquisition module, configured to acquire the source file information of the high-precision map;

[0067] A deserialization processing module, configured to perform deserialization processing on the source file information to obtain the map element information table.

[0068] Further, the determination module includes:

[0069] A first determination module, configured to determine the relative position information of the target vehicle in a preset coordinate system according to the current position information;

[0070] A second determination module, configured to determine candidate map tile index information corresponding to the current location information from the map tile index information according to the relative location information and the map tile size information corresponding to the high-precision map; the map tile size information is determined based on the map level of the high-precision map;

[0071] A third determination module, configured to determine associated map tile index information according to the candidate map tile index information; wherein, the distance between the associated map tile corresponding to the associated map tile index information and the candidate map tile corresponding to the candidate map tile index information satisfies a first preset condition;

[0072] A fourth determination module, configured to use the candidate map tile index information and the associated map tile index information as the target map tile index information.

[0073] Further, the map elements include first-type elements, the target map element point set includes a first-type element point set, the first-type element point set includes at least one first-type element point, the first-type element is at least one of an intersection element, a crosswalk element, and a traffic signal element, and the recombination module includes:

[0074] A center point determination module, configured to determine the center point corresponding to the first-type element point set and the center point position information corresponding to the center point according to the position information of each first-type element point;

[0075] A first recombination module, configured to recombine the at least one first-type element point according to the center point position information and the position information of each first-type element point to obtain a recombined first-type element point set;

[0076] A fifth determination module, configured to use the recombined first-type element point set as the recombined target map element point set.

[0077] Further, the first recombination module includes:

[0078] A vector information determination module, configured to determine the vectors formed by the position information of each first-type element point and the center point position information respectively, and obtain the vector information corresponding to each first-type element point;

[0079] An included angle information determination module, configured to determine the included angle between the vector information corresponding to each first-type element point and a preset direction, and obtain the included angle information corresponding to each first-type element point;

[0080] An included angle sequence determination module, configured to sort the included angle information corresponding to each first-type element point to obtain an included angle sequence;

[0081] A position information acquisition module, configured to acquire the position information corresponding to each of the included angle information in the included angle sequence;

[0082] A sixth determination module, configured to use the position information corresponding to each of the included angle information in the included angle sequence as the recombined first type of element point set.

[0083] Further, the map element includes a second type of element, the target map element point set includes a second type of element point set, and the second type of element point set includes at least one second type of element point; the recombination module includes:

[0084] An element point search module, configured to perform an associated element point search on the at least one second type of element point to obtain an element point search result of the at least one second type of element point; the associated element point is an element point whose distance from the at least one second type of element point satisfies a second preset condition;

[0085] A search order determination module, configured to determine the search order corresponding to the element point search result;

[0086] A second recombination module, configured to sort the element point search result according to the search order to obtain a recombined second type of element point set;

[0087] A seventh determination module, configured to use the recombined second type of element point set as the recombined target map element point set.

[0088] Further, the element point search module includes:

[0089] An initial search center point determination module, configured to use any one of the second type of element points in the second type of element point set as the initial search center point;

[0090] A first search module, configured to use the initial search center point as the first current search center point, use the second type of element points in the second type of element point set other than the initial search center point as the first current search area, and use a preset search radius as the search radius to perform an associated element point search on the first current search area to obtain a first current associated point search result;

[0091] A positive point set determination module, configured to add the positive point to the positive point set when the first current associated point search result indicates that there is a positive point in the first current search area; the positive point is a point in the first current search area whose distance from the first current search center point satisfies a third preset condition;

[0092] A first update module, configured to re-use the forward point as the first current search center point, re-use the second type of element points in the first current search area except the forward point as the first current search area, and perform an associated element point search on the first current search area again with the preset search radius as the search radius;

[0093] A first loop module, configured to repeat the operation of adding the forward point to the forward point set when the first current associated point search result indicates the existence of a forward point, until the operation of re-performing the associated element point search on the first current search area, and stop the forward point search until the first current associated point search result indicates that there is no forward point in the first current search area;

[0094] A first generation module, configured to generate an element point search result of the at least one second type of element points according to the forward point set obtained after the forward point search stops.

[0095] Further, the element point search module further includes:

[0096] A second search module, configured to, when the first current associated point search result indicates that there is no forward point in the first current search area, use the initial search center point as the second current search center point; use the second type of element points in the first current search area except the forward point set as the second current search area, and perform an associated element point search on the second current search area with the preset search radius as the search radius to obtain a second current associated point search result;

[0097] A negative point set determination module, configured to add the negative point to the negative point set when the second current associated point search result indicates the existence of a negative point; the negative point is a point in the second current search area whose distance from the second current search center point satisfies a fourth preset condition;

[0098] A second update module, configured to re-use the negative point as the second current search center point, re-use the second type of element points in the second current search area except the negative point as the second current search area, and re-perform an associated element point search on the second current search area with the preset search radius as the search radius;

[0099] A second loop module, configured to repeat the operation of adding the negative point to the negative point set when the second current associated point search result indicates the existence of a negative point, until the operation of re-performing the associated element point search on the second current search area, and stop the negative point search until the second current associated point search result indicates that there is no negative point in the second current search area;

[0100] A second generation module, configured to generate an element point search result of the at least one second type of element point according to the set of negative points obtained after the search for negative points stops.

[0101] Further, the second recombination module includes:

[0102] A target search order determination module, configured to determine a first target search order corresponding to each negative point in the set of negative points, a second target search order corresponding to each positive point in the set of positive points, and a third target search order corresponding to the initial search center point according to the search order;

[0103] A reverse order module, configured to reverse each negative point in the set of negative points according to the first target search order to obtain a sorted set of negative points;

[0104] A first merging module, configured to add the initial search center point to the sorted set of negative points according to the third target search order to obtain a first merged point set;

[0105] A second merging module, configured to sequentially add each positive point in the set of positive points to the first merged point set according to the second target search order to obtain a second merged point set;

[0106] An eighth determination module, configured to use the second merged point set as the recombined set of second type of element points.

[0107] Further, the construction module includes:

[0108] A target map tile determination module, configured to use the candidate map tile and the associated map tile as target map tiles;

[0109] A target map element ignition module, configured to obtain target map element points located in the target map tiles from the recombined set of target map element points;

[0110] A target local map construction module, configured to construct the target local map according to the target map element points located in the target map tiles.

[0111] On the other hand, a vehicle-mounted terminal is provided, including a processor and a memory, where at least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement the above local map construction method.

[0112] On the other hand, a computer-readable storage medium is provided, in which at least one instruction or at least one program segment is stored, and the at least one instruction or the at least one program segment is loaded and executed by a processor to implement the above-mentioned local map construction method.

[0113] On the other hand, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned local map construction method.

[0114] The local map construction method, device, vehicle-mounted terminal and storage medium provided by the embodiments of the present application have the following technical effects:

[0115] By obtaining a map element information table and the current position information of a target vehicle; the map element information table represents the mapping relationship between map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element; determining target map tile index information corresponding to the current position information from the map tile index information; obtaining a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship; reorganizing the target map element points in the target map element point set to obtain a reorganized target map element point set; constructing a target local map according to the reorganized target map element point set. The map elements in the high-precision map have a structured and ordered property in the global map. However, when the high-precision map is loaded in the form of a local map, the structured property of the map elements is destroyed, making a certain type of map elements disordered or only locally ordered within the range of the local map. While the present application reorganizes the target map element points in the target map element point set, making the target map element points in the target map element point set arranged in an orderly manner, so that when the global map is loaded in the form of a local map, the target map elements maintain the structured property and orderliness within the range of the local map, improving the accuracy of the target local map and facilitating the target vehicle to make relevant decisions based on the ordered target map elements. BRIEF DESCRIPTION OF THE DRAWINGS

[0116] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0117] Figure 1 It is a schematic flowchart of a local map construction method provided by an embodiment of the present application;

[0118] Figure 2 It is a schematic diagram of the recombination of a target map element point set provided by an embodiment of the present application Figure 1 ;

[0119] Figure 3 It is a schematic structural diagram of a map tile provided by an embodiment of the present application;

[0120] Figure 4 It is a schematic diagram of the recombination of a target map element point set provided by an embodiment of the present application Figure 2 ;

[0121] Figure 5 It is a schematic diagram of the recombination of a target map element point set provided by an embodiment of the present application Figure 3 ;

[0122] Figure 6 It is a schematic diagram of the recombination of a target map element point set provided by an embodiment of the present application Figure 4 ;

[0123] Figure 7 It is a schematic structural diagram of the search for associated element points provided by an embodiment of the present application Figure 1 ;

[0124] Figure 8 It is a schematic structural diagram of the search for associated element points provided by an embodiment of the present application Figure 2 ;

[0125] Figure 9 It is a schematic structural diagram of a local map construction device provided by an embodiment of the present application;

[0126] Figure 10 It is a hardware structure block diagram of a local map construction vehicle-mounted terminal provided by an embodiment of the present application. Detailed implementation manners

[0127] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0128] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or server that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0129] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a local map construction method provided by an embodiment of this application. This method includes obtaining a map element information table and the current position information of a target vehicle; the map element information table represents the mapping relationship between map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element; determining target map tile index information corresponding to the current position information from the map tile index information; obtaining a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship; reorganizing the target map element points in the target map element point set to obtain a reorganized target map element point set; and constructing a target local map according to the reorganized target map element point set, which improves the orderliness of the target map element points in the target local map and the accuracy of the target local map.

[0130] This specification provides method operation steps such as in the embodiments or flowcharts, but based on routine or non-creative labor, it may include more or fewer operation steps. The step order listed in the embodiments is only one way among the execution orders of numerous steps and does not represent the only execution order. When the actual system or server product executes, it can be executed in the order shown in the embodiments or drawings or in parallel (for example, in an environment of parallel processing or multi-threaded processing). Specifically, as Figure 1 shown, this method may include:

[0131] S101: Obtain a map element information table and the current position information of a target vehicle; the map element information table represents the mapping relationship between map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element;

[0132] Table 1 is an example of the representation of map element information provided according to an exemplary embodiment, as shown in Table 1 below: The map element information table characterizes the relationship between map elements, map element index information, map tile index information, and map element point sets. Among them, the map elements are structured traffic elements in the high-precision map, including but not limited to lane lines, intersections, crosswalks, traffic lights, overlapping areas, road lines, etc. In the table, E lane represents a lane line, E junction represents a crosswalk, E crosswalk represents an intersection element, E signal represents a traffic light. The map element index information characterizes the identifier of the map element, which is used to distinguish different map elements; the map tile index information characterizes the index information of the map tile where the map element is located, which is used to characterize the map tiles passed by the map element; the map element point set includes at least one map element point, and the map element point is used to characterize the position information of the map element.

[0133] As shown in Table 1: Taking the map element as the lane line element E lane as an example, there are two lane lines L1 and L2 in the map. Among them, lane line L1 passes through two map tiles, and the map tile index information corresponding to these two map tiles is T1 and T2. [x0, y0] and [x1, y1] respectively represent the coordinate values of the lower left corner of the map tiles corresponding to T1 and T2 (as Figure 3 shown), where lane line L1 contains lane line element point sets LP1 and LP2 in the map tile corresponding to T1, and LP1 and LP2 respectively contain at least one lane line element point and the horizontal and vertical coordinate information of the at least one lane line element point.

[0134] Table 1 - Map Element Information Table

[0135]

[0136] In an alternative embodiment, the generation process of the map element information table may include: obtaining the source file information of the high-precision map; performing deserialization processing on the source file information to obtain the map element information table.

[0137] Among them, a high-precision map refers to a map with high precision and refined definition, which can be stored in a source file in the form of code. The source file information may include the file name information and the location path information of the high-precision map, etc. By deserializing the source file information of the high-precision map, the structured data of the high-precision map can be obtained, and a map element information table can be established according to the structured data. For example, by using the data serialization protocol method (Google Protocol Buffer, Protobuf) to deserialize the high-precision map into structured data, the structured data of the high-precision map is obtained, and a map element information table as shown in Table 1 is established according to the processed structured data.

[0138] In an alternative embodiment, a positioning device is installed on the target vehicle, and the current position information of the target vehicle is obtained in real time through the positioning device.

[0139] S102: Determine the target map tile index information corresponding to the current position information from the map tile index information;

[0140] In an alternative embodiment, the method for determining the target map tile index information corresponding to the current position information in the map tile index information is as follows:

[0141] According to the current position information, determine the relative position information of the target vehicle in a preset coordinate system;

[0142] Optionally, the current position information of the target vehicle includes the longitude information and latitude information of the target vehicle; the preset coordinate system is the Universal Transverse Mercator Grid System (UTM) coordinate system, and the formula for determining the relative position information of the target vehicle can be:

[0143]

[0144] In the formula, P origin represents the origin position information of the UTM coordinate system, P delta represents the relative position information of the target vehicle, P self represents the position information of the target vehicle in the UTM coordinate system. According to the coordinate conversion relationship between the longitude and latitude coordinate system and the UTM coordinate system, the longitude and latitude information of the target vehicle can be converted into the position information P self .

[0145] According to the relative position information and the map tile size information corresponding to the high-precision map, determine the candidate map tile index information corresponding to the current position information from the map tile index information; the map tile size information is determined based on the map level of the high-precision map;

[0146] In an optional embodiment, the map tile size information is the actual length information L of the map tile mpt , L mpt representing the actual length of a unit map tile, which is related to the map tile level. Here, the map tile level is the map level of the high-precision map. The higher the map tile level, the smaller the actual length of the unit map tile. The corresponding relationship between the actual length information of the unit map tile and the map tile level is shown in Table 2 below:

[0147] Table 2 - Corresponding relationship table of the actual length information of the unit map tile and the map level

[0148] Serial number Map tile level Unit map tile length (unit: m) 1 <![CDATA[L m = 24]]> <![CDATA[L mpt = 2.56]]> 2 <![CDATA[L m = 23]]> <![CDATA[L mpt = 5.12]]> 3 <![CDATA[L m = 22]]> <![CDATA[L mpt = 10.24]]> 4 <![CDATA[L m = 21]]> <![CDATA[L mpt = 20.48]]> 5 <![CDATA[L m = 20]]> <![CDATA[L mpt = 40.96]]> 6 <![CDATA[L m = 19]]> <![CDATA[L mpt = 81.92]]> 7 … …

[0149] An optional formula for determining the candidate map tile index information corresponding to the current position information of the target vehicle is:

[0150]

[0151] In the formula, T id represents the candidate map tile index information, and P delta represents the relative position information of the target vehicle, including the horizontal and vertical coordinate information of the target vehicle. Dividing the relative position information of the target vehicle by the length of the unit map tile gives the coordinate information of the target vehicle on the map tile. In the embodiments of the present application, since the map tile index information of the map tile is represented by the endpoint coordinate value at the lower left corner of the map tile, it is necessary to round down the coordinate information of the target vehicle on the map tile to obtain the candidate map tile index information. The candidate map tile index information is the map tile index information corresponding to the map tile where the target vehicle is currently located. The structural schematic diagram of the map tile is as Figure 3 shown

[0152] Determine the associated map tile index information according to the candidate map tile index information; wherein, the associated map tile corresponding to the associated map tile index information and the candidate map tile corresponding to the candidate map tile index information satisfy a first preset condition;

[0153] Optionally, a first distance threshold may be preset, and the map tile index information corresponding to the map tiles whose distance from the candidate map tile is less than the first distance threshold is used as the associated map tile index information. For example, the center point of each map tile is determined, and the distance between the center points of the map tiles is used as the distance between the map tiles. Optionally, a candidate map tile may be used as the center, and an n×n map tile is obtained by spreading around, and the map tile index information corresponding to the spread map tiles is used as the associated map tile index information, where n may be adjusted according to the size of the range to be displayed in the local map. For example, n = 3 or n = 5.

[0154] Use the candidate map tile index information and the associated map tile index information as the target map tile index information.

[0155] In an optional embodiment, the map range represented by a single map tile is limited. When the speed of the target vehicle is relatively fast, the candidate map tile cannot meet the driving requirements of the target vehicle. Therefore, the range of the target local map needs to be extended to the associated map tiles around the candidate map tile to expand the display range of the local map, and the candidate map tile index information and the associated map tile index information are used as the target map tile index information to determine the range of the target local map that needs to be displayed at the current position of the target vehicle.

[0156] S103: Obtain a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship;

[0157] In an optional embodiment, after determining the target map tile index information, a target map element point set corresponding to the target map tile index information is obtained from the map element information table according to the mapping relationship in the map element information table. When a certain target map element passes through the target map tile corresponding to the target map tile index information, all the point sets of the target map element are extracted. For example, when a certain lane line element passes through the target map tile, all the lane line element point sets of the lane line element corresponding to the target map tile index information are obtained from the map element information table to form a target lane line element point set; when a certain sidewalk element passes through the target map tile, all the sidewalk element point sets of the sidewalk element corresponding to the target map tile index information are obtained from the map element information table to form a target sidewalk element point set.

[0158] S104: Reorganize the target map element points in the target map element point set to obtain a reorganized target map element point set; the target map element points in the reorganized target map element point set are arranged in an orderly manner;

[0159] The map elements in the high-precision map have a structured property and are ordered in the global map. However, when the high-precision map is loaded in the form of a local map, the structured property of the map elements is destroyed, making a certain type of map elements disordered or only locally ordered within the scope of the local map. For example, a map tile may divide a lane line into segments 1, 2, 3, and 4, where segments 1 and 3 are within the scope of the local map, while segments 2 and 4 are outside the scope of the local map. When the target vehicle uses this local map, it is impossible to determine the connection relationship and order of segments 1 and 3 in the lane line, thus affecting the subsequent decision-making of the target vehicle.

[0160] In an optional embodiment, the map elements include first-type elements, the target map element point set includes a first-type element point set, and the first-type element point set includes at least one first-type element point; optionally, the first-type element is at least one of an intersection element, a crosswalk element, a signal element, etc.; optionally, the first-type element can also be other traffic elements, and the present application does not make specific limitations thereon.

[0161] Then, in the above step S104, the method of reorganizing the target map element points in the target map element point set to obtain the reorganized target map element point set may include:

[0162] According to the position information of each of the first-type element points, determine the center point corresponding to the first-type element point set and the position information corresponding to the center point;

[0163] Optionally, the position information includes abscissa information and ordinate information. Calculate the mean values of the abscissa information and the ordinate information of each first-type element point respectively to obtain the center point and the abscissa information and ordinate information corresponding to the center point.

[0164] According to the center point position information and the position information of each of the first-type element points, reorganize the at least one first-type element point to obtain the reorganized first-type element point set;

[0165] Optionally, a schematic diagram of reorganizing a target map element point set Figure 1 Such as Figure 2 shown:

[0166] S201: Determine the vectors formed by the position information of each first-type element point and the center point position information respectively to obtain the vector information corresponding to each first-type element point;

[0167] Connect each first-type element point to the center point respectively to construct a vector to obtain the vector information corresponding to each first-type element point. The vector information may include, but is not limited to, the length information and direction information of the vector.

[0168] S202: Determine the angle between the vector information corresponding to each of the first-type element points and a preset direction, to obtain the angle information corresponding to each of the first-type element points;

[0169] Optionally, the preset direction is the due east direction of the map. Optionally, the preset direction can also be the due north direction of the map or other directions, and the present application does not make specific limitations thereto. According to the angle formed by the direction information of the vector corresponding to each first-type element point and the facing direction, obtain the angle information corresponding to each first-type element point, and the angle information can be an angle value.

[0170] S203: Sort the angle information corresponding to each of the first-type element points to obtain an angle sequence;

[0171] Optionally, sort the angle information corresponding to each first-type element point in ascending order of the angle value to obtain an angle sequence; optionally, the angle information corresponding to each first-type element point can also be sorted in descending order of the angle value to obtain an angle sequence, and the present application does not make specific limitations thereto.

[0172] S204: Obtain the position information corresponding to each of the angle information in the angle sequence;

[0173] Optionally, the position information is the sorting information corresponding to the angle information, and obtain the sorting information corresponding to each angle information in the angle sequence.

[0174] S205: Use the position information corresponding to each of the angle information in the angle sequence as the reorganized first-type element point set.

[0175] Sort the first-type element points corresponding to the angle information according to the sorting information corresponding to each angle information, to obtain the reorganized first-type element point set.

[0176] And use the reorganized first-type element point set as the reorganized target map element.

[0177] Figure 4 This is a schematic diagram of reorganizing a target map element point set provided by an embodiment of the present application Figure 2 , where J1, J2... represent the arrangement order of the first-type element points in the reorganized first-type element point set.

[0178] Taking the first-type element as an intersection element as an example, as Figure 4 (a) shows: The intersection elements are distributed on multiple map tiles, and the intersection element points on the map tiles can be reorganized as needed.

[0179] Such as Figure 4As shown in (b), when the intersection elements are distributed on a single map tile, the intersection elements on the single map tile are reorganized according to the method of steps S201 - S205.

[0180] As Figure 4 As shown in (c), when the intersection elements are distributed on two adjacent map tiles, the intersection elements on the two adjacent map tiles are reorganized according to the method of steps S201 - S205.

[0181] As Figure 4 As shown in (d), when the intersection elements are distributed on two diagonal map tiles, the intersection elements on the two diagonal map tiles are reorganized according to the method of steps S201 - S205.

[0182] As Figure 4 As shown in (e), when the intersection elements are distributed on three map tiles, the intersection elements on the three map tiles are reorganized according to the method of steps S201 - S205.

[0183] As Figure 4 As shown in (f), when the intersection elements are distributed on multiple map tiles, the intersection elements on the multiple map tiles are reorganized according to the method of steps S201 - S205.

[0184] In another optional embodiment, the map elements include second - type elements, the target map - element point set includes a second - type - element point set, and the second - type - element point set includes at least one second - type - element point. Then, in the above - mentioned step S104, the method of reorganizing the target map - element points in the target map - element point set to obtain the reorganized target map - element point set is as follows:

[0185] Search for associated element points for at least one second - type - element point to obtain the element - point search results of at least one second - type - element point; the associated element points are the element points whose distances from at least one second - type - element point satisfy a second preset condition.

[0186] Optionally, the second preset condition can be the closest point, then the associated element points are the points closest to at least one second - type - element point; optionally, the second preset condition can also be the points whose distances are less than a preset threshold range, then the associated element points are the points whose distances from at least one second - type - element point are less than the preset threshold range.

[0187] Optionally, a schematic diagram of reorganizing a target map - element point set Figure 2 As Figure 5 shown, the method includes:

[0188] S501: Use any second-type element point in the second-type element point set as the initial search center point;

[0189] In an alternative embodiment, to improve the applicability of the present method, the initial search center point is randomly selected from the second-type element point set.

[0190] S502: Take the initial search center point as the first current search center point, use the second-type element points in the second-type element point set other than the initial search center point as the first current search area, and perform an associated element point search on the first current search area with a preset search radius as the search radius to obtain the first current associated point search result;

[0191] A structural schematic of an associated element point search Figure 1 As Figure 7 shown, where the preset search radius can be adjusted as needed. The preset search radius is related to the density of the second-type element points in the second-type element point set. When the second-type element points are relatively dense, the search radius can be appropriately reduced; when the second-type element points are relatively sparse, the search radius can be appropriately increased to improve the search efficiency.

[0192] S503: In the case where the first current associated point search result indicates that there is a positive point in the first current search area, add the positive point to the positive point set; the positive point is a point in the first current search area whose distance from the first current search center point satisfies the third preset condition;

[0193] A structural schematic of an associated element point search Figure 2 As Figure 8 shown, the third preset condition is the point with the closest distance. Then the positive point is the point P with the closest distance from the first current search center point P1 in the first current search area 2+ , in the case where the first current associated point search result indicates the existence of the positive point P 2+ , deposit this positive point P 2+ into the positive point set.

[0194] S504: Take the positive point as the first current search center point again, use the second-type element points in the first current search area other than the positive point as the first current search area again, and perform an associated element point search on the first current search area again with the preset search radius as the search radius;

[0195] After depositing the positive point P 2+ into the positive point set, take this positive point P 2+ as the first current search center point again, remove this positive point P 2+ from the first current search area, and perform an associated element point search on the first current search area again.

[0196] S505: Repeat the operation of adding positive points to the set of positive points when the first current associated point search result indicates the existence of positive points in the first current search area until the operation of re-searching for associated element points in the first current search area, and stop the positive point search until the first current associated point search result indicates that there are no positive points in the first current search area;

[0197] Loop through the steps of performing an associated element point search on the first current search area and adding positive points to the set of positive points until there are no positive points in the first current search area, at which point the positive point search stops. At this time, the step of searching in the direction (the P+ direction in the attachment) from the initial search center point towards the positive point side is completed until the second type of element point at the end of the positive point side is searched, and there are no other second type of element points within the preset search radius, so the point closest to the first current search center point cannot be searched in the first current search area, and the positive point search stops. Figure 7

[0198] S506: Generate an element point search result for at least one second type of element point according to the set of positive points obtained after the positive point search stops.

[0199] Take the set of positive points obtained after the positive point search is completed as an element point search result for at least one second type of element point.

[0200] Figure 6 After the positive point search is completed, it is also necessary to continue the associated element point search on the side of the initial search center point away from the positive point. Figure 3 For a schematic diagram of the reorganization of a target map element point set This method may include:

[0201] S601: When the first current associated point search result indicates that there are no positive points in the first current search area, use the initial search center point as the second current search center point; use the second type of element points in the first current search area other than the set of positive points as the second current search area, and perform an associated element point search on the second current search area with the preset search radius as the search radius to obtain the second current associated point search result;

[0202] When the positive point search is completed, use the initial search center point as the second current search center point, remove the set of positive points from the first current search area as the second current search area, and perform an associated element point search on the second current search area with the preset search radius as the search radius. Similarly, the preset search radius can also be adjusted as needed to improve the search efficiency.

[0203] ​S602: When the second current associated point search result indicates the existence of a negative point, add the negative point to the negative point set; the negative point is a point in the second current search area whose distance from the second current search center point meets the fourth preset condition.

[0204] In an optional embodiment, the fourth preset condition is the point with the closest distance. Then the negative point is the point in the second current search area with the closest distance from the second current search center point. When the second current associated point search result indicates the existence of a negative point, store the negative point in the negative point set.

[0205] S603: Reuse the negative point as the second current search center point, and reuse the second type of element points in the second current search area except the negative point as the second current search area. Use the preset search radius as the search radius to perform an associated element point search on the second current search area again.

[0206] After storing the negative point in the negative point set, reuse the negative point as the second current search center point, remove the negative point from the second current search area, and perform an associated element point search on the second current search area again.

[0207] S604: Repeat the steps of adding the negative point to the negative point set when the second current associated point search result indicates the existence of a negative point and re-performing the operation of searching for associated element points in the second current search area until the second current associated point search result indicates that there is no negative point in the second current search area, and then stop the negative point search.

[0208] Loop through the steps of performing an associated element point search on the second current search area and adding the negative point to the negative point set until there is no negative point in the second current search area, and then stop the negative point search. At this time, the steps of searching in the direction (the P-direction in the appendix) from the initial search center point to the negative point side are completed. Until the second type of element points at the end of the negative point side are searched and there are no other second type of element points within the preset search radius, so the point with the closest distance from the second current search center point cannot be found in the second current search area, stop the negative point search, and complete the associated element point search for all the second type of element points in the second type of element point set. Figure 7

[0209] S605: Generate at least one element point search result for the second type of element points according to the negative point set obtained after the negative point search stops.

[0210] Use the negative point set obtained after the negative point search is completed as one element point search result for at least one second type of element points.

[0211] ​After both the forward point search and the backward point search are completed, determine the search order corresponding to the element point search results; sort the element point search results according to the search order to obtain the reorganized set of element points of the second type;

[0212] Optionally, a method for sorting the element point search results according to the search order to obtain the reorganized set of element points of the second type is as follows:

[0213] According to Figure 5 and Figure 6 Determine the first target search order of each backward point in the backward point set, the second target search order corresponding to each forward point in the forward point set, and the third target search order corresponding to the initial search center point according to the search order of the associated element points in;

[0214] Reverse the order of each backward point in the backward point set according to the order corresponding to the first target search order to obtain the sorted backward point set;

[0215] During the backward point search, the initial search center point is used as the second current search center point, and the points closest to the second current search center point are gradually searched to obtain the backward point set. Therefore, during reorganization, each backward point in the backward point set needs to be reversed according to the order corresponding to the first target search order to obtain the sorted backward point set.

[0216] Add the initial search center point to the sorted backward point set according to the third target search order to obtain the first merged point set;

[0217] In an optional embodiment, add the initial search center point to the sorted backward point set, and arrange the initial search center point after the last backward point in the sorted backward point set according to the third target search order to obtain the first merged point set.

[0218] Add each forward point in the forward point set to the first merged point set in sequence according to the second target search order to obtain the second merged point set;

[0219] In an optional embodiment, based on the first merged point set, add each forward point in the forward point set to the first merged point set in sequence according to the corresponding second target search order to restore the arrangement order of the element points of the second type in the high-precision map to obtain the second merged point set.

[0220] Use the second merged point set as the reorganized set of element points of the second type, and use the reorganized set of element points of the second type as the reorganized target map element point set.

[0221] S105: Construct a target local map according to the reorganized target map element point set.

[0222] In an optional embodiment, after determining the candidate map tile index information and the associated map tile index information, the candidate map tile and the associated map tile are used as target map tiles, and target map element points located within the target tile range are obtained from the reorganized target map element point set. Based on the target map element points located within the target map tile range, a target local map is constructed. Each target map element point in the reorganized target map element point set is ordered, such that the target map elements in the target local map are transformed from an originally disordered or partially ordered state to a globally ordered state, maintaining the structured characteristics and orderliness of the target map elements, and facilitating the target vehicle to obtain ordered target map elements to complete relevant decisions.

[0223] The local map construction method provided by the embodiments of the present application includes obtaining a map element information table and the current position information of a target vehicle; the map element information table represents the mapping relationship between map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element; determining target map tile index information corresponding to the current position information from the map tile index information; obtaining a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship; reorganizing the target map element points in the target map element point set to obtain a reorganized target map element point set; and constructing a target local map according to the reorganized target map element point set. The map elements in the high-precision map have structured characteristics and are ordered in the global map. However, when the high-precision map is loaded in the form of a local map, the structured characteristics of the map elements are destroyed, such that a certain type of map element is disordered or only partially ordered within the range of the local map. The present application reorganizes the target map element points in the target map element point set, such that the target map element points in the target map element point set are arranged in an orderly manner, such that when the global map is loaded in the form of a local map, the target map elements maintain the structured characteristics and orderliness within the range of the local map, improving the accuracy of the target local map and facilitating the target vehicle to make relevant decisions based on the ordered target map elements.

[0224] On the other hand, the embodiments of the present application further provide a local map construction device. Figure 9 is a structural schematic diagram of a local map construction device provided by the embodiments of the present application, as Figure 9 shown. The device includes:

[0225] The first acquisition module 901 is configured to acquire a map element information table and the current position information of the target vehicle; the map element information table represents the mapping relationship among map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element;

[0226] The determination module 902 is configured to determine target map tile index information corresponding to the current position information from the map tile index information;

[0227] The second acquisition module 903 is configured to acquire a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship;

[0228] The recombination module 904 is configured to recombine the target map element points in the target map element point set to obtain a recombined target map element point set; the target map element points in the recombined target map element point set are arranged in an orderly manner;

[0229] The construction module 905 is configured to construct a target local map according to the recombined target map element point set.

[0230] Furthermore, the apparatus further includes:

[0231] The generation module is configured to generate a map element information table.

[0232] Furthermore, the generation module includes:

[0233] The source file information acquisition module is configured to acquire the source file information of the high-precision map;

[0234] The deserialization processing module is configured to perform deserialization processing on the source file information to obtain a map element information table.

[0235] Furthermore, the determination module 902 includes:

[0236] The first determination module is configured to determine the relative position information of the target vehicle in a preset coordinate system according to the current position information;

[0237] The second determination module is configured to determine candidate map tile index information corresponding to the current position information from the map tile index information according to the relative position information and the map tile size information corresponding to the high-precision map; the map tile size information is determined based on the map level of the high-precision map;

[0238] A third determination module, configured to determine associated map tile index information according to candidate map tile index information; wherein, the associated map tile corresponding to the associated map tile index information and the candidate map tile corresponding to the candidate map tile index information satisfy a first preset condition.

[0239] A fourth determination module, configured to use the candidate map tile index information and the associated map tile index information as target map tile index information.

[0240] Further, the map elements include first-type elements, the target map element point set includes a first-type element point set, the first-type element point set includes at least one first-type element point, the first-type element is at least one of an intersection element, a crosswalk element, and a traffic signal element, and the recombination module includes:

[0241] A center point determination module, configured to determine the center point corresponding to the first-type element point set and the center point position information corresponding to the center point according to the position information of each first-type element point.

[0242] A first recombination module, configured to recombine at least one first-type element point according to the center point position information and the position information of each first-type element point to obtain a recombined first-type element point set.

[0243] A fifth determination module, configured to use the recombined first-type element point set as the recombined target map element point set.

[0244] Further, the first recombination module includes:

[0245] A vector information determination module, configured to determine the vectors formed by the position information of each first-type element point and the center point position information respectively, and obtain the vector information corresponding to each first-type element point.

[0246] An included angle information determination module, configured to determine the included angle between the vector information corresponding to each first-type element point and a preset direction, and obtain the included angle information corresponding to each first-type element point.

[0247] An included angle sequence determination module, configured to sort the included angle information corresponding to each first-type element point to obtain an included angle sequence.

[0248] A position information acquisition module, configured to acquire the position information corresponding to each included angle information in the included angle sequence.

[0249] A sixth determination module, configured to use the position information corresponding to each included angle information in the included angle sequence as the recombined first-type element point set.

[0250] Further, the map elements include second - type elements, the target map element point set includes a second - type element point set, and the second - type element point set includes at least one second - type element point; the recombination module includes:

[0251] An element point search module, configured to perform an associated element point search on at least one second - type element point to obtain an element point search result of at least one second - type element point; the associated element point is an element point whose distance from at least one second - type element point satisfies a second preset condition;

[0252] A search order determination module, configured to determine the search order corresponding to the element point search result;

[0253] A second recombination module, configured to sort the element point search result according to the search order to obtain a recombined second - type element point set;

[0254] A seventh determination module, configured to use the recombined second - type element point set as the recombined target map element point set.

[0255] Further, the element point search module includes:

[0256] An initial search center point determination module, configured to use any second - type element point in the second - type element point set as the initial search center point;

[0257] A first search module, configured to use the initial search center point as the first current search center point, use the second - type element points in the second - type element point set other than the initial search center point as the first current search area, and use a preset search radius as the search radius to perform an associated element point search on the first current search area to obtain a first current associated point search result;

[0258] A positive point set determination module, configured to add a positive point to the positive point set when the first current associated point search result indicates that there is a positive point in the first current search area; the positive point is a point in the first current search area whose distance from the first current search center point satisfies a third preset condition;

[0259] A first update module, configured to use the positive point as the first current search center point again, use the second - type element points in the first current search area other than the positive point as the first current search area again, and use a preset search radius as the search radius to perform an associated element point search on the first current search area again;

[0260] A first loop module, which is used to repeatedly add positive points to the positive point set when the first current associated point search result indicates that there are positive points, until the operation of re-searching for associated element points in the first current search area is performed, and stop the positive point search until the first current associated point search result indicates that there are no positive points in the first current search area;

[0261] A first generation module, which is used to generate an element point search result of at least one second type of element point according to the positive point set obtained after the positive point search stops.

[0262] Furthermore, the element point search module further includes:

[0263] A second search module, which is used to use the initial search center point as the second current search center point when the first current associated point search result indicates that there are no positive points in the first current search area; use the second type of element points in the first current search area except the positive point set as the second current search area, and perform an associated element point search on the second current search area with a preset search radius to obtain a second current associated point search result;

[0264] A negative point set determination module, which is used to add negative points to the negative point set when the second current associated point search result indicates that there are negative points; a negative point is a point in the second current search area whose distance from the second current search center point satisfies a fourth preset condition;

[0265] A second update module, which is used to use the negative point as the second current search center point again, use the second type of element points in the second current search area except the negative point as the second current search area again, and perform an associated element point search on the second current search area again with a preset search radius;

[0266] A second loop module, which is used to repeatedly add negative points to the negative point set when the second current associated point search result indicates that there are negative points, until the operation of re-searching for associated element points in the second current search area is performed, and stop the negative point search until the second current associated point search result indicates that there are no negative points in the second current search area;

[0267] A second generation module, which is used to generate an element point search result of at least one second type of element point according to the negative point set obtained after the negative point search stops.

[0268] Furthermore, the second recombination module includes:

[0269] Target search order determination and screening are used to determine, according to the search order, the first target search order corresponding to each negative point in the negative point set, the second target search order corresponding to each positive point in the positive point set, and the third target search order corresponding to the initial search center point;

[0270] The reverse order module is used to reverse the order of each negative point in the negative point set according to the first target search order to obtain the sorted negative point set;

[0271] The first merging module is used to add the initial search center point to the sorted negative point set according to the third target search order to obtain the first merged point set;

[0272] The second merging module is used to sequentially add each positive point in the positive point set to the first merged point set according to the second target search order to obtain the second merged point set;

[0273] The eighth determination module is used to use the second merged point set as the reorganized second type of element point set.

[0274] Furthermore, the construction module 905 includes:

[0275] The target map tile determination module is used to use the candidate map tile and the associated map tile as the target map tile;

[0276] The target map element igniter module is used to obtain the target map element points located in the target map tile from the reorganized target map element point set;

[0277] The target local map construction module is used to construct a target local map according to the target map element points located in the target map tile.

[0278] The device in the embodiments of the present application and the method embodiments are based on the same application concept.

[0279] The embodiments of the present invention provide a vehicle-mounted terminal, which includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement the local map construction method provided in the above method embodiments.

[0280] The memory can be used to store software programs and modules. The processor executes various functional applications by running the software programs and modules stored in the memory. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0281] The method embodiments provided by the embodiments of the present invention can be executed on a vehicle-mounted terminal. As Figure 10 shown, the internal structure of the vehicle-mounted terminal can include, but is not limited to: a processor, a network interface, and a memory. Among them, the processor, the network interface, and the memory can be connected through a bus or other means.

[0282] Among them, the processor (or CPU (Central Processing Unit, central processor)) is the computing core and control core of the computer device. The network interface can optionally include a standard wired interface, a wireless interface (such as WI-FI, mobile communication interface, etc.). The memory (Memory) is the memory device in the computer device, used to store programs and data. It can be understood that the memory here can be a high-speed RAM storage device, or a non-volatile storage device (non-volatile memory), such as at least one magnetic disk storage device; optionally, it can also be at least one storage device located far from the aforementioned processor. The memory provides a storage space, and this storage space stores the operating system of the electronic device, which can include, but is not limited to: Windows system (an operating system), Linux (an operating system), Android (a mobile operating system) system, IOS (a mobile operating system) system, etc. The present invention does not make any limitations in this regard; and, one or more instructions suitable for being loaded and executed by the processor are also stored in this storage space, and these instructions can be one or more computer programs (including program codes). In the embodiments of this specification, the processor loads and executes one or more instructions stored in the memory to implement the local map construction method provided by the above method embodiments.

[0283] An embodiment of the present invention also provides a computer-readable storage medium, which can be disposed in a terminal to store at least one instruction, at least one program, a code set, or an instruction set related to implementing a vehicle autonomous driving decision-making method. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the local map construction method provided in the above method embodiment.

[0284] Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store program codes such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs.

[0285] The local map construction method, device, vehicle-mounted terminal, and storage medium provided by the present application are applied to the technical field of vehicle autonomous driving. By obtaining a map element information table and the current position information of a target vehicle; the map element information table represents the mapping relationship between map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element; determining target map tile index information corresponding to the current position information from the map tile index information; obtaining a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship; reorganizing the target map element points in the target map element point set to obtain a reorganized target map element point set; constructing a target local map according to the reorganized target map element point set, which improves the orderliness of the target map element points in the target local map and the accuracy of the target local map.

[0286] It should be noted that: the above sequence of embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. And the above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain implementations, multitasking and parallel processing are also possible or may be advantageous.

[0287] Each embodiment in this specification is described in a progressive manner. For the identical or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments.

[0288] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, or the like.

[0289] The above are only the preferred embodiments of the present invention and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present application.

Claims

1. A method for constructing a local map, characterized in that Including: Obtain a map element information table and the current position information of the target vehicle; The map element information table represents the mapping relationship between map elements, map tile index information, and a map element point set; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element; the map element includes a first type of element; the first type of element is at least one of an intersection element, a crosswalk element, and a traffic signal element; Determine target map tile index information corresponding to the current position information from the map tile index information; Obtain a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship; The target map element point set includes a first type of element point set; the first type of element point set includes at least one first type of element point; Recombine the target map element points in the target map element point set to obtain a recombined target map element point set; the target map element points in the recombined target map element point set are arranged in an orderly manner; the recombined target map element point set includes a recombined first type of element point set; the recombined first type of element point set is obtained by recombining the at least one first type of element point based on the center point position information and the position of each first type of element point; The center point position information is determined based on the position information of each first type of element point; Construct a target local map according to the recombined target map element point set.

2. The local map construction method according to claim 1, characterized in that, The generation process of the map element information table includes: Obtain the source file information of the high-precision map; Perform deserialization processing on the source file information to obtain the map element information table.

3. The local map construction method according to claim 2, characterized in that, The determining of the target map tile index information corresponding to the current position information from the map tile index information includes: Determine the relative position information of the target vehicle in a preset coordinate system according to the current position information; Determine candidate map tile index information corresponding to the current position information from the map tile index information according to the relative position information and the map tile size information corresponding to the high-precision map; the map tile size information is determined based on the map level of the high-precision map; Determine associated map tile index information according to the candidate map tile index information; wherein, the distance between the associated map tile corresponding to the associated map tile index information and the candidate map tile corresponding to the candidate map tile index information satisfies a first preset condition; Use the candidate map tile index information and the associated map tile index information as the target map tile index information.

4. The local map construction method according to claim 1, characterized in that, When the map element is the first type of element, the recombining of the target map element points in the target map element point set to obtain a recombined target map element point set includes: Determine the center point corresponding to the first type of element point set and the center point position information corresponding to the center point according to the position information of each first type of element point; Recombine the at least one first - type element point according to the center - point position information and the position information of each first - type element point to obtain a recombined first - type element point set; Use the recombined first - type element point set as the recombined target map element point set.

5. The local map construction method according to claim 4, characterized in that, The step of recombining the at least one first - type element point according to the center - point position information and the position information of each first - type element point to obtain a recombined first - type element point set includes: Determine the vectors formed by the position information of each first - type element point and the center - point position information respectively, to obtain the vector information corresponding to each first - type element point; Determine the angles between the vector information corresponding to each first - type element point and a preset direction, to obtain the angle information corresponding to each first - type element point; Sort the angle information corresponding to each first - type element point to obtain an angle sequence; Obtain the position information corresponding to each angle information in the angle sequence; Use the position information corresponding to each angle information in the angle sequence as the recombined first - type element point set.

6. The local map construction method according to claim 1, wherein The map element further includes a second type of element. The target map element point set includes a second - type element point set. The second - type element point set includes at least one second - type element point. The second - type element includes a lane - line element. When the map element is the second - type element, the step of recombining the target map element points in the target map element point set to obtain a recombined target map element point set includes: Search for associated element points for the at least one second - type element point to obtain an element - point search result for the at least one second - type element point; the associated element point is an element point whose distance from the at least one second - type element point meets a second preset condition; Determine the search order corresponding to the element - point search result; Sort the element - point search result according to the search order to obtain a recombined second - type element point set; Use the recombined second - type element point set as the recombined target map element point set.

7. The local map construction method according to claim 6, wherein The step of searching for associated element points for the at least one second - type element point to obtain an element - point search result for the at least one second - type element point includes: Use any second - type element point in the second - type element point set as an initial search center point; Use the initial search center point as the first current search center point, use the second - type element points in the second - type element point set other than the initial search center point as the first current search area, and use a preset search radius as the search radius to search for associated element points in the first current search area to obtain a first current associated - point search result; In the case where the first current associated - point search result indicates that there is a positive point in the first current search area, add the positive point to the positive - point set; the positive point is a point in the first current search area whose distance from the first current search center point meets a third preset condition; Reuse the forward point as the first current search center point, and reuse the type-2 element points in the first current search area other than the forward point as the first current search area. Perform an associated element point search on the first current search area again with the preset search radius as the search radius; Repeat the operation of adding the forward point to the forward point set when the first current associated point search result indicates the existence of a forward point, and the operation of re-performing an associated element point search on the first current search area until the first current associated point search result indicates the non-existence of a forward point in the first current search area, and then stop the forward point search; Generate an element point search result for the at least one type-2 element point according to the forward point set obtained after the forward point search stops.

8. The local map construction method according to claim 7, wherein The method further includes: When the first current associated point search result indicates the non-existence of a forward point in the first current search area, use the initial search center point as the second current search center point; use the type-2 element points in the first current search area other than the forward point set as the second current search area, and perform an associated element point search on the second current search area with the preset search radius as the search radius to obtain a second current associated point search result; When the second current associated point search result indicates the existence of a negative point, add the negative point to the negative point set; the negative point is a point in the second current search area whose distance from the second current search center point satisfies a fourth preset condition; Reuse the negative point as the second current search center point, and reuse the type-2 element points in the second current search area other than the negative point as the second current search area. Perform an associated element point search on the second current search area again with the preset search radius as the search radius; Repeat the operation of adding the negative point to the negative point set when the second current associated point search result indicates the existence of a negative point, and the operation of re-performing an associated element point search on the second current search area until the second current associated point search result indicates the non-existence of a negative point in the second current search area, and then stop the negative point search; Generate an element point search result for the at least one type-2 element point according to the negative point set obtained after the negative point search stops.

9. The local map construction method according to claim 8, characterized in that The sorting of the element point search results according to the search order to obtain a reorganized type-2 element point set includes: Determine a first target search order corresponding to each negative point in the negative point set, a second target search order corresponding to each forward point in the forward point set, and a third target search order corresponding to the initial search center point according to the search order; Reverse the order of each negative point in the negative point set according to the first target search order to obtain a sorted negative point set; Add the initial search center point to the sorted negative point set according to the third target search order to obtain a first merged point set; Add each of the positive points in the positive point set to the first merged point set in sequence according to the second target search order to obtain a second merged point set; Use the second merged point set as the recombined second type of element point set.

10. The local map construction method according to claim 3, characterized in that Construct a target local map according to the recombined target map element point set, including, Use the candidate map tile and the associated map tile as target map tiles; Obtain target map element points located in the target map tiles from the recombined target map element point set; Construct the target local map according to the target map element points located in the target map tiles.

11. A local map construction device, characterized in that, including: A first acquisition module for acquiring a map element information table and the current position information of the target vehicle; The map element information table represents the mapping relationship between map elements, map tile index information, and map element point sets; the map element point set includes at least one map element point, and the at least one map element point represents the position information of the map element; the map element includes a first type of element; the first type of element is at least one of an intersection element, a crosswalk element, and a traffic signal element; a determination module for determining target map tile index information corresponding to the current position information from the map tile index information; A second acquisition module for acquiring a target map element point set corresponding to the target map tile index information from the map element point set based on the mapping relationship; The target map element point set includes a first type of element point set; the first type of element point set includes at least one first type of element point; a recombination module for recombining the target map element points in the target map element point set to obtain a recombined target map element point set; the target map element points in the recombined target map element point set are arranged in an orderly manner; the recombined target map element point set includes a recombined first type of element point set; the recombined first type of element point set is obtained by recombining the at least one first type of element point based on the center point position information and the position of each first type of element point; The center point position information is determined based on the position information of each first type of element point; a construction module for constructing a target local map according to the recombined target map element point set.

12. A vehicle-mounted terminal, characterized in that, The vehicle-mounted terminal includes a processor and a memory, and at least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement the local map construction method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, At least one instruction or at least one program segment is stored in the storage medium, and the at least one instruction or the at least one program segment is loaded and executed by a processor to implement the local map construction method according to any one of claims 1 to 10.

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