A high-precision map matching method and device, electronic equipment and storage medium

Abstract

The disclosure provides a high-precision map matching method and device, electronic equipment and storage medium, relates to the technical field of computers, and particularly relates to the technical field of artificial intelligence, automatic driving and intelligent transportation. The specific implementation scheme is: obtaining position information of each trajectory point in a plurality of trajectory points, position information included in each high-precision road segment in at least one high-precision road segment, and position information included in each standard road segment in at least one standard road segment; generating a first correspondence relationship according to the position information of each trajectory point and the position information included in each high-precision road segment; generating a second correspondence relationship according to the position information of each trajectory point and the position information included in each standard road segment; and generating a target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, wherein the target correspondence relationship includes a correspondence relationship between a high-precision map and a standard map.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer, and particularly relates to the technical field of artificial intelligence, automatic driving and intelligent transportation. Specifically, a high-precision map matching method and device, an electronic device and a storage medium are provided. BACKGROUND

[0002] The high-precision map is also called high-precision map, which is used by an automatic driving vehicle. The high-precision map has accurate vehicle position information and rich road element data information, which can help the vehicle to predict complex road information such as slope, curvature and heading, and better avoid potential risks. The road segment included in the high-precision map is a high-precision road segment, and the corresponding standard map (also called ordinary map) includes a standard road segment. At present, the electronic device can determine whether the map corresponding to a high-precision road segment matches the map corresponding to a standard road segment by judging whether the high-precision road segment intersects with the standard road segment. Or the electronic device can also determine the high-precision map matched with the standard map by the way of buffer query. SUMMARY

[0003] The present disclosure provides a high-precision map matching method, device, electronic device and storage medium with higher accuracy.

[0004] According to an aspect of the present disclosure, a high-precision map matching method is provided. The method comprises: obtaining position information of each trajectory point in a plurality of trajectory points, position information included in each high-precision road segment in at least one high-precision road segment, and position information included in each standard road segment in at least one standard road segment, each high-precision road segment being a road segment included in a high-precision map, and each standard road segment being a road segment included in a standard map; generating a first correspondence relationship according to the position information of each trajectory point and the position information included in each high-precision road segment, the first correspondence relationship including a correspondence relationship between a trajectory point and a high-precision road segment; generating a second correspondence relationship according to the position information of each trajectory point and the position information included in each standard road segment, the second correspondence relationship including a correspondence relationship between a trajectory point and a standard road segment; and generating a target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, the target correspondence relationship including a correspondence relationship between a high-precision map and a standard map.

[0005] According to another aspect of the present disclosure, there is provided a high-definition map matching device, comprising: an obtaining module and a processing module; the obtaining module is configured to obtain position information of each trajectory point in a plurality of trajectory points, position information included in each high-definition road segment in at least one high-definition road segment, and position information included in each standard road segment in at least one standard road segment, the each high-definition road segment being a road segment included in a high-definition map, and the each standard road segment being a road segment included in a standard map; the processing module is configured to generate a first correspondence relationship according to the position information of each trajectory point and the position information included in each high-definition road segment, the first correspondence relationship comprising a correspondence relationship between a trajectory point and a high-definition road segment; the processing module is further configured to generate a second correspondence relationship according to the position information of each trajectory point and the position information included in each standard road segment, the second correspondence relationship comprising a correspondence relationship between a trajectory point and a standard road segment; and the processing module is further configured to generate a target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, the target correspondence relationship comprising a correspondence relationship between a high-definition map and a standard map.

[0006] According to another aspect of the present disclosure, there is provided an electronic device, comprising: at least one processor, and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the high-definition map matching method provided by the present disclosure.

[0007] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to perform the high-definition map matching method provided by the present disclosure.

[0008] According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program, which, when executed by a processor, implements the high-definition map matching method provided by the present disclosure.

[0009] According to another aspect of the present disclosure, there is provided an autonomous vehicle comprising the electronic device provided by the present disclosure.

[0010] In the above any aspect, in the present disclosure, the electronic device can obtain position information of each trajectory point in the plurality of trajectory points, position information included in each high-precision road segment in the at least one high-precision road segment, and position information included in each standard road segment in the at least one standard road segment; then generate a first correspondence relationship according to the position information of each trajectory point and the position information included in each high-precision road segment, and generate a second correspondence relationship according to the position information of each trajectory point and the position information included in each standard road segment; and then the electronic device can generate a target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, the target correspondence relationship including a correspondence relationship between the high-precision map and the standard map. In the present disclosure, since the high-precision road segment is a road segment included in the high-precision map, and the standard road segment is a road segment included in the standard map, the electronic device can take the trajectory point as a reference, determine the correspondence relationship between the trajectory point and the road segment included in the high-precision map (i.e., the high-precision road segment) based on the positional relationship between the position information of the trajectory point and the position information included in the high-precision road segment, and determine the correspondence relationship between the trajectory point and the road segment included in the standard map (i.e., the standard road segment) based on the positional relationship between the position information of the trajectory point and the position information included in the standard road segment, and then combine the two correspondence relationships (i.e., the first correspondence relationship and the second correspondence relationship) to accurately and effectively generate the correspondence relationship (i.e., the target correspondence relationship) between the high-precision map and the standard map. Based on the target correspondence relationship, the high-precision map corresponding to each standard map can be accurately determined (or matched), and the accuracy of map matching can be improved.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0013] Figure 1 A flowchart of a high-precision map matching method provided by an embodiment of the present disclosure is shown;

[0014] Figure 2 A flowchart of another high-precision map matching method provided by an embodiment of the present disclosure is shown;

[0015] Figure 3 A flowchart of another high-precision map matching method provided by an embodiment of the present disclosure is shown;

[0016] Figure 4 A flowchart of another high-precision map matching method provided by an embodiment of the present disclosure is shown;

[0017] Figure 5 FIG. 3 shows a flow diagram of another high-definition map matching method provided by an embodiment of the present disclosure;

[0018] Figure 6 FIG. 3 shows a flow diagram of another high-definition map matching method provided by an embodiment of the present disclosure;

[0019] Figure 7 FIG. 4 shows a flow diagram of a third correspondence generation method provided by an embodiment of the present disclosure;

[0020] Figure 8 FIG. 5 shows a structural diagram of a high-definition map matching device provided by an embodiment of the present disclosure;

[0021] Figure 9 FIG. 6 is a block diagram of an electronic device for implementing the high-definition map matching method provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are provided to assist in the understanding of the present disclosure, and include various details of the embodiments of the present disclosure to assist in the understanding. Therefore, it should be understood that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0023] It should be noted that the terms "first", "second", and the like in the specification and claims of the present disclosure and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Rather, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0024] It should also be understood that the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, and / or components.

[0025] In the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solutions comply with relevant laws and regulations and do not violate public order and good customs.

[0026] In the related art, the electronic device can determine whether the map corresponding to a high-precision road segment matches the map corresponding to a standard road segment by determining whether the high-precision road segment intersects the standard road segment. Alternatively, the electronic device can determine the high-precision map that matches the standard map by means of buffer zone query. However, because the precision of the high-precision map is different from the precision of the standard map, these methods can affect the accuracy of map matching.

[0027] Based on this, the embodiment of the present disclosure provides a high-precision map matching method. The electronic device can take the trajectory point as a reference, determine the correspondence between the trajectory point and the road segment (i.e., the high-precision road segment) included in the high-precision map based on the positional relationship between the position information of the trajectory point and the position information included in the high-precision road segment, and determine the correspondence between the trajectory point and the road segment (i.e., the standard road segment) included in the standard map based on the positional relationship between the position information of the trajectory point and the position information included in the standard road segment. Then, by combining the two kinds of correspondence (e.g., referred to as the first correspondence and the second correspondence), the corresponding relationship (e.g., referred to as the target correspondence) between the high-precision map and the standard map can be accurately and effectively generated. Based on the target correspondence, the high-precision map corresponding to each standard map can be accurately determined (or matched), and the accuracy of map matching can be improved.

[0028] The high-precision map matching method, device, electronic device, and storage medium provided by the embodiment of the present disclosure are applied in the scenario of autonomous driving. Specifically, the electronic device can accurately match the high-precision map corresponding to each standard map based on the high-precision map matching method provided by the embodiment of the present disclosure, complete the navigation demand of the user, and realize the autonomous driving of the vehicle.

[0029] As shown in Figure 1 The high-precision map matching method provided by the embodiment of the present disclosure includes S101-S104.

[0030] S101, the electronic device acquires the position information of each trajectory point in a plurality of trajectory points, the position information included in each high-precision road segment in at least one high-precision road segment, and the position information included in each standard road segment in at least one standard road segment.

[0031] The high-precision road segment is a road segment included in a high-precision map, and the standard road segment is a road segment included in a standard map.

[0032] It should be understood that the plurality of trajectory points can be trajectory points included in one collection trajectory, or can be trajectory points included in a plurality of collection trajectories, and the plurality of trajectory points are points of respective positions collected by a collection device (for example, a collection vehicle) over time. For one collection trajectory, the collection trajectory can be understood as a time sequence composed of at least one trajectory point. That is, the electronic device can also acquire a collection time of each trajectory point.

[0033] In an implementation of the embodiment of the present disclosure, when the plurality of trajectory points are trajectory points included in a plurality of collection trajectories, for a certain collection trajectory (for example, a first collection trajectory), part of the trajectory points included in the first collection trajectory can be included in other collection trajectories (that is, collection trajectories other than the first collection trajectory in the plurality of collection trajectories, for example, a second collection trajectory and a third collection trajectory), for example, the first trajectory point is included in the three collection trajectories. However, the position information of the first trajectory point in the three collection trajectories can be different, and at this time, the electronic device can determine the average value of the position information of the first trajectory point in the first collection trajectory, the position information of the first trajectory point in the second collection trajectory, and the position information of the third trajectory point in the third collection trajectory as the position information of the first trajectory point. The position information of each trajectory point can be accurately determined, and the accuracy of the first correspondence relationship, the second correspondence relationship, and the target correspondence relationship can be improved.

[0034] In the embodiment of the present disclosure, the standard map and the high definition map both belong to electronic maps, the standard map can provide road-level navigation information (including the connection relationship between roads), and the high definition map can provide lane-level navigation information (including the number of lanes included in each road, the functions of different lanes, and the traffic indication information corresponding to different lanes, etc.). When the user has a navigation demand, the starting position and the ending position can be input in the electronic device, and the electronic device can determine a road-level travel plan based on the starting position, the ending position, and the standard map. The road-level travel plan can guide the vehicle to start from the starting position, travel a plurality of roads (which can also be understood as road segments) in sequence, and reach the ending position.

[0035] However, the electronic device may not accurately and effectively guide the driving process of the vehicle based on only the road-level navigation information or only determine the road-level driving scheme. For example, the vehicle may not be able to determine which lane in the road to drive in: the vehicle needs to drive in the right-turn lane before the vehicle turns right, the vehicle needs to change lanes when there is an abnormal situation in the lane being driven in (for example, there is a certain faulty vehicle in the lane being driven in), and the like. At this time, the electronic device needs to determine a lane-level driving scheme with higher accuracy for the user based on the road-level navigation information in combination with the lane-level navigation information.

[0036] It should be understood that a plurality of standard maps and a plurality of high-precision maps can be stored in the electronic device. Thus, before determining the lane-level driving scheme for the user, it becomes a technical problem to be solved in the art to determine which standard maps can be matched with which high-precision maps.

[0037] It can be understood that the position information included in a road segment (including a high-precision road segment and a standard road segment) is the position information of a point included in the road segment. The number of points included in a road segment can be one or more, and the number of position information included in a road segment is not specifically limited in the embodiments of the present disclosure.

[0038] Optionally, the position information in the embodiments of the present disclosure can be represented in the form of global positioning system (GPS) coordinates.

[0039] S102, the electronic device generates a first correspondence relationship according to the position information of each trajectory point in the plurality of trajectory points and the position information included in each high-precision road segment in the at least one high-precision road segment.

[0040] The first correspondence relationship includes the correspondence relationship between the trajectory points and the high-precision road segments.

[0041] In one case, the first correspondence relationship can further include the identification of each trajectory point in the plurality of trajectory points and the identification of the high-precision road segment corresponding to the each trajectory point.

[0042] In another case, the first correspondence relationship can also include the name of each trajectory point and the name of the high-precision road segment corresponding to each trajectory point.

[0043] S103, the electronic device generates a second correspondence relationship according to the position information of each trajectory point in the plurality of trajectory points and the position information included in each standard road segment in the at least one standard road segment.

[0044] The second correspondence relationship includes the correspondence relationship between the trajectory points and the standard road segments.

[0045] Based on the description of the above embodiments, it should be understood that the second correspondence may further include the identifier of each trajectory point among the plurality of trajectory points and the identifier of the standard road segment corresponding to each trajectory point. The first correspondence may also include the name of each trajectory point and the name of the standard road segment corresponding to each trajectory point.

[0046] In one implementation of this disclosure, the electronic device can determine the second correspondence based on the location information of each trajectory point and the location information included in each standard road segment, combined with a hidden Markov model.

[0047] S104. The electronic device generates a target correspondence based on the first correspondence and the second correspondence.

[0048] This target correspondence includes the correspondence between high-precision maps and standard maps.

[0049] In one implementation of this disclosure, the electronic device may perform a fusion process on the first correspondence and the second correspondence to obtain the target correspondence.

[0050] Optionally, the target correspondence may also include the identifier of each high-precision map among multiple high-precision maps and the identifier of the standard map corresponding to each high-precision map. The target correspondence may also include the name of each high-precision map and the name of the standard map corresponding to each high-precision map.

[0051] The technical solutions provided by the above embodiments can bring at least the following beneficial effects: as can be seen from S101-S104, the electronic device can acquire the position information of each trajectory point in the plurality of trajectory points, the position information included in each high-precision road segment in the at least one high-precision road segment, and the position information included in each standard road segment in the at least one standard road segment; then the electronic device generates a first correspondence relationship according to the position information of each trajectory point and the position information included in each high-precision road segment, and generates a second correspondence relationship according to the position information of each trajectory point and the position information included in each standard road segment; and then the electronic device generates a target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, where the target correspondence relationship includes the correspondence relationship between the high-precision map and the standard map. In the embodiments of the present disclosure, since the high-precision road segment is a road segment included in the high-precision map, and the standard road segment is a road segment included in the standard map, the electronic device can take the trajectory point as a reference, determine the correspondence relationship between the trajectory point and the high-precision road segment (i.e., the high-precision road segment) included in the high-precision map based on the positional relationship between the position information of the trajectory point and the position information included in the high-precision road segment, and determine the correspondence relationship between the trajectory point and the standard road segment (i.e., the standard road segment) included in the standard map based on the positional relationship between the position information of the trajectory point and the position information included in the standard road segment, and then the two correspondence relationships (i.e., the first correspondence relationship and the second correspondence relationship) are combined to accurately and effectively generate the correspondence relationship (i.e., the target correspondence relationship) between the high-precision map and the standard map. Based on the target correspondence relationship, the high-precision map corresponding to each standard map can be accurately determined (or matched), and the accuracy of map matching can be improved.

[0052] In combination Figure 1 As Figure 2 shown. In an implementation manner of the embodiments of the present disclosure, the electronic device generates the first correspondence relationship according to the position information of each trajectory point in the plurality of trajectory points and the position information included in each high-precision road segment in the at least one high-precision road segment, including S1021.

[0053] S1021, when the position information of the first trajectory point is included in the position information of the first high-precision road segment, the electronic device determines that the first high-precision road segment corresponds to the first trajectory point.

[0054] wherein the first high-precision road segment is one of the at least one high-precision road segment, and the first trajectory point is one of the plurality of trajectory points.

[0055] It should be understood that, since the accuracy of the above-mentioned collection track is the same or similar to the accuracy of the high-precision map, the collection track can also be understood as a high-precision track. That is, the points (i.e., track points) included in the collection track can accurately correspond to the points included in the high-precision map (specifically, the high-precision road segment). In this way, the electronic device can determine whether the position information of a certain track point (e.g., the first track point) exists in the position information included in a certain high-precision road segment (e.g., the first high-precision road segment).

[0056] It can be understood that, when the position information of the first track point exists in the position information included in the first high-precision road segment, it means that the position information of the first track point is one of the position information included in the first high-precision road segment, and it can also be understood that the first track point is a point included in the first high-precision road segment. At this time, the electronic device can determine that the first high-precision road segment corresponds to the first track point.

[0057] In an optional implementation, the electronic device can determine the high-precision road segment corresponding to each track point, or the track point corresponding to each high-precision road segment, by constructing a spatial index.

[0058] Specifically, in one case, the electronic device can query which high-precision road segment of the above-mentioned at least one high-precision road segment includes the position information of a certain track point (e.g., the first track point) based on the track point, that is, the electronic device determines the high-precision road segment corresponding to the first track point.

[0059] In another case, the electronic device can also query which track point of the above-mentioned multiple track points exists in a certain high-precision road segment (or which track point of the above-mentioned multiple track points exists in the position information included in the high-precision road segment) based on the high-precision road segment (e.g., the first high-precision road segment), that is, the electronic device determines the track point corresponding to the first high-precision road segment.

[0060] It should be noted that the electronic device determines the other high-precision road segment (i.e., the high-precision road segment other than the first high-precision road segment in the above-mentioned at least one high-precision road segment) and the other track point (i.e., the track point other than the first track point in the above-mentioned multiple track points) in the same or similar manner as the above-mentioned electronic device determines the first high-precision road segment and the first track point, which will not be described here. That is, the electronic device can generate the above-mentioned first correspondence relationship based on the description in the above-mentioned embodiments, and the first correspondence relationship includes the correspondence relationship between the track points and the high-precision road segments.

[0061] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: as can be known from S1021, when the position information of the first trajectory point exists in the position information included in the first high-precision road segment, it indicates that the position information of the first trajectory point is one of the position information included in the first high-precision road segment, and it can also be understood that the first trajectory point is a point included in the first high-precision road segment. At this time, the electronic device can determine that the first high-precision road segment corresponds to the first trajectory point, can accurately determine which trajectory point corresponds to each high-precision road segment based on the positional relationship between the position information of the trajectory point and the position information included in the high-precision road segment, generate a first corresponding relationship with higher accuracy, and ensure the accuracy of the corresponding relationship between the trajectory point and the high-precision road segment.

[0062] In combination Figure 1 As Figure 3 indicated. In an implementation manner of the embodiments of the present disclosure, the electronic device generates a second corresponding relationship according to the position information of each trajectory point in the plurality of trajectory points and the position information included in each standard road segment in the at least one standard road segment, including S1031-S1032.

[0063] S1031, the electronic device determines a candidate road segment corresponding to each trajectory point from the at least one standard road segment according to the position information of each trajectory point in the plurality of trajectory points and the position information included in each standard road segment in the at least one standard road segment.

[0064] The candidate road segment corresponding to a trajectory point is the standard road segment with the smallest distance from the trajectory point.

[0065] It should be understood that the difference between the accuracy of the standard map and the accuracy of the collected trajectory is relatively large, specifically, the accuracy of the position information of the point included in the standard map (or the standard road segment) is low, at this time the electronic device needs to match the point (i.e. the trajectory point) included in the collected trajectory with the point included in the standard road segment.

[0066] It can be understood that for a trajectory point (for example, the first trajectory point), the electronic device can determine the distance between the first trajectory point and each standard road segment in the at least one standard road segment. When the distance between the first trajectory point and a certain standard road segment (for example, the first standard road segment) is smaller than the distance between the first trajectory point and other standard road segments (i.e. the standard road segments other than the first standard road segment in the at least one standard road segment) (i.e. the distance between the first trajectory point and the first standard road segment is the smallest), it indicates that the first standard road segment is closest to the first trajectory point. At this time, the electronic device can determine the first standard road segment as the candidate road segment corresponding to the first trajectory point.

[0067] S1032, when the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, the electronic device determines that the first standard road segment corresponds to the first trajectory point.

[0068] The first standard road segment is the candidate road segment corresponding to the first trajectory point, the first trajectory point is one of the plurality of trajectory points, the second trajectory point is the previous trajectory point of the first trajectory point, and the third trajectory point is the next trajectory point of the first trajectory point.

[0069] In combination with the description of the above embodiments, it should be understood that the electronic device can obtain the collection time of each trajectory point in the plurality of trajectory points. The collection trajectory can be understood as a time sequence composed of each trajectory point.

[0070] In the embodiments of the present disclosure, after the electronic device selects the first trajectory point from the plurality of trajectory points, the electronic device can determine the second trajectory point and the third trajectory point from the plurality of trajectory points based on the collection time of each trajectory point in the plurality of trajectory points. The second trajectory point, the first trajectory point, and the third trajectory point can be understood as three consecutive trajectory points collected in chronological order.

[0071] It can be understood that when the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, it means that the three consecutive trajectory points fall into the same candidate road segment, which conforms to the driving logic of the vehicle, that is, the vehicle can continuously drive in the same road segment. At this time, the electronic device can determine that the same candidate road segment corresponds to the trajectory point in the middle of the three consecutive trajectory points (i.e., the first trajectory point).

[0072] It should be understood that the process of determining that the first standard road segment corresponds to the first trajectory point based on the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the first trajectory point, and the candidate road segment corresponding to the third trajectory point can be understood as the process of generating the second correspondence relationship by the electronic device in combination with the hidden Markov model. Specifically, the electronic device can use the hidden Markov model to match the sampling trajectory (specifically, the trajectory points included in the sampling trajectory) and the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the position information of the trajectory points and the position information included in the standard road segments, which can generate a second correspondence relationship with high accuracy, thereby improving the matching accuracy of the trajectory points and the standard road segments.

[0073] It should be noted that the electronic device can also determine that other standard road segments (i.e., standard road segments other than the first standard road segment in the at least one standard road segment) correspond to a trajectory point in the other trajectory points based on the descriptions in S1031-S1032. That is, the electronic device can generate a second correspondence relationship based on the descriptions in the above embodiments, and the second correspondence relationship includes the correspondence relationship between the trajectory points and the standard road segments.

[0074] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: as can be known from S1031-S1032, on the one hand, the electronic device can determine a candidate road segment corresponding to each trajectory point in the plurality of trajectory points from the at least one standard road segment according to the position information of each trajectory point and the position information included in each standard road segment in the at least one standard road segment. For a trajectory point (e.g., the first trajectory point), the electronic device can determine the distance between the first trajectory point and each standard road segment in the at least one standard road segment. When the distance between the first trajectory point and a standard road segment (e.g., the first standard road segment) is less than the distance between the first trajectory point and other standard road segments (i.e., standard road segments other than the first standard road segment in the at least one standard road segment) (i.e., when the distance between the first trajectory point and the first standard road segment is the smallest), it indicates that the first standard road segment is closest to the first trajectory point. At this time, the electronic device can determine the first standard road segment as the candidate road segment corresponding to the first trajectory point. The candidate road segment corresponding to each trajectory point can be quickly and effectively determined.

[0075] On the other hand, the second trajectory point, the first trajectory point, and the third trajectory point can be understood as three continuous trajectory points collected in time sequence. When the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, it indicates that the three continuous trajectory points fall into the same candidate road segment, which is consistent with the driving logic of the vehicle, i.e., the vehicle can continuously drive in the same road segment. At this time, the electronic device can determine that the same candidate road segment corresponds to the trajectory point (i.e., the first trajectory point) located in the middle of the three continuous trajectory points. In the embodiments of the present disclosure, the electronic device can use the hidden Markov model to match the sampling trajectory (specifically, the trajectory points included in the sampling trajectory) and the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the position information of the trajectory points and the position information included in the standard road segments, accurately determine which standard road segment corresponds to which trajectory point, generate a second correspondence relationship with high accuracy, and improve the matching accuracy of the trajectory points and the standard road segments.

[0076] In combination with Figure 3 For example, Figure 4As shown. In an implementation form of the embodiment of the present disclosure, the electronic device generates the second correspondence relationship according to the position information of each trajectory point in the plurality of trajectory points and the position information included in each standard road segment in the at least one standard road segment, including S1033-S1034.

[0077] S1033, when the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, the electronic device determines whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point.

[0078] In combination with the above description of the embodiment, it should be understood that the second trajectory point, the first trajectory point and the third trajectory point can be understood as three consecutive trajectory points collected in time sequence.

[0079] When the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, it means that the three consecutive trajectory points do not fall into the same candidate road segment. Specifically, the first trajectory point and the second trajectory point fall into the same candidate road segment, and the third trajectory point falls into another candidate road segment. At this time, the electronic device can determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point.

[0080] S1034, when there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the electronic device determines that the third standard road segment corresponds to the third trajectory point.

[0081] The third standard road segment is the candidate road segment corresponding to the third trajectory point.

[0082] In the embodiment of the present disclosure, the above connection relationship can also be understood as an intersection relationship, and the electronic device can determine whether there is a connection relationship between one road segment and another road segment by obtaining the road topology information in the standard map.

[0083] It should be understood that when there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, it means that the candidate road segment corresponding to the third trajectory point is adjacent to the candidate road segment corresponding to the first trajectory point, specifically, the vehicle can drive from the candidate road segment corresponding to the first trajectory point to the candidate road segment corresponding to the third trajectory point (it can also be understood that the end point of the candidate road segment corresponding to the first trajectory point and the start point of the candidate road segment corresponding to the third trajectory point are the same or similar), which conforms to the driving logic of the vehicle, that is, the vehicle can drive from one road segment to an adjacent road segment. At this time, the electronic device can determine that the third standard road segment (that is, the candidate road segment corresponding to the last trajectory point (that is, the third trajectory point) of the three consecutive trajectory points) corresponds to the third trajectory point.

[0084] It should be understood that the process of determining that the third standard road segment corresponds to the third trajectory point by the electronic device based on the description in S1033-S1034 described above can be understood as the process of generating the second correspondence relationship by the electronic device in combination with the hidden Markov model. Specifically, the electronic device can use the hidden Markov model to match the sampling trajectory (specifically, the trajectory points included in the sampling trajectory) and the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the position information of the trajectory points and the position information included in the standard road segments and the road topology information in the standard map, so as to generate a second correspondence relationship with high accuracy, thereby improving the matching accuracy of the trajectory points and the standard road segments.

[0085] In an optional implementation, when there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the electronic device can also determine that the first standard road segment (that is, the candidate road segment corresponding to the first trajectory point) corresponds to the first trajectory point.

[0086] It should be noted that when there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the electronic device determines that the description of the first standard road segment corresponding to the first trajectory point is the same as or similar to the description of the third standard road segment corresponding to the third trajectory point. That is, the electronic device can generate the second correspondence relationship based on the description in the above embodiments, and the second correspondence relationship includes the correspondence relationship between the trajectory points and the standard road segments.

[0087] In another optional implementation, when there is no connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, it indicates that the candidate road segment corresponding to the third trajectory point is not an adjacent road segment to the candidate road segment corresponding to the first trajectory point (this can also be understood as the distance between the end point of the candidate road segment corresponding to the first trajectory point and the start point of the candidate road segment corresponding to the third trajectory point being relatively far), which does not conform to the vehicle's driving logic. Specifically, it is impossible for a vehicle to directly travel from one road segment to another road segment that is relatively far away from that road segment. In this case, the electronic equipment can determine that the aforementioned third standard road segment is not the standard road segment corresponding to the third trajectory point.

[0088] The technical solution provided by the above embodiments can bring at least the following beneficial effects: As can be seen from S1033-S1034, when the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, it indicates that the three consecutive trajectory points do not fall into the same candidate road segment. At this time, the electronic device can determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point.

[0089] When there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, it indicates that the candidate road segment corresponding to the third trajectory point is adjacent to the candidate road segment corresponding to the first trajectory point. Specifically, the vehicle can travel from the candidate road segment corresponding to the first trajectory point to the candidate road segment corresponding to the third trajectory point (which can also be understood as the end point of the candidate road segment corresponding to the first trajectory point and the start point of the candidate road segment corresponding to the third trajectory point being the same or similar), which conforms to the vehicle's driving logic, that is, the vehicle can travel from one road segment to an adjacent road segment. At this time, the electronic equipment can determine that the third standard road segment (i.e., the candidate road segment corresponding to the last trajectory point (i.e., the third trajectory point) among the three consecutive trajectory points) corresponds to the third trajectory point. In this embodiment of the disclosure, the electronic device can use a Hidden Markov Model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) with the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the location information of the trajectory points and the location information included in the standard road segments, as well as the road topology information in the standard map. Since more and more effective information (including location information, road topology information, etc.) is used in the matching process between trajectory points and standard road segments, it can more accurately determine which trajectory point corresponds to each standard road segment, and generate a second correspondence with higher accuracy, thereby improving the matching accuracy of trajectory points and standard road segments.

[0090] Combination Figure 3 ,like Figure 5 As shown. The high-precision map matching method provided in this embodiment of the present disclosure also includes S105.

[0091] In a case where the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point, the electronic device determines that the first standard road segment is not the standard road segment corresponding to the first trajectory point.

[0092] In combination with the above description of the embodiments, it should be understood that the second trajectory point, the first trajectory point, and the third trajectory point can be understood as three continuous trajectory points collected in time sequence. In a case where the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point, it is indicated that the three continuous trajectory points do not fall into the same candidate road segment. Specifically, the second trajectory point and the third trajectory point fall into the same candidate road segment, and the first trajectory point falls into another candidate road segment, that is, adjacent trajectory points do not fall into the same candidate road segment. This does not conform to the driving logic of the vehicle, specifically, after the vehicle drives from an initial road segment to another road segment, it is impossible to return to the initial road segment from the other road segment instantaneously. At this time, the electronic device determines that the first standard road segment (that is, the candidate road segment corresponding to the trajectory point located in the middle of the three continuous trajectory points (that is, the first trajectory point)) is not the standard road segment corresponding to the first trajectory point.

[0093] It should be understood that the process in which the electronic device determines that the first standard road segment is not the standard road segment corresponding to the first trajectory point based on the description in S105 above can be understood as the process in which the electronic device generates the second correspondence in combination with the hidden Markov model. Specifically, the electronic device can use the hidden Markov model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) and the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the position information of the trajectory points and the position information included in the standard road segments and the matching result constraint (specifically, after the vehicle drives from an initial road segment to another road segment, it is impossible to return to the initial road segment from the other road segment instantaneously) between the road segments included in the standard map, so as to accurately screen out which candidate road segments are not the standard road segments corresponding to the trajectory points.

[0094] Optionally, the first standard section (i.e., the candidate section corresponding to the first trajectory point) can be understood as a first candidate section corresponding to the first trajectory point (i.e., the standard section with the second smallest distance to the first trajectory point among the at least one standard section). When the first standard section is not the standard section corresponding to the first trajectory point, the electronic device can further determine a second standard section (assuming that the second standard section is the standard section with the second smallest distance to the first trajectory point among the at least one standard section), and can determine whether the second standard section corresponds to the first trajectory point in combination with the related processes disclosed in the above embodiments. Until the standard section corresponding to each trajectory point is determined.

[0095] The technical solutions provided in the above embodiments can at least bring the following beneficial effects: As can be known from S105, when the candidate section corresponding to the second trajectory point is the same as the candidate section corresponding to the third trajectory point, and the candidate section corresponding to the second trajectory point is different from the candidate section corresponding to the first trajectory point, it indicates that the three consecutive trajectory points do not fall into the same candidate section. Specifically, the second trajectory point and the third trajectory point fall into the same candidate section, and the first trajectory point falls into another candidate section, that is, adjacent trajectory points do not fall into the same candidate section. This does not conform to the driving logic of the vehicle, specifically, after the vehicle drives from an initial section to another section, it is impossible to return to the initial section from the other section instantaneously. At this time, the electronic device determines that the first standard section (i.e., the candidate section corresponding to the trajectory point located in the middle of the three consecutive trajectory points (i.e., the first trajectory point)) is not the standard section corresponding to the first trajectory point. In the embodiments of the present disclosure, the electronic device can use the hidden Markov model to match the sampling trajectory (specifically, the trajectory points included in the sampling trajectory) and the standard map (specifically, the standard sections included in the standard map) based on the positional relationship between the position information of the trajectory points and the position information included in the standard sections and the matching result constraint (specifically, after the vehicle drives from an initial section to another section, it is impossible to return to the initial section from the other section instantaneously) of the sections before and after the standard map, which can accurately screen out which candidate sections are not the standard sections corresponding to the trajectory points, and ensures the matching accuracy of the trajectory points and the standard sections.

[0096] In combination with Figure 1 As Figure 6 shown. In an implementation manner of the embodiments of the present disclosure, the electronic device generates the target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, including S1041-S1043.

[0097] S1041, the electronic device generates a third correspondence relationship according to the first correspondence relationship and the second correspondence relationship.

[0098] The third correspondence relationship includes the correspondence relationship between the high-precision section and the standard section.

[0099] In combination with the description of the above embodiments, it should be understood that the first correspondence relationship includes a correspondence relationship between the trajectory points and the high-precision road segments, and the second correspondence relationship includes a correspondence relationship between the trajectory points and the standard road segments.

[0100] In the embodiments of the present disclosure, the electronic device can take the trajectory points as a reference, determine and combine the correspondence relationship between the trajectory points and the high-precision road segments (i.e., the first correspondence relationship) and the correspondence relationship between the trajectory points and the standard road segments (i.e., the second correspondence relationship), so as to accurately and effectively generate the correspondence relationship between the high-precision road segments and the standard road segments (i.e., the third correspondence relationship).

[0101] In an optional implementation, the electronic device can perform fusion processing on the first correspondence relationship and the second correspondence relationship to obtain the third correspondence relationship.

[0102] In one case, the third correspondence relationship can further include an identifier of each of the at least one standard road segment and an identifier of the high-precision road segment corresponding to the each standard road segment.

[0103] In another case, the third correspondence relationship can further include a name of the each standard road segment and a name of the high-precision road segment corresponding to the each standard road segment.

[0104] The following illustrates a specific process of obtaining the third correspondence relationship by the electronic device in the embodiments of the present disclosure with an example. As shown in FIG. 2, the process includes S201-S209. Figure 7

[0105] S201, the electronic device acquires at least one standard road segment (SD-Link).

[0106] Specifically, the electronic device can acquire position information included in each of the at least one standard road segment.

[0107] S202, the electronic device acquires at least one collection trajectory (HD-trajectory).

[0108] Specifically, the electronic device can acquire position information of the trajectory points (i.e., the above-mentioned plurality of trajectory points) included in the at least one collection trajectory.

[0109] S203, the electronic device acquires at least one high-precision road segment (HD-Road).

[0110] Specifically, the electronic device can acquire position information included in each of the at least one high-precision road segment.

[0111] ​It should be noted that the execution order of S201, S202 and S203 is not limited in the embodiments of the present disclosure. For example, the electronic device can execute S201, S202 and S203 in sequence, can execute S203, S202 and S201 in sequence, or can execute S201, S202 and S203 simultaneously.

[0112] S204, the electronic device matches at least one collected trajectory and at least one standard road segment (trajectory-SD matching).

[0113] Specifically, the electronic device can determine the standard road segment corresponding to each trajectory point in the plurality of trajectory points.

[0114] S205, the electronic device matches at least one collected trajectory and at least one high-definition road segment (trajectory-HD matching).

[0115] Specifically, the electronic device can determine the high-definition road segment corresponding to each trajectory point.

[0116] S206, the electronic device obtains a mapping table between the collected trajectory and the standard road segment (trajectory-SD mapping table).

[0117] Specifically, the electronic device can generate the second correspondence relationship, which includes the correspondence relationship between the trajectory point and the standard road segment.

[0118] S207, the electronic device obtains a mapping table between the collected trajectory and the high-definition road segment (trajectory-HD mapping table).

[0119] Specifically, the electronic device can generate the first correspondence relationship, which includes the correspondence relationship between the trajectory point and the high-definition road segment.

[0120] S208, the electronic device matches the standard road segment and the high-definition road segment (HD-SD matching).

[0121] Specifically, the electronic device can determine the high-definition road segment corresponding to each standard road segment (or the standard road segment corresponding to each high-definition road segment).

[0122] S209, the electronic device obtains a mapping table between the standard road segment and the high-definition road segment (HD-SD mapping table).

[0123] Specifically, the electronic device can generate the third correspondence relationship, which includes the correspondence relationship between the high-definition road segment and the standard road segment.

[0124] S1042, the electronic device obtains the fourth correspondence relationship and the fifth correspondence relationship.

[0125] The fourth correspondence includes a correspondence between the high-precision road segments and high-precision maps, and the fifth correspondence includes a correspondence between the standard road segments and standard maps.

[0126] In the fourth correspondence, the identification of each high-precision road segment and the identification of the high-precision map corresponding to the high-precision road segment can also be included. In the fourth correspondence, the name of each high-precision road segment and the name of the high-precision map corresponding to the high-precision road segment can also be included.

[0127] In the fifth correspondence, the identification of each standard road segment and the identification of the standard map corresponding to the standard road segment can also be included. In the fourth correspondence, the name of each standard road segment and the name of the standard map corresponding to the standard road segment can also be included.

[0128] In S1043, the electronic device generates a target correspondence based on the third correspondence, the fourth correspondence, and the fifth correspondence.

[0129] In the third correspondence, a correspondence between the high-precision road segments and the standard road segments is included. In the fourth correspondence, a correspondence between the high-precision road segments and the high-precision maps is included. In the fifth correspondence, a correspondence between the standard road segments and the standard maps is included. Since the high-precision road segments are road segments included in the high-precision maps, and the standard road segments are road segments included in the standard maps, the electronic device can determine which high-precision map each high-precision road segment corresponds to (or belongs to) based on the fourth correspondence, and determine which standard map each standard road segment corresponds to (or belongs to) based on the fifth correspondence. Since the third correspondence includes a correspondence between the high-precision road segments and the standard road segments, it can represent which standard road segment each high-precision road segment corresponds to (or which high-precision road segment each standard road segment corresponds to). Thus, for a standard map, the electronic device can accurately determine the high-precision map corresponding to each standard map in the plurality of standard maps (or the standard map corresponding to each high-precision map in the plurality of high-precision maps) by determining the standard road segment corresponding to the standard map, determining the high-precision road segment corresponding to the standard road segment, and determining the high-precision map corresponding to the high-precision road segment.

[0130] The following describes the specific application process of the target correspondence provided by the embodiments of the present disclosure in the context of automatic driving.

[0131] When a user has a navigation demand, a start location and an end location can be input in an electronic device, and the electronic device can determine a target standard map from a plurality of standard maps based on the start location and the end location, the target standard map including the start location and the end location. The electronic device can then determine a road-level travel plan based on the start location, the end location, and the target standard map, the road-level travel plan guiding a vehicle to travel from the start location to the end location via a plurality of road segments.

[0132] At this time, the electronic device can also determine a target high-precision map corresponding to the target standard map based on the target standard map and a target correspondence relationship provided by an embodiment of the present disclosure, and can determine a lane-level travel plan in combination with the target high-precision map. Specifically, the lane-level travel plan can indicate which lane of a road (or road segment) the vehicle travels in, whether the vehicle needs to change lanes, and whether the vehicle needs to change the travel plan if a road segment is congested. The lane-level travel plan can accurately and effectively guide the vehicle during travel and meet the user's demand for autonomous driving.

[0133] The technical solutions provided in the above embodiments can at least bring the following beneficial effects: As can be seen from S1041-S1043, the electronic device can generate a third correspondence relationship (including a correspondence relationship between a high-precision road segment and a standard road segment) according to a first correspondence relationship and a second correspondence relationship, and obtain a fourth correspondence relationship (including a correspondence relationship between a high-precision road segment and a high-precision map) and a fifth correspondence relationship (including a correspondence relationship between a standard road segment and a standard map); and then the electronic device can generate a target correspondence relationship (including a correspondence relationship between a high-precision map and a standard map) based on the third correspondence relationship, the fourth correspondence relationship, and the fifth correspondence relationship.

[0134] In the embodiments of the present disclosure, since the high-precision road segments are road segments included in the high-precision map and the standard road segments are road segments included in the standard map, the electronic device can determine, based on the fourth correspondence relationship, to which high-precision map each high-precision road segment corresponds (or belongs), and determine, based on the fifth correspondence relationship, to which standard map each standard road segment corresponds (or belongs). Since the third correspondence relationship includes the correspondence relationship between the high-precision road segments and the standard road segments, that is, can represent which standard road segment each high-precision road segment corresponds to (or which high-precision road segment each standard road segment corresponds to). In this way, for a standard map, the electronic device can accurately determine the high-precision map corresponding to each of the plurality of standard maps (or can be understood as determining the standard map corresponding to each of the plurality of high-precision maps) through the process of determining the standard road segment corresponding to the standard map, determining the high-precision road segment corresponding to the standard road segment, and determining the high-precision map corresponding to the high-precision road segment. The target correspondence relationship can be accurately and effectively generated, and the accuracy of the correspondence relationship between the high-precision map and the standard map is ensured.

[0135] It can be understood that, in actual implementation, the electronic device described in the embodiments of the present disclosure can include one or more hardware structures and / or software modules for implementing the foregoing high-precision map matching method, and these execution hardware structures and / or software modules can constitute an electronic device. Those skilled in the art should easily realize that, in combination with the algorithm steps of the examples described in the embodiments disclosed herein, the present disclosure can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of the present disclosure.

[0136] Based on such understanding, the embodiments of the present disclosure also correspondingly provide a high-precision map matching device, Figure 8 The structure schematic diagram of the high-precision map matching device provided by the embodiments of the present disclosure is shown. As shown in the figure, Figure 8 The high-precision map matching device 30 can include an acquisition module 301 and a processing module 302.

[0137] The acquisition module 301 is configured to acquire position information of each trajectory point in a plurality of trajectory points, position information included in each high-precision road segment in at least one high-precision road segment, and position information included in each standard road segment in at least one standard road segment. Each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map.

[0138] The processing module 302 is configured to generate a first correspondence relationship according to the position information of each trajectory point and the position information included in each high-precision road segment, the first correspondence relationship including a correspondence relationship between the trajectory points and the high-precision road segments.

[0139] The processing module 302 is further configured to generate a second correspondence relationship according to the position information of each trajectory point and the position information included in each standard road segment, the second correspondence relationship including a correspondence relationship between the trajectory points and the standard road segments.

[0140] The processing module 302 is further configured to generate a target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, the target correspondence relationship including a correspondence relationship between the high-precision map and the standard map.

[0141] Optionally, the apparatus further includes a determining module 303.

[0142] The determining module 303 is configured to determine that a first high-precision road segment corresponds to a first trajectory point when the position information of the first trajectory point is included in the position information of the first high-precision road segment, the first high-precision road segment being one of the at least one high-precision road segment and the first trajectory point being one of the plurality of trajectory points.

[0143] Optionally, the determining module 303 is configured to determine, according to the position information of each trajectory point and the position information included in each standard road segment, a candidate road segment corresponding to each trajectory point from the at least one standard road segment, wherein the candidate road segment corresponding to a trajectory point is a standard road segment having the smallest distance from the trajectory point.

[0144] The determining module 303 is further configured to determine that a first standard road segment corresponds to a first trajectory point when a candidate road segment corresponding to the first trajectory point, a candidate road segment corresponding to a second trajectory point, and a candidate road segment corresponding to a third trajectory point are the same, the first standard road segment being the candidate road segment corresponding to the first trajectory point, the first trajectory point being one of the plurality of trajectory points, the second trajectory point being a previous trajectory point of the first trajectory point, and the third trajectory point being a next trajectory point of the first trajectory point.

[0145] Optionally, the determining module 303 is further configured to determine whether a connection relationship exists between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point when the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point.

[0146] The determination module is further configured to determine that a third standard road segment corresponds to the third trajectory point when there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the third standard road segment being the candidate road segment corresponding to the third trajectory point.

[0147] Optionally, the determination module 303 is further configured to determine that the first standard road segment does not correspond to the first trajectory point when the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point.

[0148] Optionally, the processing module 302 is specifically configured to generate a third correspondence relationship according to the first correspondence relationship and the second correspondence relationship, the third correspondence relationship including a correspondence relationship between a high-precision road segment and a standard road segment.

[0149] The acquisition module 301 is further configured to acquire a fourth correspondence relationship and a fifth correspondence relationship, the fourth correspondence relationship including a correspondence relationship between a high-precision road segment and a high-precision map, and the fifth correspondence relationship including a correspondence relationship between a standard road segment and a standard map.

[0150] The processing module 302 is specifically further configured to generate the target correspondence relationship based on the third correspondence relationship, the fourth correspondence relationship, and the fifth correspondence relationship.

[0151] As described above, the high-precision map matching device according to the method examples described above can be divided into functional modules. The integrated modules described above can be implemented in the form of hardware or in the form of software functional modules. In addition, it should be noted that the division of modules in the present disclosure is illustrative, and is only a logical functional division. Actual implementation can have another division manner. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module.

[0152] As for the high-precision map matching device in the above embodiments, the specific manner in which each module performs operations and the beneficial effects possessed have been described in detail in the foregoing method embodiments, and will not be described here.

[0153] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium, and a computer program product.

[0154] Figure 9A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0155] like Figure 9 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 402 or a computer program loaded from storage unit 404 into random access memory (RAM) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0156] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 404, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0157] The computing unit 401 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 401 performs various methods and processes described above, such as the high-precision map matching method. For example, in some embodiments, the high-precision map matching method can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 404. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded onto the RAM 403 and executed by the computing unit 401, one or more steps of the high-precision map matching method described above can be performed. Alternatively, in other embodiments, the computing unit 401 can be configured to perform the high-precision map matching method by any other appropriate means, such as by means of firmware.

[0158] According to embodiments of the present disclosure, the present disclosure also provides an electronic device as described in the above embodiments.

[0159] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0160] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package, or entirely on a remote machine or server.

[0161] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0162] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0163] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0164] The computer system can include clients and servers. This relationship can be. The servers are typically remote from the clients with the interactions between them occurring over a communication network. The relationship between client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The servers can be cloud servers, servers of a distributed system, or servers incorporating blockchain.

[0165] It should be understood that the steps shown in the various forms above can be reordered, added to, or deleted from. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure are achieved, which is not limited herein.

[0166] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A high-precision map matching method, comprising: The location information of each trajectory point in multiple trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment are obtained. Each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map. Based on the location information of each trajectory point and the location information included in each high-precision road segment, a first correspondence is generated, the first correspondence including the correspondence between trajectory points and high-precision road segments; Based on the location information of each trajectory point and the location information included in each standard road segment, a second correspondence is generated, the second correspondence including the correspondence between trajectory points and standard road segments; Based on the first and second correspondences, a third correspondence is generated, which includes the correspondence between high-precision road segments and standard road segments. Obtain the fourth and fifth correspondence relationships. The fourth correspondence relationship includes the correspondence between high-precision road segments and high-precision maps, and the fifth correspondence relationship includes the correspondence between standard road segments and standard maps. Based on the third correspondence, the fourth correspondence, and the fifth correspondence, a target correspondence is generated, which includes the correspondence between the high-precision map and the standard map.

2. The method according to claim 1, wherein, The step of generating the first correspondence based on the location information of each trajectory point and the location information included in each high-precision road segment includes: When the location information of the first trajectory point is present in the location information included in the first high-precision road segment, it is determined that the first high-precision road segment corresponds to the first trajectory point. The first high-precision road segment is one of the at least one high-precision road segment, and the first trajectory point is one of the plurality of trajectory points.

3. The method according to claim 1 or 2, wherein, Based on the location information of each trajectory point and the location information included in each standard road segment, the second correspondence is generated as follows: Based on the location information of each trajectory point and the location information included in each standard road segment, a candidate road segment corresponding to each trajectory point is determined from the at least one standard road segment, wherein the candidate road segment corresponding to a trajectory point is the standard road segment with the smallest distance to the trajectory point; When the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, a first standard road segment is determined to correspond to the first trajectory point. The first standard road segment is a candidate road segment corresponding to the first trajectory point. The first trajectory point is one of the plurality of trajectory points. The second trajectory point is the previous trajectory point of the first trajectory point. The third trajectory point is the next trajectory point of the first trajectory point.

4. The method according to claim 3, further comprising: When the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point. When there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the third standard road segment is determined to correspond to the third trajectory point, and the third standard road segment is the candidate road segment corresponding to the third trajectory point.

5. The method according to claim 3, further comprising: When the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point, it is determined that the first standard road segment is not the standard road segment corresponding to the first trajectory point.

6. A high-precision map matching device, comprising: Acquisition module and processing module; The acquisition module is used to acquire the location information of each trajectory point in a plurality of trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment, wherein each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map; The processing module is used to generate a first correspondence relationship based on the location information of each trajectory point and the location information included in each high-precision road segment. The first correspondence relationship includes the correspondence relationship between the trajectory point and the high-precision road segment. The processing module is further configured to generate a second correspondence relationship based on the location information of each trajectory point and the location information included in each standard road segment, wherein the second correspondence relationship includes the correspondence relationship between the trajectory point and the standard road segment; The processing module is further configured to generate a third correspondence based on the first correspondence and the second correspondence, wherein the third correspondence includes the correspondence between high-precision road segments and standard road segments; The acquisition module is further configured to acquire a fourth correspondence relationship and a fifth correspondence relationship. The fourth correspondence relationship includes the correspondence relationship between high-precision road segments and high-precision maps, and the fifth correspondence relationship includes the correspondence relationship between standard road segments and standard maps. The processing module is further configured to generate a target correspondence based on the third correspondence, the fourth correspondence, and the fifth correspondence, wherein the target correspondence includes the correspondence between the high-precision map and the standard map.

7. The apparatus according to claim 6, further comprising a determining module; The determining module is used to determine that the first high-precision road segment corresponds to the first trajectory point when the location information of the first trajectory point exists in the location information included in the first high-precision road segment. The first high-precision road segment is one of the at least one high-precision road segment, and the first trajectory point is one of the plurality of trajectory points.

8. The apparatus according to claim 6 or 7, further comprising a determining module; The determining module is configured to determine, based on the location information of each trajectory point and the location information included in each standard road segment, a candidate road segment corresponding to each trajectory point from the at least one standard road segment, wherein... The candidate road segment corresponding to a trajectory point is the standard road segment with the smallest distance to the trajectory point; The determining module is further configured to determine that a first standard road segment corresponds to the first trajectory point when the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same. The first standard road segment is a candidate road segment corresponding to the first trajectory point, the first trajectory point is one of the plurality of trajectory points, the second trajectory point is the previous trajectory point of the first trajectory point, and the third trajectory point is the next trajectory point of the first trajectory point.

9. The apparatus according to claim 8, The determining module is further configured to determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point when the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point. The determining module is further configured to determine that a third standard road segment corresponds to the third trajectory point when there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, wherein the third standard road segment is the candidate road segment corresponding to the third trajectory point.

10. The apparatus according to claim 8, The determining module is further configured to determine that the first standard road segment is not the standard road segment corresponding to the first trajectory point when the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point.

11. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-5.

13. A computer program product comprising a computer program that, when executed by a processor, implements the method of any one of claims 1-5.

14. An autonomous vehicle, including the electronic equipment as claimed in claim 11.

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