An intelligent vehicle map interaction method, device, equipment and storage medium

Abstract

This invention discloses an interactive method, apparatus, device, and storage medium for intelligent vehicle maps. The method includes the following steps: acquiring a planned navigation map path and sending the navigation map path to a set high-precision positioning controller; acquiring high-precision map data packets in real time through the high-precision positioning controller and parsing the real-time acquired high-precision map data packets to determine a high-precision map path; performing segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and sending the segmented matching result and lane-level planned path map data packets to an intelligent driving controller to determine the intelligent driving state. This application can save the computing resources of the intelligent driving main controller, thereby improving the operating efficiency of the intelligent driving system, and can also reduce the storage space occupied by high-precision map data, thus reducing storage costs.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to an interactive method, device, equipment, and storage medium for intelligent vehicle maps. Background Technology

[0002] With the continuous advancement of science and technology, autonomous vehicles are gradually undergoing road testing. High-precision maps, as an indispensable top-level sensor configuration for autonomous driving systems, can provide a wealth of effective static environmental information and some dynamic environmental information for vehicle environmental perception. Currently, the hardware and software of high-precision maps are generally embedded in the autonomous driving controller, facilitating direct access to algorithms from other autonomous driving modules. However, high-precision map data contains richer road traffic element information, has more attributes, and requires more storage space, which can lead to insufficient power for the navigation system. Summary of the Invention

[0003] The main objective of this invention is to provide an interactive method, device, equipment, and storage medium for intelligent vehicle maps, which can save computing resources of the intelligent driving main controller, thereby improving the operating efficiency of the intelligent driving system, and also reduce the storage space occupied by high-precision map data.

[0004] Firstly, this application provides an interactive method for intelligent vehicle maps, the method comprising the following steps:

[0005] Obtain the planned navigation map path and send the navigation map path to the set high-precision positioning controller;

[0006] The high-precision positioning controller acquires high-precision map data packets in real time and parses the acquired high-precision map data packets to determine the high-precision map path.

[0007] The high-precision map path is segmented and matched with the navigation map path to determine the segmented matching result, and the segmented matching result is sent to the intelligent driving controller to determine the intelligent driving status.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, parsing the real-time acquired high-precision map data packet includes the following steps:

[0009] Establish a transmission relationship between the high-precision positioning controller and the map provider server through networked devices;

[0010] Based on the high-precision map data sent in real time by the map service provider server received by the high-precision positioning controller, the map engine is used to parse the real-time high-precision map data packets.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation, the high-precision map path and the navigation map path are segmented and matched to determine the segmented matching result, including the following steps:

[0012] Based on the high-precision map path and the navigation map path, determine the path shape points of the high-precision map and the path shape points of the navigation map;

[0013] The path shape points of the high-precision map and the path shape points of the navigation map are segmented and matched;

[0014] When the path shape points of the high-precision map and the path shape points of the navigation map are continuous, the segment matching is determined to be successful.

[0015] When the path shape points of the high-precision map and the path shape points of the navigation map are not continuous, the segment matching is determined to be a failure.

[0016] In conjunction with the first aspect mentioned above, as an optional implementation, the shape points of the high-precision map and the shape points of the navigation map are converted into a road LINK table for the high-precision map and a road LINK table for the navigation map, and the road LINK table of the high-precision map is matched with the road LINK table of the navigation map to determine whether the two match.

[0017] When a match is confirmed, the high-precision map path and the navigation map path are successfully matched in segments.

[0018] When a mismatch is determined, the high-precision map path and the navigation map path segment matching fails.

[0019] In conjunction with the first aspect above, as an optional implementation, the step of obtaining the planned navigation map path and sending the navigation map path to the designated high-precision positioning controller includes the following steps:

[0020] Based on the destination output by the user, the navigation map path is planned using the vehicle terminal navigation system. The navigation map path includes: road name, road type, and road shape points.

[0021] The vehicle-mounted terminal navigation system sends the planned navigation map path to the set high-precision positioning controller via Ethernet.

[0022] In conjunction with the first aspect mentioned above, as an optional implementation, the planned navigation map path received by the high-precision positioning controller is verified, and a confirmation signal is sent back to the vehicle terminal controller.

[0023] In conjunction with the first aspect above, as an optional implementation, when the high-precision map path and the navigation map path are successfully matched in segments, the high-precision positioning controller sends a matching success signal to the intelligent driving controller, and initiates the autonomous driving state through the intelligent driving controller;

[0024] When the high-precision map path fails to match the navigation map path segment, the high-precision positioning controller sends a matching failure signal to the intelligent driving controller, and the intelligent driving controller deactivates the automatic driving mode and switches to manual driving mode.

[0025] Secondly, this application provides an interactive device for intelligent vehicle maps, the device comprising:

[0026] The acquisition module is used to acquire the planned navigation map path and send the navigation map path to the set high-precision positioning controller;

[0027] The parsing module is used to acquire high-precision map data packets in real time through the high-precision positioning controller, and to parse the acquired high-precision map data packets in real time to determine the high-precision map path.

[0028] The matching module is used to perform segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and send the segmented matching result to the intelligent driving controller to determine the intelligent driving state.

[0029] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0030] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0031] This application provides an interactive method, apparatus, device, and storage medium for intelligent vehicle maps. The method includes the following steps: acquiring a planned navigation map path and sending the navigation map path to a set high-precision positioning controller; acquiring high-precision map data packets in real time through the high-precision positioning controller and parsing the real-time acquired high-precision map data packets to determine a high-precision map path; performing segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and sending the segmented matching result to an intelligent driving controller to determine the intelligent driving state. This application can save the computing resources of the intelligent driving main controller, thereby improving the operating efficiency of the intelligent driving system, and can also reduce the storage space occupied by high-precision map data. It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0033] Figure 1 This is a flowchart of an interactive method for an intelligent vehicle map provided in an embodiment of this application;

[0034] Figure 2 This is a schematic diagram of an interactive device for an intelligent vehicle map provided in an embodiment of this application;

[0035] Figure 3 An interactive timing diagram of an intelligent vehicle map provided in this application;

[0036] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application;

[0037] Figure 5 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0038] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0039] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0040] This application provides an interactive method, device, equipment, and storage medium for intelligent vehicle maps, which can save computing resources of the intelligent driving main controller, thereby improving the operating efficiency of the intelligent driving system, and also reduce the storage space occupied by high-precision map data.

[0041] It is understood that this application concentrates computing power on a high-precision positioning controller through data interaction, thereby not occupying the computing power resources of servers, vehicle terminals or other intelligent driving controllers, thereby improving the operating efficiency of the intelligent driving system, while reducing data storage space and lowering storage costs.

[0042] To achieve the aforementioned technical effects, the general concept of this application is as follows:

[0043] An interactive method for intelligent vehicle maps, the method comprising the steps of:

[0044] S101: Obtain the planned navigation map path and send the navigation map path to the set high-precision positioning controller.

[0045] S102: The high-precision positioning controller acquires high-precision map data packets in real time and parses the acquired high-precision map data packets to determine the high-precision map path.

[0046] S103: Perform segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and send the segmented matching result to the intelligent driving controller to determine the intelligent driving state.

[0047] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0048] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of an interactive method for an intelligent vehicle map provided by the present invention. Figure 1 As shown, the method includes the following steps:

[0049] Step S101: Obtain the planned navigation map path and send the navigation map path to the set high-precision positioning controller.

[0050] Specifically, the in-vehicle terminal receives the user's destination input via the central control screen, plans the navigation map route using the navigator, and then sends the planned navigation map route to the designated vehicle high-precision positioning controller via Ethernet. The navigation map route includes: road name, road type, and road landmarks. It should be noted that the navigation map must be sent to the high-precision positioning controller in its entirety after planning is complete. The sent navigation map data conforms to the road attribute format, which includes, understandably, longitude, latitude, road type, road length, road grade, and road name.

[0051] In one embodiment, when the navigation path planning of the vehicle terminal and the navigator is updated, the updated navigation map path is sent to the high-precision positioning controller. The high-precision positioning controller verifies the received navigation map path packets and responds with a reply regarding the received frame status, and then sends an acknowledgment signal back to the vehicle terminal controller. It should be noted that the feedback is in the coordinate system (internal to the high-precision positioning controller) of the vehicle's real-time status, including heading angle, vehicle lateral and longitudinal positioning accuracy, etc.

[0052] Step S102: The high-precision positioning controller acquires high-precision map data packets in real time and parses the acquired high-precision map data packets to determine the high-precision map path.

[0053] Specifically, a transmission relationship is established between the high-precision positioning controller and the map provider's server through a networked device. The high-precision positioning controller receives high-precision map data sent by the map provider's server in real time, and uses the map engine EHP to parse the received high-precision map data packets to determine the high-precision map path.

[0054] It's important to note that the high-precision positioning controller itself does not directly connect to the map provider's server. Instead, it needs to be connected to another networked device (such as a Tbox) via Ethernet to receive the data. The high-precision positioning controller then receives the high-precision map data sent from the map provider's cloud and parses it using its map engine. The high-precision map data in the high-precision positioning controller is continuously updated.

[0055] Step S103: Perform segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and send the segmented matching result to the intelligent driving controller to determine the intelligent driving status.

[0056] Specifically, the high-precision positioning controller matches the high-precision map path with the navigation map path. The matching process involves the following: both the high-precision map path and the navigation map path are composed of multiple shape points. Therefore, based on the high-precision map path and the navigation map path, the path shape points of the high-precision map and the navigation map can be determined. These path shape points are then segmented and matched, and their continuity is checked. If the path shape points of the high-precision map and the navigation map are continuous, the segment matching is considered successful. If the path shape points of the high-precision map and the navigation map are discontinuous, the segment matching is considered unsuccessful. It should be noted that this matching process is performed internally by the high-precision positioning controller.

[0057] Optionally, the shape points of the high-precision map and the navigation map are converted into road LINK tables for the high-precision map and the navigation map, respectively. Matching is then performed based on the LINK attribute tables, selecting the LINK with the highest confidence and determining if the LINK matches. If a match is confirmed, the high-precision map path and the navigation map path are successfully matched in segments; if a mismatch is confirmed, the segment matching fails. It should be noted that if a match is found, further path planning and reverse matching are required. Reverse matching can be understood as supplementing shape points if the shape points are discontinuous, and then performing matching again.

[0058] In one embodiment, when a segment of the high-precision map path successfully matches the navigation map path, the high-precision positioning controller sends a matching success signal to the intelligent driving controller. The intelligent driving controller then activates the intelligent driving state and sends lane-level planned path map data packets, outputting lane-level planned paths in segments. If the first segment of the path successfully matches, the high-precision positioning controller sends a matching success signal to the intelligent driving controller, which then activates the intelligent driving state. The high-precision positioning controller begins to distribute segmented map data packets, which contain map data for both the decision layer and the positioning layer. It should be noted that, taking an elevated road scenario as an example, the decision layer provides shape data for a path that the vehicle will be traveling on or below the elevated road, while the positioning layer provides shape data for all existing paths within a certain range, including those above, below, and near intersections on the elevated road.

[0059] Optionally, as the vehicle's position changes, the high-precision positioning controller sends out lane-level planned routes in segments to maintain the vehicle's intelligent driving state. Before sending out each segment, the matching result for that segment is sent to the intelligent driving controller. If the next segment's navigation matching result is 1 (successful matching), autonomous driving will continue or continue in autonomous driving mode. If a segment's path matching fails, i.e., the next segment's navigation matching result is 0 (failed matching), the intelligent system will degrade. It should be noted that degrading can be understood as the system issuing a warning and requiring the driver to take over the vehicle within a certain period of time or immediately. In addition, besides the interactive map matching function when enabled, the high-precision positioning controller should generally also have other positioning-related functions.

[0060] In one embodiment, within the high-precision positioning controller, the map engine EHP receives and parses high-precision map data sent by the map provider's cloud server. It then performs map matching with the navigation map provided by the path planning module (providing real-time vehicle positioning information through GNSS satellite positioning data and the fused positioning results from the previous cycle), outputting a segmented lane-level map. After correction of the lane-level map and camera lane line data, it performs positioning fusion with the parsed vehicle body data. The fused positioning result is provided to the path planning module for the next cycle. The high-precision positioning controller forwards the high-precision map data and other relevant positioning information to the autonomous driving controller to complete the interaction between the high-precision controller, the map provider's cloud server, and the autonomous driving controller.

[0061] Reference Figure 3 , Figure 3 The diagram shown is an interactive timing diagram of an intelligent vehicle map provided by the present invention. Figure 3 As shown, it includes: an in-vehicle navigation IVI, a high-precision positioning controller, and an autonomous driving controller.

[0062] Understandably, after the onboard navigator sends the planned navigation map path (Path-Planning) to the high-precision positioning controller, the high-precision positioning controller verifies the packets and responds to the received frames, sending back an ACK signal (ACKPath-Planning). Internally, the high-precision positioning controller performs attribute matching and reverse matching (the navigation map's road LINK table is linked to the high-precision map's LINK table to determine if the results are continuous). After the first segment of road matching is successful, the high-precision positioning controller sends the matching result back to the autonomous driving controller. The autonomous driving controller then activates intelligent driving mode and receives segmented map data packets from the high-precision positioning controller (specifically, positioning layer map data—Profile type; decision layer map data—LocalMap type data, both types of data are provided by the map provider through the map engine). The high-precision positioning controller will issue lane-level planned routes segment by segment as the vehicle's position changes, sending the segment's matching result to the autonomous driving controller before issuing the segment. If the next navigation matching result is 1 (successful matching), autonomous driving will be activated or continue. If the next navigation matching result is 0 (failed matching), the intelligent system will degrade. In this process, the reverse matching supplements the road vectors. If the shape points of the navigation map and the high-precision map are not continuous, shape points need to be added and the matching process needs to be repeated.

[0063] It should be noted that the location layer map data provided by the map provider's server specifically refers to geographic data (multiple paths) within a certain range near the vehicle's driving area, while the high-precision positioning controller's internal positioning fusion data (i.e., the output data after processing camera lane lines, stitched maps, and satellite / inertial navigation positioning data using extended Kalman filtering or other algorithms) can also be used. Furthermore, the autonomous driving controller can determine whether to discard previously received geographic data to reduce storage space consumption within the controller.

[0064] It should also be noted that this method is applicable to intelligent driving systems that simultaneously possess an in-vehicle terminal, a high-precision positioning controller, and an intelligent driving controller. After the planned route within the navigator is updated, the navigator will send the planned route to the high-precision positioning controller all at once. Within the high-precision positioning controller, after the entire navigation route is matched with the high-precision map, the matching results are output in segments. During vehicle operation, the matching results and segmented map data packets are sent to the intelligent driving system control module in segments based on the vehicle's location information.

[0065] Furthermore, high-precision maps do not occupy local storage space. Instead, they are received from the map provider's cloud via Ethernet UDP protocol and parsed using the EHP map engine. The computational power for map-related execution processes is concentrated within the high-precision positioning controller, without consuming the computing power of servers, terminals, or other controllers. Understandably, the high-precision positioning controller processes the data and then sends it to the intelligent driving controller. The intelligent driving controller only handles data transmission and reception, thereby reducing the pressure on servers, vehicle terminals, or other intelligent driving controllers.

[0066] Reference Figure 2 , Figure 2 The diagram shown is a schematic representation of an interactive device for an intelligent vehicle map provided by the present invention. Figure 2 As shown, the device includes:

[0067] Acquisition module 201: It is used to acquire the planned navigation map path and send the navigation map path to the set high-precision positioning controller.

[0068] Parsing module 202: It is used to acquire high-precision map data packets in real time through the high-precision positioning controller, and parse the acquired high-precision map data packets in real time to determine the high-precision map path.

[0069] Matching module 203: It is used to perform segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and send the segmented matching result to the intelligent driving controller to determine the intelligent driving state.

[0070] Furthermore, in one possible implementation, the parsing module 202 is also used to establish a transmission relationship between the high-precision positioning controller and the map provider server through a networked device;

[0071] Based on the high-precision map data sent in real time by the map service provider server received by the high-precision positioning controller, the map engine is used to parse the real-time high-precision map data packets.

[0072] Furthermore, in one possible implementation, the matching module 203 is also used to determine the path shape points of the high-precision map and the path shape points of the navigation map based on the high-precision map path and the navigation map path.

[0073] The path shape points of the high-precision map and the path shape points of the navigation map are segmented and matched;

[0074] When the path shape points of the high-precision map and the path shape points of the navigation map are continuous, the segment matching is determined to be successful.

[0075] When the path shape points of the high-precision map and the path shape points of the navigation map are not continuous, the segment matching is determined to be a failure.

[0076] Furthermore, in one possible implementation, the matching module 203 is also used to convert the shape points of the high-precision map and the shape points of the navigation map into a road LINK table of the high-precision map and a road LINK table of the navigation map, and to match the road LINK table of the high-precision map with the road LINK table of the navigation map to determine whether the two match.

[0077] When a match is confirmed, the high-precision map path and the navigation map path are successfully matched in segments.

[0078] When a mismatch is determined, the high-precision map path and the navigation map path segment matching fails.

[0079] Furthermore, in one possible implementation, the acquisition module 201 is also used to plan a navigation map route using an in-vehicle terminal navigator based on the destination output by the received user, wherein the navigation map route includes: road name, road type, and road shape points;

[0080] The vehicle-mounted terminal navigation system sends the planned navigation map path to the set high-precision positioning controller via Ethernet.

[0081] Furthermore, in one possible implementation, a verification module is also included, which is used to verify the planned navigation map path received by the high-precision positioning controller and to send a confirmation signal back to the vehicle terminal controller.

[0082] Furthermore, in one possible implementation, the matching module 203 is also used to, when the high-precision map path and the navigation map path are successfully matched in segments, send a matching success signal to the intelligent driving controller, and start the autonomous driving state through the intelligent driving controller;

[0083] When the high-precision map path fails to match the navigation map path segment, the high-precision positioning controller sends a matching failure signal to the intelligent driving controller, and the intelligent driving controller performs a downgrade process.

[0084] The following reference Figure 4 To describe an electronic device 400 according to this embodiment of the present invention. Figure 4 The electronic device 400 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0085] like Figure 4As shown, the electronic device 400 is manifested in the form of a general-purpose computing device. The components of the electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including storage unit 420 and processing unit 410).

[0086] The storage unit stores program code that can be executed by the processing unit 410, causing the processing unit 410 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0087] Storage unit 420 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 421 and / or cache memory 422, and may further include a read-only memory (ROM) 423.

[0088] Storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0089] Bus 430 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0090] Electronic device 400 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 400, and / or any device that enables electronic device 400 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 450. Furthermore, electronic device 400 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 460. As shown, network adapter 460 communicates with other modules of electronic device 400 via bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0091] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0092] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0093] refer to Figure 5 As shown, a program product 500 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0094] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0095] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0096] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0097] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0098] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0099] In summary, this application provides an interactive method, apparatus, device, and storage medium for intelligent vehicle maps. The method includes the following steps: acquiring a planned navigation map path and sending the navigation map path to a set high-precision positioning controller; acquiring high-precision map data packets in real time through the high-precision positioning controller, and parsing the acquired high-precision map data packets to determine a high-precision map path; performing segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and sending the segmented matching result to an intelligent driving controller to determine the intelligent driving state. This application can save computing resources of the intelligent driving main controller, thereby improving the operating efficiency of the intelligent driving system, and can also reduce the storage space occupied by high-precision map data.

[0100] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0101] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. An interactive method for intelligent vehicle maps, characterized in that, include; Obtain the planned navigation map path and send the navigation map path to the set high-precision positioning controller; The high-precision positioning controller acquires high-precision map data packets in real time and parses the acquired high-precision map data packets to determine the high-precision map path. The high-precision map path is segmented and matched with the navigation map path to determine the segmented matching result, and the segmented matching result is sent to the intelligent driving controller to determine the intelligent driving status; Specifically, based on the high-precision map path and the navigation map path, the path shape points of the high-precision map and the path shape points of the navigation map are determined. The path shape points of the high-precision map and the path shape points of the navigation map are segmented and matched; When the path shape points of the high-precision map and the path shape points of the navigation map are continuous, the segment matching is determined to be successful. When the path shape points of the high-precision map and the path shape points of the navigation map are not continuous, the segment matching is determined to be a failure.

2. The method according to claim 1, characterized in that, Parsing the real-time acquired high-precision map data packet includes: Establish a transmission relationship between the high-precision positioning controller and the map provider server through networked devices; Based on the high-precision map data sent in real time by the map service provider server received by the high-precision positioning controller, the map engine is used to parse the real-time high-precision map data packets.

3. The method according to claim 1, characterized in that, Also includes: The shape points of the high-precision map and the shape points of the navigation map are converted into road LINK tables for the high-precision map and the navigation map, respectively. The road LINK tables of the high-precision map and the road LINK tables of the navigation map are then matched to determine whether they match. When a match is confirmed, the high-precision map path and the navigation map path are successfully matched in segments. When a mismatch is determined, the high-precision map path and the navigation map path segment matching fails.

4. The method according to claim 1, characterized in that, The step of obtaining the planned navigation map path and sending the navigation map path to the set high-precision positioning controller includes: Based on the destination output by the user, the navigation map path is planned using the vehicle terminal navigation system. The navigation map path includes: road name, road type, and road shape points. The vehicle-mounted terminal navigation system sends the planned navigation map path to the set high-precision positioning controller via Ethernet.

5. The method according to claim 4, characterized in that, include: The high-precision positioning controller verifies the planned navigation map path received from the high-precision positioning controller and sends a confirmation signal back to the vehicle terminal controller.

6. The method according to claim 1, characterized in that, Sending the segmented matching results to the intelligent driving controller to determine the intelligent driving state includes: When the high-precision map path and the navigation map path are successfully matched in segments, the high-precision positioning controller sends a matching success signal to the intelligent driving controller and initiates the autonomous driving state through the intelligent driving controller. When the high-precision map path fails to match the navigation map path segment, the high-precision positioning controller sends a matching failure signal to the intelligent driving controller, and the intelligent driving controller deactivates the automatic driving mode and switches to manual driving mode.

7. An interactive device for an intelligent vehicle map, characterized in that, include: The acquisition module is used to acquire the planned navigation map path and send the navigation map path to the set high-precision positioning controller; The parsing module is used to acquire high-precision map data packets in real time through the high-precision positioning controller, and to parse the acquired high-precision map data packets in real time to determine the high-precision map path. The matching module is used to perform segmented matching between the high-precision map path and the navigation map path to determine the segmented matching result, and send the segmented matching result to the intelligent driving controller to determine the intelligent driving status; Based on the high-precision map path and the navigation map path, determine the path shape points of the high-precision map and the path shape points of the navigation map; The path shape points of the high-precision map and the path shape points of the navigation map are segmented and matched; When the path shape points of the high-precision map and the path shape points of the navigation map are continuous, the segment matching is determined to be successful. When the path shape points of the high-precision map and the path shape points of the navigation map are not continuous, the segment matching is determined to be a failure.

8. An electronic device, characterized in that, The electronic device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores computer program instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 6.

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