Automatic Cutting and Fusion Method and System for Heterogeneous Data of High-Precision Maps

Abstract

The present invention discloses a method and system for automatically cutting and fusing heterogeneous data of high-precision maps. By converting the coordinate systems of the heterogeneous data to be fused into the same coordinate system, an outer circumscribed polygon is constructed based on the smaller heterogeneous data among the heterogeneous data to be fused. Taking the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and simultaneously comparing the larger heterogeneous data among the heterogeneous data to be fused, the fusion positions between the heterogeneous data are searched inside the outer circumscribed polygon. The heterogeneous data to be fused are cut based on the fusion positions, and the smaller heterogeneous data located inside the outer circumscribed polygon are fused with the larger heterogeneous data located outside the outer circumscribed polygon from the cutting positions. Thus, the sections that are not collected or produced by the single-source data can be supplemented with heterogeneous data, and more comprehensive fused data can be obtained; moreover, the calculation efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision electronic map production, and in particular to an automatic cutting and fusion method and system for heterogeneous data of high-precision maps. Background Art

[0002] Currently, the production of high-precision electronic maps mainly uses single-source data rather than heterogeneous data. The reason is that the production standards, specifications, and ranges of heterogeneous data are inconsistent and it is difficult to fuse and connect. Among them, the differences in production standards, specifications, etc. can be aligned through existing automated methods, but the inconsistency of data ranges is difficult to solve. The conventional solution in the past was to manually cut the data and align the fusion points of heterogeneous data. However, if faced with large-scale data production, manual cutting and alignment is not a fast and reliable method. Therefore, it is necessary to provide an automated method for cutting, aligning, and fusing heterogeneous high-precision map data. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above technical deficiencies and propose an automatic cutting and fusion method and system for heterogeneous data of high-precision maps, so as to solve the problem that it is difficult to connect heterogeneous data and the low efficiency of manual operation.

[0004] To achieve the above technical purpose, the first aspect of the technical solution of the present invention provides an automatic cutting and fusion method for heterogeneous data of high-precision maps, which includes the following steps:

[0005] Convert the coordinate systems of the heterogeneous data to be fused into the same coordinate system, and construct its circumscribed polygon based on the smaller heterogeneous data among the heterogeneous data to be fused;

[0006] Taking the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and synchronously comparing the larger heterogeneous data among the heterogeneous data to be fused, search for the fusion position between the heterogeneous data inside the circumscribed polygon;

[0007] Cut the heterogeneous data to be fused based on the fusion position, and fuse the smaller heterogeneous data located inside the circumscribed polygon and the larger heterogeneous data located outside the circumscribed polygon from the cutting position.

[0008] The second aspect of the present invention provides an automatic cutting and fusion system for heterogeneous data of high-precision maps, which includes the following functional modules:

[0009] A preprocessing module for converting the coordinate systems of the heterogeneous data to be fused into the same coordinate system and constructing its circumscribed polygon based on the smaller heterogeneous data among the heterogeneous data to be fused;

[0010] A fusion search module for taking the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and synchronously comparing the larger heterogeneous data among the heterogeneous data to be fused, and searching for the fusion position between the heterogeneous data inside the circumscribed polygon;

[0011] A cutting and fusion module, configured to cut the heterogeneous data to be fused based on the fusion position, and fuse the smaller heterogeneous data inside the circumscribed polygon and the larger heterogeneous data outside the circumscribed polygon from the cutting position.

[0012] The third aspect of the present invention provides a server, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned automatic cutting and fusion method for heterogeneous data of high-precision maps is implemented.

[0013] The fourth aspect of the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned automatic cutting and fusion method for heterogeneous data of high-precision maps is implemented.

[0014] Compared with the prior art, the automatic cutting and fusion method and system for heterogeneous data of high-precision maps according to the present invention transform the coordinate systems of the heterogeneous data to be fused into the same coordinate system, and construct a circumscribed polygon based on the smaller heterogeneous data in the heterogeneous data to be fused; taking the smaller heterogeneous data in the heterogeneous data to be fused as a reference, and synchronously comparing the larger heterogeneous data in the heterogeneous data to be fused, search for the fusion position between the heterogeneous data inside the circumscribed polygon; cut the heterogeneous data to be fused based on the fusion position, and fuse the smaller heterogeneous data inside the circumscribed polygon and the larger heterogeneous data outside the circumscribed polygon from the cutting position; thereby being able to fill in the sections where single-source data has not been collected or produced through heterogeneous data, obtaining more comprehensive fused data; and the calculation efficiency has been greatly improved. Description of the Drawings

[0015] Figure 1 is a flowchart of the automatic cutting and fusion method for heterogeneous data of high-precision maps according to an embodiment of the present invention;

[0016] Figure 2 is Figure 1 a sub-step flowchart of step S3 in

[0017] Figure 3 is a schematic diagram of the circumscribed polygon of data A in an embodiment of the present invention;

[0018] Figure 4 is a schematic diagram of obtaining the fusion position and filtering out unreasonable fusion positions;

[0019] Figure 5 is an enlarged schematic diagram of cutting the fusion position;

[0020] Figure 6 is a schematic diagram of the cut data A and data B in an embodiment of the present invention;

[0021] Figure 7 It is a schematic diagram after the fusion of data A and data B in the embodiment of the present invention;

[0022] Figure 8 It is a module block diagram of the high-precision map heterologous data automatic cutting and fusion system described in the embodiment of the present invention. Detailed implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0024] As Figures 1 to 6 shown, the embodiment of the present invention provides a high-precision map heterologous data automatic cutting and fusion method, which includes the following steps:

[0025] S1. Convert the coordinate systems of the heterologous data to be fused into the same coordinate system, and construct its circumscribed polygon based on the smaller heterologous data among the heterologous data to be fused.

[0026] Suppose the heterologous data to be fused are data A and data B, and data A is smaller than data B.

[0027] According to the unified standard requirements, automatically process data A and data B into this standard and load them into the memory. The layers to be loaded include but are not limited to road networks, ground objects, etc.

[0028] Convert the coordinate systems of data A and data B to the same coordinate system, obtain all the main roads of data A and data B, extract all the main roads and dead-end main roads in data A, form a point set of all the roads in data A, and generate a circumscribed polygon using the convex hull algorithm, as Figure 3 shown.

[0029] Based on the circumscribed polygon, mark all the roads in data B. If a certain road in data B intersects with the circumscribed polygon, mark this road in data B as being inside the circumscribed polygon; if it does not intersect, mark this road in data B as being outside the circumscribed polygon.

[0030] S2. Take the smaller heterologous data among the heterologous data to be fused as the reference, and synchronously compare the larger heterologous data among the heterologous data to be fused, and search for the fusion position between the heterologous data inside the circumscribed polygon.

[0031] Specifically, taking data A as the benchmark and synchronously comparing data B, according to the preset fusion conditions, the fusion position between heterogeneous data is searched from the breakpoint of the broken trunk road of data A along the topological structure of data A to the inside of the circumscribed polygon. Specifically, the spatial index between data A and data B is constructed by using the rtree algorithm, and the synchronous comparison of data A and data B is achieved through the spatial index during the search process.

[0032] The preset fusion conditions include:

[0033] a. The fusion location is not an intersection, toll booth, or lane change zone;

[0034] b. There is a trunk road with large heterogeneous data within a set threshold range from the fusion position, and the error of the road elevation value / heading angle corresponding to the heterogeneous data at the fusion position also meets the preset error threshold range;

[0035] c. The number of lane center lines and lane edge lines corresponding to heterogeneous data at the fusion position is consistent.

[0036] Only when the above three fusion conditions are met at the same time can it be used as the fusion position between data A and data B, such as Figure 4 If there is no suitable location that satisfies the above conditions at the same time, the next road will be searched for a suitable fusion location along the road topology until a fusion location is found or all roads are searched or the cumulative searched road length exceeds 2 kilometers.

[0037] After taking the smaller heterogeneous data among the heterogeneous data to be fused as the benchmark and synchronously comparing the larger heterogeneous data among the heterogeneous data to be fused, searching for the fusion position between the heterogeneous data inside the circumscribed polygon, it is also necessary to filter the fusion position according to the preset filtering conditions; specifically:

[0038] Taking the larger heterogeneous data among the heterogeneous data to be fused as a reference, a search is performed from the fusion position along the topological structure of the larger heterogeneous data to the outside of the circumscribed polygon, and the fusion position is filtered according to the preset filtering conditions.

[0039] The preset filtering conditions include:

[0040] a. It is not possible to search for the fusion position outside the circumscribed polygon based on the topological structure of the trunk road of the large heterogeneous data;

[0041] b. Searching for fusion positions of other fusion positions based on the topological structure of the trunk road of the larger heterogeneous data;

[0042] c. Search for its own fusion position based on the topological structure of the trunk road of the larger heterogeneous data;

[0043] d. Multiple merged locations belonging to the same road.

[0044] As long as one of the above four filtering conditions is met, the fusion position will be filtered and deleted, as Figure 4 shown.

[0045] S3. Cut the heterogeneous data to be fused based on the fusion position, and fuse the smaller heterogeneous data inside the circumscribed polygon and the larger heterogeneous data outside the circumscribed polygon from the cutting position.

[0046] As Figure 2 shown, the step S3 includes the following sub-steps:

[0047] S31. Make a cutting line perpendicular to the road based on the fusion position, as Figure 5 shown;

[0048] S32. Retain the smaller heterogeneous data inside the circumscribed polygon on the inner side of the cutting line, and delete the smaller heterogeneous data outside the circumscribed polygon on the outer side of the cutting line, as Figure 6 shown;

[0049] S33. Retain the larger heterogeneous data outside the circumscribed polygon on the outer side of the cutting line, and delete the larger heterogeneous data inside the circumscribed polygon on the inner side of the cutting line, as Figure 6 shown;

[0050] S34. Fuse the smaller heterogeneous data inside the circumscribed polygon on the inner side of the cutting line and the larger heterogeneous data outside the circumscribed polygon on the outer side of the cutting line from the fusion position, as Figure 7 shown.

[0051] Connect the road, lane center line, and lane boundary line of data A and data B at the fusion position, and evenly distribute the elevation error to the nearby 2 kilometers to complete data fusion.

[0052] In the present invention, the coordinate systems of the heterogeneous data to be fused are transformed into the same coordinate system, and the circumscribed polygon is constructed based on the smaller heterogeneous data in the heterogeneous data to be fused; taking the smaller heterogeneous data in the heterogeneous data to be fused as a reference, and synchronously comparing the larger heterogeneous data in the heterogeneous data to be fused, search for the fusion position between the heterogeneous data inside the circumscribed polygon; cut the heterogeneous data to be fused based on the fusion position, and fuse the smaller heterogeneous data inside the circumscribed polygon and the larger heterogeneous data outside the circumscribed polygon from the cutting position.

[0053] The method for automatically cutting and fusing heterogeneous data of high-precision maps according to the present invention is used to fuse heterogeneous data. The obtained fused data is more complete, and the sections that are not collected or produced by single-source data can be supplemented by heterogeneous data. Moreover, the calculation efficiency is high, and the whole process is automatically processed without manual intervention. The cutting and fusing time that used to take 1-2 working days can be shortened to within 20 minutes.

[0054] As Figure 8 shown, the embodiment of the present invention also discloses an automatic cutting and fusing system for heterogeneous data of high-precision maps, which includes the following functional modules:

[0055] A preprocessing module 10, configured to convert the coordinate systems of the heterogeneous data to be fused into the same coordinate system, and construct its circumscribed polygon based on the smaller heterogeneous data among the heterogeneous data to be fused;

[0056] A fusion search module 20, configured to use the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and synchronously compare the larger heterogeneous data among the heterogeneous data to be fused, and search for the fusion positions between the heterogeneous data inside the circumscribed polygon;

[0057] A cutting and fusing module 30, configured to cut the heterogeneous data to be fused based on the fusion position, and fuse the smaller heterogeneous data located inside the circumscribed polygon with the larger heterogeneous data located outside the circumscribed polygon from the cutting position.

[0058] The execution manner of the automatic cutting and fusing system for heterogeneous data of high-precision maps in this embodiment is basically the same as the above-mentioned method for automatically cutting and fusing heterogeneous data of high-precision maps, so it will not be elaborated in detail.

[0059] The server in this embodiment is a device that provides computing services, usually referring to a computer with relatively high computing power and provided to multiple consumers through a network. The server of this embodiment includes: a memory, a processor, and a system bus. The memory includes a program that can run thereon. Those skilled in the art can understand that the structure of the terminal device in this embodiment does not constitute a limitation on the terminal device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0060] The memory can be used to store software programs and modules. By running the software programs and modules stored in the memory, the processor can execute various functional applications and data processing of the terminal. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one function (such as the sound playback function, image playback function, etc.); the data storage area can store data created according to the use of the terminal (such as audio data, phone book, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

[0061] A runnable program containing an automatic cutting and fusion method for high-precision map heterogeneous data is included in the memory. The runnable program can be divided into one or more modules / units. The one or more modules / units are stored in the memory and executed by the processor to complete the information acquisition and implementation process. The one or more modules / units can be a series of computer program instruction segments capable of completing specific functions, and these instruction segments are used to describe the execution process of the computer program in the server. For example, the computer program can be divided into a preprocessing module 10, a fusion search module 20, and a cutting and fusion module 30.

[0062] The processor is the control center of the server, connecting various parts of the entire terminal device through various interfaces and lines. By running or executing the software programs and / or modules stored in the memory, and by calling the data stored in the memory, it executes various functions of the terminal and processes data, thereby monitoring the terminal as a whole. Optionally, the processor can include one or more processing units; preferably, the processor can integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor.

[0063] The system bus is used to connect various functional components inside the computer and can transmit data information, address information, and control information. Its types can be, for example, PCI bus, ISA bus, VESA bus, etc. The instructions of the processor are transmitted to the memory through the bus, and the memory feeds back data to the processor. The system bus is responsible for the data and instruction interaction between the processor and the memory. Of course, the system bus can also connect to other devices, such as a network interface, a display device, etc.

[0064] The server should at least include a CPU, a chipset, a memory, a disk system, etc. Other components will not be elaborated here.

[0065] In an embodiment of the present invention, the executable program executed by the processor included in the terminal is specifically: a method for automatically cutting and fusing heterogeneous data of a high-precision map, which includes the following steps:

[0066] Convert the coordinate systems of the heterogeneous data to be fused into the same coordinate system, and construct a circumscribed polygon based on the smaller heterogeneous data among the heterogeneous data to be fused;

[0067] Taking the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and synchronously comparing the larger heterogeneous data among the heterogeneous data to be fused, search for the fusion positions between the heterogeneous data inside the circumscribed polygon;

[0068] Cut the heterogeneous data to be fused based on the fusion positions, and fuse the smaller heterogeneous data located inside the circumscribed polygon and the larger heterogeneous data located outside the circumscribed polygon from the cutting positions.

[0069] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0070] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] Those of ordinary skill in the art can realize that the modules, units, and / or method steps of each embodiment described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0072] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic cutting and fusion method for heterogeneous data of high-precision maps, characterized in that, The steps are as follows: Convert the coordinate systems of the heterogeneous data to be fused to the same coordinate system, and construct a circumscribed polygon based on the smaller heterogeneous data among the heterogeneous data to be fused. Taking the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and synchronously comparing the larger heterogeneous data among the heterogeneous data to be fused, search for the fusion positions between the heterogeneous data inside the circumscribed polygon. Cut the heterogeneous data to be fused based on the fusion positions, and fuse the smaller heterogeneous data inside the circumscribed polygon and the larger heterogeneous data outside the circumscribed polygon from the cutting positions.

2. The automatic cutting and fusion method for heterogeneous data of high-precision maps according to claim 1, characterized in that, The step of searching for the fusion positions between the heterogeneous data inside the circumscribed polygon; specifically: According to the preset fusion conditions, search for the fusion positions between the heterogeneous data inside the circumscribed polygon along the topological structure of the smaller heterogeneous data.

3. The automatic cutting and fusion method for heterogeneous data of high-precision maps according to claim 2, characterized in that, The preset fusion conditions include: a. The fusion position is not an intersection, toll station, or lane-changing section. b. There is a main road of the larger heterogeneous data within a set threshold range from the fusion position, and the error of the road elevation value / heading angle corresponding to the heterogeneous data at this fusion position also satisfies the preset error threshold range. c. The number of lane centerlines and lane edges corresponding to the heterogeneous data at the fusion position is the same. All three fusion conditions a, b, and c need to be satisfied simultaneously to meet the preset fusion conditions.

4. The automatic cutting and fusion method for heterogeneous data of high-precision maps according to claim 1, characterized in that, After taking the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and synchronously comparing the larger heterogeneous data among the heterogeneous data to be fused, and searching for the fusion positions between the heterogeneous data inside the circumscribed polygon, filter the fusion positions according to the preset filtering conditions.

5. The automatic cutting and fusion method for heterogeneous data of high-precision maps according to claim 4, characterized in that, Filter the fusion positions according to the preset filtering conditions; specifically: Taking the larger heterogeneous data among the heterogeneous data to be fused as a reference, search outside the circumscribed polygon along the topological structure of the larger heterogeneous data from the fusion position, and filter the fusion positions according to the preset filtering conditions.

6. The automatic cutting and fusion method for heterogeneous data of high-precision maps according to claim 4, characterized in that, The preset filtering conditions include: a. It is not possible to search for a fusion position outside the circumscribed polygon according to the topological structure of the main road of the larger heterogeneous data. b. A fusion position where other fusion positions are searched according to the topological structure of the main road of the larger heterogeneous data. c. A fusion position that is searched to itself according to the topological structure of the main road of the larger heterogeneous data. d. Multiple fusion positions belonging to the same road. Meeting any one of the four filtering conditions a, b, c, and d means meeting the preset filtering conditions.

7. The automatic cutting and fusion method for heterogeneous data of high-precision maps according to claim 1, characterized in that, The step of cutting the heterogeneous data to be fused based on the fusion positions, and fusing the smaller heterogeneous data inside the circumscribed polygon and the larger heterogeneous data outside the circumscribed polygon from the cutting positions, specifically includes: Make a cutting line perpendicular to the road based on the fusion position. Retain the smaller heterogeneous data on the inner side of the circumscribed polygon of the cutting line, and delete the smaller heterogeneous data on the outer side of the circumscribed polygon of the cutting line. Retain the larger heterogeneous data on the outer side of the circumscribed polygon of the cutting line, and delete the larger heterogeneous data on the inner side of the circumscribed polygon of the cutting line. Fuse the smaller heterogeneous data on the inner side of the circumscribed polygon of the cutting line and the larger heterogeneous data on the outer side of the circumscribed polygon of the cutting line from the fusion position.

8. A system for automatic cutting and fusion of heterogeneous data of high-precision maps, characterized in that, It includes the following functional modules: A preprocessing module, which is used to convert the coordinate systems of the heterogeneous data to be fused into the same coordinate system, and construct a circumscribed polygon based on the smaller heterogeneous data among the heterogeneous data to be fused; A fusion search module, which is used to take the smaller heterogeneous data among the heterogeneous data to be fused as a reference, and synchronously compare the larger heterogeneous data among the heterogeneous data to be fused, and search for the fusion positions between the heterogeneous data inside the circumscribed polygon; A cutting and fusion module, which is used to cut the heterogeneous data to be fused based on the fusion positions, and fuse the smaller heterogeneous data located inside the circumscribed polygon and the larger heterogeneous data located outside the circumscribed polygon from the cutting positions.

9. A server, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the automatic cutting and fusion method for heterogeneous data of a high-precision map according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the automatic cutting and fusion method for heterogeneous data of a high-precision map according to any one of claims 1 to 7.

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