Automated cutting method, system, medium, and device for high-definition map

Abstract

The application discloses an automatic cutting method, system, medium and equipment for a high-precision map, and the method comprises the following steps: obtaining simulation data of a high-precision map to be cut; selecting a target cutting range on the simulation data of the high-precision map to be cut and performing cutting; judging whether a road in the simulation data of the high-precision map to be cut is located in the target cutting range, and obtaining a road set located in the target cutting range; obtaining an intersection road set, a road node set, a road marking line set and a road ground object set according to the road set and the target cutting range; and reconstructing a new high-precision map according to the road set, the intersection road set, the road node set, the lane marking line set and the road ground object set. Therefore, after one-time production of the simulation data of the high-precision map to be cut is completed, the simulation data is cut according to a self-defined map range on the basis, so that the integrity of the simulation data elements is not affected, and the work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-precision electronic map data, and particularly relates to a high-precision map automatic cutting method, system, medium and equipment. BACKGROUND

[0002] Traffic flow scene simulation is an indispensable part in the field of autonomous vehicles, and traffic simulation testing can greatly reduce budget spending. High-precision map road network simulation is particularly important, but large-area road network simulation will bring great performance burden to simulation software.

[0003] Currently, the high-precision map simulation data of the self-defined range is not cut on the original simulation data, but the high-precision map simulation data is regenerated on the basis of the mother database data before the simulation data is generated, which causes energy waste of data regeneration. SUMMARY

[0004] The present application provides a high-precision map automatic cutting method, system, medium and equipment. After the high-precision map simulation data to be cut is produced once, the simulation data is cut on the basis of the self-defined map range, which does not affect the integrity of the simulation data elements, and also brings improvement of work efficiency, reduction of energy consumption and convenience of data management.

[0005] In a first aspect, a high-precision map automatic cutting method is provided, comprising the following steps:

[0006] Obtaining high-precision map simulation data to be cut;

[0007] Selecting a target cutting range on the high-precision map simulation data to be cut and cutting;

[0008] Judging whether the roads in the high-precision map simulation data to be cut are located in the target cutting range, and obtaining a road set located in the target cutting range;

[0009] According to the road set and the target cutting range, obtaining an intersection road set, a road node set, a road marking line set and a road feature set;

[0010] According to the road set, the intersection road set, the road node set, the lane marking line set and the road feature set, reconstructing a new high-precision map.

[0011] According to the first aspect, in a first possible implementation manner of the first aspect, the "building an editor tool" and the "judging whether the roads in the high-precision map simulation data to be cut are located in the target cutting range" steps specifically comprise the following steps:

[0012] When it is detected that the road bounding rectangle in the high-definition map simulation data to be cut and the target cutting range exist intersection, it is judged that the road is located in the target cutting range.

[0013] When it is detected that the road bounding rectangle in the high-definition map simulation data to be cut and the target cutting range do not exist intersection, the road without intersection is discarded.

[0014] According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, the step of "obtaining an intersection road set according to the road set" specifically includes the following steps:

[0015] It is judged whether the road in the road set is an intersection road, and an intersection road set of the road judged as an intersection road is obtained.

[0016] According to the second possible implementation manner of the first aspect, in the third possible implementation manner of the first aspect, the step of "obtaining a road node set according to the road set and the target cutting range" specifically includes the following steps:

[0017] It is judged whether the road node in the road set is located in the target cutting range, and a road node set located in the target cutting range is obtained.

[0018] According to the third possible implementation manner of the first aspect, in the fourth possible implementation manner of the first aspect, the step of "obtaining a lane marking line set according to the road set and the target cutting range" specifically includes the following steps:

[0019] It is judged whether the lane marking line in the road set is located in the target cutting range, a lane marking line corresponding to the road lane in the road set is obtained according to a preset road lane marking line mapping table, and a lane marking line set located in the target cutting range and mapping matched is obtained.

[0020] According to the fourth possible implementation manner of the first aspect, in the fifth possible implementation manner of the first aspect, the step of "obtaining a road object set according to the road set and the target cutting range" specifically includes the following steps:

[0021] It is judged whether the road object in the road set is located in the target cutting range, a road object corresponding to the road in the road set is obtained according to a preset road object mapping table, and a road object set located in the target cutting range and mapping matched is obtained.

[0022] The second aspect provides an automatic cutting system of a high-definition map, comprising:

[0023] a to-be-cut map acquisition module configured to acquire to-be-cut high-definition map simulation data;

[0024] a range selection and cutting module in communication connection with the to-be-cut map acquisition module, configured to select a target cutting range on the to-be-cut high-definition map simulation data and perform cutting;

[0025] a road set module in communication connection with the to-be-cut map acquisition module and the range selection and cutting module, configured to determine whether a road in the to-be-cut high-definition map simulation data is located in the target cutting range and acquire a road set located in the target cutting range;

[0026] each component data module in communication connection with the range selection and cutting module and the road set module, configured to acquire an intersection road set, a road node set, a road marking line set and a road feature set according to the road set and the target cutting range; and

[0027] a reconstruction module in communication connection with the road set module and each component data module, configured to reconstruct a new high-definition map according to the road set, the intersection road set, the road node set, the road marking line set and the road feature set.

[0028] In a third aspect, a computer readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the automatic cutting method of a high-definition map is implemented.

[0029] In a fourth aspect, an electronic device is provided, which includes a storage medium, a processor and a computer program stored in the storage medium and executable on the processor. When the processor executes the computer program, the automatic cutting method of a high-definition map is implemented.

[0030] Compared with the prior art, the application has the following advantages: firstly, the simulation data of the high-precision map to be cut is acquired; secondly, a target cutting range is selected on the simulation data of the high-precision map to be cut and cutting is performed; thirdly, it is judged whether the road in the simulation data of the high-precision map to be cut is located in the target cutting range, and a road set located in the target cutting range is acquired; fourthly, according to the road set and the target cutting range, a road intersection set, a road node set, a road marking line set and a road ground object set are acquired; and fifthly, according to the road set, the road intersection set, the road node set, the lane marking line set and the road ground object set, a new high-precision map is reconstructed; therefore, after the simulation data of the high-precision map to be cut is produced once, the simulation data is cut according to the self-defined map range on the basis, which will neither affect the integrity of the simulation data elements, nor bring the improvement of work efficiency, the reduction of energy consumption and the convenience of data management. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a flowchart of an embodiment of the automatic cutting method of a high-precision map of the application;

[0032] Figure 2 is a schematic diagram of the target cutting range of the application;

[0033] Figure 3 is a schematic diagram of the road bounding rectangle of the application;

[0034] Figure 4 is a flowchart of another embodiment of the automatic cutting method of a high-precision map of the application;

[0035] Figure 5 is a structural schematic diagram of the automatic cutting system of a high-precision map of the application.

[0036] EXPLANATION:

[0037] 100, the automatic cutting system of a high-precision map; 110, the map to be cut acquisition module; 120, the range selection and cutting module; 130, the road set module; 140, each component data module; and 150, the reconstruction module. DETAILED DESCRIPTION

[0038] Reference will now be made in detail to the present embodiments of the application, examples of which are illustrated in the accompanying drawings. While the application will be described in conjunction with the specific embodiments, it will be understood that the application is not intended to be limited to the specific embodiments. On the contrary, the application is intended to cover alternatives, modifications, and equivalents, which can be included within the spirit and scope of the application as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0039] In order for those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0040] Note: The examples to be introduced next are only specific examples and are not intended to limit the embodiments of the present application to the specific steps, values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present application to construct more embodiments not mentioned in the present specification by reading the present specification.

[0041] Taking a practical application scenario as an example, it is assumed that a city scene needs to be constructed, and roads already exist in the scene, and a large number of trees need to be randomly generated in the scene, and it is required that the trees cannot overlap with the roads.

[0042] Referring to Figure 1 The embodiment of the present application provides an automatic cutting method for a high-precision map, comprising the following steps:

[0043] S100, obtaining simulation data of a high-precision map to be cut;

[0044] S200, selecting a target cutting range on the simulation data of the high-precision map to be cut and cutting;

[0045] S300, judging whether the roads in the simulation data of the high-precision map to be cut are located in the target cutting range, and obtaining a road set located in the target cutting range;

[0046] S400, obtaining an intersection road set, a road node set, a road marking line set and a road ground object set according to the road set and the target cutting range;

[0047] S500, reconstructing a new high-precision map according to the road set, the intersection road set, the road node set, the lane marking line set and the road ground object set.

[0048] Specifically, in the present embodiment, the present application is performed on the basis of simulation data of a high-precision map to be cut. In actual simulation scene construction, only local simulation is often needed, and large-scale simulation is not needed. Based on the previous practice, data cutting is performed on the basis of mother data or intermediate data, and then simulation map data is generated from the cut data. If multiple simulation scenes are constructed at the same time, the action of generating simulation data is repeatedly performed, and many repeated works are needed in the process. In order to solve the above problems, the high-precision map simulation data is produced at one time, and then the simulation data is cut according to the self-defined map range on the basis of the high-precision map simulation data, which does not affect the integrity of the simulation data elements, and also brings improvement of work efficiency, reduction of energy consumption and convenience in data management.

[0049] It should be noted that S100, the high-precision map simulation data to be cut is acquired, and a map is displayed on a map display tool; S200, a custom cutting range (target cutting range, see Figure 2 Fig. 2) is selected by a mouse; a save as button is clicked to respond to a call of a cutting module API, a cutting operation request is processed, and after cutting is completed, the high-precision simulation map data after cutting is returned; S500, the data after cutting is reloaded, and the map after cutting is displayed on the tool to view the cutting effect.

[0050] Referring to Figure 3 Fig. 2, preferably, in another embodiment of the present application, the step of S300, judging whether the road in the high-precision map simulation data to be cut is located in the target cutting range, specifically includes the following steps:

[0051] S310, when it is detected that the road bounding rectangle in the high-precision map simulation data to be cut intersects with the target cutting range, it is judged that the road is located in the target cutting range.

[0052] S320, when it is detected that the road bounding rectangle in the high-precision map simulation data to be cut does not intersect with the target cutting range, the road without intersection is discarded.

[0053] Specifically, in the embodiment, all roads are looped and traversed, and whether the road bounding rectangle of each road intersects with the target cutting range is calculated. If there is intersection, it is considered that the road is in the target cutting range, and the road is an object to be cut out. Otherwise, the road is discarded and not considered.

[0054] All roads in the target cutting range are collected and sorted into a road set A. The road set A includes lane information associated with a lane, road topology, lane topology, and the like.

[0055] Preferably, in another embodiment of the present application, the step of S400, acquiring an intersection road set according to the road set, specifically includes the following steps:

[0056] It is judged whether the road in the road set is an intersection road, and an intersection road set of the intersection road judged as the intersection road is acquired.

[0057] Specifically, in the embodiment, all roads in the set A are looped and traversed, and it is judged whether the road is an intersection road. If yes, the road is saved as an intersection road set B (intersection name, ID, road lane topology relationship, intersection connection road and lane, and the like) of the intersection road.

[0058] Preferably, in other embodiments of the application, the "S400, obtaining a road node set according to the road set and the target cutting range" step specifically includes the following steps:

[0059] determining whether the road nodes in the road set are located within the target cutting range, and obtaining a road node set located within the target cutting range.

[0060] Specifically, in this embodiment, all roads in set A are traversed to obtain node information of all roads meeting the cutting road requirement (whether the road is within the target rectangular range), to obtain the node road topology and lane topology data information after cutting, and to reorganize the road node set C.

[0061] Preferably, in other embodiments of the application, the "S400, obtaining a road node set according to the road set and the target cutting range" step specifically includes the following steps:

[0062] determining whether the road nodes in the road set are located within the target cutting range, and obtaining a road node set located within the target cutting range.

[0063] Specifically, in this embodiment, all roads in set A are traversed to obtain node information of all roads meeting the cutting road requirement (whether the road is within the target rectangular range), to obtain the node road topology and lane topology data information after cutting, and to reorganize the road node set C.

[0064] The preset road lane marking line mapping table is shown in the following table:

[0065] The mapping table of the lane and the isolation line is as follows:

[0066] Lane ID Left Divide Line Right Divide Line 100 101 102

[0067] Table (I)

[0068] The mapping table of the isolation line and the roadmark is as follows:

[0069] Left Divide Line Road Mark ID Road Mark Type Start S Distance 101 1 1 50 100 101 2 3 150 200

[0070] Table (II)

[0071] Preferably, in other embodiments of the application, the "S400, obtaining a road node set according to the road set and the target cutting range" step specifically includes the following steps:

[0072] determine whether the road feature in the road set is located in the target cutting range, obtain the road feature matched with the road in the road set according to a preset road feature mapping table, and obtain a road feature set located in the target cutting range and matched by mapping.

[0073] Specifically, in the embodiment, all roads in the set A are traversed to obtain all road feature information (traffic signs, street lamps, traffic signal lights, direction arrows, reverse flow belts, bridges, tunnels, etc.) satisfying the cutting road requirement, the road feature matched with the road is found according to the preset road feature mapping table (the table associated with the accessory relationship between the road feature and the road), and the road feature set after cutting is reorganized.

[0074] The preset road feature mapping table is shown in the following table:

[0075] Object ID Road ID Object Type Shape Shape Type 5 108 Arrow data point 6 108 Arrow data point

[0076] Table (Three)

[0077] Meanwhile referring to Figure 4 The embodiment of the application provides an automatic cutting method based on a high-precision map, which comprises the following steps:

[0078] 1. Obtain high-precision map simulation data to be cut;

[0079] 2. Select a target cutting range on the high-precision map simulation data to be cut and perform cutting;

[0080] 3. Determine whether the road in the high-precision map simulation data to be cut is located in the target cutting range, and obtain a road set A located in the target cutting range;

[0081] 4. Determine whether the road in the road set is a road at a road intersection, and obtain a road intersection set B determined as a road at a road intersection;

[0082] 5. Determine whether the road node in the road set is located in the target cutting range, and obtain a road node set C located in the target cutting range;

[0083] 6. Determine whether the lane marking line in the road set is located in the target cutting range, obtain the lane marking line matched with the road lane in the road set according to a preset road lane marking line mapping table, and obtain a lane marking line set D located in the target cutting range and matched by mapping;

[0084] 7. judging whether the road feature in the road set is located in the target cutting range, obtaining the road feature matched with the road in the road set according to a preset road feature mapping table, and obtaining a road feature set E located in the target cutting range and matched with the road feature;

[0085] 8. reconstructing a new high-precision map according to the road set A, the intersection road set B, the road node set C, the lane marking line set D and the road feature set E.

[0086] Referring to FIG. 1, Figure 5 The embodiment of the present application also provides an automatic cutting system 100 of a high-precision map, which comprises:

[0087] a to-be-cut map acquisition module 110, configured to acquire to-be-cut high-precision map simulation data;

[0088] a range selection and cutting module 120, in communication connection with the to-be-cut map acquisition module 110, configured to select a target cutting range on the to-be-cut high-precision map simulation data and cut the to-be-cut high-precision map simulation data;

[0089] a road set module 130, in communication connection with the to-be-cut map acquisition module 110 and the range selection and cutting module 120, configured to judge whether the road in the to-be-cut high-precision map simulation data is located in the target cutting range and obtain a road set located in the target cutting range;

[0090] each component data module 140, in communication connection with the range selection and cutting module 120 and the road set module 130, configured to obtain an intersection road set, a road node set, a road marking line set and a road feature set according to the road set and the target cutting range; and

[0091] a reconstruction module 150, in communication connection with the road set module 130 and each component data module 140, configured to reconstruct a new high-precision map according to the road set, the intersection road set, the road node set, the road marking line set and the road feature set.

[0092] Therefore, in the prior art, the high-precision map simulation data of the self-defined range is not cut on the original simulation data, but the high-precision map simulation data is regenerated on the basis of the cutting of the mother database before the simulation data is generated, which causes energy waste in data regeneration. The present application produces the high-precision map simulation data of a large range at one time, and then cuts the simulation data on the basis of the self-defined map range, which does not affect the integrity of the simulation data elements, improves the work efficiency, reduces the energy consumption and facilitates the data management.

[0093] Specifically, the present embodiment corresponds to the above-mentioned method embodiment one by one, and the functions of each module have been described in detail in the corresponding method embodiment, so they will not be described one by one.

[0094] Based on the same inventive concept, the embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement all method steps or part of method steps of the above-mentioned method.

[0095] The present application can realize all or part of the above-mentioned method, and can also be completed by a computer program to instruct related hardware. The computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment can be realized. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0096] Based on the same inventive concept, the embodiments of the present application also provide an electronic device, which includes a memory and a processor, and the memory stores a computer program running on the processor. When the processor executes the computer program, all method steps or part of method steps of the above-mentioned method are realized.

[0097] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The processor is the control center of the computer device, and connects all parts of the computer device through various interfaces and lines.

[0098] The memory can be used to store computer programs and / or modules, and the processor can realize various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application program required by a function (such as a sound playing function, an image playing function, etc.); and the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0099] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, a server or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer usable program codes.

[0100] The present application is described in reference to the appended drawings figures and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart 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, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0101] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0102] The computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0103] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. An automated cutting method of a high-definition map, characterized by, The method comprises the following steps: Obtain high-precision map simulation data to be cut; Select a target cutting range on the high-precision map simulation data to be cut and perform cutting; Determine whether the road in the high-precision map simulation data to be cut is located in the target cutting range, and obtain a road set located in the target cutting range; According to the road set and the target cutting range, obtain an intersection road set, a road node set, a lane marking line set, and a road feature set; According to the road set, the intersection road set, the road node set, the lane marking line set, and the road feature set, reconstruct a new high-precision map; The step of determining whether the road in the high-precision map simulation data to be cut is located in the target cutting range comprises the following steps: When it is detected that the road bounding rectangle in the high-precision map simulation data to be cut intersects with the target cutting range, it is determined that the road is located in the target cutting range; When it is detected that the road bounding rectangle in the high-precision map simulation data to be cut does not intersect with the target cutting range, the road without intersection is discarded; The step of obtaining the lane marking line set comprises the following steps: Determine whether the lane marking line in the road set is located in the target cutting range, obtain the lane marking line matched with the road lane in the road set according to a preset road lane marking line mapping table, and obtain the lane marking line set located in the target cutting range and matched by mapping.

2. The automated cutting method of a high-definition map of claim 1, wherein, The step of obtaining the intersection road set comprises the following steps: Determine whether the road in the road set is an intersection road, and obtain the intersection road set determined as an intersection road. 3.The method of claim 1, wherein The step of obtaining the road node set comprises the following steps: Determine whether the road node in the road set is located in the target cutting range, and obtain the road node set located in the target cutting range. 4.The method of claim 1, wherein The step of obtaining the road feature set comprises the following steps: Determine whether the road feature in the road set is located in the target cutting range, obtain the road feature matched with the road in the road set according to a preset road feature mapping table, and obtain the road feature set located in the target cutting range and matched by mapping.

5. An automated cutting system for high-definition maps, characterized in that, The method comprises: A high-precision map simulation data to be cut obtaining module is configured to obtain high-precision map simulation data to be cut; A range selection and cutting module is in communication connection with the high-precision map simulation data to be cut obtaining module and is configured to select a target cutting range on the high-precision map simulation data to be cut and perform cutting; A road set module is in communication connection with the high-precision map simulation data to be cut obtaining module and the range selection and cutting module and is configured to determine whether the road in the high-precision map simulation data to be cut is located in the target cutting range and obtain a road set located in the target cutting range; Each component data module is in communication connection with the range selection and cutting module and the road set module and is configured to obtain an intersection road set, a road node set, a lane marking line set, and a road feature set according to the road set and the target cutting range; and The reconstruction module is in communication connection with the road set module and the component data modules, and is configured to reconstruct a new high-definition map according to the road set, the intersection road set, the road node set, the lane marking line set and the road feature set; The step of judging whether the road in the high-definition map simulation data to be cut is located in the target cutting range comprises the following steps: When it is detected that the road bounding rectangle in the high-definition map simulation data to be cut intersects with the target cutting range, it is judged that the road is located in the target cutting range. When it is detected that the road bounding rectangle in the high-definition map simulation data to be cut does not intersect with the target cutting range, the road without intersection is discarded. The step of acquiring the lane marking line set comprises the following steps: The step of judging whether the lane marking line in the road set is located in the target cutting range comprises the following steps: acquiring the lane marking line matched with the road lane in the road set according to a preset road lane marking line mapping table, and acquiring the lane marking line set located in the target cutting range and matched in mapping.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the automatic cutting method of the high-definition map according to any one of claims 1 to 4.

7. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and operable on the processor, characterized in that, The processor, when running the computer program, implements the automatic cutting method of the high-definition map according to any one of claims 1 to 4.

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