High-precision map data publishing system and data management platform

Abstract

The application provides a high-precision map data publishing system and a data management platform. The publishing system comprises a data compiling platform configured to compile high-precision map data according to a data specification to obtain an original map data package; wherein the original map data package comprises the data specification and does not comprise first project information; the data management platform is configured to obtain second project information, match the second project information with a pre-stored project data specification mapping table to obtain a target data specification corresponding to the second project information; wherein the project data specification mapping table comprises project information and a corresponding data specification; match the target data specification with the data specification in the original map data package to obtain a target map data package corresponding to the second project information; associate the target map data package with the second project information to obtain a reorganized map data package; the reorganized map data package comprises the second project information; and a data updating platform configured to publish the reorganized map data package to a designated vehicle.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a high-precision map data publishing system and data management platform. Background Technology

[0002] Autonomous driving maps (also known as high-precision maps, advanced driver assistance systems maps) are an indispensable part of the autonomous driving field. Compared to traditional navigation electronic maps, autonomous driving maps provide autonomous vehicles with a human-like understanding of the ever-changing real-world environment. The rapid construction, quality control, and release of autonomous driving maps, as well as the real-time access to the latest versions of these maps by autonomous vehicles, have become paramount in the field of autonomous driving.

[0003] Currently, most autonomous driving maps are constructed using a tile pyramid structure. This method projects the Earth's latitude and longitude lines onto a plane using specific mathematical rules, then subdivides them into map tiles at a certain granularity. Each level of the autonomous driving map generated by this method consists of different tiles. Under the same standard system, the representation range of each tile is fixed and corresponds one-to-one with real-world geographic regions. After map compilation, continuous regional maps can be generated as needed. In actual business processes, autonomous driving maps created using the projection and tile-segmentation method are typically compiled and their quality verified during the map output data compilation stage, based on project requirements. This also produces map description information files specifically for the project; each piece of data is triggered by project needs, resulting in significant data specialization.

[0004] The aforementioned data preparation methods and processes for publishing autonomous driving maps lead to a situation where, even if a region has previous compilation results, updates to a small number of tiles necessitate recompiling all data and updating descriptive information before it can be used. Since autonomous driving maps primarily consist of road information, cross-tile road configurations are particularly common, further exacerbating the number of tiles involved in this repetitive compilation. In multi-project scenarios, the amount of compilation and validation of the resulting data is enormous, creating a heavy burden and lengthening the time from data construction to publication for autonomous driving maps, impacting the freshness of the published maps. Furthermore, issues arise such as the inability to decouple map data packages from business projects, the limitation of single compilations to targeted use, and the inability to adjust layer information related to map data packages as needed. Summary of the Invention

[0005] In view of the above problems, the present invention is proposed to provide a high-precision map data publishing system and data management platform that overcomes or at least partially solves the above problems.

[0006] One objective of this invention is to reduce the burden of map data compilation and shorten the preparation time for map data publication.

[0007] In particular, according to one aspect of the present invention, a high-precision map data publishing system is provided, comprising:

[0008] A data compilation platform is used to compile high-precision map data according to data specifications to obtain raw map data packages; wherein the raw map data packages include data specifications but do not contain first item information;

[0009] A data management platform is used to acquire second project information and match the second project information with a pre-stored project data specification mapping table to obtain the target data specification corresponding to the second project information; wherein the project data specification mapping table includes project information and its corresponding data specification.

[0010] The target data specifications are matched with the data specifications in the original map data package to obtain the target map data package corresponding to the second project information;

[0011] The target map data package is associated with the second project information to obtain a reconstructed map data package; the reconstructed map data package includes the second project information;

[0012] A data update platform is used to publish the reconstructed map data package to designated vehicles for their use.

[0013] Optionally, the data management platform is also used for:

[0014] Obtain the project requirement information for the second project, which includes the map requirement range and extraction conditions;

[0015] Based on the geofence of the map requirement range, identify the tile IDs in the reconstructed map data packet that fall within the map requirement range;

[0016] Based on the association information of the tile ID and data packet association table, obtain the description information of the associated data packets associated with each tile ID;

[0017] Extract the target-related data packets corresponding to the target description information that meets the extraction conditions from the description information, thereby obtaining the data distribution of the target tile IDs corresponding to the target-related data packets in the map demand range;

[0018] Extract the specified tile file and its description file from the map data package of the map requirement range according to the target tile ID, so as to obtain the data package for the data update platform to publish to the specified vehicle;

[0019] The extraction conditions include at least one of the following: data version, data specification, and compilation number;

[0020] The description information includes at least one of the following: data version, data specification, and compilation number.

[0021] According to another aspect of the present invention, the present invention also provides a data management platform for high-precision map data, comprising:

[0022] The map data acquisition module is used to acquire the raw map data package compiled by the data compilation platform; wherein the raw map data package includes data specifications but does not contain the first item information;

[0023] The project tag retrieval module is used to obtain information about the second project.

[0024] The data management module is used to match the second project information with a pre-stored project data specification mapping table to obtain the target data specification corresponding to the second project information;

[0025] The target data specifications are matched with the data specifications in the original map data package to obtain the target map data package corresponding to the second project information;

[0026] The target map data package is associated with the second project information to obtain a reconstructed map data package, which is then published to designated vehicles by the data update platform.

[0027] The project data specification mapping table includes project information and its corresponding data specifications, and the reconstructed map data package includes second project information.

[0028] Optionally, the data management platform may also include:

[0029] The requirement import module is used to obtain the project requirement information of the second project information;

[0030] The data extraction module is used to extract map data that meets the project requirements from the recombined map data package to obtain a data package for the data update platform to publish to designated vehicles.

[0031] Optionally, the project requirement information includes the map requirement range and extraction conditions, and the data extraction module is used for:

[0032] When the reconstructed map data package contains map data within the map requirement range, map data is extracted from the reconstructed map data package according to the map requirement range to obtain map data that matches the map requirement range.

[0033] Map data matching the map requirement range is extracted according to the extraction conditions to obtain map data matching the extraction conditions, so as to obtain a data package for the data update platform to publish to the designated vehicle.

[0034] Optionally, the data extraction module is further configured to:

[0035] Based on the geofence of the map requirement range, identify the tile IDs in the reconstructed map data packet that fall within the map requirement range;

[0036] Based on the association information of the tile ID and data packet association table, obtain the description information of the associated data packets associated with each tile ID;

[0037] Extract the target-related data packets corresponding to the target description information that meets the extraction conditions from the description information, thereby obtaining the data distribution of the target tile IDs corresponding to the target-related data packets in the map demand range;

[0038] Extract the specified tile file and its description file from the map data package of the map requirement range according to the target tile ID, so as to obtain the data package for the data update platform to publish to the specified vehicle;

[0039] The extraction conditions include at least one of the following: data version, data specification, and compilation number;

[0040] The description information includes at least one of the following: data version, data specification, and compilation number.

[0041] Optionally, when the data extraction module extracts map data from the recombined map data package according to the map requirement range, it extracts data based on at least one of the default principle, the complementary principle, and the high-definition priority principle.

[0042] The default principle is to extract data from each layer to which the tile belongs, and to avoid repeated extraction.

[0043] The complementary principle is: when tiles belong to different types of layers, tiles from different types of layers are extracted;

[0044] The high-definition priority principle is: when a tile has both high-definition layer data and low-definition layer data, the tile with high-definition layer data is extracted.

[0045] Optionally, when the data extraction module extracts map data from the recombined map data package according to the map requirement range, it extracts map data sequentially according to the integrity of the corresponding layer of the tile, the priority of the layer, and the data update time of the layer.

[0046] Optionally, the requirement import module is used to parse the acquired project requirement information in the backend, convert it into one or more geofences described in WTK language, remove the differences in different coordinate systems and tile levels, and output tile retrieval conditions under 13-level tiles and Mars coordinate system.

[0047] Optionally, the requirement import module has a visual input interface for obtaining input project requirement information through the visual input interface.

[0048] Optionally, the data management platform may also include:

[0049] The data quality inspection module is used to perform quality verification on the reconstructed map data package or the data package extracted by the data extraction module. If quality problems are found, a problem investigation report is generated.

[0050] The high-precision map data publishing system of this invention includes a data compilation platform, a data management platform, and a data update platform. The data compilation platform is used to compile the high-precision map data according to data specifications to obtain an original map data package; wherein, the original map data package includes data specifications but does not contain first project information; the data management platform is used to obtain second project information, match the second project information with a pre-stored project data specification mapping table to obtain a target data specification corresponding to the second project information; wherein, the project data specification mapping table includes project information and its corresponding data specification; match the target data specification with the data specifications in the original map data package to obtain a target map data package corresponding to the second project information; associate the target map data package with the second project information to obtain a reconstructed map data package; the reconstructed map data package includes the second project information. Relative to Figure 1 In the corresponding solution, the original map data package compiled by the data compilation platform in this embodiment does not contain project information or form a description file, thus realizing the separate management of map data and project description information. The data management platform can reuse the map data package according to specific project needs. The data compilation platform does not need to recompile the map data according to the data specifications, which reduces the load of map data compilation and result data quality inspection, shortens the preparation time for map data release, and improves the freshness of map data.

[0051] The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0052] The following sections will describe some specific embodiments of the invention in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or portions. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0053] Figure 1 The diagram shows an architecture diagram of a high-precision map data publishing system;

[0054] Figure 2This is a schematic diagram of the architecture of a high-precision map data publishing system according to an embodiment of the present invention;

[0055] Figure 3 This is a schematic block diagram of the structure of a data management platform for high-precision map data according to an embodiment of the present invention;

[0056] Figure 4 This is a flowchart of a method for publishing high-precision map data according to an embodiment of the present invention;

[0057] Figure 5 This is a flowchart of a method for publishing high-precision map data according to another embodiment of the present invention;

[0058] Figure 6 This is a schematic block diagram of a computer device according to an embodiment of the present invention;

[0059] Figure 7 This is a schematic block diagram of a machine-readable storage medium according to an embodiment of the present invention. Detailed Implementation

[0060] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0061] Figure 1 The diagram illustrates the architecture of a high-precision map data publishing system, which includes a data compilation platform and a data update platform. The data compilation platform compiles high-precision map data into map data packages. This can be understood as geographic information data collected by specialized acquisition equipment, or geographic information data collected by specialized acquisition equipment that has undergone multiple processing steps. The data compilation platform processes this data to obtain data suitable for use in autonomous driving. The data update platform updates and publishes the map data packages. Figure 1The map data package compiled by the data compilation platform includes map data and a description file. The description file includes project identifiers, tile IDs, tile extents, data versions, data specifications, layer information, and map review information. The project identifier and map review information are project information; that is, the map data package compiled by the data compilation platform contains project information. The map data package, including the description file, is specifically designed for projects. Each piece of data in the map data package is triggered by project requirements, resulting in significant data specificity. Even if a region has previous compilation results, updates to a small number of tiles require all map data to be recompiled and the description information updated before it can be used. Furthermore, autonomous driving maps primarily focus on road information, and cross-tile road travel is particularly common, exacerbating the number of tiles involved in repeated compilation. In multi-project scenarios, the amount of data compiled and validated is enormous, creating a heavy burden. These issues prolong the time from building to releasing autonomous driving map data, affecting the freshness of the released maps, and also lead to problems such as the map data package not being decoupled from business projects, single compilation only allowing targeted use, and the inability to adjust the layer information related to the map data package as needed. Project information may include one or more of the following: the requester, project identifier, and project format requirements. After receiving the input project information, the data compilation platform tags the map data to be compiled according to the project requirements, so that the data update platform can send the data.

[0062] Figure 2 This is a schematic diagram of the architecture of a high-precision map data publishing system according to an embodiment of the present invention. The publishing system may include a data compilation platform 20, a data management platform 21, and a data update platform 22.

[0063] The data compilation platform 20 is used to compile high-precision map data according to data specifications to obtain raw map data packages. These raw map data packages include data specifications but do not contain primary project information. Data specifications can be defined based on the client's project requirements. A data specification can be a specification number, used in business to distinguish different elements contained in the map. For example, map data package with specification number 1.3.1 contains utility poles but not traffic lights; map data package with specification number 1.4.1 contains both utility poles and traffic lights. Different projects may have different requirements for data specifications due to different business needs.

[0064] In some embodiments of this application, the original map data package can be stored on a server. The amount of original map data can be continuously increased. For example, map data of different roads or areas can be collected through professional acquisition equipment, and then the map data can be compiled into an original map data package. This can be understood as the original map data package containing a large amount of original map data, so that new recombined map data packages can be assembled at any time according to project needs. Generally, one original map data package can correspond to one data specification. Of course, multiple different original map data packages can also correspond to the same data specification, or they can correspond to different data specifications. In this embodiment, multiple different original map data packages can exist. The original map data package may also include map data and tile information. Tile information may include at least one of the following: tile ID, tile range, tile data version, tile data specification, etc.

[0065] The data management platform 21 is used to acquire second project information and match it with a pre-stored project data specification mapping table to obtain the target data specification corresponding to the second project information. The project data specification mapping table includes project information and its corresponding data specification. For example, the data management platform 21 can associate project numbers with data specifications one-to-one. Subsequently, the datasets of map results generated by each project compilation can be automatically tagged with project labels based on the mapping relationship between project numbers and data specifications, for subsequent dataset retrieval and publication. The data management platform 21 matches the target data specification with the data specifications in the original map data package to obtain the target map data package corresponding to the second project information. The target map data package is then associated with the second project information to obtain a reconstructed map data package. The reconstructed map data package includes the second project information. The second project information generally includes at least one of the following: project number, project description information, map approval number, etc. The second project information can be the same as or different from the first project information. The reconstructed map data package includes map data and a description file. The description file may include at least one of the following: project identifier (project number), tile ID, tile extent, data version, data specification, layer information, and map approval information (map approval number). Specifically, for example, the data management platform 21 can associate project numbers with approval numbers one-to-one, ensuring that each subsequently released tile data carries the project's approval number to meet legal and regulatory requirements. Assume that the original map data package A01 includes data specification B01, and the original map data package A02 includes data specification B02. The project data specification mapping table includes project information C01 and its corresponding data specification B01. The data management platform 21 obtains the second project information C01, matches it with the target data specification B01, and then obtains the target map data package A01 based on the target data specification B01; then, it associates the target map data package A01 with the second project information C01 to obtain the reconstructed map data package.

[0066] The data update platform 22 is used to publish the reconstructed map data package to designated vehicles for their use.

[0067] In this embodiment, the data compilation platform 20 is used to compile high-precision map data according to data specifications to obtain an original map data package; wherein, the original map data package includes data specifications but does not contain first project information; the data management platform 21 is used to obtain second project information, match the second project information with a pre-stored project data specification mapping table to obtain a target data specification corresponding to the second project information; wherein, the project data specification mapping table includes project information and its corresponding data specification; match the target data specification with the data specifications in the original map data package to obtain a target map data package corresponding to the second project information; associate the target map data package with the second project information to obtain a reconstructed map data package; the reconstructed map data package includes the second project information. Relative to Figure 1 In the corresponding solution, the original map data package compiled by the data compilation platform 20 in this embodiment does not contain project information and does not form a description file, thus realizing the separate management of map data and project description information. The data management platform 21 can reuse the map data package according to specific project needs. The data compilation platform 20 does not need to recompile the map data according to the data specifications, which reduces the load of map data compilation and result data quality inspection, shortens the preparation time for map data release, and improves the freshness of map data.

[0068] In one embodiment of the present invention, the data management platform 21 is further configured to:

[0069] Obtain the project requirements information for the second project, which includes the map requirement scope and extraction conditions.

[0070] Identify the tile IDs that fall within the map requirement area in the reconstructed map data packet based on the geofence of the map requirement area.

[0071] Based on the association information between tile ID and data packet association table, obtain the description information of the associated data packets associated with each tile ID;

[0072] Extract the target-related data packets corresponding to the target description information that meets the extraction conditions from the description information, thereby obtaining the data distribution of the target tile IDs corresponding to the target-related data packets in the map requirement range;

[0073] Extract the specified tile file and its description file from the map data package within the map requirement range according to the target tile ID, so as to obtain the data package to be published to the specified vehicle by the data update platform 22;

[0074] The extraction criteria include at least one of the following: data version, data specification, and compilation number;

[0075] The description information includes at least one of the following: data version, data specification, and compilation number.

[0076] In this embodiment, data version, data specification, and compilation number can all be represented by numbers. For example, the data version can be 0.01, the data specification can be 1.31 and 1.14, and the compilation number can be r2023020716560501. Assume the project requirement information includes map requirement range D01 and the extraction condition is data version 0.01; confirm that the tile IDs falling within map requirement range D01 in the reconstructed map data package are tile 1, tile 2, tile 3, and tile 4, and the description information corresponding to each tile is data version 0.01, data version 0.02, data version 0.01, and data version 0.02; the target description information is obtained as data version 0.01 for tile 1 and data version 0.01 for tile 3; the data distribution of target tile 1 and target tile 3 in map requirement range D01 is obtained; the specified tile files and their description files for target tile 1 and target tile 3 in the map data package of map requirement range D01 are extracted. The data management platform 21 identifies and reconstructs the tile IDs within the map requirement area of ​​the map data package based on the geofence of the map requirement area. This avoids multiple searches and duplicate extractions of map data for the same area. Considering the possibility of a tile being updated multiple times and numerous updates producing different data under different map specifications and project requirements, extraction based on the above extraction conditions can preemptively exclude some non-compliant data (for example, some project requirements cannot extract data across data versions, specifications, or compilation numbers; data that does not conform to these limitations is extracted, leaving only the data required by the project). During data retrieval and extraction, this extraction condition is used for pre-extraction, skipping data packages that do not meet the set conditions, assisting in data selection and deduplication, and ensuring the quality of map data. Furthermore, the tile IDs within the map requirement area can be used to obtain the corresponding tile quantity, which will provide a verification basis for subsequent Meta file generation, data verification, and data release.

[0077] In one embodiment of the present invention, when the data compilation platform 20 compiles high-precision map data according to data specifications, it is also used to segment the boundaries of tiles in the high-precision map data to obtain the original map data package with tile boundaries uncovered.

[0078] In this embodiment, in order to avoid or reduce the overlap of tile boundaries in the original map data package, the data compilation platform 20 is used to divide the tile boundaries in the high-precision map data when compiling the high-precision map data according to the data specifications, so as to improve the quality of the original map data package.

[0079] Figure 3 This is a schematic block diagram of a high-precision map data management platform 21 according to an embodiment of the present invention. Based on the same concept, the present invention also provides a high-precision map data management platform 21. The data management platform 21 may include a map data acquisition module 211, a project tag acquisition module 212, and a data management module 213. The map data acquisition module 211 is used to acquire the original map data package compiled by the data compilation platform 20; wherein, the original map data package includes data specifications and does not contain first project information. The project tag acquisition module 212 is used to acquire second project information. The data management module 213 is used to match the second project information with a pre-stored project data specification mapping table to obtain a target data specification corresponding to the second project information, match the target data specification with the data specifications in the original map data package to obtain a target map data package corresponding to the second project information, and associate the target map data package with the second project information to obtain a reconstructed map data package for the data update platform 22 to publish to designated vehicles. The project data specification mapping table includes project information and its corresponding data specifications. The reconstructed map data package includes the second project information.

[0080] In this embodiment, it is assumed that the map data acquisition module 211 acquires the original map data package A01, which includes data specification B01, and the original map data package A02, which includes data specification B02. The project data specification mapping table includes project information C01 and its corresponding data specification B01. The project tag acquisition module 212 acquires the second project information C01. The data management module 213 can match the target data specification B01 according to the second project information C01, and then obtain the target map data package A01 according to the target data specification B01; then, the target map data package A01 and the second project information C01 are associated to obtain the recombined map data package. When facing different project requirements, the data management platform 21 can reuse the original map data package according to the specific project requirements. The data compilation platform 20 does not need to recompile the high-precision map data according to the data specifications, which reduces the load of map data compilation and result data quality inspection, shortens the preparation time for map data release, and improves the freshness of map data.

[0081] In one embodiment of the present invention, the data management platform 21 may further include a requirement import module 214 and a data extraction module 216. The requirement import module 214 is used to obtain project requirement information of the second project information. The data extraction module 216 is used to extract map data that meets the project requirement information from the reconstructed map data package to obtain a data package for the data update platform 22 to publish to designated vehicles.

[0082] In this embodiment, the reconstructed map data package often contains a large amount of map data. However, in actual use, much of the map data in the reconstructed map data package is not needed. Therefore, the requirement import module 214 is used to obtain the project requirement information of the second project information, and the data extraction module 216 is used to extract map data that meets the project requirement information from the reconstructed map data package to obtain a data package for the data update platform 22 to publish to the designated vehicles. This allows map data to be provided in a targeted manner according to the project requirement information, reducing unnecessary map data and facilitating faster and more convenient use.

[0083] In one embodiment of the present invention, the project requirement information may include the map requirement scope and extraction conditions. The data extraction module 216 is used for:

[0084] When the reconstructed map data package contains map data within the map requirement range, map data is extracted from the reconstructed map data package according to the map requirement range to obtain map data that matches the map requirement range.

[0085] Map data matching the map requirement range is extracted according to the extraction criteria to obtain map data matching the extraction criteria, so as to obtain data packets for the data update platform 22 to be published to the designated vehicles.

[0086] In this embodiment, considering that vehicles require map data corresponding to their respective regions in different areas, and that map data is often regional, map data is extracted from the reconstructed map data package based on the map requirement range to obtain map data matching the map requirement range. This allows for targeted acquisition of map data, reducing or avoiding the acquisition of unnecessary map data. Specifically, the map requirement range can mainly include administrative divisions (such as a province or a prefecture-level city), specific areas, radius (e.g., determining the radius with the coordinates as the center after inputting specified coordinates), along a path, and specified tiles, etc. For example, if the map requirement range requires map data for city A, while the reconstructed map data package contains map data for province B, which includes city A, the map data range of the reconstructed map data package is larger than the map data range of the project requirement information. To avoid providing unnecessary map data ranges, it is necessary to extract map data matching city A from the reconstructed map data package of province B, thereby avoiding providing the vehicle with too much unnecessary map data, so that the vehicle can use it more conveniently and quickly. If the reconstructed map data package contains map data for city A, and the required map area is also the map data for city A, then no extraction is necessary. In other words, if the scope of the reconstructed map data package matches the required map area, extraction does not need to be based on the required map area. Furthermore, extracting based on extraction criteria can preemptively exclude some non-compliant data.

[0087] In one embodiment of the present invention, the data extraction module 216 is further configured to:

[0088] Based on the geofence of the map requirement area, identify the tile IDs in the reconstructed map data packet that fall within the map requirement area;

[0089] Based on the association information between tile ID and data packet association table, obtain the description information of the associated data packets associated with each tile ID; generally, after obtaining the reconstructed map data packet, the association information between tile ID and data packet association table can be established.

[0090] Extract the target-related data packets corresponding to the target description information that meets the extraction conditions from the description information, thereby obtaining the data distribution of the target tile IDs corresponding to the target-related data packets in the map requirement range;

[0091] Extract the specified tile file and its description file from the map data package within the map requirement range according to the target tile ID, so as to obtain the data package to be published to the specified vehicle by the data update platform 22;

[0092] The extraction criteria include at least one of the following: data version, data specification, and compilation number;

[0093] The description information includes at least one of the following: data version, data specification, and compilation number.

[0094] In this embodiment, data version, data specification, and compilation number can all be represented by numbers. For example, the data version can be 0.01, the data specification can be 1.31, and the compilation number can be r2023020716560501. Considering the possibility that a tile may be updated multiple times and that numerous updated data may produce different data under different map specifications and project requirements, extraction based on the above extraction conditions can preemptively exclude some non-compliant data (for example, some project requirements cannot be extracted across data versions, data specifications, or compilation numbers, so data that does not conform to the data version, data specification, or compilation number limitation is extracted, leaving only the data that conforms to the data version, data specification, or compilation number limitation required by the project). When retrieving and extracting data, this extraction condition will be used for pre-extraction, skipping data packets that do not meet the set conditions, assisting in data selection and deduplication, and ensuring the quality of map data. For example, the project requirement information includes map requirement range D01 and extraction condition data version 0.01; the data extraction module 216 confirms that the tile IDs falling into map requirement range D01 in the reconstructed map data package are tile 1, tile 2, tile 3, and tile 4, and the description information corresponding to each tile is data version 0.01, data version 0.02, data version 0.01, and data version 0.02; the obtained target description information is data version 0.01 for tile 1 and data version 0.01 for tile 3; thus, the data distribution of target tile 1 and target tile 3 in map requirement range D01 is obtained; the specified tile files and their description files of target tile 1 and target tile 3 in the map data package of map requirement range D01 are extracted.

[0095] In one embodiment of the present invention, the data extraction module 216 is used to extract map data from the reconstructed map data package according to the map requirement range, based on at least one of the following principles: a default principle, a complementary principle, and a high-definition priority principle. The default principle is to extract data from each layer to which the tile belongs, avoiding duplicate extraction. The complementary principle is to extract tiles from different layer types when tiles belong to different layer types. The high-definition priority principle is to extract tiles with both high-definition and low-definition layer data when a tile has both.

[0096] In this embodiment, the default principle is: complete extraction is required; every layer of a tile must be present, and duplicate extraction is not allowed; that is, each tile can only have one layer of data for the same purpose. The complementarity principle specifically means: for example, when a dataset contains two layers of the same type (high-definition rendering layer and low-definition rendering layer), at least one rendering layer must be guaranteed for each tile, but it is not required that all tiles in a batch of data be high-definition or all low-definition. The high-definition priority principle specifically means: if a tile has both high-definition and low-definition layer data, the high-definition layer is selected. Extracting according to these principles ensures more comprehensive data extraction, which is beneficial for obtaining high-quality map data. Generally, the data extraction module 216 can extract data in the order of the default principle, the complementarity principle, and the high-definition priority principle.

[0097] In one embodiment of the present invention, the data extraction module 216 is used to extract map data from the recombined map data package according to the map requirement range, and extracts map data in the order of the completeness of the corresponding layer of the tile, the priority of the layer, and the data update time of the layer.

[0098] In this embodiment, considering that even after extracting data according to the map requirements, there may still be two problems: the same tile being distributed across multiple data packets that meet the conditions, and layer misalignment between different tiles, to avoid or reduce these problems, the data extraction module 216 can also select the final associated data packet in the order of the completeness of the tile's corresponding layer, the layer's priority, and the layer's data update time. For the data management platform 21, the data update time is the time when the original map data packet enters the map data acquisition module 211. Data produced later is more reliable. If several layer data packets for a certain tile exist in both packets, and they are consistent in several aspects of data specification compilation, then the packet with the later data update time is ultimately selected. When the tile's layer data exists in different data packets, the data with higher priority is preferred. When the tile's layer data exists in different data packets, the data packet with higher priority and higher layer completeness is preferred.

[0099] In one embodiment of the present invention, the requirement import module 214 is used to parse the acquired project requirement information in the backend, convert it into one or more geofences described in WTK language, remove the differences in different coordinate systems and tile levels, and output the tile retrieval conditions under 13-level tiles and the Mars coordinate system.

[0100] In this embodiment, the requirement import module 214 is used to parse the acquired project requirement information in the backend, convert it into one or more geofences described in WTK language, remove the differences in different coordinate systems and tile levels, and output tile search conditions under 13-level tiles and Mars coordinate system. This helps to improve the universality of tile search conditions, increase the scope of application, and facilitate retrieval and extraction based on project requirement information.

[0101] In one embodiment of the present invention, the requirement import module 214 has a visual input interface for obtaining input project requirement information through the visual input interface.

[0102] In this embodiment, users can input the required project requirements information through a visual input interface, such as the city name, road name, and code number limits. The requirement import module 214 can obtain the project requirement information input on the visual input interface, which is very simple and convenient.

[0103] In one embodiment of the present invention, the data management platform 21 may further include a data quality inspection module 217. The data quality inspection module 217 is used to perform quality verification on the map data extracted by the data extraction module 216, and if quality problems are found, generate a problem investigation report.

[0104] In this embodiment, the data quality inspection module 217 is used to perform quality verification on the map data extracted by the data extraction module 216. If there are quality problems, a problem investigation report is generated, which is conducive to quickly identifying quality problems.

[0105] In one embodiment of the present invention, the data management platform 21 may further include a data verification module 218. The data verification module 218 is used to perform integrity verification on the original map data package.

[0106] In this embodiment, the data verification module 218 performs integrity verification on the original map data package to ensure the integrity of the original map data package, thereby ensuring the quality of the reconstructed map data package.

[0107] Figure 4 This is a flowchart of a method for publishing high-precision map data according to an embodiment of the present invention. This publishing method can be used for... Figure 2 The publishing system in the document. The publishing method may include the following steps S302 to S306.

[0108] Step S302: Compile the high-precision map data according to the data specifications to obtain the original map data package, wherein the original map data package includes the data specifications but does not contain the first item information.

[0109] Step S304: Obtain the second project information, match the second project information with the pre-stored project data specification mapping table to obtain the target data specification corresponding to the second project information, match the target data specification with the data specification in the original map data package to obtain the target map data package corresponding to the second project information, and associate the target map data package with the second project information to obtain the reconstructed map data package. The project data specification mapping table includes project information and its corresponding data specification, and the reconstructed map data package includes the second project information.

[0110] Step S306: Publish the reconstructed map data package to the designated vehicles for their use.

[0111] In this embodiment, the original map data package does not contain the first project information and does not form a description file, thus realizing the separate management of map data and project description information. The map data package can be reused according to specific project needs. The data compilation platform does not need to recompile the map data according to the data specifications, which reduces the load of map data compilation and result data quality inspection, shortens the preparation time for map data release, and improves the freshness of map data.

[0112] In one embodiment of the present invention, step S302 may include:

[0113] When compiling high-precision map data according to data specifications, the boundaries of tiles in the high-precision map data can also be segmented to obtain the original map data package with tile boundaries uncovered.

[0114] In this embodiment, high-precision map data can be composed of many map tiles. The map data is compiled according to the data specifications, and the tile boundaries are segmented during the compilation process to generate a compiled dataset with unoverlapping tile boundaries. The tile boundaries in the dataset are very clear, resulting in a high-quality original map data package.

[0115] In one embodiment of the present invention, after step S304, the following may be further included:

[0116] Obtain project requirement information for the second project, which may include the map requirement scope and extraction conditions;

[0117] When the reconstructed map data package contains map data within the required map range, map data is extracted from the reconstructed map data package according to the required map range to obtain map data that matches the required map range.

[0118] Map data matching the required map range is extracted based on extraction criteria to obtain data packages for use by specified vehicles.

[0119] In this embodiment, considering that vehicles require map data corresponding to their respective regions in different areas, and that map data is often regional, map data is extracted from the recombined map data package according to the map requirement range to obtain map data matching the map requirement range. This allows for targeted acquisition of map data, reducing or avoiding the acquisition of unnecessary map data. Furthermore, extraction based on extraction conditions can preemptively exclude some non-compliant data.

[0120] In one embodiment of the present invention, extracting map data from the reconstructed map data package according to the map requirement range to obtain map data matching the map requirement range may include:

[0121] Based on the geofence of the map requirement area, identify the tile IDs in the reconstructed map data packet that fall within the map requirement area;

[0122] Based on extraction criteria, map data matching the required map area is extracted to obtain map data that matches the extraction criteria, resulting in a data package for use by a specified vehicle. This data package may include:

[0123] Based on the association information between tile ID and data packet association table, obtain the description information of the associated data packets associated with each tile ID;

[0124] Extract the target-related data packets corresponding to the target description information that meets the extraction conditions from the description information, thereby obtaining the data distribution of the target tile IDs corresponding to the target-related data packets in the map requirement range;

[0125] Extract the specified tile file and its description file from the map data package within the map requirement range according to the target tile ID, so as to obtain the data package for the data update platform to publish to the specified vehicle;

[0126] The extraction criteria include at least one of the following: data version, data specification, and compilation number;

[0127] The description information includes at least one of the following: data version, data specification, and compilation number.

[0128] In this embodiment, considering the possibility that a tile may be updated multiple times and that numerous updated data may produce different data under different map specifications and project requirements, extraction is performed according to the above extraction conditions. This can pre-select some non-compliant data (for example, some project requirements cannot be extracted across data versions, data specifications, or compilation numbers, so data that does not conform to the data version, data specification, or compilation number restrictions are extracted, leaving the data that conforms to the data version, data specification, or compilation number restrictions required by the project). When retrieving and extracting data, this extraction condition will be used for pre-extraction to skip data packets that do not conform to the set conditions, assisting in data selection and deduplication, and ensuring the quality of map data. For example, the project requirements information includes the map requirement range D01 and the data specification 1.31 for the extraction conditions; confirm that the tile IDs falling into the map requirement range D01 in the reconstructed map data package are tile 1, tile 2, tile 3, and tile 4, and the description information corresponding to each tile is data specification 1.31, data specification 1.41, data specification 1.31, and data specification 1.41; the target description information is data specification 1.31 for tile 1 and data specification 1.31 for tile 3; obtain the data distribution of target tile 1 and target tile 3 in the map requirement range D01; extract the specified tile files and their description files of target tile 1 and target tile 3 in the map data package of the map requirement range D01.

[0129] In one embodiment of the present invention, extracting map data from the reconstructed map data package according to the map requirement range may include:

[0130] Based on at least one of the following principles—default, complementarity, and high-definition priority—map data matching the project requirements is extracted from the reconstructed map data package.

[0131] In this embodiment, the default principles are: complete extraction is required; every layer of a tile must be present, and duplicate extraction is not allowed. Only one layer of data for each tile with the same purpose is allowed. A complementary principle applies: for example, when a dataset contains two layers of the same type (high-definition rendering layer and low-definition rendering layer), at least one rendering layer for each tile is guaranteed, but it is not required that all tiles in a batch of data be high-definition or all be low-definition. High-definition priority is given: if a tile has both high-definition and low-definition layer data, the high-definition layer is selected. Extraction according to these principles ensures more comprehensive data extraction, which is beneficial for obtaining high-quality map data. Furthermore, during the data extraction process, the description file of each tile can be updated. The tile description file contains the relative position information of the file itself, maintaining the new relative association of the path information in the tile description file.

[0132] In one embodiment of the present invention, extracting map data from the reconstructed map data package according to the map requirement range may include:

[0133] When extracting map data from the recombined map data package according to the map requirement range, the map data is extracted in the following order: the completeness of the corresponding layer of the tile, the priority of the layer, and the data update time of the layer.

[0134] In this embodiment, considering that even after extracting data according to the map requirements, there may still be two problems: the same tile being distributed across multiple data packets that meet the criteria, and layer misalignment between different tiles, to avoid or reduce these problems, the data extraction module can select the final associated data packet in the following order: the completeness of the tile's corresponding layer, the layer's priority, and the layer's data update time. For the data management platform, the data update time is the time when the original map data packet enters the map data acquisition module; data produced later is more reliable. If several layers of data for a certain tile exist in two data packets, and they are consistent in several aspects of data specification compilation, then the packet with the later data update time will be selected. When the tile's layer data exists in different data packets, the data with higher priority is preferred. When the tile's layer data exists in different data packets, the data packet with higher priority and higher layer completeness is preferred.

[0135] In one embodiment of the present invention, obtaining project requirement information may include:

[0136] Obtain project requirements information, parse the obtained project requirements information on the backend, convert it into one or more geofences described in WTK language, remove the differences between different coordinate systems and tile levels, and output the tile search conditions under 13-level tiles and Mars coordinate system.

[0137] In this embodiment, the requirement import module is used to parse the acquired project requirement information in the backend, convert it into one or more geofences described in WTK language, remove the differences in different coordinate systems and tile levels, and output tile search conditions under 13-level tiles and Mars coordinate system. This helps to improve the universality of tile search conditions, increase the scope of application, and facilitate retrieval and extraction based on project requirement information.

[0138] In one embodiment of the present invention, obtaining project requirement information may include:

[0139] Obtain project requirement information through a visual input interface.

[0140] In this embodiment, users can input the required project requirements information through a visual input interface, such as the city name or road name. The requirement import module can obtain the project requirement information input on the visual input interface, which is very simple and convenient.

[0141] In one embodiment of the present invention, after extracting map data matching the map requirement range according to extraction conditions to obtain map data matching the extraction conditions, the method may further include:

[0142] The extracted map data is subjected to quality verification. If quality issues are found, an investigation report is generated.

[0143] In this embodiment, the extracted map data undergoes quality verification. If quality issues are found, a problem investigation report is generated, which helps technicians resolve problems more quickly. If no quality issues are found, no further processing is performed, and the process ends.

[0144] In one embodiment of the present invention, before step S304, the following may be included:

[0145] Perform integrity verification on the original map data package.

[0146] In this embodiment, the integrity of the original map data packet is verified to ensure its integrity, thereby ensuring the quality of the reconstructed map data packet.

[0147] Figure 5 This is a flowchart of a method for publishing high-precision map data according to another embodiment of the present invention. The publishing method may include the following steps:

[0148] Step S402: Compile the high-precision map data according to the data specifications to obtain the original map data package, wherein the original map data package includes the data specifications but does not contain the first item information.

[0149] Step S404: Perform integrity verification on the original map data package.

[0150] Step S406: Obtain the second project information, match the second project information with the pre-stored project data specification mapping table to obtain the target data specification corresponding to the second project information, match the target data specification with the data specification in the original map data package to obtain the target map data package corresponding to the second project information, and associate the target map data package with the second project information to obtain the reconstructed map data package. The project data specification mapping table includes project information and its corresponding data specification, and the reconstructed map data package includes the second project information.

[0151] Step S408: Obtain the project requirements information for the second project, which includes the map requirement range and extraction conditions;

[0152] Step S410: Based on the geofence of the map requirement area, confirm the tile IDs in the reconstructed map data packet that fall within the map requirement area;

[0153] Step S412: Obtain the description information of the associated data packets associated with each tile ID based on the association information in the tile ID and data packet association table;

[0154] Step S414: Extract the target-related data packets corresponding to the target description information that meet the extraction conditions from the description information, thereby obtaining the data distribution of target tile IDs corresponding to the target-related data packets in the map requirement range;

[0155] Step S416: Extract the specified tile file and its description file from the map data package of the map requirement range according to the target tile ID to obtain the map data package for the specified vehicle.

[0156] Step S418: Send the map data package for the designated vehicle to the vehicle.

[0157] This application embodiment can also be used for the publication and updating of general traditional map data.

[0158] Figure 6 This is a schematic block diagram of a computer device according to an embodiment of the present invention. Based on the same concept, the present invention also provides a computer device 500. The computer device 500 includes a memory 502 and a processor 501. The memory 502 stores a control program, which, when executed by the processor 501, is used to implement the high-precision map data publishing method of any of the above embodiments.

[0159] Figure 7 This is a schematic block diagram of a machine-readable storage medium according to an embodiment of the present invention. Based on the same concept, the present invention also provides a machine-readable storage medium storing a machine-executable program thereon, wherein the machine-executable program, when executed by a processor, is used to implement the method for publishing high-precision map data according to any of the above embodiments.

[0160] Machine-readable storage medium 300 can be a tangible device capable of holding and storing instructions used by an instruction execution device. Machine-readable storage medium 300 can be, for example—but not limited to—an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of machine-readable storage medium 300 include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital video disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof.

[0161] The machine-executable program 310 or code described herein can be downloaded from machine-readable storage medium 300 to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer program from the network and forwards it to the machine-readable storage medium 300 in the respective computing / processing device.

[0162] The machine-executable program 310 used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer program may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from a computer program. These electronic circuits can execute computer programs to implement various aspects of this application.

[0163] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by a computer program.

[0164] These machine-executable programs 310 can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These machine-executable programs 310 can also be stored in a machine-readable storage medium 300, the instructions of which cause a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the machine-readable storage medium 300 storing the machine-executable programs 310 comprises an article of manufacture including instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0165] Therefore, those skilled in the art should recognize that although numerous exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Thus, the scope of the present invention should be understood and construed as covering all such other variations or modifications.

Claims

1. A high-precision map data publishing system, characterized in that, include: A data compilation platform is used to compile high-precision map data according to data specifications to obtain raw map data packages; wherein the raw map data packages include data specifications but do not contain first item information; A data management platform is used to acquire second project information and match the second project information with a pre-stored project data specification mapping table to obtain the target data specification corresponding to the second project information; wherein the project data specification mapping table includes project information and its corresponding data specification. The target data specifications are matched with the data specifications in the original map data package to obtain the target map data package corresponding to the second project information; The target map data package is associated with the second project information to obtain a reconstructed map data package; the reconstructed map data package includes the second project information; A data update platform is used to publish the reconstructed map data package to designated vehicles for their use. The data specification is a specification number used to distinguish the elements contained in the map; The first project information and the second project information each include at least one of the following: project number, project description information, and drawing approval number.

2. The publishing system according to claim 1, characterized in that, The data management platform is also used for: Obtain the project requirement information for the second project, which includes the map requirement range and extraction conditions; Based on the geofence of the map requirement range, identify the tile IDs in the reconstructed map data packet that fall within the map requirement range; Based on the association information of the tile ID and data packet association table, obtain the description information of the associated data packets associated with each tile ID; Extract the target-related data packets corresponding to the target description information that meets the extraction conditions from the description information, thereby obtaining the data distribution of the target tile IDs corresponding to the target-related data packets in the map demand range; Extract the specified tile file and its description file from the map data package of the map requirement range according to the target tile ID, so as to obtain the data package for the data update platform to publish to the specified vehicle; The extraction conditions include at least one of the following: data version, data specification, and compilation number; The description information includes at least one of the following: data version, data specification, and compilation number.

3. A data management platform for high-precision map data, characterized in that, include: The map data acquisition module is used to acquire the raw map data package compiled by the data compilation platform; wherein the raw map data package includes data specifications but does not contain the first item information; The project tag retrieval module is used to obtain information about the second project. The data management module is used to match the second project information with a pre-stored project data specification mapping table to obtain the target data specification corresponding to the second project information; The target data specifications are matched with the data specifications in the original map data package to obtain the target map data package corresponding to the second project information; The target map data package is associated with the second project information to obtain a reconstructed map data package, which is then published to designated vehicles by the data update platform. The project data specification mapping table includes project information and its corresponding data specifications, and the reconstructed map data package includes second project information. The data specification is a specification number used to distinguish the elements contained in the map; The first project information and the second project information each include at least one of the following: project number, project description information, and drawing approval number.

4. The data management platform according to claim 3, characterized in that, Also includes: The requirement import module is used to obtain the project requirement information of the second project information; The data extraction module is used to extract map data that meets the project requirements from the recombined map data package to obtain a data package for the data update platform to publish to designated vehicles.

5. The data management platform according to claim 4, characterized in that, The project requirements information includes the map requirement scope and extraction conditions. The data extraction module is used for: When the reconstructed map data package contains map data within the map requirement range, map data is extracted from the reconstructed map data package according to the map requirement range to obtain map data that matches the map requirement range. Map data matching the map requirement range is extracted according to the extraction conditions to obtain map data matching the extraction conditions, so as to obtain a data package for the data update platform to publish to the designated vehicle.

6. The data management platform according to claim 5, characterized in that, The data extraction module is also used for: Based on the geofence of the map requirement range, identify the tile IDs in the reconstructed map data packet that fall within the map requirement range; Based on the association information of the tile ID and data packet association table, obtain the description information of the associated data packets associated with each tile ID; Extract the target-related data packets corresponding to the target description information that meets the extraction conditions from the description information, thereby obtaining the data distribution of the target tile IDs corresponding to the target-related data packets in the map demand range; Extract the specified tile file and its description file from the map data package of the map requirement range according to the target tile ID, so as to obtain the data package for the data update platform to publish to the specified vehicle; The extraction conditions include at least one of the following: data version, data specification, and compilation number; The description information includes at least one of the following: data version, data specification, and compilation number.

7. The data management platform according to claim 5, characterized in that, The data extraction module is used to extract map data from the recombined map data package according to the map requirement range, and to extract data based on at least one of the default principle, the complementary principle, and the high-definition priority principle. The default principle is to extract data from each layer to which the tile belongs, and to avoid repeated extraction. The complementary principle is: when tiles belong to different types of layers, tiles from different types of layers are extracted; The high-definition priority principle is: when a tile has both high-definition layer data and low-definition layer data, the tile with high-definition layer data is extracted.

8. The data management platform according to claim 5, characterized in that, The data extraction module is used to extract map data from the recombined map data package according to the map requirement range, and extracts map data sequentially according to the integrity of the corresponding layer of the tile, the priority of the layer, and the data update time of the layer.

9. The data management platform according to claim 4, characterized in that, The requirement import module is used to parse the acquired project requirement information in the backend, convert it into one or more geofences described in WTK language, remove the differences in different coordinate systems and tile levels, and output tile search conditions under 13-level tiles and Mars coordinate system.

10. The data management platform according to claim 4, characterized in that, The requirement import module has a visual input interface, which is used to obtain the input project requirement information.

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