High-definition map processing method, driving navigation method and high-definition map processing terminal

Abstract

The application provides a high-precision map processing method, a driving navigation method and a high-precision map processing terminal. The high-precision map processing method comprises the following steps: receiving a current high-precision map of a first preset range sent by a map sending end in real time; in response to the fact that the current high-precision map is within a preset deviation compared with a stored previous high-precision map, analyzing the current high-precision map to obtain a plurality of continuous road segments and parameter information corresponding to each road segment, and caching; in response to the fact that the parameter information appears for the first time, saving the parameter information and the road segment corresponding to the parameter information to the previous high-precision map to obtain an updated map; and in response to the fact that the parameter information appears for the second time, ignoring the parameter information and the road segment corresponding to the parameter information. Since the high-precision map sent by the map sending end is saved in an incremental dynamic storage mode, the modules of the use end can avoid receiving, repeatedly analyzing and converting the high-precision map sent by the map sending end in real time, and the system efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a high-precision map processing method, a driving navigation method and a high-precision map processing terminal. BACKGROUND

[0002] In the field of automatic driving, high-precision map data is usually used to plan a route, so as to provide navigation for automatic driving of a vehicle. Generally, an Electronic Horizon Provider (EHP) system provides a road network prediction tree for a vehicle, that is, a map provider provides an original map, and an Electronic Horizon Reconstructor (EHR) system analyzes and uses the original map provided by the EHP system, and recombines and encapsulates data according to an EHP protocol to form high-precision map data. That is, the high-precision map is usually converted into an EHR protocol through an Advanced Driver Assistance Systems Interface Specification Version 3 (ADASIS V3) protocol, so as to provide position information data and provide high-accuracy effective information for subsequent driving of the vehicle, and realize a driving assistance function.

[0003] Specifically, the Electronic Horizon Reconstructor system EHR sends map data related to driving of a vehicle within a certain distance before and after a vehicle position to a use end at a certain frequency. After receiving the EHR data, the use end saves and uses the data by analyzing and converting the data into a format required by the use end. That is, the Electronic Horizon Reconstructor adopts a shared memory mode to share data between different modules. However, since the Electronic Horizon Reconstructor system sends map data within a certain distance before and after a vehicle position each time, the content of map data of adjacent two frames or even several frames is repeated in a large amount, thereby causing waste of storage and computing resources of the use end. SUMMARY

[0004] To solve the above technical problems, the present application provides a high-precision map processing method, a driving navigation method and a high-precision map processing terminal, which can save system resource occupation and improve system efficiency.

[0005] One aspect of the present application provides a high-precision map processing method, comprising: receiving a first preset range of current high-precision map sent by a map sending end in real time; in response to the current high-precision map being within a preset deviation compared with a stored previous high-precision map, analyzing the current high-precision map to obtain a plurality of continuous road segments and parameter information corresponding to each road segment, and caching; in response to the parameter information being first occurrence, saving the parameter information and a road segment corresponding to the parameter information to the previous high-precision map to obtain an updated map; and in response to the parameter information being second occurrence, ignoring the parameter information and the road segment corresponding to the parameter information.

[0006] Further, the method further comprises: detecting the updated map in real time; and deleting an expired map that is beyond the second preset range in the updated map.

[0007] Further, the saving the parameter information and the road segment corresponding to the parameter information to the updated map based on the previous high-definition map in response to the parameter information being first includes: sequentially comparing and analyzing the road segment and the parameter information obtained by the parsing with a previous road segment and previous parameter information corresponding to the previous road segment of the previous high-definition map; in response to the parameter information not being in any of the previous parameter information, the road segment corresponding to the parameter information is a new road segment; and saving the new road segment and sequentially saving the new road segment after the last road segment in the previous road segment.

[0008] Further, the real-time receiving of the current high-definition map of the first preset range sent by the map sending end includes: the map sending end receiving a sending request; the map sending end obtaining first current position information of a vehicle, and searching forward and backward by a specific distance based on the first current position information to obtain the current high-definition map; and the map sending end sending the current high-definition map according to a preset requirement.

[0009] Further, the parameter information includes a path, a node, a length, and a three-dimensional parameter of each road segment, and the three-dimensional parameter includes a slope, a lane, and a road sign.

[0010] Further, the method further comprises: converting the updated map into a three-dimensional map based on the three-dimensional parameter and a three-dimensional ground model.

[0011] Further, the response to the current high-definition map being within the preset deviation compared with the stored previous high-definition map includes: analyzing and calculating the current high-definition map received in real time, and when it is calculated that current position information of the vehicle in the current high-definition map is the same as vehicle position information in the previous high-definition map or is in a set road segment, the high-definition map is within the preset deviation.

[0012] Further, the response to the current high-definition map being within the preset deviation compared with the stored previous high-definition map includes: receiving the current high-definition map sent in real time by the map sending end; and when a time interval between two adjacent times of receiving the current high-definition map is less than a preset time length, the current high-definition map is within the preset deviation.

[0013] Further, the method further comprises: calculating a second current position information of the vehicle by using the updated map; receiving the second current position information, and obtaining a lane position of the vehicle according to a road segment matching algorithm and a lane matching algorithm; and outputting and displaying the lane position.

[0014] Further, the method further comprises: in response to the current high-precision map exceeding the preset deviation compared with the previous high-precision map, emptying the previous high-precision map and saving the current high-precision map.

[0015] An aspect of the present application also provides a driving navigation method, comprising: receiving a driving navigation request; obtaining an updated high-precision map, and planning a navigation route according to the updated high-precision map; wherein the updated high-precision map is obtained by the high-precision map processing method.

[0016] An aspect of the present application also provides a high-precision map processing terminal, comprising a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing the high-precision map processing method; and the processor is configured to execute the program instructions in the memory to implement the high-precision map processing method.

[0017] Further, the terminal further comprises a rasterization output interface and a vectorization output interface, both of which are connected to the processor.

[0018] The high-precision map processing method of the present application has the following advantages: compared with the existing high-precision map processing method, the high-precision map processing method of the present application comprises: receiving a current high-precision map of a first preset range sent by a map sending terminal in real time; in response to the current high-precision map being within a preset deviation compared with a stored previous high-precision map, analyzing the current high-precision map to obtain a plurality of continuous road segments and parameter information corresponding to each road segment, and caching; when the parameter information appears for the first time, it indicates that the road segment corresponding to the parameter information is first appeared, so that the parameter information and the road segment corresponding to the parameter information are saved to the previous high-precision map to obtain an updated map; when the parameter information appears for the second time, it indicates that the road segment corresponding to the parameter information is not first appeared, i.e. it has appeared and is saved in the previous high-precision map, therefore, the parameter information and the road segment corresponding to the parameter information are ignored, so that the repeated part of the real-time received high-precision map can be filtered out, only the newly added road segment is saved, and the modules of the using terminal, such as a vehicle, are avoided from receiving, repeatedly analyzing and converting, and saving the high-precision map sent by the map sending terminal in real time, so that the waste of system storage and computing resources of the using terminal, such as a vehicle, is effectively reduced, and the system efficiency is improved. In addition, since the high-precision map sent by the map sending terminal is received in real time, the saved map can be guaranteed to be the map required for vehicle driving, and the problem of navigation planning lag caused by untimely data update is avoided. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0020] Figure 1 This is a flowchart illustrating an embodiment of the high-precision map processing method provided in this application, including steps S11-S17;

[0021] Figure 2 This is a flowchart illustrating another embodiment of the high-precision map processing method provided in this application, including steps S11-S20;

[0022] Figure 3 yes Figure 1 The specific steps of step S15;

[0023] Figure 4 This is a flowchart illustrating another embodiment of the high-precision map processing method provided in this application, including steps S22-S24;

[0024] Figure 5 This is a system block diagram for implementing the high-precision map processing method provided in this application;

[0025] Figure 6 This is another system block diagram for implementing the high-precision map processing method provided in this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0027] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0028] In the following description, for the purposes of explanation, numerous specific details are set forth in order to thoroughly understand the application. It will be apparent, however, to one skilled in the art that the application can be practiced without some or all of these specific details.

[0029] The terms "system", "unit" and "network" are often used interchangeably herein. The term "and / or", merely describes an associated relationship, which means that there can be three relationships, for example, A and / or B, which means that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects. In addition, "multiple" herein means two or more than two.

[0030] In one aspect of the application, a high-precision map processing terminal 10 is provided, please refer to Figure 5 and Figure 6 , Figure 5 is a system block diagram of the high-precision map processing method provided by the application; Figure 6 is another system block diagram of the high-precision map processing method provided by the application.

[0031] The terminal 10 includes a processor 101 and a memory 102 coupled to the processor 101. The memory 102 stores program instructions for implementing the high-precision map processing method; the processor 101 is configured to execute the program instructions in the memory 102 to implement the high-precision map processing method. The high-precision map processing method is described in detail below.

[0032] In an application scenario, the terminal 10 can be a vehicle, and the high-precision map can be sent by a map sending end 20, such as a map provider. The map sending end is divided into EHP and EHR, EHP is provided by the map provider, and EHR parses and converts the data of EHP to output the high-precision map data after the data is reorganized and packaged according to the EHP protocol. The processor 101 is configured to execute the program instructions in the memory 102 to implement the high-precision map processing method, which processes the high-precision map sent by the EHR at a specific time interval (for example, three seconds). That is, the memory 102 storing program instructions for implementing the high-precision map processing method and the processor 101 executing the program instructions in the memory are equivalent to a high-precision map transfer server 30, and the high-precision map is first processed by the transfer server 30 before being sent to the vehicle and other modules, such as a high-precision positioning module 40. It can be understood that the transfer server 30 serves as a connecting bridge between upstream and downstream, and can store, convert and distribute the high-precision map data output by the EHR protocol.

[0033] In some embodiments, the terminal 10 further comprises a rasterized output interface and a vectorized output interface. Both the rasterized output interface and the vectorized output interface are connected to the processor 101. It can be understood that the output interface can also be a software output interface, which can be selected according to actual conditions.

[0034] In one aspect of the present application, a high-precision map processing method is provided. Please refer to Figure 1 , Figure 1 is a flowchart of an embodiment of the high-precision map processing method provided by the present application, comprising steps S11-S17.

[0035] Step S11: Real-time receiving of a first preset range of current high-precision map sent by a map sending end.

[0036] The relay server real-time receives the current high-precision map in the first preset range of the map sending end. For example, the relay server receives the current high-precision map in the first preset range from the electronic horizon reconstructor every three seconds. The current high-precision map in the first preset range is a specific length of the current high-precision map in which the vehicle is currently located. The first preset range can be set according to actual conditions, for example, the first preset range can be two kilometers. Since the current high-precision map sent is a specific length of the current high-precision map around the vehicle, that is, a map in a local range, it is necessary to ensure that the high-precision map sent every three seconds has some overlap, that is, the vehicle has not traveled out of the previous high-precision map stored in the relay server in the interval time. It can be understood that the current high-precision map is the one just sent by the map sending end, and the previous high-precision map is the one sent by the map sending end but stored in the relay server.

[0037] Step S12: Determining whether the current high-precision map is within a preset deviation. That is, comparing the received current high-precision map with the previous high-precision map, if the current high-precision map is within the preset deviation, then performing step S13: parsing the current high-precision map to obtain a plurality of continuous road segments and parameter information corresponding to each road segment, and caching.

[0038] Specifically, after receiving the current high-precision map, it is first determined whether the current high-precision map can be directly received, that is, comparing the received current high-precision map with the previous high-precision map, if the newly received current high-precision map is within the preset deviation compared with the previous high-precision map, then the received current high-precision map can be directly parsed, so as to parse the current high-precision map into a plurality of continuous road segments and cache the road segments and the corresponding parameter information.

[0039] In some embodiments, the parameter information corresponding to the road segments includes the path, path identification, nodes, length, and three-dimensional parameters of each road segment. That is, the parameter information of each road segment can be used to identify and distinguish it from other road segments. Specifically, the parameter information includes the path, nodes, length, and three-dimensional parameters of each road segment. The three-dimensional parameters can specifically include slope, lane, and road sign.

[0040] It can be understood that when the received current high-definition map is analyzed and compared with the previous high-definition map, if the newly received current high-definition map exceeds the preset deviation compared with the previous high-definition map, step S14 is performed: the previous high-definition map is emptied, and the current high-definition map is saved. That is, the current high-definition map and the previous high-definition map have a break or the newly sent current high-definition map is more accurate, and the previous high-definition map stored in the relay server is emptied, and the current high-definition map sent by the map sending end is saved. It can also be understood that in other embodiments, when the received current high-definition map is analyzed and compared with the previous high-definition map, if the newly received current high-definition map exceeds the preset deviation compared with the previous high-definition map, step S11 is returned. That is, the current high-definition map and the previous high-definition map have a break but the previous high-definition map is more accurate, that is, the received current high-definition map is ignored, and the map data sent by the map sending end is received again.

[0041] Step S15: comparing and analyzing the parameter information with the information in the previous high-definition map to determine whether the parameter information is first appeared. It can be understood that the data in the previous high-definition map is derived from the map sending end, and the information in the previous high-definition map includes the previous parameter information corresponding to the previous road segment.

[0042] If the received parameter information is first appeared, step S16 is performed, and if the received parameter information is not first appeared, that is, the received parameter information is second appeared, step S17 is performed.

[0043] Step S16: saving the parameter information and the road segment corresponding to the parameter information to the previous high-definition map to obtain an updated map.

[0044] If the parameter information is first appeared, that is, the parameter information does not appear in the previous high-definition map stored in the relay server, the road segment corresponding to the parameter information is a new road segment. Therefore, the parameter information and the road segment corresponding to the parameter information can be saved to the previous high-definition map to obtain an updated map.

[0045] Step S17: ignoring the parameter information and the road segment corresponding to the parameter information.

[0046] If the parameter information is not the first time, that is, the parameter information is the second time, it indicates that the parameter information appears in the prior high-precision map stored in the relay server. Then the corresponding road segment is already saved in the prior high-precision map of the relay server, and the parameter information and the corresponding road segment can be ignored, that is, not saved, and the parameter information and the corresponding road segment are released. That is, the relay server stores the received high-precision map by a dynamic incremental storage manner, so that the saved updated map is always the map data of a specific distance before and after the current position of the vehicle.

[0047] Therefore, the processing method of the high-precision map in the application, when the parameter information is the first time, it indicates that the road segment corresponding to the parameter information is the first time, so that the parameter information and the corresponding road segment are saved to the prior high-precision map to obtain the updated map. When the parameter information is the second time, it indicates that the road segment corresponding to the parameter information is not the first time, that is, it has appeared and is saved in the prior high-precision map, so the parameter information and the corresponding road segment are ignored, so that the repeated part of the real-time received current high-precision map can be filtered out, only the newly added road segment is saved, and the waste of system storage and computing resources of the use end, such as the vehicle, is avoided, and the system efficiency is improved. In addition, since the current high-precision map sent by the map sending end is received in real time, it can be ensured that the saved map is the map required for vehicle driving, and the problem of navigation planning lag caused by delayed data update is avoided.

[0048] Specifically, in some specific embodiments, determining whether the received current high-precision map can be added to the prior high-precision map includes analyzing and calculating the real-time received current high-precision map, and when it is calculated that the vehicle corresponding to the current position information in the current high-precision map is the same as the vehicle position information in the prior high-precision map or in a set road segment, the current high-precision map is within the preset deviation. That is, the vehicle sends the current latitude and longitude information to the map sending end and the relay server, and the map sending end and the relay server calculate the road segment where the vehicle is located through a matching algorithm. If it is calculated that the vehicle is located in the same road segment or adjacent road segment, it indicates that the received current high-precision map is within the preset deviation, and it also indicates that the current high-precision map sent by the map sending end has not been broken with the prior high-precision map, and the part newly added by the current high-precision map can be saved in the prior high-precision map. It can also be understood that if it is calculated that the vehicle is not located in the same or adjacent road segment, the current high-precision map can be ignored, and the step S11 is returned.

[0049] In some specific embodiments, whether the received current high-definition map can be added to the previous high-definition map can also be determined by the following steps: receiving the current high-definition map sent by the map sending end in real time; and if the time interval between the reception of two adjacent current high-definition maps is less than a preset time length, the current high-definition map is within the preset deviation. For example, if the preset time length is 20 seconds, and the time interval between the reception of the previous frame of current high-definition map and the next frame of current high-definition map is within 20 seconds, it is indicated that the two frames of current high-definition map are not broken. It can be understood that if the time interval between the reception of two adjacent current high-definition maps is greater than the preset time length, step S14 is performed.

[0050] It should be noted that in some more specific embodiments, whether the received current high-definition map can be added to the previous high-definition map includes determining whether the vehicle is located on the same or adjacent road segment, and also includes determining whether the time interval between the reception of two adjacent current high-definition maps is less than a preset time length. Only when the vehicle is located on the same or adjacent road segment, and the time interval between the reception of two adjacent current high-definition maps is less than the preset time length, the received current high-definition map can be added to the previous high-definition map.

[0051] It can be understood that in addition to incrementally saving the high-definition map sent by the map sending end, the relay server can also selectively delete the saved map. In order to increase the function of the relay server. Specifically, please refer to Figure 2 , Figure 2 is a flowchart of another embodiment of the high-definition map processing method provided by the present application, comprising steps S11-S20. That is, the high-definition map processing method provided by the present application comprises steps S18-S20 in addition to steps S11-S17. It should be noted that steps S18-S20 do not have a certain order with respect to step S16, that is, steps S18-S20 can be executed simultaneously with step S16, or step S16 can be executed first and then step S18-S20.

[0052] Step S18: Real-time detection of the update map.

[0053] The update map can also be detected in real time in the relay server, for determining whether part of the map in the update map can be deleted. The real-time detection of the update map can be detecting the position of the current vehicle in the road segment in the update map, or detecting the storage time of the first stored road segment in the update map, or detecting the storage space occupied by the update map.

[0054] Step S19: comparing and analyzing the update map to determine whether the update map includes expired maps beyond the second range. If the update map includes expired maps beyond the second preset range, step S20 is performed to delete the expired maps. If the update map does not include expired maps beyond the second preset range, step S18 is returned.

[0055] The second preset range can be a preset range set according to the monitoring content of the real-time monitoring update map. For example, if the real-time monitoring update map detects that the current vehicle is located on a road segment in the update map, the second preset range can be a predetermined road segment length behind the vehicle, and the expired maps are all road segments and corresponding parameter information beyond the predetermined road segment length behind the vehicle. For example, all maps behind the vehicle can be deleted, or maps beyond a certain length behind the vehicle can be deleted, that is, maps of a certain road segment length behind the vehicle are retained. In this way, the saved previous high-precision map can be updated to form an update map, and the stored expired maps can be deleted, further improving the storage resources of the system and improving the efficiency of the system.

[0056] In some embodiments, the high-precision map processing method provided by the present application can also perform format conversion on the saved maps. Specifically, step S21 is further included:

[0057] Step S21: converting the update map into a three-dimensional map by using a three-dimensional ground model according to the three-dimensional parameters in the parameter information, that is, the slope, lane, and road sign.

[0058] Specifically, the slope information in the three-dimensional parameters can be used, that is, the relative height between points is calculated by using the slope information in the saved update map, and the relative height of the entire update map is restored by using the three-dimensional ground model, so as to convert the update map into a three-dimensional map. It can be understood that, since the current high-precision map sent by the map sending end includes slope information, and the transit server saves and converts the slope information, the defect that the current high-precision map sent by the map sending end cannot provide height information and does not have a three-dimensional map can be made up.

[0059] The following describes in detail how to save the new road segment after the corresponding road segment. Please refer to Figure 3 , Figure 3 is Figure 1 Step S15 includes steps S150-S152.

[0060] Step S150: comparing and analyzing the parsed road segment and parameter information with the previous road segment and the previous parameter information corresponding to the previous road segment in the previous high-precision map.

[0061] The current high-definition map sent by the map sending end comprises at least one path, and each path comprises at least one road segment. The path refers to a long road, for example, a recommended route of Gaode Map, and the road segment is a section of the path, which is divided according to changes in road properties, such as a fork road and a road that suddenly widens, suddenly narrows, or a ramp merges into a main road. The parsed road segment and parameter information are compared and analyzed with the previous road segment and the previous parameter information corresponding to the previous road segment in the previous high-definition map, that is, each path in the current high-definition map and each road segment on each path are traversed. Preferably, the parameter information can be selected as a path identifier and a node, and the node refers to an offset in the map. Each path in the current high-definition map has a unique path identifier, and the road segment on each path can be determined by the offset.

[0062] Therefore, an index can be added to each path and each road segment on each path, and each path and each road segment on each path can be traversed by traversing the path and road segment index. When the corresponding road segment is found by searching the road segment index on a path, the index of the road segment is deleted, and if the road segment index on a path is traversed, the index of the path is deleted. Therefore, whether the road segments in the current high-definition map are traversed and compared can be determined by searching the index. It can be understood that when all the indexes in the cached current high-definition map are traversed, step S11 is returned.

[0063] Step S151: Determine whether the parameter information appears in the previous parameter information. If the parameter information does not appear in any previous parameter information, step S152 is performed, and if the parameter information appears in the previous parameter information, step S17 is returned.

[0064] Step S152: The road segment corresponding to the parameter information is a new road segment.

[0065] Preferably, when traversing and comparing, a path can be selected first, and the comparison and judgment can be performed sequentially from the first road segment of the path. If the parameter information corresponding to the compared and judged road segment does not appear in any previous parameter information, the road segment is a new road segment. That is, when each road segment of each path is compared, if the offset of the road segment under the same path identifier does not appear in any previous offset, the road segment is a new road segment; if the offset of the road segment under the same path identifier appears in the previous offset, the road segment is not a new road segment.

[0066] The step S16 specifically includes: saving the new road segment and sequentially saving after the last road segment in the previous road segment, thereby obtaining the updated map. It should be noted that when the new road segment is saved, the parameter information corresponding to the new road segment is also saved. At this time, the updated map includes the new road segment after the last road segment in the previous high-precision map in addition to the previous high-precision map.

[0067] Since the comparison and judgment are sequentially performed from the first road segment of the path, if it is judged that the traversed road segment is a new road segment, the road segment can be saved, and the road segment can be added after the road segment of the previous comparison and judgment, that is, sequentially saved after the last road segment in the previous road segment in the previous high-precision map, thereby realizing incremental addition of the road segment.

[0068] In some embodiments, the processing method of the high-precision map provided in the present application further includes performing lane-level positioning on the vehicle by using the updated updated map. Specifically, referring to Figure 4 , Figure 4 is a flowchart of another embodiment of the processing method of the high-precision map provided in the present application. The processing method of the high-precision map provided in the present application further includes steps S22-S24 after the step S16.

[0069] Step S22: calculating the second current position information of the vehicle by using the updated map.

[0070] When the relay server receives the lane-level positioning request, the saved updated map can be sent to the high-precision positioning module. Since the lane-level positioning is more advanced, the relay server converts the updated map into a raster map form and sends it to the high-precision positioning module. The high-precision positioning module receives the raster map and obtains the second current position information of the vehicle by using a matching algorithm.

[0071] Step S23: receiving the second current position information, and obtaining the lane position of the vehicle according to the road segment matching algorithm and the lane matching algorithm.

[0072] The high-precision positioning module sends the second current position information to the relay server, and the relay server obtains the current lane position of the vehicle according to the road segment matching algorithm and the lane matching algorithm.

[0073] Step S24: outputting and displaying the lane position.

[0074] When the relay server calculates the current lane position of the vehicle, the vehicle and the current lane position can be displayed and output, for example, on the central control display screen of the vehicle, and can also be displayed on the mobile terminal connected to the vehicle, so as to meet the high-precision positioning demand in the process of automatic driving or navigation.

[0075] Yet another aspect of the present application provides a driving navigation method, comprising: receiving a driving navigation request; obtaining an updated high-definition map, and planning a navigation route according to the updated high-definition map. The updated high-definition map is obtained according to the processing method of the high-definition map in any of the above embodiments. That is, the updated high-definition map is the updated map described above.

[0076] Any procedural or methodological descriptions in flowcharts or otherwise described herein can be understood as representing modules, segments, or portions of code that include one or more executable instructions for implementing the specified logical function or process, and the scope of preferred embodiments of the present application includes additional implementations in which the functions are performed in an order different from that shown or discussed, including substantially simultaneously or in reverse order, as appropriate, according to the function involved, as will be understood by those skilled in the art to which embodiments of the present application pertain.

[0077] The logic and / or steps represented in flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination of these. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical apparatus), a portable computer diskette (magnetic apparatus), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber (optical apparatus), and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that is suitable for use in a computer system, and then stored in computer memory.

[0078] It should be understood that portions of the application can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, and as in another embodiment, any of the following technologies, or combinations thereof, can be used: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application-specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and so forth.

[0079] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium, and when the programs are executed, one or a combination of the steps of the method embodiments is included.

[0080] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can be physically present separately, or two or more units can be integrated into one module. The above integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0081] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, mechanisms, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the characteristics of the different embodiments or examples without contradiction.

[0082] The above is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the contents of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for processing high-precision maps, characterized in that, include: Receive the current high-precision map of the first preset range sent by the map sending terminal in real time; In response to the current high-precision map being within a preset deviation compared to a previously stored high-precision map, the current high-precision map is parsed to obtain multiple consecutive road segments and parameter information corresponding to each road segment, and cached. The parameter information includes the path, nodes, length, and three-dimensional parameters of each road segment. In response to the parameter information being the first occurrence, the parameter information and the road segment corresponding to the parameter information are saved to the prior high-precision map to obtain an updated map; If the parameter information appears for the second time, then the parameter information and the road segment corresponding to the parameter information are ignored. Wherein, the response to the current high-precision map being within a preset deviation compared to a stored prior high-precision map includes: The real-time received high-precision map is analyzed and calculated. When the calculated vehicle location information in the current high-precision map is the same as the vehicle location information in the previous high-precision map or is in a set road segment, the high-precision map is within the preset deviation.

2. The high-precision map processing method according to claim 1, characterized in that, Also includes: Real-time monitoring of the updated map; In response to the updated map including an expired map that is outside the second preset range, the expired map is deleted.

3. The high-precision map processing method according to claim 1, characterized in that, In response to the parameter information being the first occurrence, the parameter information and the road segment corresponding to the parameter information are saved to the prior high-precision map to obtain an updated map, including: The obtained road segments and parameter information are sequentially compared and analyzed with the prior road segments and corresponding parameter information in the prior high-precision map; If the parameter information is not in any of the prior parameter information, then the road segment corresponding to the parameter information is a newly added road segment; The newly added road segment is saved and then saved after the last road segment in the previous road segments.

4. The high-precision map processing method according to claim 1, characterized in that, The real-time receiving map sender transmits a first preset range of the current high-precision map, including: The map sending terminal receives the sending request; The map sending end obtains the vehicle's first current location information, and uses the first current location information as a reference to search specific distances in the forward and backward directions respectively to obtain the current high-precision map; Send the current high-precision map according to the preset requirements.

5. The high-precision map processing method according to claim 1, characterized in that, The three-dimensional parameters include slope, lanes, and road signs.

6. The high-precision map processing method according to claim 5, characterized in that, Also includes: Based on the three-dimensional parameters, the updated map is converted into a three-dimensional map using a three-dimensional ground model.

7. The high-precision map processing method according to claim 1, characterized in that, The response that the current high-definition map is within a preset deviation compared to a stored prior high-definition map includes: Receive the current high-precision map sent in real time by the map sending terminal; If the time interval between any two consecutive receptions of the current high-precision map is less than a preset duration, then the current high-precision map is within the preset deviation.

8. The high-precision map processing method according to claim 1, characterized in that, Also includes: Using the updated map, the vehicle's second current location information is calculated; Receive the second current location information, and obtain the lane position of the vehicle according to the road segment matching algorithm and the lane matching algorithm; The output displays the lane position.

9. The method for processing high-precision maps according to any one of claims 1-8, characterized in that, Also includes: If the current high-precision map exceeds the preset deviation compared to the prior high-precision map, then the prior high-precision map is cleared and the current high-precision map is saved.

10. A driving navigation method, characterized in that, include: Received a navigation request; Obtain an updated high-precision map and plan a navigation route based on the updated high-precision map; wherein, the updated high-precision map The high-precision map is obtained by the processing method according to any one of claims 1-9.

11. A high-precision map processing terminal, characterized in that, The terminal includes a processor and a memory coupled to the processor. The memory stores program instructions for implementing the high-precision map processing method as described in any one of claims 1-9; The processor is used to execute program instructions in the memory to implement the high-precision map processing method as described in any one of claims 1-9.

12. The high-precision map processing terminal according to claim 11, characterized in that, It also includes a rasterized output interface and a vectorized output interface, both of which are connected to the processor.

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