Map association information generation and acquisition method, apparatus, device, and readable medium
By generating topological map data, the problem of high error rate in the correspondence information between maps is solved, the accuracy and stability of map data association are improved, and the maintenance difficulty and cost are reduced.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NAVINFO
- Filing Date
- 2023-04-17
- Publication Date
- 2026-06-26
Smart Images
Figure CN116450762B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of electronic map technology, and in particular to a method, apparatus, device and computer-readable medium for generating map association information and acquiring map information. Background Technology
[0002] Currently, multiple maps can be used in combination. For example, in vehicle navigation, a navigation map can be used in conjunction with a high-precision map. Figure 1 To enable its use, it is necessary to establish and maintain the corresponding relationship information between multiple map data.
[0003] In practical applications, due to the different ways in which the same information is represented in different maps, such as inconsistent road geometry and topology, inconsistent data precision, and inconsistent data freshness, these differences make it difficult to determine and maintain the corresponding association information between maps, and the error rate is relatively high. Summary of the Invention
[0004] This specification provides a method, apparatus, device, and computer-readable medium for generating map association information to address the problems of high error rates and maintenance difficulties in existing map correspondence information.
[0005] To solve the above-mentioned technical problems, the embodiments in this specification are implemented as follows:
[0006] This specification provides an embodiment of a method for generating map association information, including:
[0007] Acquire target map data; the target map data includes map link information and map link attachment information.
[0008] Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information;
[0009] Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0010] This specification provides an embodiment of a map information acquisition method, including:
[0011] Determine the vehicle's current location in the current map link corresponding to the first target map data;
[0012] Obtain map association information between a first target map data and a second target map data generated based on the aforementioned map association information generation method; the map association information includes map link association information between a first map link in the first target map data and a second map link in the second target map data;
[0013] Based on the map association information, determine the second map link in the second target map data that corresponds to the current map link;
[0014] Obtain map information related to the second map link from the second target map data; the map information is used to provide to the vehicle.
[0015] This specification provides an embodiment of a map information acquisition method, including:
[0016] Determine the third map link corresponding to the vehicle's current location in the third map data;
[0017] Obtain topological map data and map topological association information generated based on the aforementioned map association information generation method;
[0018] Based on the topology map data, determine the target topology link corresponding to the third map link in the topology map data;
[0019] Based on the map topology association information, determine the target map link corresponding to the target topology link in the target map data;
[0020] Obtain map information related to the target map link from the target map data; the map information is used to provide to the vehicle.
[0021] This specification provides an embodiment of a map association information generation device, comprising:
[0022] The map data acquisition module is used to acquire target map data; the target map data includes map link information and map link attachment information.
[0023] The topology map data generation module is used to generate topology links based on map links that meet preset attachment conditions according to the map link attachment information, thereby obtaining topology map data; the topology map data includes topology link information and topology link attachment information.
[0024] The map topology association information determination module is used to establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0025] This specification provides an embodiment of a computer device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the following method:
[0026] Acquire target map data; the target map data includes map link information and map link attachment information.
[0027] Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information;
[0028] Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0029] This specification provides an embodiment of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the following method:
[0030] Acquire target map data; the target map data includes map link information and map link attachment information.
[0031] Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information;
[0032] Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0033] This specification provides an embodiment of a computer program product, including a computer program that, when executed by a processor, implements the following method:
[0034] Acquire target map data; the target map data includes map link information and map link attachment information.
[0035] Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information;
[0036] Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0037] One embodiment of this specification can achieve at least the following beneficial effects: by generating topological map data that is closer to the geometry of real roads based on map data and ignoring a large number of interruptions caused by map representation principles, and establishing map topology association information between the links in the map data and the topological map data, the generated topological map data and map topology association information can be applied to associate different map data to improve the accuracy and stability of map data association results. Attached Figure Description
[0038] To more clearly illustrate the technical solutions in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0039] Figure 1 A flowchart illustrating a method for generating map association information provided in an embodiment of this specification;
[0040] Figure 2 A graphical illustration of the topological map data provided in the embodiments of this specification;
[0041] Figure 3 The embodiments provided in this specification correspond to Figure 1 A schematic diagram of the structure of a map association information generation device. Detailed Implementation
[0042] To make the objectives, technical solutions, and advantages of one or more embodiments of this specification clearer, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of one or more embodiments of this specification.
[0043] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.
[0044] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.
[0045] Multiple maps can be used in combination. Therefore, it's necessary to establish and maintain the corresponding relationships between these map data sets. In practical applications, a common requirement is to associate high-definition maps with navigation maps. Currently, high-definition maps do not express Points of Interest (POI) information; they are typically associated with navigation maps. Figure 1 They can be used in combination. For example, after the user sets the starting and ending points in the navigation map and determines the driving route, the high-precision map data along the determined driving route can be selected as necessary information and input into the autonomous vehicle based on the association and matching relationship between the navigation map and the high-precision map.
[0046] Currently, the common method for establishing map-related information is to directly link the first map with the second map. The correspondence between the two usually relies on manual maintenance. However, different maps represent the same information differently, making the maintenance of the map correspondence difficult and prone to errors.
[0047] First, because links in map data are often broken due to the principles of representation, for example, due to differences in information such as speed limits and number of lanes, the part of a link corresponding to different speed limits and number of lanes can be broken into two or more links. This results in a huge amount of map data, increasing storage and maintenance costs.
[0048] Furthermore, due to the expression principles of links in various map data, changes in the attribute information corresponding to the links (such as changes in speed limits, traffic restrictions, etc.) can lead to frequent interruptions and merging of links. For map data that have established association and matching relationships with each other, when the data of any one party is interrupted or merged, it will cause changes in the association and matching relationships, resulting in the need to maintain the established association and matching relationships again, which has a high maintenance cost.
[0049] Furthermore, inconsistencies in road geometry topology, data accuracy, attachment models, and data freshness across different maps can lead to incorrect matching in some scenarios when directly matching maps is used, resulting in a low matching rate.
[0050] In the embodiments of this specification, a stable topological layer that closely approximates the geometry of real-world roads is established as the overall framework for map coverage, thereby establishing the association between different maps, reducing the impact of information systems such as data models, accuracy, and freshness on the association accuracy, and improving the quality of matching.
[0051] Figure 1 This is a flowchart illustrating a method for generating map association information provided in an embodiment of this specification.
[0052] From a programming perspective, this method can be understood to be executed by any device, equipment, platform, or cluster of devices with computing and processing capabilities. In practical applications, the map association information generation method can be executed on a cloud-based map data processing platform. The generated map association information can be stored in the cloud and retrieved in real time from the cloud when needed by the vehicle; alternatively, it can be pre-retrieved and stored on the vehicle.
[0053] like Figure 1 As shown, the process may include the following steps:
[0054] Step 102: Obtain target map data; the target map data includes map link information and map link attachment information.
[0055] In practical applications, a single map data point can also be referred to as a map dataset, which can be equivalent to the data corresponding to a map product. In the embodiments of this specification, target map data is used to represent applications such as... Figure 1 The map data is processed using the method shown.
[0056] In step 102, the target map data may specifically include one or more target map data sets. The methods in steps 102 to 106 can be executed separately for each target map data set within the one or more target map data sets.
[0057] From the perspective of map data accuracy, a target map data can be navigation map data (also known as standard definition (SD) map data) or high definition (HD) map data. From the perspective of map data application scenarios, a target map data can be road map data, parking lot map data, etc. From the perspective of map data provider, a target map data can be map data provided by map manufacturers.
[0058] In the embodiments of this specification, the target map data may include map link information and map link attachment information.
[0059] In practical applications, the map link information may include the geometric information of the map link, specifically, the coordinate point information of the map link. More specifically, the coordinate point information of the map link may include the starting point coordinates, ending point coordinates, and intermediate point coordinates of the map link. Optionally, the map link information may also include map link identification information, etc. The map link attachment information may include map link attachment point identifiers, map link identifiers attached to each map link attachment point, and the number of map links attached to each map link attachment point, etc.
[0060] Optionally, the target map data may also include map link attribute information. Specifically, for example, the map link attribute information may include road type information, road shape information, road driving direction information, etc.
[0061] Step 104: Based on the map link attachment information, generate topology links based on map links that meet preset attachment conditions to obtain topology map data; the topology map data includes topology link information and topology link attachment information.
[0062] In the embodiments of this specification, in order to establish the relationships between map data more accurately and stably, the map data is first processed. Specifically, many interruptions in the map caused by representation principles can be ignored, and only the breakpoints at road forks (i.e., link nodes, or linknodes) are retained. As a result, the generated topological map data can more realistically reflect the real world.
[0063] More specifically, by merging links in the map data, only the actual breaks are retained at intersections and road forks, while the geometry at other break locations is merged, thereby generating a stable topological map data layer.
[0064] Optionally, step 104 may specifically include: for each map link attachment point, determining whether the number of map links attached to the map link attachment point is 2, and obtaining a determination result; if the determination result is yes, then generating a topology link based on the two map links attached to the map link attachment point.
[0065] In practical applications, for a map link attachment point, if only two map links are attached, the two attached map links will be merged to generate a single topology link; if more than two map links are attached, no merging process will be performed.
[0066] As mentioned earlier, under the preset attachment conditions, two or more map links can generate a corresponding topology link. For example, if attachment point node1 is only attached to link1 and link2, then link1 and link2 can be merged to generate STlink1, and attachment point node1 can be removed. Similarly, if attachment point node1 is only attached to link1 and link2, and attachment point node2 is only attached to link2 and link3, then link1, link2, and link3 can be merged to generate STlink2, and attachment points node1 and node2 can be removed.
[0067] In the embodiments of this specification, if a map link does not meet the preset attachment conditions, a topology link corresponding to that map link can be generated; if a map link attachment point does not meet the preset attachment conditions, a topology link attachment point corresponding to that map link attachment point can be generated. Specifically, a map link that does not meet the preset attachment conditions can correspond to a topology link; a map link attachment point that does not meet the preset attachment conditions can correspond to a topology link attachment point.
[0068] Based on one or more embodiments of this specification, map links that meet preset attachment conditions can be merged to generate topological links based on link attachment information in map data, and map links that do not meet preset attachment conditions can generate corresponding topological links. In addition, link attachment points that have not been cancelled are retained, thereby obtaining topological map data containing topological link information and topological link attachment information.
[0069] Therefore, the topology links in the topology map data can be generated based on one or more map links in the target map data. The topology link attachment points in the topology map data can correspond to the map link attachment points in the map data.
[0070] In practical applications, the topology link information may include the geometric information of the topology link, specifically, the coordinate point information of the topology link. More specifically, the coordinate point information of the topology link may include the starting point coordinates, ending point coordinates, and intermediate point coordinates of the topology link. Optionally, the topology link information may also include topology link identification information, etc. The topology link attachment information may include topology link attachment point identifiers, topology link identifiers attached to each topology link attachment point, and the number of topology links attached to each topology link attachment point, etc.
[0071] For a target map data, a topology map information can be generated; or, for a set of target map data, a topology map information can be generated.
[0072] Furthermore, in the embodiments described in this specification, the target map data and the topological map data can contain a large range of data, for example, they may include national road network data. In practical applications, for the convenience of subsequent data processing, the topological map data layer can be divided into blocks according to map sheets, and breakpoints can be retained at the boundaries of map sheets.
[0073] Specifically, grid division information for topological map data can be generated in advance.
[0074] Optionally, step 104 may further include: obtaining grid division information for the topology map data; determining the topology link to be processed that intersects with the grid boundary line based on the grid division information; determining the intersection point of the topology link to be processed and the grid boundary line as the new topology link attachment point; and splitting the topology link to be processed into a first processed topology link and a second processed topology link that are attached to the new topology link attachment point.
[0075] To facilitate understanding, the following explanation is provided in conjunction with the accompanying diagram.
[0076] Figure 2 The diagram shows a graphical representation of the topological map data in an embodiment of this specification. Figure 2 In the diagram, solid lines represent links, and dashed lines represent mesh border lines.
[0077] like Figure 2 As shown, the topology map data consists of multiple topology links (STLinks) and multiple topology link attachment points (STNodes). For example, STLink1 and STLink2 are determined based on the grid boundary lines; specifically, they are obtained by splitting the same topology link to be processed.
[0078] Step 106: Establish map topology association information between the map link and the topology link.
[0079] In the embodiments of this specification, after generating simplified topological map data that better reflects the actual road conditions based on the map data, the association between the map data and the generated topological map data can be further established.
[0080] Optionally, step 106 may specifically include: for each topological link in the topological map data, establishing an identifier correspondence between the identifier of the topological link and the identifier of at least one corresponding map link.
[0081] In practical applications, since topology map data is obtained based on map data, the correspondence between topology links and map links is 1:N, where N is an integer greater than or equal to 1.
[0082] In addition, to further improve the accuracy of map data matching based on map topology association information, some road attribute information can be retained in the generated topological map data and map topology association information to assist link matching.
[0083] Specifically, step 106 may include: establishing an attribute correspondence between the identifier of the topology link and the preset road attribute information of the corresponding at least one map link, based on the identifier correspondence; the preset road attribute information includes one or more of road type information, road morphology information, and road driving direction information.
[0084] For example, the road type information may include expressways, urban expressways, urban arterial roads, provincial roads, rural roads, etc.; the road morphology information may include main roads, auxiliary roads, ramps, etc.
[0085] In practical applications, when link geometry information cannot accurately match links, for example, when a map link in the first map matches two or more candidate links in the second map, a second map link that matches a link in the first map can be determined from the two or more candidate links based on the aforementioned preset road attribute information.
[0086] In the above embodiments, the map association information obtained by the map association information generation method may specifically include the topological map data and the map topological association information.
[0087] Optionally, the map topology association information can be used to determine the association information between different target map data; or alternatively, the map topology association information can be used to determine the association information between the target map data and other map data. In practical applications, the providers of the different target map data can be the same or different map producers; the providers of the other map data and the target map data can be the same or different map producers.
[0088] It should be understood that in the methods described in one or more embodiments of this specification, the order of some steps may be adjusted according to actual needs, or some steps may be omitted.
[0089] Figure 2 The method described above generates topological map data that more closely resembles the geometry of real roads by ignoring numerous interruptions caused by map representation principles. It also establishes map topology association information between the map data and the topological map data. As a result, the generated topological map data and map topology association information can be applied to associate different map data to improve the accuracy and stability of map data association results.
[0090] based on Figure 2 In addition to the method described herein, this specification also provides some specific implementation methods of this method, which will be described below.
[0091] In optional embodiments of this specification, not only can topological map data corresponding to map data be generated in advance and map topological association information between map links in map data and topological links in topological map data be determined, but also, for multiple maps, the association relationship between each map data can be further determined by establishing the association relationship between the topological map data corresponding to each map.
[0092] Specifically, the map association information generation method may further include:
[0093] Step 108: Determine the topology link association information between the first topology link in the first topology map data and the second topology link in the second topology map data; the first topology map data is generated based on the first target map data; the first topology map data is generated based on the second target map data; the second target map data is different from the first target map data;
[0094] Step 110: Based on the first map topology association information corresponding to the first target map data, the second map topology association information corresponding to the second target map data, and the topology link association information, determine the map link association information between the first map link in the first target map data and the second map link in the second target map data.
[0095] In step 108, for two or more target map data, the topological link association information between the first topological link in the first topological map data generated based on the first target map data and the second topological link in the second topological map data generated based on the second target map data can be determined.
[0096] Specifically, the topology link information may include coordinate point information (e.g., the coordinates of the starting point, ending point, and intermediate points of the topology link), and may also include link identification information, etc.
[0097] Optionally, step 108 may specifically include: determining a one-to-one topology link association information between the first topology link and the second topology link with consistent coordinate point information based on the coordinate point information of the first topology link and the second topology link; wherein the coordinate point information of the topology link is determined based on the coordinate point information of the one or more map links that generated the topology link.
[0098] Alternatively, step 108 may specifically include: determining a preliminary one-to-many or many-to-one association relationship between the first topology link and the second topology link with consistent coordinate point information based on the coordinate point information of the first topology link and the second topology link; obtaining preset road attribute information of the first topology link and the second topology link, wherein the preset road attribute information includes one or more of road type information, road shape information, and road driving direction information; and determining a one-to-one topology link association information between the first topology link and the first topology link with consistent preset road attribute information based on the preset road attribute information and the preliminary association relationship.
[0099] In practical applications, during the generation of topological map data, on the one hand, by simplifying road geometry, the influence of the expression rules of different map products on road geometry is reduced. Using a simplified and stable topological map data layer, the road network of the displayed world is expressed in a simple and accurate way. This not only reduces the difficulty of matching different map data and improves the matching accuracy, but also largely avoids changes in correspondence due to changes in the field or changes in production principles. This improves the stability of map association information and reduces the difficulty of maintaining map association information.
[0100] On the other hand, by simplifying road geometry, the amount of data is reduced and the resource requirements for data matching are lowered. In particular, for the vehicle side, the computational load of map data matching can be reduced, resource consumption can be reduced, and matching efficiency can be improved.
[0101] Based on the above description, one or more embodiments of this specification also provide a method for applying the map association information generated in the foregoing embodiments.
[0102] The embodiments of this specification provide a map information acquisition method that can be applied to vehicle-side applications. Specifically, it may include: determining the current map link corresponding to the vehicle's current location in the first target map data;
[0103] The method for generating map association information according to one or more embodiments of this specification obtains map association information between a first target map data and a second target map data; the map association information includes map link association information between a first map link in the first target map data and a second map link in the second target map data;
[0104] Based on the map association information, determine the second map link in the second target map data that corresponds to the current map link;
[0105] The system acquires map information related to the second map link from the second target map data; this map information is provided to the vehicle. For example, it can be displayed by the vehicle's map information display module. Alternatively, it can be used by the vehicle's autonomous driving module or driving assistance module to determine the vehicle's driving strategy.
[0106] In practical applications, the first target map data may optionally include navigation map data; the second target map data may optionally include high-precision map data.
[0107] The embodiments in this specification provide another method for obtaining map information, which can be applied to the vehicle side, and may specifically include:
[0108] Determine the third map link corresponding to the vehicle's current location in the third map data;
[0109] Obtain topological map data and map topological association information generated by the map association information generation method according to one or more embodiments of this specification;
[0110] Based on the topology map data, determine the target topology link corresponding to the third map link in the topology map data;
[0111] Based on the map topology association information, determine the target map link corresponding to the target topology link in the target map data;
[0112] The system acquires map information related to the target map link from the target map data; this map information is provided to the vehicle. For example, it can be displayed by the vehicle's map information display module. Alternatively, it can be used by the vehicle's autonomous driving module or driving assistance module to determine the vehicle's driving strategy.
[0113] In practical applications, the target map data may optionally include high-precision map data; the third map data may include navigation map data.
[0114] In the above embodiments, since the high-precision map data is drawn based on point clouds collected from the real world, it has higher accuracy and better reflects the road trends in the real world. Therefore, using the road geometry in the high-precision map data as the source data for stable topological map data results in highly accurate topological map data. In practical applications, any map data can be used to match the topological map data generated based on the high-precision map data provided in the embodiments of this specification, thereby obtaining high-precision map data with high matching accuracy.
[0115] Based on the same idea, embodiments of this specification also provide apparatus corresponding to the above methods.
[0116] Figure 3 The embodiments provided in this specification correspond to Figure 1 A schematic diagram of the structure of a map association information generation device.
[0117] like Figure 3 As shown, the device may include:
[0118] The map data acquisition module 302 is used to acquire target map data; the target map data includes map link information and map link attachment information.
[0119] The topology map data generation module 304 is used to generate topology links based on map links that meet preset attachment conditions according to the map link attachment information, and obtain topology map data; the topology map data includes topology link information and topology link attachment information.
[0120] The map topology association information determination module 306 is used to establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0121] based on Figure 3 The embodiments of this specification also provide some specific implementations of the device, which will be described below.
[0122] Optionally, the map link attachment information includes the number of links attached; the topology map data generation module 304 can be specifically used to: for each map link attachment point, determine whether the number of map links attached to the map link attachment point is 2, and obtain a determination result; if the determination result is yes, then generate a topology link based on the two map links attached to the map link attachment point.
[0123] Optionally, the topology map data generation module 304 can be specifically used to: obtain grid division information for the topology map data; determine the topology link to be processed that intersects with the grid boundary line according to the grid division information; determine the intersection point of the topology link to be processed and the grid boundary line as the new topology link attachment point; and split the topology link to be processed into a first processed topology link and a second processed topology link that are attached to the new topology link attachment point.
[0124] Optionally, the map topology association information determination module 306 can be specifically used to: for each topology link, establish an identifier correspondence between the identifier of the topology link and the identifier of at least one corresponding map link; based on the identifier correspondence, establish an attribute correspondence between the identifier of the topology link and the preset road attribute information of the corresponding at least one map link; the preset road attribute information includes one or more of road type information, road shape information, and road driving direction information.
[0125] Optionally, the map association information generation device may further include:
[0126] The topology link association information determination module 308 is used to determine the topology link association information between a first topology link in the first topology map data and a second topology link in the second topology map data; the first topology map data is generated based on a first target map data; the first topology map data is generated based on a second target map data; the second target map data is different from the first target map data;
[0127] The map link association information determination module 310 is used to determine the map link association information between the first map link in the first target map data and the second map link in the second target map data based on the first map topology association information corresponding to the first target map data, the second map topology association information corresponding to the second target map data, and the topology link association information.
[0128] Optionally, the topology link information includes coordinate point information; the topology link association information determination module 308 can be specifically used to: determine a one-to-one topology link association information between the first topology link and the second topology link with consistent coordinate point information based on the coordinate point information of the first topology link and the second topology link; wherein, the coordinate point information of the topology link is determined based on the coordinate point information of the one or more map links that generated the topology link.
[0129] Optionally, the topology link information includes coordinate point information; the topology link association information determination module 308 can be specifically used to: determine a preliminary one-to-many or many-to-one association relationship between the first topology link and the second topology link with consistent coordinate point information based on the coordinate point information of the first topology link and the second topology link; obtain preset road attribute information of the first topology link and the second topology link, wherein the preset road attribute information includes one or more of road type information, road shape information, and road driving direction information; and determine a one-to-one topology link association information between the first topology link and the first topology link with consistent preset road attribute information based on the preset road attribute information and the preliminary association relationship.
[0130] In optional embodiments, this description also provides a map information acquisition device corresponding to the aforementioned map information acquisition method. In practical applications, the map information acquisition device can be applied to a vehicle.
[0131] Optionally, a map information acquisition device may include:
[0132] The current map link determination module is used to determine the current map link corresponding to the vehicle's current position in the first target map data;
[0133] The map association information acquisition module is used to acquire map association information between a first target map data and a second target map data obtained by the map association information generation method according to one or more embodiments of this specification; the map association information includes map link association information between a first map link in the first target map data and a second map link in the second target map data.
[0134] The second map link determination module is used to determine the second map link in the second target map data that corresponds to the current map link based on the map association information.
[0135] The map information acquisition module is used to acquire map information related to the second map link in the second target map data; the map information is used to provide to the vehicle.
[0136] Optionally, a map information acquisition device may include:
[0137] The third map link determination module is used to determine the third map link corresponding to the vehicle's current location in the third map data;
[0138] The map association information acquisition module is used to acquire topological map data and map topological association information obtained by the map association information generation method according to one or more embodiments of this specification;
[0139] The target topology link determination module is used to determine the target topology link corresponding to the third map link in the topology map data based on the topology map data.
[0140] The target map link determination module is used to determine the target map link corresponding to the target topology link in the target map data based on the map topology association information.
[0141] The map information acquisition module is used to acquire map information related to the target map link in the target map data; the map information is used to provide to the vehicle.
[0142] It is understood that the modules mentioned above refer to computer programs or program segments used to perform one or more specific functions. Furthermore, the distinction between these modules does not imply that the actual program code must also be separate.
[0143] This specification also provides a computer device corresponding to the above method, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the following method:
[0144] Acquire target map data; the target map data includes map link information and map link attachment information.
[0145] Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information;
[0146] Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0147] Alternatively, the processor executing the computer program may also implement the following methods:
[0148] Determine the topological link association information between a first topological link in the first topological map data and a second topological link in the second topological map data; the first topological map data is generated based on a first target map data; the first topological map data is generated based on the second target map data; the second target map data is different from the first target map data;
[0149] Based on the first map topology association information corresponding to the first target map data, the second map topology association information corresponding to the second target map data, and the topology link association information, the map link association information between the first map link in the first target map data and the second map link in the second target map data is determined.
[0150] Following the same approach, embodiments of this specification also provide a computer-readable medium corresponding to the above-described methods. The computer-readable medium stores a computer program, which can be executed by a processor to implement the following methods:
[0151] Acquire target map data; the target map data includes map link information and map link attachment information.
[0152] Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information;
[0153] Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0154] Alternatively, the computer program, which can be executed by a processor, can also implement the following methods:
[0155] Determine the topological link association information between a first topological link in the first topological map data and a second topological link in the second topological map data; the first topological map data is generated based on a first target map data; the first topological map data is generated based on the second target map data; the second target map data is different from the first target map data;
[0156] Based on the first map topology association information corresponding to the first target map data, the second map topology association information corresponding to the second target map data, and the topology link association information, the map link association information between the first map link in the first target map data and the second map link in the second target map data is determined.
[0157] Based on the same idea, embodiments of this specification also provide a computer program product corresponding to the above method, including a computer program that, when executed by a processor, implements the following method:
[0158] Acquire target map data; the target map data includes map link information and map link attachment information.
[0159] Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information;
[0160] Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data.
[0161] Optionally, when the computer program is executed by the processor, it may also implement the following methods:
[0162] Determine the topological link association information between a first topological link in the first topological map data and a second topological link in the second topological map data; the first topological map data is generated based on a first target map data; the first topological map data is generated based on the second target map data; the second target map data is different from the first target map data;
[0163] Based on the first map topology association information corresponding to the first target map data, the second map topology association information corresponding to the second target map data, and the topology link association information, the map link association information between the first map link in the first target map data and the second map link in the second target map data is determined.
[0164] The foregoing has described specific embodiments of this specification. In some cases, the actions or steps described in the claims may be performed in a different order than those shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are possible or may be advantageous.
[0165] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other.
[0166] The apparatus, devices and methods provided in the embodiments of this specification are corresponding. Therefore, the apparatus and devices also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the corresponding apparatus and devices will not be repeated here.
[0167] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.
[0168] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0169] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0170] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0171] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0172] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0173] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.
[0174] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A method for generating map association information, characterized in that, The method includes: Acquire target map data; the target map data includes map link information and map link attachment information. Based on the map link attachment information, a topology link is generated based on the map links that meet the preset attachment conditions, and topology map data is obtained; the topology map data includes topology link information and topology link attachment information; Establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data; The map link attachment information includes the number of links attached; the step of generating topology links based on the map links that meet preset attachment conditions, and obtaining topology map data, includes: For each map link attachment point, determine whether the number of map links attached to the map link attachment point is 2, and obtain the determination result; If the determination result is yes, then a topology link is generated based on the two map links attached to the map link attachment point.
2. The method as described in claim 1, characterized in that, After establishing the map topology association information between the map link and the topology link, the method further includes: Determine the topological link association information between a first topological link in the first topological map data and a second topological link in the second topological map data; the first topological map data is generated based on a first target map data; the second topological map data is generated based on a second target map data; the second target map data is different from the first target map data. Based on the first map topology association information corresponding to the first target map data, the second map topology association information corresponding to the second target map data, and the topology link association information, the map link association information between the first map link in the first target map data and the second map link in the second target map data is determined.
3. The method as described in claim 1, characterized in that, The step of generating topology links based on map links that meet preset linking conditions, according to the map link attachment information, to obtain topology map data includes: Obtain the raster division information for the topological map data; Based on the grid division information, determine the topology link to be processed that intersects with the grid boundary line; The intersection of the topology link to be processed and the grid boundary line is determined as the new topology link attachment point; The topology link to be processed is split into a first processed topology link and a second processed topology link that are attached to the newly added topology link attachment point.
4. The method as described in claim 2, characterized in that, The step of establishing map topology association information between the map link and the topology link includes: For each topology link, establish an identifier correspondence between the identifier of the topology link and the identifier of at least one corresponding map link; Based on the identification correspondence, an attribute correspondence is established between the identifier of the topology link and the preset road attribute information of the corresponding at least one map link; the preset road attribute information includes one or more of road type information, road shape information, and road driving direction information.
5. The method as described in claim 2, characterized in that, The topology link information includes coordinate point information; the determination of the topology link association information between the first topology link in the first topology map data and the second topology link in the second topology map data includes: Based on the coordinate point information of the first topological link and the second topological link, a one-to-one topological link association information is determined between the first topological link and the second topological link with consistent coordinate point information; wherein, the coordinate point information of the topological link is determined based on the coordinate point information of one or more map links that generated the topological link.
6. The method as described in claim 2, characterized in that, The topology link information includes coordinate point information; the determination of the topology link association information between the first topology link in the first topology map data and the second topology link in the second topology map data includes: Based on the coordinate point information of the first topology link and the second topology link, a preliminary one-to-many or many-to-one association relationship is determined between the first topology link and the second topology link with consistent coordinate point information. Obtain preset road attribute information for the first topology link and the second topology link; the preset road attribute information includes one or more of road type information, road shape information, and road driving direction information; Based on the preset road attribute information and the preliminary association relationship, a one-to-one topology link association information is determined between the first topology link and the first topology link with the same preset road attribute information.
7. A method for acquiring map information, characterized in that, The method includes: Determine the vehicle's current location in the current map link corresponding to the first target map data; Obtain map association information between the first target map data and the second target map data generated by the method as described in any one of claims 1 to 6; the map association information includes map link association information between the first map link in the first target map data and the second map link in the second target map data; Based on the map association information, determine the second map link in the second target map data that corresponds to the current map link; Obtain map information related to the second map link from the second target map data; the map information is used to provide to the vehicle.
8. A method for acquiring map information, characterized in that, The method includes: Determine the third map link corresponding to the vehicle's current location in the third map data; Obtain the topological map data and map topological association information generated by the method as described in any one of claims 1 to 6; Based on the topology map data, determine the target topology link corresponding to the third map link in the topology map data; Based on the map topology association information, determine the target map link corresponding to the target topology link in the target map data; Obtain map information related to the target map link from the target map data; the map information is used to provide to the vehicle.
9. A map association information generation device, characterized in that, The device includes: The map data acquisition module is used to acquire target map data; the target map data includes map link information and map link attachment information. The topology map data generation module is used to generate topology links based on map links that meet preset attachment conditions according to the map link attachment information, thereby obtaining topology map data; the topology map data includes topology link information and topology link attachment information. The map topology association information determination module is used to establish map topology association information between the map link and the topology link; the map topology association information is used to determine the association information between different target map data, or to determine the association information between the target map data and other map data; The map link attachment information includes the number of links attached; the topology map data generation module is specifically used to determine whether the number of map links attached to each map link attachment point is 2, and obtain the determination result. If the determination result is yes, then a topology link is generated based on the two map links attached to the map link attachment point.
10. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 8.
11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 8.