A method, device and medium for matching a high-precision map with a traditional navigation path

Abstract

This application discloses a method, apparatus, medium, and device for matching high-precision maps with traditional navigation paths, belonging to the field of computer technology. The method mainly includes: obtaining the range of a high-precision road segment using the road boundaries of each high-precision road segment in the high-precision map and the boundaries at the beginning and end of the high-precision road segment; obtaining a high-precision road segment matching each trajectory point based on the absolute position of the trajectory points of the traditional navigation path in the traditional navigation map and the absolute positions of multiple high-precision road segment ranges; obtaining multiple consecutive high-precision road segments matching the corresponding traditional navigation path based on multiple consecutive trajectory points; and obtaining a high-precision map matching the corresponding traditional navigation path based on the multiple consecutive high-precision road segments. This application can effectively avoid erroneous matching and improve matching accuracy.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, apparatus, medium and device for matching high-precision maps with traditional navigation paths. Background Technology

[0002] When existing autonomous driving products are deployed, high-precision maps cannot directly provide navigation functionality. It is necessary to match traditional navigation routes obtained from conventional navigation onto high-precision maps to determine which parts of the high-precision map should be activated on the vehicle, and then activate the corresponding high-precision map products for assisted driving and autonomous driving.

[0003] Existing technologies using Hidden Markov Models (HMMs) to match high-precision navigation maps with traditional navigation paths require determining whether the distances between preceding and following trajectory points on the traditional navigation path, the trajectory direction of the traditional navigation path, and the angle between the centerline of the road on the high-precision map and the distances between these distances exceed a certain threshold to determine if the traditional navigation path matches the road on the high-precision map. However, this threshold is difficult to control. Furthermore, existing technologies rely on the road centerline of the high-precision map; when the dimensions of the road centerline change and it is no longer in the center of the road, the matching accuracy decreases significantly. Summary of the Invention

[0004] To address the problems existing in the prior art, this application mainly provides a method, apparatus, medium, and device for matching high-precision maps with traditional navigation paths. By matching the trajectory points of traditional navigation paths with the road segment ranges in high-precision maps, it can effectively avoid mismatches and improve matching accuracy.

[0005] In a first aspect, embodiments of this application provide a method for matching high-precision maps with traditional navigation paths, comprising:

[0006] The high-precision road segment range is obtained by using the road boundary of each high-precision road segment in the high-precision map and the boundaries at the beginning and end of the high-precision road segment; the high-precision road segment matching each trajectory point is obtained based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges; and multiple consecutive high-precision road segments matching the corresponding traditional navigation path are obtained based on multiple consecutive trajectory points, and a high-precision map matching the corresponding traditional navigation path is obtained based on multiple consecutive high-precision road segments.

[0007] Secondly, embodiments of this application provide an apparatus for matching high-precision maps with traditional navigation paths, comprising:

[0008] The high-precision road segment range acquisition module is used to obtain the high-precision road segment range by utilizing the road boundaries of each high-precision road segment in the high-precision map and the boundaries at the beginning and end of the high-precision road segment; the matching module is used to obtain the high-precision road segment that matches each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges; the continuous processing module is used to obtain multiple continuous high-precision road segments that match the corresponding traditional navigation path based on multiple continuous trajectory points, and to obtain a high-precision map that matches the corresponding traditional navigation path based on multiple continuous high-precision road segments.

[0009] Thirdly, embodiments of this application provide a driving system that includes the aforementioned device for matching high-precision maps with traditional navigation routes.

[0010] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions that are operated to perform the method of matching high-precision maps with conventional navigation paths as described above.

[0011] Fifthly, embodiments of this application provide a computer device including a processor and a memory, the memory storing computer instructions that are operated to execute the method of matching high-precision maps with conventional navigation paths as described above.

[0012] The beneficial effects of the technical solution of this application are: a method, apparatus, medium, and device for matching high-precision maps with traditional navigation paths. This application utilizes the trajectory points of traditional navigation paths to match the road segment ranges in high-precision maps, which can effectively avoid mismatches and improve matching accuracy. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description exemplarily illustrate some embodiments of this application.

[0014] Figure 1 This is a schematic flowchart illustrating a specific implementation of a method for matching high-precision maps with traditional navigation paths, as described in this application.

[0015] Figure 2 This is a schematic diagram of a specific embodiment of the device for matching high-precision maps with traditional navigation paths according to this application;

[0016] Figure 3 This is a schematic diagram of a continuous high-precision road segment in a specific embodiment of a method for matching high-precision maps with traditional navigation paths according to this application;

[0017] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0018] The preferred embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of this application.

[0019] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0020] Compared to traditional electronic maps, high-precision maps offer higher accuracy and more data dimensions. Traditional electronic maps have meter-level accuracy, commercial GPS has 5-meter accuracy, while high-precision maps have centimeter-level accuracy. Traditional electronic maps only record road-level data: road shape, slope, curvature, paving, direction, etc. High-precision maps not only add lane-related data, such as lane line type and lane width, but also a large amount of target data such as elevated objects, guardrails, trees, road edge types, and roadside landmarks. High-precision maps can clearly distinguish details such as lane line types and roadside landmarks.

[0021] When existing autonomous driving products are deployed, high-precision maps cannot directly provide navigation functionality. It is necessary to match traditional navigation routes obtained from conventional navigation onto high-precision maps to determine which parts of the high-precision map should be activated on the vehicle, and then activate the corresponding high-precision map products for assisted driving and autonomous driving.

[0022] Current technologies for matching high-precision navigation maps with traditional navigation paths utilize Hidden Markov Models (HMMs). These models rely on the distances between preceding and following points on the traditional navigation path, the direction of the traditional path, and the angle between the centerline of the high-precision map's road. They determine if these distances exceed a certain threshold to judge whether the traditional navigation path matches the high-precision map's road. However, controlling this threshold is quite difficult. Furthermore, current technologies depend on the centerline of the high-precision map's road; when the centerline's dimensions change and it is no longer in the center of the road, the matching accuracy drops significantly.

[0023] This application matches navigation paths from traditional navigation maps with relatively fixed road ranges in high-precision maps. When performing matching calculations between high-precision navigation maps and traditional navigation paths, the positional accuracy of both the trajectory points on the traditional navigation path and the high-precision map is crucial. The accuracy of high-precision maps is undoubtedly relatively high. Furthermore, evaluations have shown that the positional accuracy of trajectory points on traditional navigation paths is also relatively high. Therefore, by matching the trajectory points on the traditional navigation map with the road segments on the high-precision map, and directly determining which road range the navigation path trajectory points correspond to, the matching accuracy can be significantly improved.

[0024] The technical solutions of this application will now be described in detail with reference to specific embodiments and accompanying drawings. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0025] Figure 1 This paper illustrates a specific implementation of a method for matching high-precision maps with traditional navigation paths, as described in this application.

[0026] exist Figure 1 The specific implementation of the method for matching high-precision maps with traditional navigation paths shown in this application includes the following steps: Step S101, obtaining the high-precision range of each high-precision road segment using the road boundary of each high-precision road segment in the high-precision map and the boundaries at the beginning and end of the high-precision road segment; Step S102, obtaining a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of the range of multiple high-precision road segments; and Step S103, obtaining multiple consecutive high-precision road segments matching the corresponding traditional navigation path based on multiple consecutive trajectory points, and obtaining a high-precision map matching the corresponding traditional navigation path based on the multiple consecutive high-precision road segments.

[0027] This application uses the trajectory points of traditional navigation paths to match the road segment ranges in high-precision maps, which can effectively avoid mismatches and improve matching accuracy.

[0028] Process S101 represents the process of obtaining the high-precision road segment range by utilizing the road boundary of each high-precision road segment in the high-precision map and the boundaries at the beginning and end of the high-precision road segment. This facilitates matching the absolute position of the high-precision road segment range with the trajectory points of the traditional navigation path.

[0029] Existing technologies for matching high-precision navigation maps with traditional navigation paths rely on the road centerlines of the high-precision maps, but the specifications of these centerlines can change. When the road centerline changes and is no longer in the center of the road, mismatches occur during the matching process, significantly reducing accuracy. This application first obtains a fixed road range from the high-definition map, which facilitates matching this road range with traditional navigation path trajectory points. This effectively avoids mismatches and improves matching accuracy. Specifically, the length of each high-precision road segment is a value determined according to predetermined rules, and can be the same or different.

[0030] Process S102 represents obtaining a high-precision road segment that matches each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges. This process can use the road range of the high-definition map to match the trajectory point of the traditional navigation path, effectively avoiding mismatches and improving the matching accuracy.

[0031] Specifically, the absolute positions mentioned above refer to the latitude and longitude of the corresponding locations, and the trajectory points of the traditional navigation path mentioned above are the trajectory points that are inherent to the traditional navigation path.

[0032] In one specific embodiment of this application, the process of obtaining a high-precision road segment matching each trajectory point based on the absolute position of trajectory points in a traditional navigation map and the absolute positions of multiple high-precision road segment ranges includes searching for a range of high-precision road segments whose absolute positions contain the absolute positions of each trajectory point, and determining the corresponding high-precision road segment as the high-precision road segment matching the corresponding trajectory point. This allows for the rapid finding of high-precision road segments matching the navigation path based on absolute positions.

[0033] In one specific embodiment of this application, the process of obtaining a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges includes: calculating the representative position of each high-precision road segment range, finding the representative position whose distance from the absolute position of each trajectory point is not greater than a preset distance threshold, and determining the high-precision road segment corresponding to the trajectory point as the high-precision road segment matching the corresponding trajectory point.

[0034] Specifically, the representative location of the aforementioned high-precision road segment range can be the geometric center of each high-precision road segment, or it can be a point whose coordinates are the average of the coordinates of each vertex of each high-precision road segment range.

[0035] In one specific embodiment of this application, the process of obtaining a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges includes obtaining a high-precision road segment matching each trajectory point of the traditional navigation path based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map, the absolute position of multiple high-precision road segment ranges, road label information in the high-precision map, and road label information in the traditional navigation map.

[0036] Specifically, the aforementioned road label information may include road classification information and road type information, such as urban road label information, urban expressway road label information, entrance and exit label information, and ramp label information.

[0037] In one specific embodiment of this application, the process of obtaining a high-precision road segment that matches the trajectory point of each traditional navigation path based on the absolute position of the trajectory point in the traditional navigation map, the absolute position of multiple high-precision road segment ranges, the road label information in the high-precision map, and the road label information in the traditional navigation map includes: searching for high-precision road segment ranges whose absolute positions contain the absolute positions of each trajectory point within the high-precision road segment ranges whose road label information is the same as the road label information of each trajectory point, and determining the corresponding high-precision road segment as the high-precision road segment that matches the corresponding trajectory point.

[0038] Specifically, a matching trajectory point and road segment in absolute location are not necessarily a correct match. For example, if a trajectory point in a traditional navigation path is located on a lower-level urban road, while a high-precision road segment is located on an upper-level urban expressway, even if the trajectory point's latitude and longitude coordinates fall within the road segment's range, the corresponding road segment is not a high-precision road segment that matches the trajectory point. Therefore, directly using the road range corresponding to a high-precision road segment with the same road label information and the trajectory point for matching can improve the accuracy of the matching.

[0039] Preferably, the matching is performed using the road segment range corresponding to the high-precision road segment with the same label as the urban road and the trajectory points of the traditional navigation path, so as to avoid the situation of confusing the urban expressway with the urban road with the same latitude and longitude coordinates during the matching.

[0040] Preferably, the matching is performed by using the road segment range corresponding to the high-precision road segment with the same tag as the entrance / exit, as well as the trajectory points of the traditional navigation path, to improve the accuracy of the matching.

[0041] In one specific embodiment of this application, the process of obtaining a high-precision road segment matching each trajectory point of a traditional navigation path based on the absolute position of the trajectory point in a traditional navigation map, the absolute position of multiple high-precision road segment ranges, road label information in the high-precision map, and road label information in the traditional navigation map includes: searching for a range of high-precision road segments whose absolute position includes the absolute position of each trajectory point to obtain a candidate matching high-precision road segment for each trajectory point; determining whether the road label information of the candidate matching high-precision road segment is the same as the road label information of the corresponding trajectory point; if they are the same, the candidate matching high-precision road segment is determined as the high-precision road segment matching the corresponding trajectory point; otherwise, the candidate matching high-precision road segment is not determined as the high-precision road segment matching the corresponding trajectory point. First, matching is performed based on absolute position, and then further filtering of the obtained matching pairs using road type labels can improve the accuracy of the matching.

[0042] Process S103 represents obtaining multiple continuous high-precision road segments that match the corresponding traditional navigation path based on multiple continuous trajectory points, and obtaining a high-precision map that matches the corresponding traditional navigation path based on multiple continuous high-precision road segments. Based on continuity, a high-precision map that matches the corresponding traditional navigation path can be finally obtained, so as to further open up the corresponding high-precision map product and thus provide services.

[0043] In one specific embodiment of this application, the process of obtaining multiple consecutive high-precision road segments matching the corresponding traditional navigation paths based on multiple consecutive trajectory points of the traditional navigation paths includes, according to the direction of the navigation path, sequentially calculating consecutive high-precision road segments that intersect the trajectory lines connecting each trajectory point and the next trajectory point on the traditional navigation path, and whose high-precision road segments matching each trajectory point are topologically connectable. Specifically, as shown... Figure 3 As shown, high-precision section 3 is a continuous section of high-precision section 2.

[0044] Existing technologies, based on the distance between preceding and following trajectory points and the angle between the trajectory direction and the road centerline, often miss roads in high-definition maps when the observation range of the two trajectory points cannot reach the road if some roads are short and adjacent trajectory points are far apart. This necessitates inserting observation points for optimization, increasing the number of observations and calculations. This application, however, utilizes the intersection of the line connecting preceding and following trajectory points with the road segment, avoiding the omission of road segments and eliminating the need to add observation points. This improves matching efficiency without increasing computational load.

[0045] Figure 2 This paper illustrates a specific embodiment of a device for matching high-precision maps with conventional navigation paths, as described in this application.

[0046] exist Figure 2 The specific embodiment of the apparatus for matching high-precision maps with traditional navigation paths shown in this application includes,

[0047] The high-precision road segment range acquisition module 201 is used to obtain the high-precision road segment range of each high-precision road segment in the high-precision map using the road boundary and the boundaries at the beginning and end of the high-precision road segment; the matching module 202 is used to obtain the high-precision road segment that matches each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges; the continuous processing module 203 is used to obtain multiple continuous high-precision road segments that match the corresponding traditional navigation path based on multiple continuous trajectory points, and to obtain a high-precision map that matches the corresponding traditional navigation path based on multiple continuous high-precision road segments.

[0048] The device described in this application can match the trajectory points of traditional navigation paths with the road segment ranges in high-precision maps, which can effectively avoid mismatches and improve the matching accuracy.

[0049] The high-precision road segment range acquisition module 201 is used to segment roads in a high-precision map to obtain multiple high-precision road segments, and to obtain the range of multiple high-precision road segments using the road edge lines and segmentation edge lines of each high-precision road segment. This module can facilitate matching the absolute position of the high-precision road segment range with the trajectory points of the traditional navigation path.

[0050] Existing technologies for matching high-precision navigation maps with traditional navigation paths rely on the road centerlines of the high-precision maps, but the specifications of these centerlines can change. When the road centerlines change and are no longer in the center of the road, mismatches occur during the matching process, significantly reducing accuracy. This application first obtains a fixed road range from the high-definition map, enabling the matching of this road range with traditional navigation path trajectory points. This effectively avoids mismatches and improves matching accuracy.

[0051] The matching module 202 is used to obtain the high-precision road segment that matches each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges. It can use the road range of the high-definition map to match the trajectory point of the traditional navigation path, so that the matching process can effectively avoid mismatch and improve the matching accuracy.

[0052] Specifically, the absolute positions mentioned above refer to the latitude and longitude of the corresponding locations.

[0053] In one specific embodiment of this application, the matching module 202, which is used to obtain a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges, can be used to search for high-precision road segment ranges whose absolute positions include the absolute position of each trajectory point, and determine the corresponding high-precision road segment as the high-precision road segment matching the corresponding trajectory point. This allows for the rapid finding of high-precision road segments matching the navigation path based on absolute position.

[0054] In one specific embodiment of this application, the matching module 202, which is used to obtain a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges, can be used to calculate the representative position of the high-precision road segment range, wherein the representative position can be the geometric center position, find the representative position whose distance from the absolute position of each trajectory point does not exceed a preset threshold, and determine the corresponding high-precision road segment as the high-precision road segment matching the corresponding trajectory point.

[0055] In one specific embodiment of this application, the matching module 202, which is used to obtain a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges, is also used to obtain a high-precision road segment matching each trajectory point of the traditional navigation path based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map, the absolute position of the multiple high-precision road segment ranges, the road label information in the high-precision map, and the road label information in the traditional navigation map.

[0056] Specifically, the aforementioned road label information may include road grade information and road type information, such as urban road label information, urban expressway road label information, entrance and exit label information, and ramp label information.

[0057] In one specific embodiment of this application, the matching module 202 described above, which is used to obtain a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges, can be used to search for high-precision road segment ranges whose absolute positions contain the absolute positions of each trajectory point in the high-precision road segment ranges whose road label information is the same as the road label information of each trajectory point, and determine the corresponding high-precision road segment as the high-precision road segment matching the corresponding trajectory point.

[0058] Specifically, a matching trajectory point and road segment in absolute location are not necessarily a correct match. For example, if a trajectory point in a traditional navigation path is located on a lower-level urban road, while a high-precision road segment is located on an upper-level urban expressway, even if the trajectory point's latitude and longitude coordinates fall within the road segment's range, the corresponding road segment is not a high-precision road segment that matches the trajectory point. Therefore, directly using the road range corresponding to a high-precision road segment with the same road label information and the trajectory point for matching can improve the accuracy of the matching.

[0059] Preferably, the matching module 202 described above, which is used to obtain the high-precision road segment that matches each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges, can be used to match the road segment range corresponding to the high-precision road segment with the same label as urban road and the trajectory point of the traditional navigation path, so as to avoid the situation of confusing urban expressways with urban roads with the same latitude and longitude coordinates during the matching.

[0060] Preferably, the matching module 202 described above, which is used to obtain the high-precision road segment that matches each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges, can be used to match the road segment range corresponding to the high-precision road segment with the same tag as the entrance / exit and the trajectory point of the traditional navigation path, thereby improving the accuracy of the matching.

[0061] In one specific embodiment of this application, the matching module 202, which is used to obtain a high-precision road segment matching each trajectory point based on the absolute position of the trajectory point in a traditional navigation path in a traditional navigation map and the absolute position of multiple high-precision road segment ranges, can be used to: search for a high-precision road segment range whose absolute position includes the absolute position of each trajectory point to obtain a candidate matching high-precision road segment for each trajectory point; determine whether the road label information of the candidate matching high-precision road segment is the same as the road label information of the corresponding trajectory point; if they are the same, then the candidate matching high-precision road segment is determined as a high-precision road segment matching the corresponding trajectory point; otherwise, the candidate matching high-precision road segment is not determined as a high-precision road segment matching the corresponding trajectory point. First, matching is performed based on absolute position, and then the matching pairs are further filtered using road type labels, which can improve the accuracy of the matching.

[0062] The continuous processing module 203 is used to obtain multiple continuous high-precision road segments that match the corresponding traditional navigation path based on multiple continuous trajectory points, and to obtain a high-precision map that matches the corresponding traditional navigation path based on multiple continuous high-precision road segments. It can ultimately obtain a high-precision map that matches the corresponding traditional navigation path based on continuity, so as to further open up the corresponding high-precision map products and provide services.

[0063] In one specific embodiment of this application, the high-precision map continuous processing module 203 described above, which is used to obtain multiple continuous high-precision road segments that match the corresponding traditional navigation path based on multiple continuous trajectory points, and to obtain high-precision map continuous processing modules that match the corresponding traditional navigation path based on multiple continuous high-precision road segments, can be used to sequentially filter and obtain continuous high-precision road segments that intersect with the trajectory lines connecting each trajectory point and the next trajectory point on the traditional navigation path, and that are topologically connectable with the high-precision road segments that match each trajectory point, based on the direction of the navigation path.

[0064] Existing technologies, based on the distance between preceding and following trajectory points and the angle between the trajectory direction and the road centerline, often miss roads in high-definition maps when the observation range of the two trajectory points cannot reach the road if some roads are short and adjacent trajectory points are far apart. This necessitates inserting observation points for optimization, increasing the number of observations and calculations. This application, however, utilizes the intersection of the line connecting preceding and following trajectory points with the road segment, avoiding the omission of road segments and eliminating the need for additional observation points, thus reducing computational load and improving matching efficiency.

[0065] In another specific embodiment of this application: a driving system is provided, wherein the driving system includes a device for matching a high-precision map with a conventional navigation path, optionally, the image sensing display device includes a processor and a memory, the processor and the memory being coupled; the device for matching a high-precision map with a conventional navigation path is used to execute the method for matching a high-precision map with a conventional navigation path in any of the above schemes.

[0066] In one specific embodiment of this application, the functional modules in the device for matching high-precision maps with traditional navigation paths can be directly in hardware, in software modules executed by a processor, or in a combination of both.

[0067] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0068] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0069] In another specific embodiment of this application, a computer-readable storage medium stores computer instructions that are operated to perform a method for matching a high-precision map with a conventional navigation path, as described above.

[0070] In another specific embodiment of this application, a computer device includes a processor and a memory, the memory storing computer instructions that are operated to perform the method of matching high-precision maps with conventional navigation paths in any of the above schemes.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0072] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0073] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A method for matching high-precision maps with traditional navigation paths, characterized in that, include: The high-precision road segment range is obtained by using the road boundary of each high-precision road segment in the high-precision map and the boundaries at the beginning and end of the high-precision road segment; Based on the absolute positions of trajectory points of traditional navigation paths in traditional navigation maps and the absolute positions of multiple high-precision road segment ranges, a high-precision road segment matching each trajectory point is obtained. The process of obtaining the high-precision road segment matching each trajectory point based on the absolute positions of trajectory points of traditional navigation paths in traditional navigation maps and the absolute positions of multiple high-precision road segment ranges includes: Based on the absolute positions of trajectory points of traditional navigation paths in the traditional navigation map, the absolute positions of the plurality of high-precision road segment ranges, road label information in the high-precision map, and road label information in the traditional navigation map, a high-precision road segment matching the trajectory points of each traditional navigation path is obtained. The process of obtaining the high-precision road segment matching the trajectory points of each traditional navigation path based on the absolute positions of trajectory points of traditional navigation paths in the traditional navigation map, the absolute positions of the plurality of high-precision road segment ranges, road label information in the high-precision map, and road label information in the traditional navigation map includes: Within the range of high-precision road segments for which the road label information is the same as that of each trajectory point, a search is performed on the range of high-precision road segments whose absolute positions include the absolute positions of each trajectory point, and the corresponding high-precision road segment is determined as the high-precision road segment that matches the corresponding trajectory point; and... Based on multiple consecutive trajectory points, multiple consecutive high-precision road segments matching the corresponding traditional navigation path are obtained, and based on the multiple consecutive high-precision road segments, a high-precision map matching the corresponding traditional navigation path is obtained.

2. The method for matching high-precision maps with traditional navigation paths according to claim 1, characterized in that, The process of obtaining the high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of the range of multiple high-precision road segments includes, The high-precision road segment range containing the absolute position of each trajectory point is searched, and the corresponding high-precision road segment is determined as the high-precision road segment that matches the corresponding trajectory point.

3. The method for matching high-precision maps with traditional navigation paths according to claim 1, characterized in that, The process of obtaining the high-precision road segment matching each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of the range of multiple high-precision road segments includes, The representative position of each high-precision road segment is calculated, the representative position whose distance from the absolute position of each trajectory point is not greater than a preset distance threshold is found, and the high-precision road segment corresponding to the trajectory point is determined as the high-precision road segment that matches the corresponding trajectory point.

4. The method of high-precision map and traditional navigation path matching according to claim 1, characterized in that, The process of obtaining a high-precision road segment matching the trajectory points of each traditional navigation path based on the absolute positions of the trajectory points of the traditional navigation path in the traditional navigation map, the absolute positions of the plurality of high-precision road segment ranges, the road label information in the high-precision map, and the road label information in the traditional navigation map includes, Searching the range of high-precision road segments whose absolute positions include the absolute positions of each trajectory point yields candidate matching high-precision road segments for each trajectory point. A determination is made as to whether the road label information of the candidate matching high-precision road segment is the same as the road label information of the corresponding trajectory point; If they are the same, the candidate matching high-precision road segment is determined as a high-precision road segment that matches the corresponding trajectory point; otherwise, the candidate matching high-precision road segment is not determined as a high-precision road segment that matches the corresponding trajectory point. 5.The method of high-precision map and traditional navigation path matching according to claim 1, characterized in that, The process of obtaining multiple consecutive high-precision road segments that match the corresponding traditional navigation path based on multiple consecutive trajectory points includes, Based on the direction of the navigation path, the continuous high-precision road segments that intersect with the trajectory lines connecting each trajectory point and the next trajectory point on the traditional navigation path and match each trajectory point are calculated sequentially.

6. An apparatus for matching a high-precision map with a traditional navigation path, the apparatus comprising: a processor configured to: receive a high-precision map; receive a traditional navigation path; and match the high-precision map with the traditional navigation path. include, The high-precision road segment range acquisition module is used to obtain the high-precision road segment range of the high-precision road segment by utilizing the road boundary of each high-precision road segment in the high-precision map and the boundaries at the beginning and end of the high-precision road segment; The matching module is used to obtain a high-precision road segment that matches each trajectory point based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map and the absolute position of multiple high-precision road segment ranges. The process of obtaining the high-precision road segment that matches each trajectory point includes: obtaining a high-precision road segment that matches each trajectory point of the traditional navigation path based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map, the absolute position of the multiple high-precision road segment ranges, road label information in the high-precision map, and road label information in the traditional navigation map. The process of obtaining a high-precision road segment that matches the trajectory point of each traditional navigation path based on the absolute position of the trajectory point of the traditional navigation path in the traditional navigation map, the absolute position of the range of the plurality of high-precision road segments, the road label information in the high-precision map, and the road label information in the traditional navigation map includes: searching for the range of high-precision road segments whose absolute position contains the absolute position of each trajectory point in the range of high-precision road segments whose road label information is the same as the road label information of each trajectory point, and determining the corresponding high-precision road segment as the high-precision road segment that matches the corresponding trajectory point; The continuous processing module is used to obtain multiple continuous high-precision road segments that match the corresponding traditional navigation path based on multiple continuous trajectory points, and to obtain a high-precision map that matches the corresponding traditional navigation path based on the multiple continuous high-precision road segments.

7. A driving system characterized by comprising: The driving system includes the device for matching high-precision maps with conventional navigation paths as described in claim 6.

8. A computer-readable storage medium having stored computer instructions, the computer instructions comprising: When the computer instructions are executed, the computer performs the method of matching the high-precision map with the conventional navigation path as described in any one of claims 1-5.

9. A computer device comprising a processor and a memory, the memory storing computer instructions, wherein, The computer instructions, when executed by the processor, implement the method of high-precision map and traditional navigation path matching according to any one of claims 1-5.

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