Map tile acquisition method, apparatus, device, and medium

Abstract

Embodiments of the present disclosure disclose a map tile acquisition method, device, equipment and medium. The method comprises: acquiring road shape points of a navigation path; in response to a distance between target adjacent road shape points being greater than or equal to a preset interpolation point distance threshold and the target adjacent road shape points not being in the same map tile, interpolating points between the target adjacent road shape points, acquiring path points of the navigation path, the path points comprising road shape points and interpolation points; and acquiring a target map tile based on the path points, wherein the target map tile covers the navigation path. The technical solution can acquire a map tile that can completely cover the navigation path, thereby reducing the number of map tiles that need to be downloaded, reducing the download time, and improving the real-time and completeness of data acquisition.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, specifically to a method, apparatus, device, and medium for acquiring map tiles. Background Technology

[0002] In recent years, in addition to manual driving based on user input, autonomous driving, which involves executing user input on the vehicle side, has been proposed as a mode of vehicle operation. When the vehicle is operating autonomously, it needs to constantly monitor map elements along the driving path, such as road information and traffic lights. This relies on high-precision map data corresponding to the vehicle's path. In existing technologies, the client requests high-precision map data of the current location's map tile and nine surrounding map tiles from the server. This requires downloading a large number of map tiles, but some surrounding tiles' high-precision map data is not used, and the data volume of high-precision maps is also large. Downloading such a large number of map tiles is time-consuming and affects the real-time performance of data acquisition. Furthermore, inaccurate positioning also affects the accuracy of data acquisition. Therefore, how to improve the real-time performance and accurately and completely download the high-precision map data required for vehicle operation has become an urgent technical problem to be solved. Summary of the Invention

[0003] To address the problems in the related technologies, this disclosure provides a method, apparatus, device, and medium for acquiring map tiles.

[0004] In a first aspect, this disclosure provides a method for acquiring map tiles, including:

[0005] Obtain the road shape points of the navigation path;

[0006] In response to the fact that the distance between adjacent road shape points of the target is greater than or equal to a preset interpolation distance threshold and the adjacent road shape points of the target are not in the same map tile, an interpolation is performed between the adjacent road shape points of the target to obtain the path points of the navigation path, wherein the path points include road shape points and interpolation points;

[0007] Target map tiles are obtained based on the waypoints, wherein the target map tiles cover the navigation path.

[0008] Secondly, this disclosure provides a method for loading high-precision map data, comprising:

[0009] Obtain navigation routes based on origin and destination;

[0010] According to the map tile acquisition method described in the first aspect, the target map tile corresponding to the path point on the navigation path is obtained;

[0011] In response to generating a data loading request, the data loading request is sent to the server, and the data loading request carries the identification information of the target map tile to be downloaded;

[0012] Receive the high-precision map data corresponding to the target map tile requested by the server.

[0013] Thirdly, this disclosure provides an assisted driving method, including:

[0014] According to the method described in the second aspect, high-precision map data corresponding to the target map tile is loaded, wherein the target map tile is the target map tile corresponding to the path point on the navigation path;

[0015] Based on the current location, determine the target map tiles whose coverage area is located within a predetermined range prior to the current location;

[0016] Assisted driving is performed based on high-precision map data corresponding to the target map tiles within the predetermined range.

[0017] Fourthly, this disclosure provides a map tile acquisition device, comprising:

[0018] The shape point acquisition module is configured to acquire the road shape points of the navigation path;

[0019] The interpolation module is configured to interpolate between the adjacent road shape points in response to a target distance greater than or equal to a preset interpolation distance threshold and the adjacent road shape points not being in the same map tile, thereby obtaining the path points of the navigation path, wherein the path points include road shape points and interpolation points.

[0020] The tile acquisition module is configured to acquire target map tiles based on the waypoints, wherein the target map tiles cover the navigation path.

[0021] Fifthly, this disclosure provides a high-precision map data loading device, comprising:

[0022] The route acquisition module is configured to obtain navigation routes based on the origin and destination.

[0023] The map tile acquisition module is configured to acquire the target map tile corresponding to the path point on the navigation path according to the map tile acquisition method described in any of the first aspects;

[0024] The request module is configured to send the data loading request to the server in response to generating the data loading request, wherein the data loading request carries the identification information of the target map tile to be downloaded;

[0025] The receiving module is configured to receive high-precision map data corresponding to the target map tile requested for download by the server.

[0026] Sixthly, this disclosure provides an assisted driving device, including:

[0027] The data loading module is configured to load high-precision map data corresponding to the target map tile according to the method described in the second aspect, wherein the target map tile is the target map tile corresponding to the path point on the navigation path;

[0028] The determination module is configured to determine, based on the current location, target map tiles whose coverage area is located within a predetermined range prior to the current location;

[0029] The driver assistance module is configured to perform driver assistance based on high-precision map data corresponding to target map tiles within the predetermined range.

[0030] In a seventh aspect, embodiments of this disclosure provide an electronic device including a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method as described in any one of the first to third aspects.

[0031] Eighthly, this disclosure provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method as described in any one of the first to third aspects.

[0032] According to the technical solution provided in this embodiment, this implementation can obtain road shape points of the navigation path, and when the distance between adjacent target road shape points is greater than or equal to a preset interpolation distance threshold and the adjacent target road shape points are not in the same map tile, interpolation is performed between the adjacent target road shape points to obtain path points of the navigation path. The path points include road shape points and interpolation points. Target map tiles that can cover the navigation path can be obtained based on the path points. By reducing the distance between path points through interpolation, the problem of missing map tiles along the navigation path due to sparse path points can be avoided, ensuring data integrity. Moreover, the number of target map tiles obtained in this way is also smaller, reducing the number of map tiles to be downloaded and the download time, thus improving the real-time performance of data acquisition. In this way, both the real-time performance of data loading can be improved, and the high-precision map data required for vehicle driving can be downloaded accurately and completely.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0034] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0035] Figure 1 A flowchart illustrating a map tile acquisition method according to an embodiment of the present disclosure is provided.

[0036] Figure 2A A schematic diagram showing map tiles of waypoints and routes on a navigation path according to an embodiment of the present disclosure;

[0037] Figure 2B A schematic diagram illustrating the acquisition of peripheral tiles according to an embodiment of the present disclosure is shown;

[0038] Figure 3A A flowchart illustrating a high-precision map data loading method according to an embodiment of the present disclosure is provided.

[0039] Figure 3B A flowchart illustrating an assisted driving method according to an embodiment of the present disclosure is shown;

[0040] Figure 4A A structural block diagram of a map tile acquisition apparatus according to an embodiment of the present disclosure is shown;

[0041] Figure 4B A structural block diagram of a high-precision map data loading apparatus according to an embodiment of the present disclosure is shown;

[0042] Figure 4C A structural block diagram of an assisted driving device according to an embodiment of the present disclosure is shown;

[0043] Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown;

[0044] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown. Detailed Implementation

[0045] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0046] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and do not preclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0047] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0049] The following explains the main terms used in this application:

[0050] Map tiles: NDS (Navigation Data Standard) uses globally tiled map tiles, dividing the entire Earth's surface into a grid. The area covered by these approximately rectangular "tiles" is called a map tile. NDS uses map tiles as data storage units, uniquely identifying the map data content of the area covered by the tile based on its location coordinates. A map tile contains all map feature data within the area it covers. It should be noted that map tiles have multiple levels; the map tiles discussed in this application are predefined level map tiles, typically level 14.

[0051] Link (road segment): Simply put, it is a section of road between two intersections. Most links that need to be stored in the database are located in the same map tile, and these links are called base links. Some links may span two or more map tiles, and these links are called route links.

[0052] Road shape points: Road shape points are the data elements of a link. The geometry of a link can be expressed by a sequence of road shape points. Based on the sequence of road shape points corresponding to a link, a link can be described as a broken line: the starting point of the link is the first road shape point in the sequence, each road shape point is connected to its successor road shape point, and the last road shape point in the sequence is the ending point of the link.

[0053] As mentioned above, in recent years, in addition to manual driving based on user operation, autonomous driving, which assists users in driving by executing user operations on the vehicle side, has also been proposed as a mode of vehicle operation. When the vehicle is operating autonomously, it needs to constantly monitor map element information along the driving path, such as road information and traffic lights. This relies on high-precision map data corresponding to the vehicle's driving path. In existing technologies, the client requests the server to download high-precision map data of the map tile where the current location is located and nine surrounding map tiles. The number of map tiles to be downloaded is large, but some surrounding map tiles are not used, and their high-precision map data does not need to be downloaded. Furthermore, the data volume of high-precision map data is large, making the download of such a large number of map tiles time-consuming and affecting the real-time performance of data acquisition. Moreover, inaccurate positioning also affects the accuracy of data acquisition. Therefore, how to improve the real-time performance and accurately and completely download the high-precision map data required for vehicle operation has become an urgent technical problem to be solved.

[0054] This disclosure provides a method for acquiring map tiles. When road shape points are sparse, this method interpolates road shape points along the navigation path. Based on the path points obtained after interpolation (including road shape points and interpolation points), the target map tiles along the navigation path are determined. This avoids the problem of missing map tiles along the navigation path due to sparse path points, ensuring that the target map tiles covering the navigation path are obtained, thus guaranteeing data integrity. The client can then download the target map tile and use the high-precision map data along the navigation path for autonomous driving without needing to download other unnecessary map tiles. This reduces the number of map tiles that need to be downloaded, reduces download time, and improves the real-time performance of data acquisition. Therefore, this method improves the real-time performance of data loading, accurately and completely downloads the high-precision map data required for vehicle operation, and is independent of vehicle positioning, resulting in more accurate data acquisition.

[0055] Figure 1 A flowchart illustrating a map tile acquisition method according to an embodiment of the present disclosure is shown. Figure 1 As shown, the map tile acquisition method includes the following steps S101-S103:

[0056] In step S101, the road shape points of the navigation path are obtained;

[0057] In step S102, in response to the fact that the distance between adjacent road shape points of the target is greater than or equal to a preset interpolation distance threshold and the adjacent road shape points of the target are not in the same map tile, an interpolation is performed between the adjacent road shape points of the target to obtain the path points of the navigation path, wherein the path points include road shape points and interpolation points;

[0058] In step S103, a target map tile is obtained based on the waypoint, wherein the target map tile covers the navigation path.

[0059] In one possible implementation, the map tile acquisition method is applicable to a client capable of performing map tile acquisition, which may be a vehicle-mounted terminal or other device installed on a vehicle to assist in autonomous driving.

[0060] In one possible implementation, the navigation path can be obtained by the client requesting the server to plan the route after receiving the user's input of the origin and destination, or it can be obtained by the client itself after obtaining the origin and destination and planning the route. The navigation path can include at least one link, and the road shape points of these links can be obtained as the road shape points of the navigation path.

[0061] In one possible implementation, since the link corresponding to the navigation path may include a route link, if the map tile containing the road shape point of the navigation path is used to determine the map tiles traversed by the navigation path, and the route link is relatively straight with sparse road shape points, the distance between some adjacent road shape points may be large, resulting in the map tile containing the road shape point not completely covering the navigation path. For example, Figure 2A A schematic diagram showing waypoints and map tiles along a navigation path according to an embodiment of the present disclosure is shown, such as... Figure 2A As shown, the map tile numbers of the actual route taken by the navigation path are 1, 2, 3, 4, 5, 6, 7, while the road shape points ( Figure 2A The map tiles where the dots p1, p2, and p3 are located are labeled 1, 3, and 7, respectively. Map tiles labeled 2, 4, 5, and 6 are missing. Therefore, if the distance between some adjacent road shape points is greater than or equal to the preset interpolation distance threshold and these adjacent road shape points are not in the same map tile, these adjacent road shape points are recorded as target adjacent road shape points, and interpolation is performed between these target adjacent road shape points to avoid omissions in the map tiles traversed by the navigation path due to sparse path points. On the other hand, if the distance between some adjacent road shape points is close, in the same map tile, or the distance is less than the preset interpolation distance threshold, then no interpolation is needed between these adjacent road shape points.

[0062] Still with Figure 2AAs shown, adjacent road shape points p1 and p2 are not in the same map tile and their distance is greater than or equal to the preset insertion point spacing threshold. Therefore, a point can be inserted between p1 and p2. Similarly, p2 and p3 are also not in the same map tile and their distance is greater than or equal to the preset insertion point spacing threshold. Therefore, a point can be inserted between p2 and p3. When inserting points, if the distance between adjacent road shape points is small, fewer points can be inserted; if the distance between adjacent road shape points is large, more points can be inserted. For example, ... Figure 2A As shown, insert triangle point p21 between p1 and p2, and insert triangle points p232, p23, and p233 between p2 and p3. In this way, the path points (including circles and triangles) of the navigation path are obtained: p1, p21, p2, p232, p23, p233, and p3.

[0063] In one possible implementation, the map tile containing the waypoints of the navigation path can be used as the target map tile, still using... Figure 2A Taking the path points shown as an example, the target map tiles can be obtained as map tile 1, map tile 2, map tile 3, map tile 4, map tile 5, map tile 6, and map tile 7. Figure 2A As can be seen, the target map tile can completely cover the navigation path.

[0064] This implementation can acquire road shape points of the navigation path, and when the distance between adjacent road shape points is greater than or equal to a preset interpolation distance threshold and the adjacent road shape points are not in the same map tile, interpolation is performed on the road shape points to acquire path points of the navigation path. The path points include road shape points and interpolation points. Target map tiles that can cover the navigation path can be acquired based on the path points. By reducing the distance between path points through interpolation, the problem of missing map tiles along the navigation path due to sparse path points can be avoided, ensuring data integrity. Moreover, the number of target map tiles acquired in this way is also smaller, reducing the number of map tiles to be downloaded and the download time, thus improving the real-time performance of data acquisition. In this way, the real-time performance of data loading can be improved, and the high-precision map data required for vehicle driving can be downloaded accurately and completely. Furthermore, this map tile acquisition scheme does not rely on vehicle positioning, and the acquired target map tiles are more accurate.

[0065] In one possible implementation, the step of interpolating between adjacent road shape points of the target to obtain path points of the navigation path includes:

[0066] Interpolation is performed between adjacent road shape points of the target on the navigation path until the distance between adjacent path points is less than a preset interpolation distance threshold or the adjacent path points are within the same map tile.

[0067] In this implementation, point insertion can be performed between adjacent road shape points of the target navigation path. More insertion points can be inserted if the distance between adjacent road shape points is large, and fewer insertion points can be inserted if the distance is small. Insertion can be performed as long as the distance between adjacent path points is greater than or equal to a preset insertion point spacing threshold and the adjacent path points are not on the same map tile. If the distance between adjacent path points is less than the preset insertion point spacing threshold or the adjacent path points are on the same map tile, then insertion cannot be performed. For example, a bisection method can be used to insert points between adjacent road shape points of the target navigation path, such as... Figure 2A As shown, the adjacent road shape points of the navigation path can be traversed to obtain the target adjacent road shape points p1 and p2, as well as the target adjacent road shape points p2 and p3. Since p1 and p2 are not in the same map tile and the distance between p1 and p2 is greater than the preset interpolation distance threshold k, an interpolation point p21 is set at 1 / 2 of the line connecting p1 and p2. After inserting the interpolation point p21, it is possible to recursively determine whether an interpolation point is needed between p1 and p21, and between p21 and p2. Although p1 and p21 are not in the same map tile, the distance between them is less than the preset interpolation distance threshold k, so no interpolation point is inserted between p1 and p21. Similarly, although p2 and p21 are not in the same map tile, the distance between them is less than the preset interpolation distance threshold k, so no interpolation point is inserted between p2 and p21. After the recursion ends, the interpolation between the pair of adjacent road shape points p1 and p2 is completed. Similarly, using the bisection method, we can set an interpolation point p23 at the midpoint of the line connecting road shape point p2 and road shape point p3, an interpolation point p232 at the midpoint of the line connecting road shape point p2 and interpolation point p23, and an interpolation point p233 at the midpoint of the line connecting road shape point p3 and interpolation point p23. This way, the path points on the navigation path can be obtained as road shape point p1, interpolation point p21, road shape point p2, interpolation point p232, interpolation point p23, interpolation point p233, and road shape point p3 in sequence. Alternatively, as an example, the number of interpolation points adjacent to the target road shape point can be calculated based on the distance L1 between adjacent target road shape points and a preset interpolation point distance threshold L2. ( (To round up), then insert L interpolation points evenly between the target adjacent road shape points.

[0068] It should be noted that some adjacent road shape points are close to each other, possibly within the same map tile, or the spacing is less than the preset insertion point spacing threshold. In this case, it is not necessary to insert points between these adjacent road shape points.

[0069] In one possible implementation, obtaining the target map tile based on the waypoint includes:

[0070] The map tile where the path point is located is obtained as the main tile corresponding to the path point;

[0071] Map tiles whose minimum distance to the path point is less than the pre-configured gap-filling distance are selected as the surrounding tiles corresponding to the path point. The surrounding tiles corresponding to the path point are different from the main tiles corresponding to the path point.

[0072] In this implementation, the map tile where the waypoint is located can be used as the main tile corresponding to the waypoint. However, if the preset interpolation spacing threshold is determined, the interpolation may miss map tiles, resulting in the main tile not completely covering the navigation path. In this case, it is necessary to obtain surrounding tiles to fill the gaps. For example, Figure 2B A schematic diagram illustrating the acquisition of peripheral tiles according to an embodiment of the present disclosure is shown, such as... Figure 2B As shown, when the line connecting adjacent path points 201 and 202 on the navigation path crosses map tile A, the main tile corresponding to the path point does not include map tile A, which is missed by the navigation path. Therefore, to avoid missing map tiles covering the navigation path, a "supplementation distance" can be set. Other map tiles whose minimum distance to the path point is less than the supplementation distance and which are not the main tile corresponding to the path point can be obtained as the surrounding tiles corresponding to the path point. For example, the acquisition process can be as follows: obtain map tiles within a region centered on the path point and with the supplementation distance as the radius. The minimum distance between these map tiles and the path point will be less than the supplementation distance. Then, filter out the main tile corresponding to the path point to obtain the surrounding tiles corresponding to the path point. Alternatively, the minimum distance between the boundary of the map tiles surrounding the path point and the path point can be calculated, and other map tiles whose minimum distance is less than the supplementation distance and which are not the main tile corresponding to the path point can be obtained as the surrounding tiles corresponding to the path point.

[0073] It should be noted that, in order to avoid the surrounding tiles corresponding to this path point from being the same as the main tiles corresponding to other path points, it is also possible to limit the surrounding tiles to be different from any main tile.

[0074] This implementation can obtain the main tile corresponding to the path point and its surrounding tiles as the target map tile, avoiding the omission of map tiles that can cover the navigation path and ensuring the integrity of the target map tile covering the navigation path.

[0075] In one possible implementation, the method further includes:

[0076] The repair distance is determined based on the preset insertion point spacing threshold, wherein the repair distance is greater than or equal to 1 / 2 of the preset insertion point spacing threshold.

[0077] In this embodiment, the missing map tile can be determined based on a preset interpolation spacing threshold. If the missing tile is half of the preset interpolation spacing threshold, the missing map tile can be included in the surrounding tiles. Therefore, the missing tile can be set to be greater than or equal to half of the preset interpolation spacing threshold. For example, the missing tile can be half of the preset interpolation spacing threshold, or it can be the preset interpolation spacing threshold, etc.

[0078] For example, such as Figure 2B As shown, assuming the preset interpolation point spacing threshold is k, the gap-filling distance can be set to R = k. Then, scanning with path point 201 as the center and R as the radius will obtain map tile A as the surrounding tiles, encompassing the missed map tile A within the surrounding tiles. Alternatively, the gap-filling distance can be R = k / 2. If map tile A is not scanned with path point 201 as the center, it can be scanned with path point 202 as the center, ensuring that the missed map tile A is also included within the surrounding tiles.

[0079] In one possible implementation, the method may further include the following steps:

[0080] If the main tile corresponding to two adjacent path points is the same tile, then the main tiles corresponding to the two adjacent path points will be merged into one main tile;

[0081] Obtain the union of the surrounding tiles corresponding to the two adjacent path points as the surrounding tiles of the two adjacent path points.

[0082] In this implementation, assuming the waypoints of the navigation path are p1, p2, and p3 in sequence, the resulting set of target map tiles is:

[0083] {

[0084] { / / p1

[0085] Main tile: Main tile 1

[0086] Surrounding tiles: {surrounding tile 2}

[0087] },

[0088] { / / p2

[0089] Main tile: Main tile 1

[0090] Surrounding tiles: {surrounding tile 2, surrounding tile 3, surrounding tile 4}

[0091] }

[0092] { / / p3

[0093] Main tile: Main tile 3

[0094] Surrounding tiles: {surrounding tile 1, surrounding tile 2, surrounding tile 4}

[0095] }

[0096] }

[0097] As can be seen above, the main tiles of adjacent path points p1 and p2 are the same tile. Therefore, the main tiles corresponding to the two adjacent path points p1 and p2 can be merged into one main tile. The surrounding tiles of adjacent path points p1 and p2 can also be merged, resulting in the surrounding tiles {surrounding tile 2, surrounding tile 3, surrounding tile 4} corresponding to adjacent path points p1 and p2. The resulting set of target map tiles after merging is:

[0098] {

[0099] { / / p1+p2

[0100] Main tile: Main tile 1

[0101] Surrounding tiles: {surrounding tile 2, surrounding tile 3, surrounding tile 4}

[0102] },

[0103] { / / p3

[0104] Main tile: Main tile 3

[0105] Surrounding tiles: {surrounding tile 1, surrounding tile 2, surrounding tile 4}

[0106] }

[0107] }

[0108] This implementation can merge the main tile and surrounding tiles of two adjacent path points corresponding to the same tile, ensuring that adjacent main tiles are different and avoiding the waste of bandwidth resources by repeatedly downloading map tiles.

[0109] In one possible implementation, the method further includes:

[0110] For any of the main tiles, the surrounding tiles determined by the path points corresponding to the main tile are defined as a subset of tiles;

[0111] Based on the positional sorting of the path points in the navigation path, the tile subsets corresponding to all main tiles are arranged sequentially to obtain the tile sequence set corresponding to the navigation path.

[0112] In this implementation, for a main tile, the main tile plus all the surrounding tiles determined by its corresponding path points can be considered as a tile subset. It should be noted that if the main tile is formed by merging two identical main tiles at two adjacent path points, then the path points corresponding to the main tile are the two adjacent path points, and the main tile and all the surrounding tiles corresponding to the two adjacent path points constitute a tile subset. For example, taking the merging of path points p1 and p2 as an example, the main tile 1 and all the surrounding tiles {surrounding tile 1, surrounding tile 2, surrounding tile 4} corresponding to the path points p1 and p2 of the main tile 1 constitute a tile subset.

[0113] In this implementation, these tile subsets are sorted into queues according to the positions of the path points corresponding to their main tiles on the navigation path. This queue of tile subsets can be called the tile sequence set corresponding to the navigation path. Assuming the path points on the navigation path are sorted as pi, pj, the expression for the tile sequence set corresponding to the navigation path can be illustrated as follows:

[0114] Tile sequence set:{

[0115] { / / pi

[0116] Main tile: main tile i

[0117] Surrounding tiles: {surrounding tile a, surrounding tile b}

[0118] },

[0119] { / / pj

[0120] Main tile: main tilej

[0121] Surrounding tiles: {surrounding tile c, surrounding tile d}

[0122] }

[0123] }

[0124] It should be noted that when sorting tiles within each subset of tiles, the main tiles can be arranged before the surrounding tiles. Of course, they can also be sorted arbitrarily, and there are no restrictions here.

[0125] This embodiment can define the main tile and the surrounding tiles determined by the path points corresponding to the main tile as a tile subset, and sort the tile subsets corresponding to each main tile according to the path point positions in the navigation path. In this way, the client can download the high-precision map data of each map tile in sequence according to the sorting, which makes it convenient to obtain the required high-precision map data in advance according to the vehicle's driving progress.

[0126] Figure 3A A flowchart illustrating a high-precision map data loading method according to an embodiment of the present disclosure is shown. Figure 3A As shown, the high-precision map data loading method includes the following steps S301-S304:

[0127] In step S301, a navigation path is obtained based on the origin and destination;

[0128] In step S302, the target map tiles corresponding to the path points on the navigation path are obtained according to the map tile acquisition method described above.

[0129] In step S303, in response to generating a data loading request, the data loading request is sent to the server, and the data loading request carries the identification information of the target map tile to be downloaded;

[0130] In step S304, the high-precision map data corresponding to the target map tile requested for download is received from the server.

[0131] In one possible implementation, the high-precision map data loading method is applicable to a client capable of loading the high-precision map data, which may be a device such as an in-vehicle terminal installed to assist in autonomous driving of vehicles.

[0132] In one possible implementation, a user can input a departure point and destination into the client for route navigation. After receiving the user's input, the client can send a navigation request to the server, which carries the departure point and destination to request a navigation path. When the server receives the navigation path, it can perform route planning based on the departure point and destination to obtain the navigation path requested by the client and then send the navigation path to the client. Alternatively, the client itself may have route planning capabilities and can perform route planning based on the user's input departure point and destination to obtain the navigation path.

[0133] In one possible implementation, after the client obtains the navigation path, it can obtain the target map tile corresponding to the path point of the navigation path according to the map tile acquisition method described above. The target map tile may include the main tile and the surrounding tiles mentioned above.

[0134] In one possible implementation, after obtaining the target map tile on the navigation path, the client can send a data loading request to the server. The data loading request carries the identification information of the target map tile to be loaded. The server can query and obtain the high-precision road data of the target map tile to be downloaded based on the identification information of the target map tile carried in the data loading request, and send the high-precision road data of the target map tile to be downloaded in the data loading request to the client. In this way, the client can perform assisted driving based on the high-precision road data of the target map tile.

[0135] In this embodiment, after obtaining the navigation route based on the origin and destination, the client can determine the target map tiles corresponding to the waypoints on the navigation route. Only the target map tiles corresponding to these waypoints are downloaded from the server. Since these target map tiles completely cover the navigation route, the client only needs to download the target map tiles corresponding to the navigation route, eliminating the need to download other redundant map tiles. This reduces the number of map tiles to be downloaded and the download time, improving the real-time performance and completeness of data loading. Furthermore, the client does not rely on vehicle positioning to determine the target map tiles but determines them in advance based on the navigation route. This allows for full utilization of network bandwidth, enabling the client to request and download the target map tiles from the server in advance, thus reducing the requirements for real-time network speed.

[0136] In one possible implementation, the map tile acquisition method obtains a set of tile sequences corresponding to the navigation path, and the method further includes:

[0137] Based on the current location, and according to the sorting in the tile sequence set, determine the first predetermined number of target map tiles whose coverage area is located in front of the current location as the target map tiles for this request to download, and generate the data loading request;

[0138] In response to receiving the high-precision map data corresponding to the target map tile requested for download in the previous request, the target map tile requested for download in the current request is determined according to the sorting of the target map tiles in the tile sequence set, and the data loading request is generated, wherein the target map tile requested in the current request is a second predetermined number of target map tiles arranged after the target map tile requested for download in the previous request.

[0139] In this implementation, when requesting data for target map tiles, the client requests them sequentially according to the order in the tile sequence set. The client can start from the starting point of the navigation path (i.e., the initial path point) and sequentially request the download of target map tiles from the server within the tile sequence set. For example, as described above, the target map tiles in the merged tile sequence set are ordered as follows: main tile 1, surrounding tile 2, surrounding tile 3, surrounding tile 4, main tile 3, surrounding tile 1, surrounding tile 2, and surrounding tile 4. Initially, the client can determine the target map tiles in the coverage area ahead of the vehicle's current location based on the vehicle's current location. Then, according to the order in the tile sequence set, the client selects a predetermined number of target map tiles from these tiles as the target map tiles to be downloaded in this request (assuming this predetermined number is 3). The client then determines main tile 1, surrounding tile 2, and surrounding tile 3 as the target map tiles to be downloaded in this request, generates a data loading request, and requests the loading of the high-precision map data corresponding to main tile 1, surrounding tile 2, and surrounding tile 3. The client can request high-precision map data corresponding to the main tile 1, surrounding tiles 2, and surrounding tiles 3 in this order. After receiving the high-precision map data corresponding to the main tile 1, surrounding tiles 2, and surrounding tiles 3, the client can determine the target map tiles to be downloaded in this request as surrounding tiles 4, main tile 3, surrounding tiles 1, and surrounding tiles 2 in this order, and generate a data loading request to request the loading of the high-precision map data corresponding to surrounding tiles 4, main tile 3, surrounding tiles 1, and surrounding tiles 2, and so on. In this way, the high-precision map data corresponding to the target map tiles can be preloaded in advance according to this order, without having to load data according to vehicle positioning. This makes full use of network bandwidth and requests the download of the high-precision map data corresponding to the target map tiles from the server in advance, reducing the requirements for real-time network speed.

[0140] It should be noted that the client determines the number of target map tiles requested for each request based on its own computing power and network bandwidth. This first predetermined number and the second predetermined number can be the same or different, and can be determined based on the network bandwidth during download. The client will also delete the high-precision map data of the target map tiles that the vehicle has already driven over to reduce storage pressure.

[0141] Figure 3B A flowchart illustrating an assisted driving method according to an embodiment of the present disclosure is shown. Figure 3B As shown, the assisted driving method includes the following steps S305-S307:

[0142] In step S305, high-precision map data corresponding to the target map tile is loaded according to the high-precision map data loading method described above, wherein the target map tile is a map tile covering the navigation path;

[0143] In step S306, based on the current location, target map tiles within a predetermined range in front of the current location are determined to cover the area.

[0144] In step S307, assisted driving is performed based on the high-precision map data corresponding to the target map tiles within the predetermined range.

[0145] In one possible implementation, the assisted driving method is applicable to a client capable of performing the assisted driving, which may be a device such as an in-vehicle terminal installed to assist in the autonomous driving of a vehicle.

[0146] In one possible implementation, after acquiring target map tiles that cover the navigation path, the client can load the high-precision map data corresponding to the target map tiles according to the high-precision map data loading method described above. When performing assisted driving, the client can determine the target map tiles within a predetermined range ahead of the current location, based on the current positioning. This predetermined range refers to a range that meets the assisted driving requirements, such as 2 kilometers. Then, the client uses the high-precision map data corresponding to the target map tiles within this predetermined range to perform assisted driving calculations and performs assisted driving based on the calculation results.

[0147] This embodiment can use the high-precision map data corresponding to the target map tile, which covers a predetermined range in front of the current location, to assist driving after loading the high-precision map data corresponding to the target map tile. Since the target map tile can completely cover the area in front of the current location in the navigation path, the high-precision map data corresponding to the target map tile can accurately assist driving.

[0148] Figure 4A A structural block diagram of a map tile acquisition apparatus according to an embodiment of the present disclosure is shown. This apparatus can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 4A As shown, the map tile acquisition device includes:

[0149] The shape point acquisition module 401 is configured to acquire the road shape points of the navigation path;

[0150] Interpolation module 402 is configured to interpolate between adjacent road shape points in response to a target distance greater than or equal to a preset interpolation distance threshold and the target adjacent road shape points not being in the same map tile, thereby obtaining path points of the navigation path, wherein the path points include road shape points and interpolation points.

[0151] The tile acquisition module 403 is configured to acquire target map tiles based on the waypoints, wherein the target map tiles cover the navigation path.

[0152] In one possible implementation, the interpolation module 402 is configured as follows:

[0153] Interpolation points are made between adjacent road shape points on the navigation path until the distance between adjacent path points is less than a preset interpolation distance threshold or the adjacent path points are within the same map tile.

[0154] In one possible implementation, the tile acquisition module 403 is configured to:

[0155] The map tile where the path point is located is obtained as the main tile corresponding to the path point;

[0156] Map tiles whose minimum distance to the path point is less than the pre-configured gap-filling distance are selected as the surrounding tiles corresponding to the path point. The surrounding tiles corresponding to the path point are different from the main tiles corresponding to the path point.

[0157] In one possible implementation, the device further includes:

[0158] The distance determination module is configured to determine the leak repair distance based on the preset interpolation point spacing threshold, wherein the leak repair distance is greater than or equal to 1 / 2 of the preset interpolation point spacing threshold.

[0159] In one possible implementation, the device further includes:

[0160] The merging module is configured to merge the main tiles corresponding to two adjacent path points into one main tile if the main tiles corresponding to two adjacent path points are the same tile; and to obtain the union of the surrounding tiles corresponding to the two adjacent path points as the surrounding tiles of the two adjacent path points.

[0161] In one possible implementation, the device further includes:

[0162] The tile subset determination module is configured to, for any given main tile, determine the surrounding tiles determined by the path points corresponding to the main tile as a tile subset;

[0163] The sorting module is configured to sort based on the location of path points in the navigation path, and to arrange the tile subsets corresponding to all main tiles in sequence to obtain the tile sequence set corresponding to the navigation path.

[0164] Figure 4B A structural block diagram of a high-precision map data loading apparatus according to an embodiment of the present disclosure is shown. This apparatus can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 4B As shown, the high-precision map data loading device includes:

[0165] The route acquisition module 404 is configured to acquire a navigation route based on the origin and destination.

[0166] The map tile acquisition module 405 is configured to acquire the target map tile corresponding to the path point on the navigation path according to the map tile acquisition method described above.

[0167] The request module 406 is configured to send the data loading request to the server in response to generating the data loading request, wherein the data loading request carries the identification information of the target map tile to be downloaded;

[0168] The receiving module 407 is configured to receive high-precision map data corresponding to the target map tile requested for download from the server.

[0169] In one possible implementation, the map tile acquisition method acquires a set of tile sequences corresponding to the navigation path, and the apparatus further includes:

[0170] The tile determination module is configured to, based on the current location and according to the sorting in the tile sequence set, determine a first predetermined number of target map tiles whose coverage area is located ahead of the current location as the target map tiles to be downloaded in this request, and generate the data loading request; in response to receiving high-precision map data corresponding to the target map tiles requested for download in the previous request, determine the target map tiles to be downloaded in this request according to the sorting in the tile sequence set, and generate the data loading request, wherein the target map tiles requested in this request are a second predetermined number of target map tiles arranged after the target map tiles requested for download in the previous request.

[0171] Figure 4C A structural block diagram of a driver assistance device according to an embodiment of the present disclosure is shown. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 4C As shown, the driver assistance device includes:

[0172] The data loading module 408 is configured to load high-precision map data corresponding to the target map tile according to the high-precision map data loading method described above, wherein the target map tile is a map tile covering the navigation path;

[0173] The determination module 409 is configured to determine, based on the current location, target map tiles whose coverage area is located within a predetermined range in front of the current location;

[0174] The driver assistance module 410 is configured to perform driver assistance based on high-precision map data corresponding to target map tiles within the predetermined range.

[0175] The technical terms and features mentioned in this device implementation are the same or similar. For the explanation and description of the technical terms and features involved in this device, please refer to the explanation of the above method implementation, which will not be repeated here.

[0176] This disclosure also discloses an electronic device. Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0177] like Figure 5 As shown, the electronic device 500 includes a memory 501 and a processor 502, wherein the memory 501 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 502 to implement the method according to embodiments of the present disclosure.

[0178] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown.

[0179] like Figure 6 As shown, the computer system 600 includes a processing unit 601, which can execute various processes described in the above embodiments according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage portion 608 into a random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the computer system 600. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0180] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed. The processing unit 601 can be implemented as a CPU, GPU, TPU, FPGA, NPU, etc.

[0181] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising computer instructions that, when executed by a processor, implement the steps of the methods described above. In such embodiments, the computer program product can be downloaded and installed from a network via communication section 609, and / or installed from removable media 611.

[0182] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0183] The units or modules described in the embodiments of this disclosure can be implemented in software or programmable hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0184] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system described above; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to perform the methods described in this disclosure.

[0185] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A method for obtaining map tiles, comprising: Obtain the road shape points of the navigation path; In response to the fact that the distance between adjacent road shape points of the target is greater than or equal to a preset interpolation distance threshold and the adjacent road shape points of the target are not in the same map tile, an interpolation is performed between the adjacent road shape points of the target to obtain the path points of the navigation path, wherein the path points include road shape points and interpolation points; Target map tiles are obtained based on the waypoints, wherein the target map tiles cover the navigation path.

2. The method according to claim 1, wherein, The step of interpolating between adjacent road shape points of the target to obtain path points of the navigation path includes: Interpolation is performed between adjacent road shape points of the target on the navigation path until the distance between adjacent path points is less than a preset interpolation distance threshold or the adjacent path points are within the same map tile.

3. The method according to claim 1, wherein, The step of obtaining the target map tile based on the waypoint includes: The map tile where the path point is located is obtained as the main tile corresponding to the path point; Map tiles whose minimum distance to the path point is less than the pre-configured gap-filling distance are selected as the surrounding tiles corresponding to the path point. The surrounding tiles corresponding to the path point are different from the main tiles corresponding to the path point.

4. The method according to claim 3, wherein, The method further includes: The repair distance is determined based on the preset insertion point spacing threshold, wherein the repair distance is greater than or equal to 1 / 2 of the preset insertion point spacing threshold.

5. The method according to claim 3, wherein, The method further includes: If the main tile corresponding to two adjacent path points is the same tile, then the main tiles corresponding to the two adjacent path points will be merged into one main tile; Obtain the union of the surrounding tiles corresponding to the two adjacent path points as the surrounding tiles of the two adjacent path points.

6. The method according to claim 3, wherein, The method further includes: For any of the main tiles, the surrounding tiles determined by the path points corresponding to the main tile are defined as a subset of tiles; Based on the sorting of the path points in the navigation path, the tile subsets corresponding to all main tiles are arranged sequentially to obtain the tile sequence set corresponding to the navigation path.

7. A method for loading high-precision map data, wherein, include: Obtain navigation routes based on origin and destination; According to any one of claims 1-6, the map tile acquisition method acquires the target map tile corresponding to the waypoint on the navigation path; In response to generating a data loading request, the data loading request is sent to the server, and the data loading request carries the identification information of the target map tile to be downloaded; Receive the high-precision map data corresponding to the target map tile requested by the server.

8. The method according to claim 7, wherein, The map tile acquisition method obtains a set of tile sequences corresponding to the navigation path, and the method further includes: Based on the current location, and according to the sorting in the tile sequence set, determine the first predetermined number of target map tiles whose coverage area is located in front of the current location as the target map tiles for this request to download, and generate the data loading request; In response to receiving the high-precision map data corresponding to the target map tile requested for download in the previous request, the target map tile requested for download in the current request is determined according to the sorting of the target map tiles in the tile sequence set, and the data loading request is generated, wherein the target map tile requested in the current request is a second predetermined number of target map tiles arranged after the target map tile requested for download in the previous request.

9. A driving assistance method, comprising: The method described in claim 7 or 8 loads high-precision map data corresponding to a target map tile, wherein the target map tile is a map tile covering the navigation path; Based on the current location, determine the target map tile whose coverage area is located within a predetermined range in front of the current location; Assisted driving is performed based on high-precision map data corresponding to the target map tiles within the predetermined range.

10. A map tile acquisition device, comprising: The shape point acquisition module is configured to acquire the road shape points of the navigation path; The interpolation module is configured to interpolate between the adjacent road shape points in response to a target distance greater than or equal to a preset interpolation distance threshold and the adjacent road shape points not being in the same map tile, thereby obtaining the path points of the navigation path, wherein the path points include road shape points and interpolation points. The tile acquisition module is configured to acquire target map tiles based on the waypoints, wherein the target map tiles cover the navigation path.

11. An electronic device comprising a memory and a processor; wherein, The memory is used to store one or more computer instructions, which are executed by the processor to implement the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having stored thereon computer instructions, wherein, When executed by a processor, the computer instructions implement the method described in any one of claims 1-9.

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