A coordinate system identification method, apparatus, electronic device, and storage medium

Abstract

This invention discloses a coordinate system identification method, apparatus, electronic device, and storage medium. The coordinate system identification method includes: acquiring map messages and feature information contained in V2X information sent by a roadside device, and constructing a first road topology map based on the map messages; constructing a second road topology map based on a terminal map within a preset threshold range; determining the first position information of node information in the first road topology map located in the second road topology map based on the first road topology map, the second road topology map, and the feature information; determining the second position information corresponding to the node information in the first road topology map according to a preset map deflection rule; and determining the coordinate system to which the V2X information belongs based on the first and second position information. This invention enables rapid and accurate determination of the coordinate system to which V2X information belongs, facilitating timely conversion of V2X information to the coordinate system of the terminal, allowing the terminal to obtain accurate V2X information for application.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a coordinate system identification method, apparatus, electronic device, and storage medium. Background Technology

[0002] V2X, or Vehicle-to-Everything, is one of the supporting technologies for intelligent vehicles and intelligent transportation. Currently, the V2X industry generally uses the National Bureau of Surveying and Mapping Standard Coordinate System No. 02 (GCJ02 coordinate system). However, due to the requirements of some projects, some roadside equipment uses the WGS84 coordinate system for message transmission. This causes the vehicle-side equipment (using the GCJ02 coordinate system) to receive messages from the roadside equipment with incorrect positional information, making it impossible to make correct application judgments.

[0003] Current methods for coordinate system transformation sometimes involve batch conversion of coordinates for all messages within an environment. However, in real-world vehicle-to-infrastructure (V2I) environments, messages may exist in multiple coordinate systems, and batch conversion can lead to incorrectly converted messages. Converting individual objects requires manual identification of the coordinate system corresponding to the message, which is inefficient. Furthermore, manually identifying the coordinate system of a message is impractical, especially in high-speed vehicles or during large-scale testing. Therefore, automatically and accurately determining the coordinate system of a message has become a pressing issue. Summary of the Invention

[0004] This invention provides a coordinate system identification method, device, electronic device, and storage medium to solve the problem that manual identification of the coordinate system corresponding to V2X messages is inefficient and cannot correctly apply V2X messages sent by roadside equipment.

[0005] According to one aspect of the present invention, a coordinate system identification method is provided, wherein the method includes:

[0006] The map message and feature information contained in the V2X information sent by the roadside device are obtained, and a first road topology map is constructed based on the map message.

[0007] A second road topology map is constructed based on the vehicle map within a preset threshold range;

[0008] Based on the first road topology map, the second road topology map, and the feature information, determine the first location information of the node information in the first road topology map located in the second road topology map;

[0009] The second location information corresponding to the node information of the first road topology map is determined according to the preset map deflection rules, and the coordinate system to which the V2X information belongs is determined according to the first location information and the second location information.

[0010] According to another aspect of the present invention, a coordinate system identification device is provided, wherein the device comprises:

[0011] The map acquisition module is used to acquire map messages and feature information contained in V2X information sent by roadside devices, and to construct a first road topology map based on the map messages.

[0012] The topology map construction module is used to construct a second road topology map based on the vehicle map within a preset threshold range;

[0013] The location information determination module is used to determine, based on the first road topology map, the second road topology map, and the feature information, the first location information of the node information in the first road topology map located in the second road topology map;

[0014] The coordinate system determination module is used to determine the second location information corresponding to the node information of the first road topology map according to the preset map deflection rules, and to determine the coordinate system to which the V2X information belongs based on the first location information and the second location information.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform a coordinate system identification method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement a coordinate system identification method according to any embodiment of the present invention.

[0020] The technical solution of this invention obtains map messages and feature information contained in V2X information sent by roadside equipment, constructs a first road topology map based on the map messages, constructs a second road topology map based on vehicle maps within a preset threshold range, determines the first position information of the node information of the first road topology map in the second road topology map based on the first road topology map, the second road topology map, and the feature information, determines the second position information corresponding to the node information of the first road topology map according to a preset map deflection rule, and determines the coordinate system to which the V2X information belongs based on the first position information and the second position information. This enables rapid and accurate determination of the coordinate system to which the V2X information belongs, facilitating timely conversion of the V2X information into the coordinate system to which the vehicle belongs, so that the vehicle can obtain accurate V2X information for application.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a coordinate system identification method provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a coordinate system identification method provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is a flowchart of a coordinate system identification method provided in Embodiment 3 of the present invention;

[0026] Figure 4 This is an example diagram of the first road topology map provided in Embodiment 3 of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of a coordinate system identification device according to Embodiment 4 of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of an electronic device that implements a coordinate system identification method according to an embodiment of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart of a coordinate system identification method according to Embodiment 1 of the present invention. This embodiment is applicable to determining the coordinate system to which a V2X message belongs. This method can be executed by a coordinate system identification device, which can be implemented in hardware and / or software. The coordinate system identification device can be configured in electronic devices, such as intelligent vehicles. Figure 1 As shown, the method includes:

[0033] S110. Obtain the map message and feature information contained in the V2X information sent by the roadside equipment, and construct the first road topology map based on the map message.

[0034] Roadside equipment is a key foundational device for the networking and intelligentization of road infrastructure in vehicle-road cooperation. It can interact with vehicles, roads, pedestrians, and the cloud to achieve functions such as intelligent road condition monitoring, assisted autonomous driving, and high-precision positioning and navigation. Roadside equipment may include, but is not limited to, roadside units (RSUs). V2X information refers to information received by vehicles from roadside equipment via V2X communication technology. For example, V2X information may include, but is not limited to, map information, traffic light messages, road events, signage information, and traffic participant information.

[0035] Map messages refer to map information of a local area broadcast to vehicles by roadside equipment. In one embodiment, map messages may include local area intersection messages, road segment messages, lane messages, and connection relationships between lanes. Feature information refers to information in the map message that reflects the characteristics of the map information. For example, feature information may include, but is not limited to, field information such as area number, node location, lane attributes, and connecting lanes. The first road topology map refers to a lane-level road description topology map, which is a road topology map constructed according to the map message. It is used to describe the traffic network in the map message and can display the connection relationships of roads in the map message in the form of nodes and edges.

[0036] In this embodiment of the invention, V2X information sent by roadside equipment can be received, the V2X information can be parsed to identify map messages, the feature information contained in the map messages can be extracted, and a first road topology map can be constructed according to the map messages. In actual operation, V2X information sent by roadside equipment can be received through an on-board unit (OBU), the map information in the V2X information can be extracted, the node and road information contained in the map information can be parsed, and a first road topology map can be constructed according to the node and road information.

[0037] S120. Construct a second road topology map based on the vehicle map within a preset threshold range.

[0038] The preset threshold range can be a range set according to user needs. For example, the preset threshold range may include, but is not limited to, a range of 1 kilometer, 2 kilometers, or 3 kilometers for the vehicle. The vehicle map refers to the map pre-stored on the vehicle. In actual operation, the coordinate system of the vehicle map is the standard coordinate system.

[0039] In this embodiment of the invention, a vehicle map within a preset threshold range can be determined with the vehicle's current location as the center. The nodes and road information contained in the vehicle map are then determined, and a second road topology map is constructed based on the nodes and road information. In actual operation, the number of nodes in the vehicle map within the preset threshold range can include at least two.

[0040] S130. Determine the first position information of the node information of the first road topology map located in the second road topology map based on the first road topology map, the second road topology map, and the feature information.

[0041] The node information in the first road topology map refers to the parameter information corresponding to the nodes included in the first road topology map, and the node information may include the node's location information. The first location information refers to the location information of the node in the second road topology map.

[0042] In an embodiment of the invention, the location range of the first road topology map in the second road topology map can be determined according to the first road topology map, and then cross-comparison verification can be performed based on the feature information to determine the position of the first road topology map in the second road topology map. The node information of the corresponding position in the second road topology map is used as the first position information of the node information of the first road topology map in the second road topology map.

[0043] In practice, the second road topology map can be divided into multiple sub-second road topology maps based on node information. The similarity between the first road topology map and each sub-second road topology map is determined, and the sub-second road topology map with the highest similarity threshold is selected as the road topology map to be determined. The local map corresponding to each road topology map to be determined is then identified, and local feature information is extracted from the local map. This local feature information may include at least one of the following fields: area number, node location, lane attributes, and connecting lanes. The feature information is matched with each local feature, and the matched road topology map to be determined is selected as the target topology map. The node information in the target topology map is then used as the first position information of the node information in the first road topology map located in the second road topology map.

[0044] In one embodiment, preset weight values ​​can be set for each field of the feature information. Each field of the feature information is then matched with the corresponding field in the local feature information to generate a matching result. Successful matches are set to 1, and unsuccessful matches are set to 0. Each matching result is multiplied by the preset weight value of its corresponding field, and the sum of these products is used as the matching value between the feature information and the local feature information. The road topology map corresponding to the local feature information with the highest matching value is then used as the target topology map.

[0045] S140. Determine the second location information corresponding to the node information of the first road topology map according to the preset map deflection rules, and determine the coordinate system to which the V2X information belongs based on the first location information and the second location information.

[0046] Among them, the preset map deflection rule is a pre-set rule for converting coordinate systems. It can convert the WGS84 coordinate system to the National Bureau of Surveying and Mapping 02 standard coordinate system (GCJ02 coordinate system) through the preset map deflection rule. The second location information refers to the location information obtained by converting the node information through the preset map deflection rule.

[0047] In this embodiment of the invention, the node information of the first road topology map can be transformed according to a preset map deflection rule, and the transformed node information can be used as the second location information. It is determined whether the first location information and the second location information are the same. If they are the same, the coordinate system of the roadside equipment is determined to be the WGS84 coordinate system, which is different from the coordinate system used by the vehicle. If they are different, the coordinate system of the roadside equipment is determined to be the standard coordinate system (GCJ02 coordinate system), which is the same as the coordinate system used by the vehicle.

[0048] The technical solution of this invention obtains map messages and feature information contained in V2X information sent by roadside equipment, constructs a first road topology map based on the map messages, constructs a second road topology map based on vehicle maps within a preset threshold range, determines the first position information of the node information of the first road topology map in the second road topology map based on the first road topology map, the second road topology map, and the feature information, determines the second position information corresponding to the node information of the first road topology map according to a preset map deflection rule, and determines the coordinate system to which the V2X information belongs based on the first position information and the second position information. This enables rapid and accurate determination of the coordinate system to which the V2X information belongs, facilitates timely conversion of V2X information into the coordinate system to which the vehicle belongs, improves the efficiency of determining the coordinate system to which the V2X information belongs, and enhances the user experience.

[0049] In one embodiment, after constructing a second road topology map based on a vehicle map within a preset threshold range, the method further includes:

[0050] When the preset distance is determined, the vehicle map within the preset threshold range is redefined according to the vehicle's current position, and the second road topology map is updated according to the vehicle map.

[0051] The preset distance can be a movement distance set according to user needs. For example, the preset threshold distance can include, but is not limited to, 95 meters, 100 meters, 105 meters, etc.

[0052] In this embodiment, after determining the vehicle's travel distance by a preset distance, a vehicle map within a threshold range can be determined centered on the vehicle's current location. A second road topology map is then reconstructed based on the node and road information contained in the vehicle map, replacing the original second road topology map. This allows high-speed vehicles or testing equipment to promptly update the vehicle map within the preset threshold range and compare it with map messages sent by roadside equipment. Simultaneously, it reduces the update frequency of the second road topology map, thus reducing the pressure on system topology.

[0053] In one embodiment, after determining the coordinate system to which the V2X information belongs based on the first position information and the second position information, the method further includes:

[0054] When it is determined that the coordinate system of the roadside equipment is the WGS84 coordinate system, the roadside equipment is marked with the WGS84 coordinate system identifier, and the coordinate system is transformed for the V2X information sent by the roadside equipment according to the preset map deflection rules.

[0055] Among them, the WGS84 coordinate system (World Geodetic System-1984 Coordinate System) is the world geodetic coordinate system of 1984.

[0056] In the embodiments of the invention, when it is determined that the coordinate system to which the roadside device belongs is the WGS84 coordinate system, the roadside device can be set with a WGS84 coordinate system identifier, and the V2X information sent by the roadside device can be converted to a different coordinate system according to a preset map deflection rule to generate a message with the same coordinate system as the vehicle.

[0057] Example 2

[0058] Figure 2 This is a flowchart of a coordinate system identification method according to Embodiment 2 of the present invention. This embodiment is a further optimization and extension based on the above embodiments, and can be combined with various optional technical solutions in the above embodiments. Figure 2 As shown, the method includes:

[0059] S2010: Receive V2X information sent by the roadside equipment, extract the map message contained in the V2X information, and construct a first road topology map according to the map message.

[0060] In an embodiment of the invention, V2X information sent by a roadside device can be received, map messages contained in the V2X information can be determined, node and road information contained in the map messages can be extracted, and a first road topology map can be constructed according to the node and road information.

[0061] S2020: Extract the area number, node location, lane attributes, and connecting lane field information from the map information as feature information of the map message.

[0062] In the embodiments of the invention, the area number, node location, lane attribute, and connecting lane field information contained in the map information can be extracted, and the area number, node location, lane attribute, and connecting lane field information can be used as the feature information of the map message.

[0063] S2030. Construct a second road topology map based on the vehicle map within a preset threshold range.

[0064] S2040. Extract the node information contained in the second road topology map, determine the road information associated with each node information, and split the second road topology map into at least one sub-second road topology map according to the road information associated with the node information.

[0065] In the embodiments of the invention, node information contained in the second road topology map can be extracted, road information associated with each node in the second road topology map can be determined, and the second road topology map can be split into at least one sub-second road topology map according to the road information associated with each node information, wherein each sub-second road topology map contains at least one node.

[0066] S2050. According to the preset image comparison rules, compare the first road topology map with each of the sub-second road topology maps respectively, and generate the similarity between the first road topology map and each of the sub-second road topology maps.

[0067] Among them, the preset image comparison rules refer to the rules used to compare the similarity between the first road topology map and each sub-second road topology map. In actual operation, the preset image comparison rules may include histogram comparison method, perceptual hash algorithm, and content feature method.

[0068] In the embodiments of the invention, the first road topology map can be compared with each of the sub-second road topology maps by means of preset image comparison rules to determine the similarity between the first road topology map and each of the sub-second road topology maps.

[0069] S2060. Extract the sub-second road topology map corresponding to a preset threshold number of similarities in descending order of similarity.

[0070] The number of preset thresholds is a value set according to user needs. For example, the number of preset thresholds may include, but is not limited to, 4, 5, and 6.

[0071] In the embodiments of the invention, the sub-second road topology maps corresponding to the similarity can be sorted in descending order of similarity, and a preset threshold number of sub-second road topology maps corresponding to the similarity can be extracted in descending order of similarity.

[0072] S2070. Determine the sub-second road topology map with the highest matching value with the feature information as the target topology map.

[0073] In the embodiments of the invention, the sub-second road topology map can be matched according to the feature information, and the sub-second road topology map with the highest matching value can be used as the target topology map.

[0074] In one embodiment, determining the sub-second road topology map with the highest matching value with the feature information as the target topology map includes:

[0075] Extract preset weight values ​​for each field of feature information;

[0076] The corresponding local map information is determined by the topology map of each sub-second road, and local feature information is extracted from the local map information; wherein, the local feature information includes at least one of the following: area number, node location, lane attribute, and field information of connecting lanes;

[0077] The feature information is matched with the corresponding field information in the local feature information to generate the matching results corresponding to each field information of the feature information.

[0078] Determine the product of each matching result and the preset weight value of the corresponding field information, and use the sum of the products as the matching value between the feature information and the local feature information;

[0079] The sub-second road topology map corresponding to the local feature information with the highest matching value is used as the target topology map.

[0080] The preset weight value refers to the weight value set in advance for each field of the feature information according to user needs. The preset weight value for each field can be different. The preset weight value of the field information can be reduced sequentially according to the order of area number, node location, lane attribute, and connecting lane.

[0081] In this embodiment, preset weight values ​​for each field in the pre-set feature information can be extracted to determine the local map information corresponding to each sub-second road topology map, and local feature information corresponding to each local sub-map can be extracted. Local feature information may include area number, node location, lane attributes, and field information connecting lanes. Each field in the feature information is matched with the corresponding field in the local feature information to generate a matching result. In practical applications, when a field in the feature information successfully matches the corresponding field in the local feature information, the matching result can be 1; when a field in the feature information fails to match the corresponding field in the local feature information, the matching result can be 0. The product of each matching result and the preset weight value of the corresponding field information is calculated, and the sum of these products is used as the matching value between the feature information and the local feature information. The sub-second road topology map corresponding to the local feature information with the highest matching value is determined as the target topology map.

[0082] S2080. The node information in the target topology map is used as the first position information of the node information in the first road topology map in the target topology map.

[0083] S2090. Perform coordinate system transformation on the node information of the first road topology map according to the preset map deflection rules, and use the node information after coordinate transformation as the second location information.

[0084] In an embodiment of the invention, the node information of the first road topology map can be transformed into a coordinate system according to a preset map deflection rule, and the node information after coordinate transformation can be used as the second location information.

[0085] S2100. When it is determined that the first location information is the same as the second location information, the coordinate system to which the roadside equipment belongs is determined to be the WGS84 coordinate system.

[0086] In the embodiments of the invention, when it is determined that the first location information and the second location information are the same, the coordinate system to which the roadside equipment belongs can be considered to be the WGS84 coordinate system.

[0087] S2110. When it is determined that the first location information and the second location information are different, the coordinate system to which the roadside equipment belongs shall be determined as the standard coordinate system; wherein, the coordinate system to which the vehicle belongs shall be the standard coordinate system.

[0088] In the embodiments of the invention, the standard coordinate system refers to the National Bureau of Surveying and Mapping 02 Standard Coordinate System (GCJ02 coordinate system), and the coordinate system used by the vehicle is also the standard coordinate system. When it is determined that the first position information and the second position information are different, it is assumed that the coordinate system to which the roadside equipment belongs is the standard coordinate system, and the V2X information of the roadside equipment before coordinate system transformation can be directly applied.

[0089] In this embodiment of the invention, V2X information sent by roadside equipment is received, map messages contained in the V2X information are extracted, and a first road topology map is constructed according to the map messages. The area number, node position, lane attributes, and field information connecting lanes in the map information are extracted as feature information of the map messages. A second road topology map is constructed based on vehicle maps within a preset threshold range. The node information contained in the second road topology map is extracted, and the road information associated with each node information is determined. The second road topology map is split into at least one sub-second road topology map according to the road information associated with the node information. The first road topology map and each sub-second road topology map are compared according to a preset image comparison rule to generate a similarity between the first road topology map and each sub-second road topology map. Sub-second road topology maps corresponding to a preset threshold number of similarity scores are extracted in descending order of similarity scores. The sub-second road topology map with the highest matching value with the feature information is determined as the target topology map, thereby realizing the correspondence between the position of the first road topology map and the second road topology map. By using node information in the target topology map as the first location information of node information in the first road topology map, and performing coordinate system transformation on the node information of the first road topology map according to a preset map deflection rule, the coordinate system of the transformed node information is used as the second location information. When the first location information and the second location information are determined to be the same, the coordinate system of the roadside equipment is determined to be the WGS84 coordinate system. When the first location information and the second location information are determined to be different, the coordinate system of the roadside equipment is determined to be the standard coordinate system. This achieves automatic determination of the coordinate system of the roadside equipment, prevents errors in V2X messages due to human error, and improves the user experience.

[0090] Example 3

[0091] Figure 3 This is a flowchart of a coordinate system identification method according to Embodiment 3 of the present invention. This embodiment is based on the above embodiments, taking a preset threshold range of 2km, a preset distance of 100 meters, and a preset number of thresholds of 5 as an example, to further illustrate a coordinate system identification method. Figure 3 As shown, the method includes:

[0092] S3010: Read the received V2X message, extract the MAP message (map message) from the V2X message, associate the MAP message with the corresponding roadside device, and store it in the local parsing queue.

[0093] S3020. Parse and process the MAP message, extract the feature information in the MAP message, and set preset weight values ​​for the field information in the feature information.

[0094] In this embodiment, the fields of area number (Road Regulator ID), node location (refPos), lane attributes, and connecting lane can be used as feature information.

[0095] S3030. Construct a first road topology map according to the MAP message, and associate the feature information with each first road topology map.

[0096] In one embodiment, Figure 4 This is an example diagram of the first road topology map provided according to Embodiment 3 of the present invention.

[0097] S3040. Using the current location of the vehicle as the center point, determine the vehicle map within a preset threshold range, and construct a second road topology map from the vehicle map.

[0098] S3050 When the vehicle moves a preset distance, redetermine the vehicle map within the preset threshold range of the vehicle's current position and update the second road topology map.

[0099] S3060. Based on the first road topology map, compare the sub-second road topology maps associated with each node in the second road topology map to generate the similarity between the first road topology map and each sub-second road topology map.

[0100] S3070. Extract the sub-second road topology maps corresponding to a preset threshold number of similarities in descending order of similarity as the road topology maps to be determined.

[0101] S3080. Perform cross-validation on the road topology map to be determined according to the feature value, and determine the road topology map to be determined with the largest matching value as the target topology map.

[0102] S3090. Use the node information in the target topology graph as the first node information.

[0103] S3100. Perform coordinate system transformation on the node information of the first road topology map according to the preset map deflection rules, and use the node information after coordinate transformation as the second location information.

[0104] S3110. When it is determined that the first location information is the same as the second location information, the coordinate system to which the roadside device belongs is determined to be the WGS84 coordinate system, and the coordinate system transformation is performed on the message sent by the roadside device.

[0105] S3120. When it is determined that the first location information and the second location information are different, the coordinate system to which the roadside equipment belongs is determined to be the standard coordinate system, and no coordinate system transformation is performed on the messages sent to the roadside equipment.

[0106] In this embodiment of the invention, by determining the coordinate system to which the roadside equipment belongs, coordinate system offset is performed on the information of the roadside equipment corresponding to different coordinate systems of the vehicle, so as to prevent the content of the received message from being in the wrong position and thus making it impossible to make correct application judgments.

[0107] Example 4

[0108] Figure 5 This is a schematic diagram of the structure of a coordinate system identification device according to Embodiment 4 of the present invention. Figure 5 As shown, the device includes: a map acquisition module 51, a topology map construction module 52, a location information determination module 53, and a coordinate system determination module 54.

[0109] Among them, the map acquisition module 51 is used to acquire the map message and the feature information contained in the V2X information sent by the roadside equipment, and construct a first road topology map based on the map message.

[0110] The topology map construction module 52 is used to construct a second road topology map based on the vehicle map within a preset threshold range.

[0111] The location information determination module 53 is used to determine the first location information of the node information of the first road topology map located in the second road topology map based on the first road topology map, the second road topology map and feature information.

[0112] The coordinate system determination module 54 is used to determine the second location information corresponding to the node information of the first road topology map according to the preset map deflection rules, and to determine the coordinate system to which the V2X information belongs based on the first location information and the second location information.

[0113] In this embodiment of the invention, a map acquisition module acquires map messages and feature information contained in V2X information sent by roadside devices, and constructs a first road topology map based on the map messages. A topology map construction module constructs a second road topology map based on terminal vehicle maps within a preset threshold range. A location information determination module determines the first location information of the node information in the first road topology map located in the second road topology map based on the first road topology map, the second road topology map, and the feature information. A coordinate system determination module determines the second location information corresponding to the node information in the first road topology map based on a preset map deflection rule, and determines the coordinate system to which the V2X information belongs based on the first and second location information. This enables rapid and accurate determination of the coordinate system to which the V2X information belongs, facilitating timely conversion of V2X information into the vehicle's coordinate system, improving the efficiency of determining the coordinate system to which the V2X information belongs, and enhancing the user experience.

[0114] In one embodiment, the map acquisition module includes:

[0115] The first topology map construction unit is used to receive V2X information sent by roadside equipment, extract map messages contained in the V2X information, and construct a first road topology map according to the map messages.

[0116] The feature information extraction unit is used to extract the area number, node location, lane attributes, and connecting lane field information from the map information as feature information of the map message.

[0117] In one embodiment, the location information determination module 53 includes:

[0118] The sub-topology map splitting unit is used to extract the node information contained in the second road topology map, determine the road information associated with each node information, and split the second road topology map into at least one sub-second road topology map according to the road information associated with the node information.

[0119] The similarity determination unit is used to compare the first road topology map with each sub-second road topology map according to the preset image comparison rules, and generate the similarity between the first road topology map and each sub-second road topology map;

[0120] The topology extraction unit is used to extract a preset threshold number of sub-second road topology maps corresponding to similarities in descending order of similarity.

[0121] The topology map confirmation unit is used to determine the sub-second road topology map with the highest matching value with the feature information as the target topology map.

[0122] The first position determination unit is used to use the node information in the target topology map as the first position information of the node information in the first road topology map in the target topology map.

[0123] In one embodiment, the topology map verification unit includes:

[0124] The weight extraction unit is used to extract the preset weight values ​​of each field information in the feature information;

[0125] The local information extraction unit is used to determine the corresponding local map information through the topology map of each sub-second road and extract local feature information from the local map information; wherein, the local feature information includes at least one of the following: area number, node location, lane attribute and field information of connecting lanes;

[0126] The matching result determination unit is used to match each field of the feature information with the corresponding field information in the local feature information to generate the matching result corresponding to each field of the feature information.

[0127] The matching value determination unit is used to determine the product of each matching result and the preset weight value of the corresponding field information, and the sum of each product is used as the matching value between the feature information and the local feature information.

[0128] The target topology map determination unit is used to take the sub-second road topology map corresponding to the local feature information with the highest matching value as the target topology map.

[0129] In one embodiment, the coordinate system determination module 54 includes:

[0130] The second location determination unit is used to perform coordinate system transformation on the node information of the first road topology map according to the preset map deflection rules, and use the node information after coordinate transformation as the second location information.

[0131] The first coordinate system determination unit is used to determine that the coordinate system to which the roadside equipment belongs is the WGS84 coordinate system when the first position information and the second position information are the same, and to determine the coordinate system to which the roadside equipment belongs.

[0132] The second coordinate system determination unit is used to determine that the coordinate system to which the roadside equipment belongs is the GCJ02 coordinate system when the first position information and the second position information are different. In one embodiment, the coordinate system identification device further includes:

[0133] The topology update module is used to re-determine the vehicle map within a preset threshold range based on the current vehicle position when a preset distance has been determined, and update the second road topology map according to the vehicle map.

[0134] In one embodiment, the coordinate system identification device further includes:

[0135] The coordinate system transformation module is used to set the WGS84 coordinate system identifier for the roadside equipment when it is determined that the coordinate system to which the roadside equipment belongs is the WGS84 coordinate system, and to perform coordinate system transformation on the V2X information sent by the roadside equipment according to the preset map deflection rules.

[0136] The coordinate system identification device provided in the embodiments of the present invention can execute the coordinate system identification method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0137] Example 5

[0138] Figure 6This is a schematic diagram of the structure of an electronic device implementing a coordinate system identification method according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0139] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0140] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0141] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as coordinate system identification methods.

[0142] In some embodiments, the coordinate system identification method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the coordinate system identification method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the coordinate system identification method by any other suitable means (e.g., by means of firmware).

[0143] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0144] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0145] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0146] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0147] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0148] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0149] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0150] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A coordinate system identification method, characterized in that, include: The map message and feature information contained in the V2X information sent by the roadside device are obtained, and a first road topology map is constructed based on the map message. A second road topology map is constructed based on the vehicle map within a preset threshold range; Based on the first road topology map, the second road topology map, and the feature information, determine the first location information of the node information in the first road topology map located in the second road topology map; The second location information corresponding to the node information of the first road topology map is determined according to the preset map deflection rules, and the coordinate system to which the V2X information belongs is determined according to the first location information and the second location information.

2. The method according to claim 1, characterized in that, The step of acquiring map messages from V2X information sent by roadside devices and the feature information contained in the map messages, and constructing a first road topology map based on the map messages, includes: Receive V2X information sent by the roadside device, extract the map message contained in the V2X information, and construct the first road topology map according to the map message; The area number, node location, lane attributes, and connecting lane fields in the map information are extracted as feature information of the map message.

3. The method according to claim 1, characterized in that, The step of determining the first location information of the node information in the first road topology map located in the second road topology map based on the first road topology map, the second road topology map, and the feature information includes: Extract the node information contained in the second road topology map, determine the road information associated with each node information, and split the second road topology map into at least one sub-second road topology map according to the road information associated with the node information; The first road topology map and each of the sub-second road topology maps are compared according to a preset image comparison rule to generate the similarity between the first road topology map and each of the sub-second road topology maps; Extract the sub-second road topology map corresponding to the similarity of a preset threshold number of similarities in descending order of similarity. The sub-second road topology map with the highest matching value with the aforementioned feature information is determined as the target topology map; The node information in the target topology map is used as the first position information of the node information in the first road topology map in the target topology map.

4. The method according to claim 3, characterized in that, The step of determining the sub-second road topology map with the highest matching value with the feature information as the target topology map includes: Extract the preset weight values ​​of each field information in the feature information; The corresponding local map information is determined by each of the sub-second road topology maps, and local feature information is extracted from the local map information; wherein, the local feature information includes at least one of the following: area number, node location, lane attribute, and field information of connecting lanes; The field information of the feature information is matched with the corresponding field information in the local feature information to generate the matching result corresponding to each field information of the feature information; Determine the product of each matching result and the preset weight value of the corresponding field information, and use the sum of each product as the matching value between the feature information and the local feature information; The sub-second road topology map corresponding to the local feature information with the highest matching value is taken as the target topology map.

5. The method according to claim 1, characterized in that, The step of determining the second location information corresponding to the node information of the first road topology map according to a preset map deflection rule, and determining the coordinate system to which the V2X information belongs based on the first location information and the second location information, includes: The node information of the first road topology map is transformed into a coordinate system according to a preset map deflection rule, and the node information after coordinate transformation is used as the second location information. When it is determined that the first location information is the same as the second location information, the coordinate system to which the roadside equipment belongs is determined to be the WGS84 coordinate system; When it is determined that the first location information is different from the second location information, the coordinate system to which the roadside equipment belongs is determined to be the standard coordinate system; wherein, the coordinate system to which the vehicle belongs is the standard coordinate system.

6. The method according to claim 1, characterized in that, After constructing the second road topology map based on the vehicle map within the preset threshold range, the method further includes: When the preset distance is determined, the vehicle map within the preset threshold range is redefined according to the vehicle's current position, and the second road topology map is updated according to the vehicle map.

7. The method according to claim 1, characterized in that, After determining the coordinate system to which the V2X information belongs based on the first position information and the second position information, the method further includes: When it is determined that the coordinate system to which the roadside device belongs is the WGS84 coordinate system, the roadside device is set with a WGS84 coordinate system identifier, and the V2X information sent by the roadside device is converted to a different coordinate system according to a preset map deflection rule.

8. A coordinate system identification device, characterized in that, include: The map acquisition module is used to acquire map messages and feature information contained in V2X information sent by roadside devices, and to construct a first road topology map based on the map messages. The topology map construction module is used to construct a second road topology map based on the vehicle map within a preset threshold range; The location information determination module is used to determine, based on the first road topology map, the second road topology map, and the feature information, the first location information of the node information in the first road topology map located in the second road topology map; The coordinate system determination module is used to determine the second location information corresponding to the node information of the first road topology map according to the preset map deflection rules, and to determine the coordinate system to which the V2X information belongs based on the first location information and the second location information.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the coordinate system identification method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the coordinate system identification method according to any one of claims 1-7.

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