Road matching and map generation method and device, electronic equipment and storage medium

Abstract

Embodiments of the present disclosure disclose a road matching and map generation method and device, electronic equipment and a storage medium. The method comprises: performing initial matching on a high-precision road segment and a label-precision road segment, and determining at least one label-precision road segment group associated with the high-precision road segment, wherein each label-precision road segment group comprises at least one label-precision road segment, and the label-precision road segments in different label-precision road segment groups associated with the same high-precision road segment belong to different parallel roads; determining a high-precision road surface of the high-precision road segment according to left and right boundary lines of the high-precision road segment; for each label-precision road segment group, determining a road section interval in the label-precision road segment group located in the high-precision road surface of the high-precision road segment as a target label-precision road section interval matched with the high-precision road segment; and determining a high-precision road section interval matched with a road section interval in which each label-precision road segment in the target label-precision road section interval is located in the high-precision road segment. The technical solution can accurately and finely match road section intervals of high-precision road segments and label-precision road segments.

Description

Technical Field

[0001] This disclosure relates to the field of electronic map technology, specifically to a road matching and map generation method, apparatus, electronic device, and storage medium. Background Technology

[0002] Currently, electronic maps are evolving from standard-precision (SPP) electronic maps to high-precision (HPP) electronic maps. Compared to standard-precision (SPP) maps, HPP maps offer higher accuracy and richer feature sets. However, SPP maps have lower update costs, faster updates, and higher uptime. In scenarios such as autonomous driving or navigation, the fusion of SPP and HPP maps requires matching HPP and SPP roads. For example, highly up-to-date data such as electronic eyes and signs from SPP maps need to be integrated into HPP data, while more detailed road information such as lane numbers and lane types from HPP maps needs to be integrated into SPP data to meet the required functionalities. Therefore, how to accurately match SPP and HPP roads is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0003] To address the problems in the related technologies, embodiments of this disclosure provide a road matching and map generation method, apparatus, electronic device, and storage medium.

[0004] Firstly, this disclosure provides a road matching method.

[0005] Specifically, the road matching method includes:

[0006] The high-precision road segment and the standard-precision road segment are initially matched to determine at least one standard-precision road segment group associated with the high-precision road segment. Each standard-precision road segment group includes at least one standard-precision road segment, and the standard-precision road segments in different standard-precision road segment groups associated with the same high-precision road segment are parallel different roads.

[0007] The high-precision road surface of the high-precision road section is determined based on the left and right boundary lines of the high-precision road section;

[0008] For each set of standard precision road segments, the road segment intervals within the high precision road surface of the high precision road segment in the set of standard precision road segments are determined as target standard precision road segment intervals that match the high precision road segment;

[0009] In the high-precision road segment, a high-precision road segment interval is determined that matches the road segment interval of each high-precision road segment in the target high-precision road segment interval.

[0010] Secondly, this disclosure provides a map generation method, including:

[0011] Based on the road matching method described in the first aspect, obtain the segment interval of the standard precision road segment that matches the high precision road segment interval of the high precision road segment;

[0012] A target map is generated based on the segment intervals of the standard precision road segments that match the high precision road segment intervals.

[0013] Thirdly, embodiments of this disclosure provide a road matching device, including:

[0014] The initial matching module is configured to perform an initial match between high-precision road segments and standard-precision road segments to determine at least one group of standard-precision road segments associated with the high-precision road segments, wherein each group of standard-precision road segments includes at least one standard-precision road segment, and the standard-precision road segments in different groups of standard-precision road segments associated with the same high-precision road segment belong to different parallel roads.

[0015] The road surface determination module is configured to determine the high-precision road surface of the high-precision road segment based on the left and right boundary lines of the high-precision road segment;

[0016] The interval determination module is configured to, for each group of standard and precise road segments, determine the road segment intervals located within the high-precision road surface of the high-precision road segment in the group of standard and precise road segments as target standard and precise road segment intervals that match the high-precision road segment;

[0017] The fine matching module is configured to determine, within the high-precision road segment, a high-precision road segment interval that matches the road segment interval of each high-precision road segment in the target high-precision road segment interval.

[0018] Fourthly, 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 or second aspects.

[0019] Fifthly, 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 or second aspects.

[0020] According to the technical solution provided in this disclosure, high-precision road segments and standard-precision road segments can be initially matched to determine at least one group of standard-precision road segments associated with the high-precision road segment. Each group of standard-precision road segments includes at least one standard-precision road segment, and the standard-precision road segments in different groups associated with the same high-precision road segment are parallel roads. The high-precision road surface of the high-precision road segment is determined based on its left and right boundary lines. For each group of standard-precision road segments, the road segment intervals within the high-precision road surface of that high-precision road segment are determined as those matched with the high-precision road segment. The target precision road segment interval is matched; thus, the target precision road segment interval matching the high precision road surface is restricted in two dimensions: the longitudinal direction (road traffic direction) and the transverse direction (road width extension direction) of the high precision road. Then, the road segment intervals of each precision road segment in the target precision road segment interval can be finely matched with the high precision road segment to determine the high precision road segment intervals that match the road segment intervals of each precision road segment in the target precision road segment interval. In this way, a more precise matching result of the road segment interval can be obtained accurately.

[0021] 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

[0022] 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:

[0023] Figure 1 A flowchart illustrating a road matching method according to an embodiment of the present disclosure is shown;

[0024] Figure 2A A schematic diagram illustrating the matching process between high-precision road sections and standard-precision road sections is shown.

[0025] Figure 2B A schematic diagram illustrating the matching process between high-precision road sections and standard-precision road sections is shown.

[0026] Figure 2C A schematic diagram illustrating the matching process between high-precision road sections and standard-precision road sections is shown.

[0027] Figure 3 A flowchart illustrating a map generation method according to an embodiment of the present disclosure is shown;

[0028] Figure 4A A structural block diagram of a road matching device according to an embodiment of the present disclosure is shown;

[0029] Figure 4B A structural block diagram of a map generation apparatus according to an embodiment of the present disclosure is shown;

[0030] Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown;

[0031] 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

[0032] 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.

[0033] 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 are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0034] 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.

[0035] 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.

[0036] As mentioned above, electronic maps are currently evolving from standard-precision electronic maps (SPP maps) to high-precision electronic maps (HPP maps). Compared to standard-precision maps, HPP maps offer higher accuracy and richer feature sets. However, SPP maps have lower update costs, faster updates, and higher uptime. In scenarios such as autonomous driving or navigation, the fusion of SPP and HPP maps requires matching high-precision and standard-precision roads. For example, it's necessary to integrate up-to-date data such as electronic eyes and signs from SPP data into HPP data, and to integrate more detailed road information such as lane numbers and lane types from HPP data into SPP data to meet the functional requirements. Therefore, how to accurately match SPP and HPP roads is a technical problem that urgently needs to be solved by those skilled in the art.

[0037] This disclosure provides a road matching method. Based on the initial matching of high-precision road segments and standard-precision road segments, this method determines a more refined road segment interval matching relationship between the high-precision road segment and the coarsely matched standard-precision road segment based on the positional relationship between the high-precision road surface of the high-precision road segment and the coarsely matched standard-precision road segment. Based on the high-precision road surface, the target standard-precision road segment interval matching with the high-precision road segment can be restricted from two dimensions: the longitudinal direction of the road (road traffic direction) and the transverse direction of the road (the extension direction of the road width). This solves the problem of incorrect matching caused by the lack of transverse restriction in other methods, thereby obtaining a more accurate matching result.

[0038] Figure 1 A flowchart illustrating a road matching method according to an embodiment of the present disclosure is shown. Figure 1 As shown, the road matching method includes the following steps S101-S104:

[0039] In step S101, the high-precision road segment and the standard-precision road segment are initially matched to determine at least one standard-precision road segment group associated with the high-precision road segment. Each standard-precision road segment group includes at least one standard-precision road segment, and the standard-precision road segments in different standard-precision road segment groups associated with the same high-precision road segment are parallel different roads.

[0040] In step S102, the high-precision road surface of the high-precision road section is determined according to the left and right boundary lines of the high-precision road section;

[0041] In step S103, for each group of standard precision road segments, the road segment intervals located within the high precision road surface of the high precision road segment in the group of standard precision road segments are determined as target standard precision road segment intervals that match the high precision road segment;

[0042] In step S104, in the high-precision road segment, a high-precision road segment interval that matches the road segment interval where each high-precision road segment in the target high-precision road segment interval is located is determined.

[0043] In one possible implementation, the road matching method is applicable to devices such as computers, computing devices, servers, and server clusters that can perform road matching.

[0044] In one possible implementation, the high-precision road segment refers to a segment of high-precision road divided according to a predetermined high-precision road segment division rule, and the standard-precision road segment refers to a segment of standard-precision road divided according to a predetermined standard-precision road segment division rule. The division rules for high-precision and standard-precision road segments are different, therefore the lengths of the high-precision and standard-precision road segments are also different. Thus, it is possible for one high-precision road segment to be associated with one or more standard-precision road segments, and for one standard-precision road segment to be associated with one or more high-precision road segments. It should be noted that in this implementation, both high-precision and standard-precision road segments can be represented by line segments. Standard-precision road segments can be represented by standard-precision road lines on a standard-precision map, and high-precision road segments can be represented by the center lines of the high-precision road surface on a high-precision map. The high-precision map contains lane line information, and the high-precision road surface can be determined based on the boundary lane lines.

[0045] In one possible implementation, initial matching can be performed based on the road segment information of high-precision road segments and standard-precision road segments. The high-precision road segment information includes the coordinates of the road centerline shape points, the road grade, and the road name of the road segment. The standard-precision road segment information includes the coordinates of the road shape points, the road grade, and the road name of the road segment. High-precision road segments and standard-precision road segments with similar shape point coordinates, similar road shapes represented by the shape points, and belonging to the same road grade and name can be associated together to obtain standard-precision road segments associated with the high-precision road segments. Of course, there are other matching schemes for the initial matching of high-precision and standard-precision road segments, such as matching based on intersection information, etc., which will not be listed here.

[0046] In one possible implementation, the standard road segments associated with the high-precision road segment can be divided into different standard road segment groups according to the different roads they are located on. Each standard road segment group includes one or more standard road segments. Multiple standard road segments in the same standard road segment group are consecutive, and the standard road segments in different standard road segment groups associated with the same high-precision road segment belong to different parallel roads. For example, for a certain main road and auxiliary road, it may be created as a high-precision road when creating a high-precision map, and as a main road and an auxiliary road when creating a standard road map. This will cause the high-precision road segment on the high-precision road to be associated with a standard road segment on a main road and a standard road segment on an auxiliary road during initial matching. In this case, the standard road segments associated with the high-precision road segment can be divided into two standard road segment groups, one of which is the standard road segment on the main road, and the other of which is the standard road segment on the auxiliary road. Of course, in most cases, a high-precision road corresponds to a standard-precision road. In this case, the high-precision road segment is associated with a set of standard-precision road segments.

[0047] In one possible implementation, the high-precision road segment includes lane line information. The left and right boundary lines of the high-precision road segment can be determined from the lane line information. Based on the left and right boundary lines of the high-precision road segment, the high-precision road surface of the high-precision road segment can be determined. For example... Figure 2A The diagram illustrates the matching process between high-precision road sections and standard-precision road sections, as shown below. Figure 2A As shown, the high-precision road segment HD1 (represented by the road centerline of high-precision road segment HD1) is associated with a set of standard-precision road segments SD1, SD2, and SD3. The left boundary line a and the right boundary line b of high-precision road segment HD1 are connected. The upper and lower boundary lines c and d of high-precision road segment are obtained by connecting the two ends of the left boundary line a and the two ends of the right boundary line b. The surface enclosed by a, b, c, and d is the high-precision road surface of high-precision road segment.

[0048] In one possible implementation, for a set of standard road segments associated with the high-precision road segment, the road segment intervals within the high-precision road surface of the high-precision road segment in the standard road segment group can be denoted as target standard road segment intervals. The target standard road segment intervals that match the high-precision road segment are still referred to as... Figure 2A For example, the road segment interval between n1 and n2 located within the high-precision road surface of the high-precision road segment in SD1, SD2 and SD3 is the target high-precision road segment interval that matches the high-precision road segment HD1. This more precisely determines the target high-precision road segment interval that matches the high-precision road segment HD1.

[0049] In one possible implementation, for a target precision road segment interval that matches the high-precision road segment, the road segment interval where each precision road segment is located within the precision road segment interval can be determined, still using... Figure 2A For example, we can determine the segment intervals within the standard precision segment interval n1n2, namely, the segment interval where SD1 is located is n1n3, the segment interval where SD2 is located is n3n4, and the segment interval where SD3 is located is n4n2. Then, we can match the high-precision segment with the segment intervals where SD1 is located (n1n3), SD2 is located (n3n4), and SD3 is located (n4n2). For example, we can use projection matching, projecting n1n3, n3n4, and n4n2 onto the high-precision segment. On the centerline of road segment HD1, it can be determined that the interval n1n3 of road segment SD1 matches the high-precision interval m1m3 of high-precision road segment; the interval n3n4 of road segment SD2 matches the high-precision interval m3m4 of high-precision road segment; and the interval n4n2 of road segment SD3 matches the high-precision interval m4m2 of high-precision road segment. Thus, a more refined matching relationship between high-precision road segment HD1 and the intervals of road segments SD1, SD2, and SD3 in the target high-precision road segment can be determined as shown in Table 1 below:

[0050] HD1 High-precision road section A set of related standard road sections m1m3 n1n3 in SD1 m3m4 n3n4 in SD2 m4m2 n4n2 in SD3

[0051] Table 1

[0052] This implementation method can first perform initial matching of high-precision road segments and standard-precision road segments to determine at least one group of standard-precision road segments associated with the high-precision road segment. Each group of standard-precision road segments includes at least one standard-precision road segment, and the standard-precision road segments in different groups associated with the same high-precision road segment are parallel roads. Based on the left and right boundary lines of the high-precision road segment, the high-precision road surface of the high-precision road segment is determined. For each group of standard-precision road segments, the road segment intervals within the high-precision road surface of that high-precision road segment are determined as target segments to be matched with the high-precision road segment. The high-precision road segment interval is defined by restricting the target high-precision road segment interval matching the high-precision road segment in two dimensions: longitudinal (road traffic direction) and transverse (road width extension direction). Then, the road segment intervals of each high-precision road segment in the target high-precision road segment interval can be finely matched with the high-precision road segment to determine the high-precision road segment intervals that match the road segment intervals of each high-precision road segment in the target high-precision road segment interval. In this way, a more precise matching result of the road segment interval can be obtained.

[0053] In one possible implementation, determining the road segment interval within the high-precision road surface of the high-precision road segment in the standard precision road segment group as the target standard precision road segment interval matching the high-precision road segment includes:

[0054] Determine the two first intersection points where the upper and lower edges of the high-precision road surface intersect with the standard precision road segments in the standard precision road segment group;

[0055] The road segment interval located between the two first intersection points in the standard precision road segment group is determined as the target standard precision road segment interval that matches the high precision road segment.

[0056] In this embodiment, it is still based on Figure 2A For example, a set of standard precision road segments associated with high-precision road segment HD1 are SD1, SD2 and SD3. The upper and lower edges of the high-precision road surface of high-precision road segment HD1 are c and d. The two intersection points of this set of standard precision road segments SD1, SD2 and SD3 with c and d are n1 and n2. Then the road segment interval between n1 and n2 is the target standard precision road segment interval that matches high-precision road segment HD1.

[0057] In one possible implementation, determining the high-precision road segment interval that matches the road segment interval of each of the target high-precision road segments in the high-precision road segment interval includes:

[0058] If the two first intersection points are located in two different standard road segments, then based on the positional relationship between the road segment interval where each standard road segment in the target standard road segment interval is located and the high-precision road segment, a high-precision road segment interval that matches the road segment interval where each standard road segment in the target standard road segment is located is determined in the high-precision road segment.

[0059] If the two first intersection points are located in the same high-precision road segment, then the target high-precision road segment interval will be matched with the high-precision road segment.

[0060] In this embodiment, if the two first intersection points are located in two different high-precision road segments, it indicates that the target high-precision road segment interval corresponding to the high-precision road segment includes road segment intervals of at least two high-precision road segments. In this case, it is necessary to match the road segment intervals where each high-precision road segment in the target high-precision road segment interval is located with the high-precision road segment. During the matching, position matching can be performed based on the positional correspondence between the road segments where each high-precision road segment in the target high-precision road segment interval is located and the high-precision road segment. In the high-precision road segment, the high-precision road segment interval that matches the road segment intervals where each high-precision road segment in the target high-precision road segment interval is located is determined.

[0061] In this implementation, if the two first intersection points are located in the same high-precision road segment, it indicates that the target high-precision road segment interval corresponding to the high-precision road segment is a segment interval of a high-precision road segment. In this case, the target high-precision road segment interval can be directly matched with the high-precision road segment; for example, Figure 2B The diagram illustrates the matching process between high-precision road sections and standard-precision road sections, as shown below. Figure 2B As shown, the high-precision road segment HD2, and a set of standard-precision road segments associated with HD2, including standard-precision road segment SD4, are the target standard-precision road segment intervals between the high-precision road surface of HD2 and the two first intersection points p1 and p2 of the standard-precision road segment SD4. The two first intersection points p1 and p2 are both located on the same standard-precision road segment SD4. At this time, the target standard-precision road segment interval, i.e., p1p2, can be directly matched with the high-precision road segment HD4.

[0062] In one possible implementation, the step of determining, based on the positional relationship between the high-precision road segment interval and the high-precision road segment within the target high-precision road segment interval, a high-precision road segment interval that matches the segment interval of each high-precision road segment in the target high-precision road includes:

[0063] If there is at least one intermediate standard road segment between the two different standard road segments, then for each intermediate standard road segment, the standard road surface of the intermediate standard road segment is constructed with the intermediate standard road segment as the center line and the road surface width of the high-precision road surface as the road surface width of the intermediate standard road segment.

[0064] Determine the two second intersection points where the upper and lower edges of the standard precision road surface intersect the center line of the high precision road section;

[0065] Match the high-precision road segment interval between the two second intersection points in the high-precision road segment with the intermediate standard-precision road segment;

[0066] The two high-precision road segment intervals that are not located between the two second intersection points are respectively matched with the road segment intervals containing the two different standard precision road segments in the target standard precision road segment interval.

[0067] In this embodiment, it is still based on Figure 2A For example, the two first intersection points n1 and n2 are located on two high-precision road segments SD1 and SD3 respectively. There is an intermediate high-precision road segment SD2 between the two high-precision road segments SD1 and SD3. For this intermediate high-precision road segment SD2, the road surface width of the high-precision road can be taken as the center line, and the road surface width of the high-precision road surface can be taken as the road surface width of the intermediate high-precision road segment SD2. For example, as... Figure 2A As shown, the high-precision road surface of SD2 is constructed by extending R to the left and right, with the middle high-precision road segment SD2 as the center line. R is half the width of the high-precision road surface. The width of the high-precision road surface can be the average distance between the left and right boundary lines of the high-precision road surface, for example, it can be half the sum of the lengths of the upper and lower boundary lines c and d of the high-precision road surface.

[0068] In this embodiment, such as Figure 2A As shown, the two second intersection points where the center line of the high-precision road segment HD1 intersects the upper and lower edges of the standard-precision road segment SD2 are m3 and m4. At this time, the road segment interval between m3 and m4 in the high-precision road segment HD1 can be determined as the high-precision road segment interval corresponding to the intermediate standard-precision road segment SD2, that is, m3m4 in the high-precision road segment is matched with SD2 in the standard-precision road segment. The two road segment intervals in the high-precision road segment that are not located between the second intersection points, namely m1m3 and m4m2, are respectively matched with the road segment interval n1n3 where SD1 is located and the road segment interval n4n2 where SD3 is located in the standard-precision road segment interval.

[0069] In one possible implementation, the step of determining, based on the positional relationship between the high-precision road segment interval and the high-precision road segment within the target high-precision road segment interval, a high-precision road segment interval that matches the segment interval of each high-precision road segment in the target high-precision road includes:

[0070] If the two different standard precision road sections are connected continuously, then the projection point of the connection point of the two different standard precision road sections on the road centerline of the high precision road section is determined;

[0071] The two high-precision road segment intervals located on both sides of the projection point in the high-precision road segment are respectively matched with the road segment intervals containing the two different standard precision road segments in the target standard precision road segment interval.

[0072] In this embodiment, Figure 2C The diagram illustrates the matching process between high-precision road sections and standard-precision road sections, as shown below. Figure 2C As shown, the high-precision road segment HD3 is associated with a set of standard-precision road segments SD5 and SD6. The high-precision road surface of HD3 intersects with two first intersection points e1 and e2 of the set of standard-precision road segments SD5 and SD6. The standard-precision road segment interval between these two intersection points is the target standard-precision road segment interval e1e2. The two first intersection points e1 and e2 are located on the two standard-precision road segments SD5 and SD6 respectively. The two standard-precision road segments SD5 and SD6 are continuously connected. Therefore, the connection point e3 of the two standard-precision road segments SD5 and SD6 can be determined to be located on the high-precision road segment HD3. The projection point f3 on the centerline of the high-precision road segment HD3 can match the two high-precision road segment intervals f1f3 and f3f2 located on both sides of the projection point f3 in the high-precision road segment HD3 with the two standard high-precision road segment intervals e1e3 and e3e2 located in the target standard high-precision road segment interval e1e2, where the two first intersection points are located. That is, the high-precision road segment interval f1f3 matches the standard high-precision road segment interval e1e3 located in the standard high-precision road segment SD4, and the high-precision road segment interval f3f2 matches the standard high-precision road segment interval e3e2 located in the standard high-precision road segment SD4.

[0073] In one possible implementation, the method may further include the following steps:

[0074] For each set of high-precision road segments, if there is no road segment within the high-precision road surface of the high-precision road segment in the set of high-precision road segments, then it is determined that the high-precision road segment in the set of high-precision road segments does not match the high-precision road segment.

[0075] In this embodiment, such as Figure 2A As shown, some of the standard road segments associated with the high-precision road segment are not located within the high-precision road surface of the high-precision road segment, indicating that these standard road segments do not match the high-precision road segment. In some cases, it is also possible that none of the standard road segments in a group of standard road segments associated with the high-precision road segment are located within the high-precision road surface of the high-precision road segment. This indicates that the initial matching of the standard road segment group was incorrect and does not match the high-precision road segment. Therefore, the matching standard road segments with the high-precision road segment can be restricted in the transverse direction of the road (the direction of road width extension) to solve the problem of incorrect matching during the initial matching.

[0076] Figure 3 A flowchart illustrating a map generation method according to an embodiment of the present disclosure is shown. Figure 3As shown, the map generation method includes the following steps S301-S302:

[0077] In step S301, based on the road matching method described above, the segment interval of the standard precision road segment that matches the high precision road segment interval of the high precision road segment is obtained;

[0078] In step S302, a target map is generated based on the segment intervals of the standard precision road segments that match the high precision road segment intervals.

[0079] In one possible implementation, the map generation method is applicable to devices such as computers, computing devices, servers, and server clusters capable of performing map generation.

[0080] In one possible implementation, based on the road matching method described above, for each high-precision road segment, the segment intervals of standard-precision road segments that match the high-precision segment intervals of the high-precision road segment can be obtained. Based on the segment intervals of standard-precision road segments that match the high-precision segment intervals of the high-precision road segment, the high-precision road data (such as lane line data, road marking data, etc.) corresponding to the high-precision segment intervals of the high-precision road segment can be associated with the road data (such as traffic light, electronic eye, etc.) corresponding to the segment intervals of the matching standard-precision road segments to generate a target map. This target map contains both highly up-to-date data such as electronic eyes and signs from the standard-precision map, as well as more refined road data such as the number of lanes and lane types from the high-precision map.

[0081] In one possible implementation, map services such as autonomous driving services or lane-level navigation services can be provided based on the target map. For example, lane-level navigation services can be provided by planning roads based on high-precision road data such as traffic lights and electronic eyes in the target map to obtain navigation routes, and then performing lane-level navigation based on high-precision road data such as lane data corresponding to the navigation route fused in the target map.

[0082] This implementation method can accurately obtain the segment intervals of standard precision road segments that match the segment intervals of high precision road segments through the road matching method described above, and then accurately associate the high precision road data and standard precision road data together to generate a target map and provide users with better map services.

[0083] Figure 4A A structural block diagram of a road matching 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 4A As shown, the road matching device includes:

[0084] The initial matching module 401 is configured to perform initial matching of high-precision road segments and standard-precision road segments to determine at least one group of standard-precision road segments associated with the high-precision road segments, wherein each group of standard-precision road segments includes at least one standard-precision road segment, and the standard-precision road segments in different groups of standard-precision road segments associated with the same high-precision road segment belong to different parallel roads.

[0085] The road surface determination module 402 is configured to determine the high-precision road surface of the high-precision road segment based on the left and right boundary lines of the high-precision road segment;

[0086] The interval determination module 403 is configured to, for each group of standard and precise road segments, determine the road segment intervals located within the high-precision road surface of the high-precision road segment in the group of standard and precise road segments as target standard and precise road segment intervals that match the high-precision road segment;

[0087] The fine matching module 404 is configured to determine, within the high-precision road segment, a high-precision road segment interval that matches the road segment interval of each high-precision road segment in the target high-precision road segment interval.

[0088] In one possible implementation, the interval determination module is configured as follows:

[0089] Determine the two first intersection points where the upper and lower edges of the high-precision road surface intersect with the standard precision road segments in the standard precision road segment group;

[0090] The road segment interval located between the two first intersection points in the standard precision road segment group is determined as the target standard precision road segment interval that matches the high precision road segment.

[0091] In one possible implementation, the fine matching module 404 is configured as follows:

[0092] If the two first intersection points are located in two different standard road segments, then based on the positional relationship between the road segment interval where each standard road segment in the target standard road segment interval is located and the high-precision road segment, a high-precision road segment interval that matches the road segment interval where each standard road segment in the target standard road segment is located is determined in the high-precision road segment.

[0093] If the two first intersection points are located in the same high-precision road segment, then the target high-precision road segment interval will be matched with the high-precision road segment.

[0094] In one possible implementation, the fine matching module, based on the positional relationship between the segment intervals where each precise road segment in the target precise road segment interval is located and the high-precision road segment, determines, within the high-precision road segment, a portion of the high-precision road segment interval that matches the segment intervals where each precise road segment in the target precise road segment is located, as follows:

[0095] If there is at least one intermediate standard road segment between the two different standard road segments, then for each intermediate standard road segment, the standard road surface of the intermediate standard road segment is constructed with the intermediate standard road segment as the center line and the road surface width of the high-precision road surface as the road surface width of the intermediate standard road segment.

[0096] Determine the two second intersection points where the upper and lower edges of the standard precision road surface intersect the center line of the high precision road section;

[0097] Match the high-precision road segment interval between the two second intersection points in the high-precision road segment with the intermediate standard-precision road segment;

[0098] The two high-precision road segment intervals that are not located between the second intersection points are respectively matched with the road segment intervals containing the two different standard precision road segments in the target standard precision road segment interval.

[0099] In one possible implementation, the fine matching module, based on the positional relationship between the segment intervals where each precise road segment in the target precise road segment interval is located and the high-precision road segment, determines, within the high-precision road segment, a portion of the high-precision road segment interval that matches the segment intervals where each precise road segment in the target precise road segment is located, as follows:

[0100] If the two different standard precision road sections are connected continuously, then the projection point of the connection point of the two different standard precision road sections on the road centerline of the high precision road section is determined;

[0101] The two high-precision road segment intervals located on both sides of the projection point in the high-precision road segment are respectively matched with the road segment intervals containing the two different standard precision road segments in the target standard precision road segment interval.

[0102] In one possible implementation, the device further includes:

[0103] The error correction module is configured to determine that the standard precision road segment in the standard precision road segment group does not match the high precision road segment if there is no road segment interval in the standard precision road segment of the high precision road segment for each standard precision road segment group.

[0104] Figure 4B A structural block diagram of a map generation 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 map generation device includes:

[0105] The acquisition module 405 is configured to acquire the segment interval of the standard precision road segment that matches the high precision road segment interval of the high precision road segment based on the road matching method described above;

[0106] The generation module 406 is configured to generate a target map based on the segment intervals of the standard precision road segments that match the high precision road segment intervals.

[0107] The technical terms and features mentioned in this device embodiment are the same as or similar to those mentioned in the above method embodiment. For explanations and descriptions of the technical terms and features involved in this device, please refer to the explanations of the above method embodiment. They will not be repeated here.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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 511.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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 road matching method, comprising: The high-precision road segment and the standard-precision road segment are initially matched to determine at least one standard-precision road segment group associated with the high-precision road segment. Each standard-precision road segment group includes at least one standard-precision road segment, and the standard-precision road segments in different standard-precision road segment groups associated with the same high-precision road segment are parallel different roads. The high-precision road surface of the high-precision road section is determined based on the left and right boundary lines of the high-precision road section; For each group of high-precision road segments, determine the two first intersection points where the upper and lower edges of the high-precision road surface intersect with the high-precision road segments in the group; The road segment interval located between the two first intersection points in the standard precision road segment group is determined as the target standard precision road segment interval that matches the high precision road segment; In the high-precision road segment, the high-precision road segment interval that matches the road segment interval of each high-precision road segment in the target high-precision road segment interval is determined, including: If the two first intersection points are located in two different standard road segments, and there is at least one intermediate standard road segment between the two different standard road segments, then for each intermediate standard road segment, the standard road surface of the intermediate standard road segment is constructed with the intermediate standard road segment as the center line and the road surface width of the high-precision road surface as the road surface width of the intermediate standard road segment. Determine the two second intersection points where the upper and lower edges of the standard precision road surface intersect the center line of the high precision road section; Match the high-precision road segment interval between the two second intersection points in the high-precision road segment with the intermediate standard-precision road segment; The two high-precision road segment intervals that are not located between the two second intersection points are respectively matched with the road segment intervals containing the two different standard precision road segments in the target standard precision road segment interval.

2. The method according to claim 1, wherein, The step of determining the high-precision road segment interval that matches the road segment interval of each standard road segment in the target standard road segment interval further includes: if the two first intersection points are located in the same standard road segment, then the target standard road segment interval is matched with the high-precision road segment.

3. The method according to claim 1, wherein, The step of determining, within the high-precision road segment, a high-precision road segment interval that matches the road segment interval of each target high-precision road segment interval further includes: If the two different standard precision road sections are connected continuously, then the projection point of the connection point of the two different standard precision road sections on the road centerline of the high precision road section is determined; The two high-precision road segment intervals located on both sides of the projection point in the high-precision road segment are respectively matched with the road segment intervals containing the two different standard precision road segments in the target standard precision road segment interval.

4. The method according to claim 1, wherein, The method further includes: For each group of standard and precise road segments, if there is no road segment interval located within the high-precision road surface of the high-precision road segment in the group of standard and precise road segments, then it is determined that the standard and precise road segments in the group of standard and precise road segments do not match the high-precision road segment.

5. A map generation method, comprising: Based on the road matching method according to any one of claims 1-4, obtain the segment interval of the standard precision road segment that matches the high precision road segment interval of the high precision road segment; A target map is generated based on the segment intervals of the standard precision road segments that match the high precision road segment intervals.

6. A road matching device, comprising: The initial matching module is configured to perform an initial match between high-precision road segments and standard-precision road segments to determine at least one group of standard-precision road segments associated with the high-precision road segments, wherein each group of standard-precision road segments includes at least one standard-precision road segment, and the standard-precision road segments in different groups of standard-precision road segments associated with the same high-precision road segment belong to different parallel roads. The road surface determination module is configured to determine the high-precision road surface of the high-precision road segment based on the left and right boundary lines of the high-precision road segment; The interval determination module is configured to determine, for each group of high-precision road segments, two first intersection points where the upper and lower edges of the high-precision road surface intersect with the high-precision road segments in the group of high-precision road segments; The road segment interval located between the two first intersection points in the standard precision road segment group is determined as the target standard precision road segment interval that matches the high precision road segment; The fine-matching module is configured to determine, within the high-precision road segment, a high-precision road segment interval that matches the road segment interval of each high-precision road segment in the target high-precision road segment interval, including: If the two first intersection points are located in two different standard road segments, and there is at least one intermediate standard road segment between the two different standard road segments, then for each intermediate standard road segment, the standard road surface of the intermediate standard road segment is constructed with the intermediate standard road segment as the center line and the road surface width of the high-precision road surface as the road surface width of the intermediate standard road segment. Determine the two second intersection points where the upper and lower edges of the standard precision road surface intersect the center line of the high precision road section; Match the high-precision road segment interval between the two second intersection points in the high-precision road segment with the intermediate standard-precision road segment; The two high-precision road segment intervals that are not located between the two second intersection points are respectively matched with the road segment intervals containing the two different standard precision road segments in the target standard precision road segment interval.

7. 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 method according to any one of claims 1 to 5.

8. A computer-readable storage medium having computer instructions stored thereon, wherein, When executed by a processor, the computer instructions implement the method described in any one of claims 1-5.

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