Methods, devices, equipment, and media for displaying high-precision maps in parking scenarios

Abstract

This application provides a method, apparatus, device, and medium for displaying high-precision maps in parking scenarios, belonging to the field of autonomous driving technology. The method includes: displaying an editing page for a first map file, the first map file indicating information about various geographic elements in the parking scenario; responding to an operation of adding spatial relationship information in the editing page to obtain an adjusted first map file, the spatial relationship information indicating the spatial relationship between lanes and parking areas; responding to a first command, generating a second map file based on the adjusted first map file, the second map file indicating information about various visually displayed geographic elements in the first map file; and responding to a compilation operation of the second map file to display a target map of the parking scenario on a target platform. This solution enables the import of a high-precision map of a parking scenario into a target platform and the display of corresponding lanes and parking areas, facilitating simulation testing.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, apparatus, device, and medium for displaying high-precision maps in parking scenarios. Background Technology

[0002] Apollo is an open-source autonomous driving platform that provides high-precision map services, playing a crucial role in high-precision positioning, environmental perception, decision-making and planning, and simulation operation. Typically, Apollo utilizes key technology modules such as perception, decision-making, and control to simulate and observe vehicle perception information, decision results, and control commands in real time, facilitating developers' debugging, testing, and verification of autonomous driving systems. However, after importing high-precision maps for parking scenarios, Apollo cannot identify parking areas, making it impossible to conduct simulation tests in parking scenarios and impacting the debugging process of autonomous driving systems. Therefore, ensuring that high-precision maps for parking scenarios are displayed correctly after importing them into Apollo is a pressing issue that needs to be addressed. Summary of the Invention

[0003] This application provides a method, apparatus, device, and medium for displaying high-precision maps in parking scenarios. It enables the import of high-precision maps of parking scenarios into a target platform, displaying corresponding lanes and parking areas, and ensuring vehicles are correctly parked in parking spaces. This facilitates subsequent autonomous driving simulation testing and calibration of the autonomous driving system in parking scenarios. The technical solution is as follows:

[0004] On the one hand, a method for displaying high-precision maps in parking scenarios is provided, the method comprising:

[0005] The editing page of the first map file is displayed. The first map file is used to indicate information about various geographical elements in the parking scenario. The editing page is used to display information from the first map file.

[0006] In response to the addition of spatial relationship information in the editing page, an adjusted first map file is obtained, wherein the spatial relationship information is used to indicate the spatial relationship between lanes and parking areas;

[0007] In response to the first command, a second map file is generated based on the adjusted first map file. The second map file is used to indicate information about various visually displayed geographic elements in the first map file.

[0008] In response to the compilation operation of the second map file, a target map of the parking scenario is displayed on the target platform, the target map including lanes and parking areas.

[0009] On the other hand, a display device for high-precision maps in parking scenarios is provided, the device comprising:

[0010] The first display module is used to display the editing page of the first map file, the first map file being used to indicate information about various geographical elements in a parking scenario, and the editing page being used to display information from the first map file;

[0011] The first adjustment module is used to respond to the addition of spatial relationship information in the editing page to obtain an adjusted first map file, wherein the spatial relationship information is used to indicate the spatial relationship between lanes and parking areas.

[0012] A first generation module is configured to generate a second map file in response to a first command, based on the adjusted first map file, wherein the second map file is used to indicate information of various geographic elements visualized in the first map file;

[0013] The second display module is used to display a target map of a parking scenario on the target platform in response to a compilation operation of the second map file. The target map includes lanes and parking areas.

[0014] In some embodiments, the spatial relationship information includes multiple spatial relationship data, each corresponding to a different parking area;

[0015] The first adjustment module is configured to, in response to a viewing operation on the editing page of information about any parking area and information about at least one target lane, display the information about the parking area and the information about the at least one target lane, wherein the at least one target lane is the lane with the shortest distance to the parking area; in response to an operation of adding spatial relationship data to the information about the parking area and the information about the at least one target lane respectively, display the information about the parking area and the information about the at least one target lane after adding the spatial relationship data, wherein the spatial relationship data is used to indicate the spatial relationship between the parking area and the at least one target lane; and in response to a save operation on the editing page, obtain the adjusted first map file.

[0016] In some embodiments, the apparatus further includes:

[0017] The second generation module is used to generate a scene model for a parking scenario in response to modeling operations in the modeling software. The scene model for the parking scenario includes a variety of geographical elements.

[0018] The export module is used to obtain the first map file in response to the export operation of the scene model in the parking scenario.

[0019] In some embodiments, the multiple geographic elements include lanes, roads, and parking areas;

[0020] The device further includes at least one of the following:

[0021] The second adjustment module is used to obtain adjusted lane information in response to the modification operation of the lane information, wherein the adjusted lane information is used to indicate the left edge, right edge and center line of the adjusted lane.

[0022] The second adjustment module is further configured to, in response to the modification operation of the road information, obtain the adjusted road information, wherein the adjusted road information is used to indicate the left and right edges of the adjusted road, and the width value between the left and right edges of the road is greater than the width value between the left and right edges of the corresponding lane.

[0023] The second adjustment module is further configured to respond to the modification operation of the parking area information to obtain the adjusted parking area information, wherein the adjusted parking area information is used to indicate the boundary point coordinates of the adjusted parking area.

[0024] In some embodiments, the apparatus further includes:

[0025] The third generation module is used to generate a third map file based on the adjusted first map file in response to the second command. The third map file is used to indicate information about various geographic elements in the first map file used for path planning.

[0026] The simulation module is used to perform simulation testing of the autonomous driving system in a parking scenario on the target platform in response to the compilation operation of the third map file.

[0027] In some embodiments, the apparatus further includes:

[0028] An add module is used to add the adjusted first map file to a target folder under a target path in response to a move operation on the adjusted first map file, provided that the first map file has been generated and adjusted. The target folder is used to store the adjusted first map file, the second map file, and the third map file.

[0029] The third display module is used to display the management page of the target platform in response to the startup operation of the target platform, provided that the second map file and the third map file have been generated and automatically stored.

[0030] The fourth display module is used to display the simulation page of the target platform in response to a trigger operation on the management page. The simulation page is used to display the simulation process corresponding to the target map.

[0031] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory being used to store at least one computer program, the at least one computer program being loaded and executed by the processor to implement the method for displaying high-precision maps in parking scenarios according to the embodiments of this application.

[0032] On the other hand, a computer-readable storage medium is provided, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor to implement the method for displaying high-precision maps in parking scenarios in the embodiments of this application.

[0033] On the other hand, a computer program product is provided, including a computer program that is executed by a processor to implement the method for displaying high-precision maps in parking scenarios according to the embodiments of this application.

[0034] This application provides a method for displaying high-precision maps in parking scenarios. By adding spatial relationship information to a first map file and generating a second map file, the corresponding target map for the parking scenario is displayed on the target platform. This solution enables the import of high-precision maps of parking scenarios into the target platform, displaying the corresponding lanes and parking areas, and ensuring vehicles are correctly parked in parking spaces. This facilitates subsequent autonomous driving simulation testing and calibration of the autonomous driving system in parking scenarios. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the implementation environment of a high-precision map display method in a parking scenario provided by an embodiment of this application;

[0037] Figure 2 This is a flowchart of a method for displaying a high-precision map in a parking scenario according to an embodiment of this application;

[0038] Figure 3 This is a flowchart of another method for displaying high-precision maps in a parking scenario according to an embodiment of this application;

[0039] Figure 4 This is a schematic diagram of a map file composition provided according to an embodiment of this application;

[0040] Figure 5 This is a schematic diagram of a high-precision map composition provided according to an embodiment of this application;

[0041] Figure 6 This is a schematic diagram of a high-precision map display provided according to an embodiment of this application;

[0042] Figure 7 This is a schematic diagram of an overall process according to an embodiment of this application;

[0043] Figure 8 This is a block diagram of a high-precision map display device for a parking scenario provided according to an embodiment of this application;

[0044] Figure 9 This is a block diagram of a high-precision map display device for a parking scenario provided in an embodiment of this application;

[0045] Figure 10 This is a schematic diagram of the structure of a terminal according to an embodiment of this application;

[0046] Figure 11 This is a schematic diagram of the structure of a server according to an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0048] In this application, the terms "first," "second," etc., are used to distinguish identical or similar items with essentially the same function. It should be understood that there is no logical or temporal dependency between "first," "second," and "nth," nor are there any restrictions on quantity or execution order.

[0049] In this application, the term "at least one" means one or more, and "multiple" means two or more.

[0050] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the first map file involved in this application was obtained with full authorization.

[0051] Figure 1 This is a schematic diagram illustrating the implementation environment of a high-precision map display method in a parking scenario provided by an embodiment of this application. See also... Figure 1 The implementation environment includes terminal 101 and server 102. Terminal 101 and server 102 can be connected directly or indirectly via wired or wireless communication, which is not limited herein.

[0052] In some embodiments, terminal 101 can be various types of terminals such as mobile phones, desktop computers, laptops, tablets, and smartwatches. An application can be installed and run on terminal 101. This application can respond to modifications to spatial relationship information in a first map file to obtain an adjusted first map file; generate a second map file in response to instructions; and then, in response to subsequent generation and compilation processes, display the target map of the parking scenario on the target platform. This application is associated with server 102, which provides background services to terminal 101.

[0053] In some embodiments, server 102 can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0054] In some embodiments, server 102 undertakes the main computing work and terminal 101 undertakes the secondary computing work; or, server 102 undertakes the secondary computing work and terminal 101 undertakes the main computing work; or, server 102 and terminal 101 collaborate on computing using a distributed computing architecture.

[0055] Figure 2 This is a flowchart illustrating a method for displaying a high-precision map in a parking scenario according to an embodiment of this application. The method is executed by a computer device. (See also...) Figure 2 The method includes the following steps:

[0056] 201. Display the editing page of the first map file. The first map file is used to indicate information about various geographical elements in the parking scenario. The editing page is used to display the information of the first map file.

[0057] In this embodiment, the terminal displays an editing page for a first map file. The first map file includes information on various geographic elements relevant to a parking scenario. The editing page displays the content of the first map file and allows the user to edit it. It should be noted that this embodiment does not limit the variety of geographic elements relevant to a parking scenario, as long as they include the geographic elements required for simulation testing in the parking scenario. For example, these geographic elements may include lane elements, intersection elements, traffic signal elements, and parking area elements, which will not be elaborated upon here.

[0058] 202. In response to the addition of spatial relationship information in the editing page, the adjusted first map file is obtained. The spatial relationship information is used to indicate the spatial relationship between lanes and parking areas.

[0059] In this embodiment, when a user edits the first map file on the editing page, the terminal responds to the user's addition of spatial relationship information on the editing page and obtains the adjusted first map file. Typically, spatial relationship information indicates the spatial or logical relationship between lanes and parking areas in a parking scenario. Spatial relationship information can also be referred to as spatial attribute information or logical attribute information. It should be noted that the spatial relationship between lanes and parking areas is not one-to-one. The same lane may have a spatial relationship with one or more parking areas, and the same parking area may also have a spatial relationship with one or more lanes.

[0060] 203. In response to the first command, a second map file is generated based on the adjusted first map file. The second map file is used to indicate information about various visually displayed geographic elements in the first map file.

[0061] In this embodiment, the terminal responds to a first command and generates a second map file based on the adjusted first map file. It should be noted that the second map file contains less information about geographic elements compared to the first map file. In other words, the second map file is a lightweight version suitable for visual visualization, with a lower data density. Therefore, using the second map file results in better performance.

[0062] 204. In response to the compilation operation of the second map file, display the target map of the parking scene on the target platform. The target map includes lanes and parking areas.

[0063] In some embodiments, the terminal displays a target map of the parking scenario on the target platform in response to a compilation operation of the second map file. Compiling the second map includes multiple operations such as compiling the runtime environment and selecting the second map file, which will not be elaborated upon in this embodiment. Through the above compilation operations, the visualization information indicated by the second map file can be displayed on the target platform. In other words, the second map file describes information about various geographic elements in the parking scenario in text form. After compiling the second map file, the terminal can display the target map of the parking scenario on the target platform, facilitating subsequent simulation testing and other work. The target map is a high-precision map of the parking scenario, containing lanes and parking areas.

[0064] This application provides a method for displaying high-precision maps in parking scenarios. By adding spatial relationship information to a first map file and generating a second map file, the target map for the corresponding parking scenario is displayed on the target platform. This solution enables the import of high-precision maps of parking scenarios into the target platform, displaying the corresponding lanes and parking areas, and ensuring vehicles are correctly parked in parking spaces. This facilitates subsequent autonomous driving simulation testing and calibration of the autonomous driving system in parking scenarios.

[0065] Figure 3 This is a flowchart of another method for displaying high-precision maps in a parking scenario according to an embodiment of this application. This method is executed by a computer device. See [link to relevant documentation]. Figure 3 The method includes the following steps:

[0066] 301. In response to the modeling operation in the modeling software, generate a scene model for the parking scenario, which includes various geographical elements.

[0067] In this embodiment, when a user builds a scene model for a parking scenario using modeling software, the terminal responds to the user's modeling operation and generates the scene model. For example, if a user builds a scene model for a parking scenario using RoadRunner software, the terminal generates the corresponding scene model for the parking scenario. RoadRunner is an interactive editor used for designing 3D scene models for simulation and testing of autonomous driving systems. Users can not only customize road scenes using RoadRunner, but also insert 3D models of guardrails, greenery, and buildings, and set traffic signals and driving routes at intersections. Typically, the terminal can import or export 3D scene models to the aforementioned software using Open Drive. It should be noted that the scene model for a parking scenario includes various geographical elements. For example, these geographical elements include lane elements, intersection elements, traffic signal elements, and parking area elements, which will not be elaborated upon in this embodiment.

[0068] 302. In response to the export operation of the scene model in the parking scenario, a first map file is obtained. The first map file is used to indicate information of various geographic elements in the parking scenario.

[0069] In this embodiment, after establishing a scene model for the parking scenario, the terminal responds to the export operation of the scene model to obtain a first map file. The first map file indicates information about various geographic elements in the scene model. Typically, the scene model for the parking scenario is exported as bin and txt formats, respectively, resulting in base_map.txt and base_map.bin files. For ease of description, base_map.txt and base_map.bin files are collectively referred to as the first map file. It should be noted that this solution only edits the content of the base_map.txt file, and does not require editing the content of the base_map.bin file. Compared to other maps generated subsequently, the base_map generated here is the most complete map, containing the most comprehensive geographic features for the parking scenario. Correspondingly, compared to other map files generated subsequently, the first map file generated here is the most complete map file, and the above two file formats contain information about various geographic features such as lanes, buildings, and terrain in the scene model for the parking scenario.

[0070] 303. Display the editing page of the first map file. The editing page is used to display information about the first map file.

[0071] In this embodiment, the terminal displays an editing page for a first map file, allowing the user to modify or add content to the first map file. Through user editing of the content on the editing page, the terminal obtains an adjusted first map file. This adjusted first map file includes information indicating the spatial relationship between lanes and parking areas. By generating other map files based on the adjusted first map file, after importing a high-precision map of a parking scenario into the target platform, the corresponding lanes and parking areas can be displayed, and the vehicle can be correctly parked in the parking space. This facilitates subsequent simulation testing of autonomous driving in parking scenarios and the debugging and calibration of the autonomous driving system.

[0072] 304. In response to the addition of spatial relationship information in the editing page, the adjusted first map file is obtained. The spatial relationship information is used to indicate the spatial relationship between lanes and parking areas.

[0073] In this embodiment, the terminal responds to the user's operation of adding spatial relationship information on the editing page, obtaining a first map file with the added spatial relationship information. This facilitates the generation of other map files based on the adjusted first map file in subsequent steps, and enables high-precision map display and simulation testing. Typically, spatial relationship information is used to indicate the spatial or logical relationship between lanes and parking areas in a parking scenario; therefore, spatial relationship information can also be called spatial attribute information or logical attribute information. It should be noted that the spatial relationship between lanes and parking areas is not one-to-one. The same lane may have a spatial relationship with one or more parking areas, and the same parking area may also have a spatial relationship with one or more lanes. Typically, spatial relationship information is used to indicate the spatial or logical relationship between a parking area and the lane closest to it. However, in some special cases, for example, when two lanes are simultaneously equidistant from the same parking area and have the shortest distance, a spatial relationship exists between the parking area and both lanes.

[0074] In some embodiments, spatial relationship information is added to the lane information and parking area information. Accordingly, the spatial relationship information includes multiple spatial relationship data points, each corresponding one-to-one with multiple parking areas. In response to a viewing operation on the editing page of any parking area information and at least one target lane information, the terminal displays the parking area information and at least one target lane information, where the at least one target lane is the lane with the shortest distance to the parking area. In response to an operation of adding spatial relationship data to the parking area information and at least one target lane information respectively, the terminal displays the parking area information and at least one target lane information after adding the spatial relationship data, where the spatial relationship data indicates the spatial relationship between the parking area and at least one target lane. In response to a save operation on the editing page, the terminal obtains the adjusted first map file.

[0075] It should be noted that spatial relationship information is added to the lane and parking area information. That is, the spatial relationship information indicating the spatial relationship between lanes and parking areas is embedded into the lane and parking area information descriptions, enabling the subsequent generation and display of a visualized target map based on this information. By adding the spatial relationship information indicating the spatial relationship between lanes and parking areas to the first map file, it is convenient to import high-precision maps of parking scenarios into the target platform, displaying the corresponding lanes and parking areas. This facilitates simulation testing of autonomous driving in parking scenarios and allows for the debugging and calibration of the autonomous driving system.

[0076] In some embodiments, in response to modification operations on lane information, road information, and parking area information in the first map file, the terminal can obtain corresponding adjusted information. In response to modification operations on lane information, adjusted lane information is obtained, which indicates the left edge, right edge, and centerline of the adjusted lane. In response to modification operations on road information, adjusted road information is obtained, which indicates the left edge and right edge of the adjusted road, and the width between the left and right edges of the road is greater than the width between the left and right edges of the corresponding lane. In response to modification operations on parking area information, adjusted parking area information is obtained, which indicates the coordinates of the boundary points of the adjusted parking area.

[0077] In this context, the left and right edges of a lane are collectively referred to as lane boundaries, while the left and right edges of a road are collectively referred to as road boundaries. The width between road boundaries must be greater than the width between lane boundaries to ensure sufficient space for turning, reversing, and other maneuvers when parking. Road boundaries are strictly enforced, meaning that vehicles cannot touch them during autonomous driving. Normally, vehicles also cannot manage lane boundaries, but they can in emergency situations, such as crossing a dashed yellow line to overtake.

[0078] For a clearer description of the contents of the first map file, see [link / reference]. Figure 4 As shown, Figure 4 This is a schematic diagram of a map file composition provided according to an embodiment of this application. The first map file contains lane information, road information, parking area information, and spatial relationship information. Typically, spatial relationship information describes not only the spatial relationship between the positions of lanes and parking areas in a parking scenario, but also the logical subordination relationship between lane elements and parking area elements, and the overlap relationship between lane elements and parking area elements. Optionally, spatial relationship can also be called logical attribute or overlap attribute. In other words, the base_map.txt file contains four elements: lane (1), road (2), parking area (3), and overlap attribute (4). It should be noted that, since lane boundaries and road boundaries are usually not distinguished when displaying high-precision maps, the information of lane (1) and road (2) are collectively referred to as lane information. Correspondingly, lane information includes the left edge, right edge, and centerline of the lane; the left edge and right edge of the road; and the overlap attribute between the lane and the parking space. Parking area information includes the coordinates of four points in the parking area, which determine the size and shape of the parking area. It should be noted that the overlap attribute sets the spatial logical relationship between the parking area and the lane closest to the parking area. When adding the overlap attribute (4), the overlap attribute (4) is added to the attributes of the lane (1) and the parking area (3).

[0079] 305. If the first map file has been generated and adjusted, in response to the move operation of the adjusted first map file, the adjusted first map file is added to the target folder under the target path. The target folder is used to store the adjusted first map file, the second map file, and the third map file.

[0080] In this embodiment, upon obtaining the adjusted first map file, the terminal, in response to a move operation on the adjusted first map file, adds the adjusted first map file to the target folder under the target path. Typically, a new folder (new) is created under the apollo / modules / map / data directory and designated as the target folder. Two map files named base_map.txt and base_map.bin are placed in this new folder. That is, the map files are stored according to the target path apollo / modules / map / data / new.

[0081] It should be noted that in the above scheme, after exporting the scene model to obtain the first map file, the first map file is first adjusted, and then the adjusted first map file is stored in the target folder; in some embodiments, after exporting the scene model to obtain the first map file, the first map file is first stored in the target folder, and then the first map file is adjusted. Both of the above methods can achieve the concept of this scheme, and this application embodiment does not limit it.

[0082] 306. In response to the first command, a second map file is generated based on the adjusted first map file. The second map file is used to indicate information about various visually displayed geographic elements in the first map file.

[0083] In this embodiment, the terminal responds to a first command and generates a second map file based on the adjusted first map file. Compared to the first map file, the second map file contains less information about geographic elements, meaning its data density is lower. Therefore, using the second map file results in better performance. In other words, after performing movement and adjustment operations on the first map file, the terminal obtains the adjusted first map file. At this point, the terminal enters the Docker virtual environment and, in response to the command `. / bazel-bin / modules / map / tools / sim_map_generator --map_dir=${dir_name} --output_dir=${dir_name}`, generates the `sim_map.txt` and `sim_map.bin` files. For ease of description, the `sim_map.txt` and `sim_map.bin` files are collectively referred to as the second map file. The second map file is a lightweight version of a high-precision map generated based on `base_map`, and is also a high-precision map suitable for visual visualization using the Dreamview tool in the Apollo platform.

[0084] Docker is an open-source application container engine that provides lightweight virtualization services, allowing users to directly deploy projects for testing within the container. Apollo is an open-source autonomous driving platform that provides high-precision map services, playing a crucial role in high-precision positioning, environmental perception, decision-making and planning, and simulation operation. Typically, this platform utilizes key technology modules such as perception, decision-making, and control to simulate and observe vehicle perception information, decision results, and control commands in real time, facilitating debugging, testing, and verification of autonomous driving systems. Dreamview is a user interface for visualizing and monitoring autonomous driving systems, typically providing real-time vehicle status, perception information, planned paths, and other important driving data to help users monitor the operational status of the autonomous driving system in real time.

[0085] 307. In response to the second command, a third map file is generated based on the adjusted first map file. The third map file is used to indicate information about various geographic elements in the first map file used for route planning.

[0086] In this embodiment, the terminal responds to the second command and generates a third map file based on the adjusted first map file. In other words, after performing movement and adjustment operations on the first map file, the terminal, in a Docker virtual environment, responds to the command `bash scripts / generate_routing_topo_graph.sh --map_dir${dir_name}` to generate `routing_map.bin` and `routing_map.txt` files. For ease of description, `routing_map.bin` and `routing_map.txt` are collectively referred to as the third map file. The third map file contains the lane topology from the first map file. The third map file is a map specifically designed for route planning, containing information such as road networks, intersections, and traffic signals. The third map file can generate an optimal route based on the origin, destination, and navigation preferences, while also considering real-time traffic and speed limits.

[0087] 308. If the second and third map files have been generated and automatically saved, the management page of the target platform shall be displayed in response to the startup operation of the target platform.

[0088] In this embodiment, when the second and third map files are generated, the terminal automatically stores them in the target folder. At this time, in response to the startup operation of the target platform, the terminal displays the management page of the target platform. In other words, with the second and third map files already generated and automatically stored, the target path apollo / modules / map / data / new contains six map files: base_map.txt, base_map.bin, sim_map.txt, sim_map.bin, routing_map.bin, and routing_map.txt. In the Docker virtual environment, the commands . / apollo.sh build_cpu and bash scripts / bootstrap.sh are executed sequentially to start the simulation environment of the target platform. Then, in response to the user opening a browser and entering http: / / localhost:8888, the terminal displays the apollo / dreamview interface, which is the management interface of the target platform used for visualizing and detecting the autonomous driving system.

[0089] For ease of description, the first map file, the second map file, and the third map file will be collectively referred to as high-precision maps. See also Figure 5 As shown, Figure 5 This is a schematic diagram illustrating the composition of a high-precision map according to an embodiment of this application. In other words, the six map files—base_map.txt, base_map.bin, sim_map.txt, sim_map.bin, routing_map.bin, and routing_map.txt—are collectively referred to as high-precision maps. Correspondingly, the base_map, sim_map, and routing_map maps constitute the parking scene map visualized by Apollo / DreamView.

[0090] 309. In response to a trigger operation on the management page, display the simulation page of the target platform. The simulation page is used to display the simulation process corresponding to the target map.

[0091] In this embodiment, in response to a trigger operation on the management page, the terminal displays the simulation page of the target platform. In other words, after the terminal displays the Apollo / DreamView interface, in response to the user opening the sim_control button and selecting the corresponding map, the terminal displays a high-precision map of the parking scenario.

[0092] For ease of describing the display effect of high-definition maps, see [link / reference]. Figure 6As shown, Figure 6 This is a schematic diagram illustrating a high-precision map display according to an embodiment of this application. After the Apollo / DreamView interface is displayed on the terminal, in response to a trigger operation on the management page, the terminal can display the simulation page of the target platform. The simulation page displays, as shown in the diagram... Figure 6 The high-precision map shown includes vehicles, lanes, and parking areas. It should be noted that the high-precision map displayed is the target map corresponding to the second map file. In other words, in some embodiments, in response to the compilation operation of the second map file, the terminal displays the target map for the parking scenario on the target platform. The target map includes lanes and parking areas. Accordingly, when performing simulation tests using the aforementioned high-precision map, the terminal needs to use the information corresponding to the third map file. In other words, in response to the second command, based on the adjusted first map file, the terminal generates a third map file. The third map file is used to indicate information about various geographic elements used for path planning in the first map file; in response to the compilation operation of the third map file, the terminal performs simulation tests of the autonomous driving system in the parking scenario on the target platform.

[0093] It should be noted that after successfully displaying a high-precision map of the parking scenario on the target platform, the subsequent terminal can debug the planning algorithm in the SIL (Software In-The-Loop) simulation test system, and can also debug the control algorithm through joint simulation with other software. The SIL simulation test system can test and verify the vehicle control system through simulation experiments; the planning algorithm is an autonomous driving decision-making and planning algorithm; and the control algorithm is an autonomous driving control algorithm. This application's embodiments will not elaborate further on these aspects.

[0094] For a clearer description of the overall process described above, please refer to [link / reference]. Figure 7 As shown, Figure 7 This is a schematic diagram illustrating the overall steps provided in an embodiment of this application. First, a parking scene model is initially established. Then, the scene model is exported as a first map file, namely, base_map.txt and base_map.bin. Next, the base_map.txt file in the first map file is modified. Then, a second map file, namely sim_map.txt and sim_map.bin, is generated using commands. Afterward, a third map file, namely routing_map.bin and routing_map.txt, is generated. Finally, the first, second, and third map files are stored in the apollo / modules / map / data path and compiled in a Docker virtual environment.

[0095] This application provides a method for displaying high-precision maps in parking scenarios. By adding spatial relationship information to a first map file and generating a second map file, the target map for the corresponding parking scenario is displayed on the target platform. This solution enables the import of high-precision maps of parking scenarios into the target platform, displaying the corresponding lanes and parking areas, and ensuring vehicles are correctly parked in parking spaces. This facilitates subsequent autonomous driving simulation testing and calibration of the autonomous driving system in parking scenarios.

[0096] Figure 8 This is a block diagram of a high-precision map display device for a parking scenario according to an embodiment of this application. This device is used to execute the steps of the above-described high-precision map display method for a parking scenario, see [link to relevant documentation]. Figure 8 The display device for the high-precision map in this parking scenario includes: a first display module 801, a first adjustment module 802, a first generation module 803, and a second display module 804.

[0097] The first display module 801 is used to display the editing page of the first map file. The first map file is used to indicate information about various geographical elements in the parking scenario, and the editing page is used to display the information of the first map file.

[0098] The first adjustment module 802 is used to respond to the addition operation of spatial relationship information in the editing page to obtain the adjusted first map file. The spatial relationship information is used to indicate the spatial relationship between lanes and parking areas.

[0099] The first generation module 803 is used to generate a second map file based on the adjusted first map file in response to the first command. The second map file is used to indicate information about various geographic elements visualized in the first map file.

[0100] The second display module 804 is used to display the target map of the parking scene in the target platform in response to the compilation operation of the second map file. The target map includes lanes and parking areas.

[0101] In some embodiments, the spatial relationship information includes multiple spatial relationship data, and each of the multiple spatial relationship data corresponds one-to-one with multiple parking areas;

[0102] The first adjustment module 802 is used to respond to a viewing operation on the editing page of information about any parking area and information about at least one target lane, displaying the information about the parking area and information about at least one target lane, wherein the at least one target lane is the lane with the shortest distance to the parking area; responding to an operation of adding spatial relationship data to the information about the parking area and information about at least one target lane respectively, displaying the information about the parking area and information about at least one target lane after adding spatial relationship data, wherein the spatial relationship data is used to indicate the spatial relationship between the parking area and at least one target lane; and responding to a save operation on the editing page to obtain the adjusted first map file.

[0103] In some embodiments, Figure 9 This is a block diagram of a high-precision map display device for a parking scenario, according to an embodiment of this application. See also... Figure 9 As shown, the device also includes:

[0104] The second generation module 901 is used to generate a scene model in the parking scene in response to the modeling operation in the modeling software. The scene model in the parking scene includes a variety of geographical elements.

[0105] The export module 902 is used to respond to the export operation of the scene model in the parking scenario and obtain the first map file.

[0106] In some embodiments, various geographic elements include driveways, roads, and parking areas;

[0107] The device also includes at least one of the following:

[0108] The second adjustment module 903 is used to respond to the modification operation of the lane information to obtain the adjusted lane information, which is used to indicate the left edge, right edge and center line of the adjusted lane.

[0109] The second adjustment module 903 is also used to respond to the modification operation of the road information to obtain the adjusted road information. The adjusted road information is used to indicate the left and right edges of the adjusted road. The width value between the left and right edges of the road is greater than the width value between the left and right edges of the corresponding lane.

[0110] The second adjustment module 903 is also used to respond to the modification operation of the parking area information to obtain the adjusted parking area information, which is used to indicate the coordinates of the boundary points of the adjusted parking area.

[0111] In some embodiments, the apparatus further includes:

[0112] The third generation module 904 is also used to generate a third map file in response to the second command, based on the adjusted first map file. The third map file is used to indicate information about various geographic elements in the first map file used for route planning.

[0113] Simulation module 905 is used to perform simulation testing of the autonomous driving system in parking scenarios on the target platform in response to the compilation operation of the third map file.

[0114] In some embodiments, the apparatus further includes:

[0115] Add module 906, which, in response to a move operation on the adjusted first map file, adds the adjusted first map file to the target folder under the target path when the first map file has been generated and adjusted. The target folder is used to store the adjusted first map file, the second map file, and the third map file.

[0116] The third display module 907 is used to display the management page of the target platform in response to the startup operation of the target platform, provided that the second map file and the third map file have been generated and automatically stored.

[0117] The fourth display module 908 is used to respond to the trigger operation in the management page and display the simulation page of the target platform. The simulation page is used to display the simulation process corresponding to the target map.

[0118] This application provides a high-precision map display device for parking scenarios. By adding spatial relationship information to a first map file and generating a second map file, the device displays the target map for the corresponding parking scenario on a target platform. This device can import a high-precision map of a parking scenario into a target platform, display the corresponding lanes and parking areas, and enable vehicles to correctly park in parking spaces. This facilitates subsequent autonomous driving simulation testing and calibration of the autonomous driving system in parking scenarios.

[0119] It should be noted that the high-precision map display device for parking scenarios provided in the above embodiments is only illustrated by the division of the above functional modules when running the application. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the terminal can be divided into different functional modules to complete all or part of the functions described above. In addition, the high-precision map display device for parking scenarios provided in the above embodiments and the high-precision map display method embodiments for parking scenarios belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0120] Figure 10This is a schematic diagram of a terminal according to an embodiment of this application. The terminal 1000 can be a portable mobile terminal, such as a smartphone, tablet computer, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, or desktop computer. The terminal 1000 may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

[0121] Typically, terminal 1000 includes a processor 1001 and a memory 1002.

[0122] Processor 1001 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1001 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1001 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1001 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0123] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1002 are used to store at least one computer program, which is executed by the processor 1001 to implement the high-precision map display method in a parking scenario provided in the method embodiments of this application.

[0124] In some embodiments, the terminal 1000 may also optionally include a peripheral device interface 1003 and at least one peripheral device. The processor 1001, memory 1002, and peripheral device interface 1003 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1003 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 1004, a display screen 1005, a camera assembly 1006, an audio circuit 1007, and a power supply 1008.

[0125] Peripheral device interface 1003 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1001 and memory 1002. In some embodiments, processor 1001, memory 1002 and peripheral device interface 1003 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1001, memory 1002 and peripheral device interface 1003 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0126] The radio frequency (RF) circuit 1004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1004 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1004 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. In some embodiments, the RF circuit 1004 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1004 can communicate with other terminals via at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1004 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0127] Display screen 1005 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1005 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1001 for processing. In this case, display screen 1005 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 1005, disposed on the front panel of terminal 1000; in other embodiments, there may be at least two display screens, disposed on different surfaces of terminal 1000 or in a folded design; in still other embodiments, display screen 1005 may be a flexible display screen, disposed on a curved or folded surface of terminal 1000. Furthermore, display screen 1005 may be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen 1005 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0128] The camera assembly 1006 is used to acquire images or videos. In some embodiments, the camera assembly 1006 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1006 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash is a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0129] The audio circuit 1007 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 1001 for processing, or input to the radio frequency circuit 1004 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location on the terminal 1000. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1001 or the radio frequency circuit 1004 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1007 may also include a headphone jack.

[0130] The power supply 1008 is used to power the various components in the terminal 1000. The power supply 1008 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When the power supply 1008 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0131] In some embodiments, the terminal 1000 further includes one or more sensors 1009. The one or more sensors 1009 include, but are not limited to: an acceleration sensor 1010, a gyroscope sensor 1011, a pressure sensor 1010, an optical sensor 1013, and a proximity sensor 1014.

[0132] Accelerometer 1010 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by terminal 1000. For example, accelerometer 1010 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 1001 can control display screen 1005 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1010. Accelerometer 1010 can also be used for games or for acquiring user motion data.

[0133] The gyroscope sensor 1011 can detect the orientation and rotation angle of the terminal 1000. The gyroscope sensor 1011 can work in conjunction with the accelerometer sensor 1010 to collect the user's 3D movements on the terminal 1000. Based on the data collected by the gyroscope sensor 1011, the processor 1001 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0134] The pressure sensor 1010 can be disposed on the side bezel of the terminal 1000 and / or the lower layer of the display screen 1005. When the pressure sensor 1010 is disposed on the side bezel of the terminal 1000, it can detect the user's grip signal on the terminal 1000, and the processor 1001 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 1010. When the pressure sensor 1010 is disposed on the lower layer of the display screen 1005, the processor 1001 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 1005. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0135] An optical sensor 1013 is used to collect ambient light intensity. In one embodiment, the processor 1001 can control the display brightness of the display screen 1005 based on the ambient light intensity collected by the optical sensor 1013. Optionally, when the ambient light intensity is high, the display brightness of the display screen 1005 is increased; when the ambient light intensity is low, the display brightness of the display screen 1005 is decreased. In another embodiment, the processor 1001 can also dynamically adjust the shooting parameters of the camera assembly 1009 based on the ambient light intensity collected by the optical sensor 1013.

[0136] The proximity sensor 1014, also known as a distance sensor, is installed on the front panel of the terminal 1000. The proximity sensor 1014 is used to detect the distance between the user and the front of the terminal 1000. In one embodiment, when the proximity sensor 1014 detects that the distance between the user and the front of the terminal 1000 is gradually decreasing, the processor 1001 controls the display screen 1005 to switch from a screen-on state to a screen-off state; when the proximity sensor 1014 detects that the distance between the user and the front of the terminal 1000 is gradually increasing, the processor 1001 controls the display screen 1005 to switch from a screen-off state to a screen-on state.

[0137] Those skilled in the art will understand that Figure 10 The structure shown does not constitute a limitation on terminal 1000 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0138] Figure 11This is a schematic diagram of a server structure according to an embodiment of this application. The server 1100 can vary considerably due to different configurations or performance. It may include one or more Central Processing Units (CPUs) 1101 and one or more memories 1102. The memory 1102 stores at least one computer program, which is loaded and executed by the processor 1101 to implement the high-precision map display method in the parking scenario provided in the above-described method embodiments. Of course, the server may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which will not be elaborated here.

[0139] This application also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to implement the high-precision map display method in the parking scenario described in the above embodiments. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, or an optical data storage device, etc.

[0140] This application also provides a computer program product, including a computer program that is executed by a processor to implement the high-precision map display method in the parking scenario of this application embodiment.

[0141] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0142] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for displaying high-precision maps in parking scenarios, characterized in that, The method includes: The editing page of the first map file is displayed. The first map file is used to indicate information about various geographical elements in the parking scenario. The editing page is used to display information from the first map file. In response to a viewing operation on the editing page of information about any parking area and information about at least one target lane, the information about the parking area and information about the at least one target lane are displayed, wherein the at least one target lane is the lane with the shortest distance to the parking area; In response to the addition of spatial relationship data to the information of the parking area and the information of the at least one target lane respectively, the information of the parking area and the information of the at least one target lane after adding the spatial relationship data are displayed, wherein the spatial relationship data is used to indicate the spatial relationship between the parking area and the at least one target lane; In response to the save operation on the editing page, the adjusted first map file is obtained; In response to the first command, a second map file is generated based on the adjusted first map file. The second map file is used to indicate information about various visually displayed geographic elements in the first map file. In response to the compilation operation of the second map file, a target map of the parking scenario is displayed on the target platform, the target map including lanes and parking areas.

2. The method according to claim 1, characterized in that, The method further includes: In response to modeling operations in modeling software, a scene model for a parking scenario is generated, the scene model for the parking scenario including various geographic elements; In response to the export operation of the scene model in the parking scenario, the first map file is obtained.

3. The method according to claim 1, characterized in that, The various geographic elements include driveways, roads, and parking areas; The method further includes at least one of the following: In response to the modification operation of the lane information, the adjusted lane information is obtained, which is used to indicate the left edge, right edge and center line of the adjusted lane; In response to the modification operation on the road information, adjusted road information is obtained, which is used to indicate the left and right edges of the adjusted road, and the width value between the left and right edges of the road is greater than the width value between the left and right edges of the corresponding lane. In response to the modification operation of the parking area information, the adjusted parking area information is obtained, which is used to indicate the coordinates of the boundary points of the adjusted parking area.

4. The method according to claim 1, characterized in that, The method further includes: In response to the second command, a third map file is generated based on the adjusted first map file, the third map file being used to indicate information about various geographic elements in the first map file used for route planning; In response to the compilation operation of the third map file, simulation testing of the autonomous driving system in a parking scenario is performed on the target platform.

5. The method according to claim 4, characterized in that, The method further includes: If the first map file has been generated and adjusted, in response to the move operation of the adjusted first map file, the adjusted first map file is added to the target folder under the target path, and the target folder is used to store the adjusted first map file, the second map file and the third map file; If the second map file and the third map file have been generated and automatically stored, the management page of the target platform is displayed in response to the startup operation of the target platform; In response to a trigger operation on the management page, the simulation page of the target platform is displayed, which is used to display the simulation process corresponding to the target map.

6. A high-precision map display device for parking scenarios, characterized in that, The device includes: The first display module is used to display the editing page of the first map file, the first map file being used to indicate information about various geographical elements in a parking scenario, and the editing page being used to display information from the first map file; The first adjustment module is configured to, in response to a viewing operation on the editing page of information about any parking area and information about at least one target lane, display the information about the parking area and the information about the at least one target lane, wherein the at least one target lane is the lane with the shortest distance to the parking area; in response to an operation of adding spatial relationship data to the information about the parking area and the information about the at least one target lane respectively, display the information about the parking area and the information about the at least one target lane after adding the spatial relationship data, wherein the spatial relationship data is used to indicate the spatial relationship between the parking area and the at least one target lane; and in response to a save operation on the editing page, obtain an adjusted first map file. A first generation module is configured to generate a second map file in response to a first command, based on the adjusted first map file, wherein the second map file is used to indicate information of various geographic elements visualized in the first map file; The second display module is used to display a target map of a parking scenario on the target platform in response to a compilation operation of the second map file. The target map includes lanes and parking areas.

7. A computer device, characterized in that, The computer device includes a processor and a memory, the memory being used to store at least one computer program, the at least one computer program being loaded by the processor and executed as described in any one of claims 1 to 5, the high-precision map display method for parking scenarios.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store at least one computer program, which is used to execute the high-precision map display method in a parking scenario as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the high-precision map display method in the parking scenario as described in any one of claims 1 to 5.

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