Method, device, equipment, storage medium and program product for making high-precision maps

Abstract

The present application provides a method, device, equipment, storage medium and program product for making a high-precision map, and relates to the technical field of high-precision map making. In this method, firstly, the number of standard precision roads corresponding to each high-precision road in the standard precision road in the high-precision map framework is determined by a predefined road matching algorithm, and then for those high-precision roads whose corresponding number of standard precision roads exceeds the road number threshold, the navigation road attributes of the high-precision road are assigned according to the ratio between the length of each standard precision road and the length of the high-precision road and the navigation road attributes, thereby obtaining the target high-precision road. Through this method, the cost of making high-precision maps can be effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of high-precision map production, and in particular to a method, device, equipment, storage medium and program product for producing a high-precision map. Background Art

[0002] With the development of technologies such as autonomous driving and intelligent transportation, the production of high-precision maps has become the focus of current research.

[0003] At present, the production of high-precision maps usually involves a variety of complex collection and processing technologies, and requires the careful design and implementation of effective maintenance and update strategies to ensure the accuracy and real-time nature of map data. This includes but is not limited to the use of advanced sensor technology for data collection, the use of efficient data processing algorithms for map construction, and the establishment of a continuous data update mechanism to cope with changes in road networks and the environment.

[0004] However, this method of producing high-precision maps inevitably brings the challenge of high production costs. Summary of the invention

[0005] The present application provides a method, device, equipment, storage medium and program product for producing a high-precision map, so as to solve the problem of high cost in producing high-precision maps.

[0006] In a first aspect, the present application provides a method for producing a high-precision map, the method comprising:

[0007] According to the predefined road matching algorithm, determine the number of standard precision roads corresponding to each high-precision road in the high-precision map framework in the standard precision map;

[0008] For a high-precision road whose corresponding number of marked precision roads exceeds the road number threshold, the navigation road attributes of the high-precision road are assigned values ​​according to the ratio between the length of each marked precision road corresponding to the high-precision road and the length of the high-precision road and the navigation road attributes to obtain the target high-precision road.

[0009] In a possible design of the first aspect, assigning a value to the navigation road attribute of the high-precision road according to a ratio between a length of each marked precision road corresponding to the high-precision road and a length of the high-precision road and a navigation road attribute to obtain a target high-precision road includes:

[0010] If, among the standard precision roads corresponding to the high precision road, there exists a first standard precision road whose length ratio to the length of the high precision road is greater than or equal to a first preset ratio, assigning the navigation road attribute of the first standard precision road to the high precision road to obtain the target high precision road;

[0011] If, among the standard precision roads corresponding to the high-precision road, there does not exist a ratio between the length of the standard precision road and the length of the high-precision road that is greater than or equal to the first preset ratio, then according to the preset road segmentation rule, the ratio of the length of each standard precision road to the length of the high-precision road, and the navigation road attributes of each standard precision road, the navigation road attributes of the high-precision road are assigned to obtain the target high-precision road.

[0012] In a possible design of the first aspect, according to a preset road segmentation rule, a ratio of the length of each marked precision road to the length of the high-precision road, and a navigation road attribute of each marked precision road, the navigation road attribute of the high-precision road is assigned to obtain a target high-precision road, including:

[0013] If, among the standard precision roads corresponding to the high precision road, the ratios of the lengths of all standard precision roads to the length of the high precision road are between the second preset ratio and the first preset ratio, the high precision road is divided into K1 high precision road sections according to the direction and length of the standard precision road, the second preset ratio is less than the first preset ratio, and K1 is the number of standard precision roads corresponding to the high precision road;

[0014] The navigation road attributes of each of the marked high-precision roads are respectively assigned to the corresponding sections in the K1 high-precision road sections to obtain the target high-precision road.

[0015] In a possible design of the first aspect, the method includes:

[0016] If, in the standard precision road corresponding to the high-precision road, the ratio of the length of part of the second standard precision road to the length of the high-precision road is between the second preset ratio and the first preset ratio, and the ratio of the length of part of the third standard precision road to the length of the high-precision road is less than the second preset ratio, then according to the direction, length and number of the second standard precision road, the high-precision road is divided into K2 high-precision road sections, and K2 is less than or equal to the number of standard precision roads corresponding to the high-precision road;

[0017] The navigation road attributes of each of the second high-precision roads are respectively assigned to the corresponding sections of the K2 high-precision road sections to obtain the target high-precision road.

[0018] In a possible design of the first aspect, when the high-precision road is divided according to the direction, length and number of the second standard precision road, the method includes:

[0019] For each third standard precision road whose length ratio between an adjacent standard precision road and the high precision road is less than the second preset ratio, a portion of the high precision road corresponding to the third standard precision road and a portion of the high precision road corresponding to the adjacent second standard precision road are cut together;

[0020] In case that the length ratio of a plurality of consecutive third marked fine roads to the high-precision road is less than the second preset ratio, the segmentation method is determined based on whether the plurality of third marked fine roads have the same attribute.

[0021] In a possible design of the first aspect, the method includes:

[0022] If, in the standard precision roads corresponding to the high precision roads, the ratios of the lengths of the standard precision roads to the lengths of the high precision roads are all less than the second preset ratio, determining whether there is a standard precision road with the same navigation road attributes in the standard precision roads;

[0023] If there are at least two fourth marked roads with the same navigation road attribute in the marked roads, determining whether the at least two fourth marked roads include the road sections corresponding to the head end and the tail end of the high-precision road;

[0024] If the at least two fourth-precision roads include road sections corresponding to the head and tail ends of the high-precision road, the navigation road attributes of any fourth-precision road are assigned to the high-precision road to obtain the target high-precision road.

[0025] In a possible design of the first aspect, the method further includes:

[0026] If the at least two fourth-standard refined roads do not include the road sections corresponding to the head end and the tail end of the high-precision road at the same time, then all the road sections between the start point and the end point of the at least two fourth-standard refined roads are merged according to the road direction to obtain a fifth-standard refined road;

[0027] According to the length of the fifth standard precision road and the lengths of other standard precision roads in the standard precision road except the at least two fourth standard precision roads, the high precision road is divided into K3 high precision road sections, where K3 is less than the number of standard precision roads corresponding to the high precision road;

[0028] The navigation road attributes of any fourth-standard precise road are assigned to the section corresponding to the fourth-standard precise road in the K3 high-precision road sections, and the navigation road attributes of other standard precise roads in the standard precise roads except the at least two fourth-standard precise roads are assigned to the corresponding high-precision road sections respectively to obtain the target high-precision road.

[0029] In a possible design of the first aspect, the method further includes:

[0030] If there are no at least two fourth standard precision roads with the same navigation road attribute in the standard precision road, then the high precision road is divided into K4 high precision road sections according to the number and length of the standard precision roads, where K4 is the number of standard precision roads corresponding to the high precision road;

[0031] The navigation road attributes of each of the marked high-precision roads are respectively assigned to the corresponding sections of the K4 high-precision road sections to obtain the target high-precision road.

[0032] In a second aspect, the present application provides a high-precision map production device, comprising:

[0033] The first processing module is used to determine the number of standard precision roads corresponding to each high-precision road in the high-precision map framework in the standard precision map according to a predefined road matching algorithm;

[0034] The second processing module is used to assign navigation road attributes of a high-precision road whose corresponding number of marked precision roads exceeds a road number threshold, according to the ratio between the length of each marked precision road corresponding to the high-precision road and the length of the high-precision road, and the navigation road attributes, to obtain a target high-precision road.

[0035] In a third aspect, the present application provides a computer device, comprising: a transceiver, a processor, and a memory communicatively connected to the processor;

[0036] The memory stores computer-executable instructions;

[0037] The processor executes the computer-executable instructions stored in the memory to implement the method for producing a high-precision map as described in any one of the first aspects.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method for producing a high-precision map as described in any one of the first aspects.

[0039] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method for producing a high-precision map as described in any one of the first aspects.

[0040] The high-precision map production method, device, equipment, storage medium and program product provided in the present application relate to the field of high-precision map production technology. In this method, the number of standard precision roads corresponding to each high-precision road in the standard precision map in the high-precision map framework is determined at one time through a predefined road matching algorithm, which effectively avoids subsequent repeated searches and matching, thereby saving time and labor costs. For those high-precision roads whose corresponding number of standard precision roads exceeds the road threshold, the navigation road attributes of the high-precision road are assigned according to the ratio between the length of each standard precision road and the length of the high-precision road and the navigation road attributes, and finally the target high-precision road is obtained. In the whole process, the accuracy and rationality of the assignment are ensured by comprehensively considering the length ratio and the navigation road attributes, and no manual intervention is required, thereby significantly reducing the overall cost of high-precision map production. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] Figure 1 A schematic diagram of an application scenario of a method for producing a high-precision map provided in an embodiment of the present application;

[0043] Figure 2 A flowchart of a method for producing a high-precision map according to an embodiment of the present application;

[0044] Figure 3 A schematic diagram of a flow chart of a second embodiment of a method for producing a high-precision map provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of a first method for acquiring a target high-precision road provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of a second method for acquiring a target high-precision road provided in an embodiment of the present application;

[0047] Figure 6 A schematic diagram of a third target high-precision road acquisition method provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of a process flow of a third embodiment of a method for producing a high-precision map provided in an embodiment of the present application;

[0049] Figure 8 A schematic diagram of a fourth target high-precision road acquisition method provided in an embodiment of the present application;

[0050] Fig. 9 A flowchart of a fourth embodiment of a method for producing a high-precision map provided in an embodiment of the present application;

[0051] Fig.10 A flowchart of a fifth embodiment of a method for producing a high-precision map provided in an embodiment of the present application;

[0052] Fig.11 A schematic diagram of a fifth method for acquiring a target high-precision road provided in an embodiment of the present application;

[0053] Fig.12 A schematic diagram of a sixth method for acquiring a target high-precision road provided in an embodiment of the present application;

[0054] Fig.13 A schematic diagram of a seventh target high-precision road acquisition method provided in an embodiment of the present application;

[0055] Fig.14 A schematic diagram of an eighth method for acquiring a target high-precision road provided in an embodiment of the present application;

[0056] Fig.15 A schematic diagram of a ninth method for acquiring a target high-precision road provided in an embodiment of the present application;

[0057] Fig.16 A flowchart of a sixth embodiment of a method for producing a high-precision map provided in an embodiment of the present application;

[0058] Fig.17 A schematic diagram of a target high-precision road acquisition method 10 provided in this application;

[0059] Fig.18 A flowchart of a seventh embodiment of a method for producing a high-precision map provided in an embodiment of the present application;

[0060] Fig.19 A schematic diagram of a target high-precision road acquisition method eleven provided in this application;

[0061] Fig. 20 A schematic diagram of a twelfth target high-precision road acquisition method provided in this application;

[0062] Fig.21 A schematic diagram of a thirteenth method for obtaining a target high-precision road provided in this application;

[0063] Fig. 22 A flowchart of an eighth embodiment of a method for producing a high-precision map provided in an embodiment of the present application;

[0064] Fig.23 A schematic diagram of a fourteenth target high-precision road acquisition method provided in this application;

[0065] Fig.24A schematic diagram of the structure of a first embodiment of a high-precision map production device provided by the present application;

[0066] Fig.25 A schematic diagram of the structure of a computer device provided for application.

[0067] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0068] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0069] First, let’s explain the terms involved in this application:

[0070] The high-precision map and the standard-precision map in the embodiment of the present application are both electronic maps. Generally, the accuracy of the high-precision map is greater than that of the standard-precision map. Figure 1 It is generally used in fields such as autonomous driving or assisted driving. The map accuracy can be down to the centimeter level. It includes high-precision road geometry, lane geometry, lane marking geometry, etc. of the road layer to improve the accuracy of autonomous driving / assisted driving.

[0071] With the continuous advancement of autonomous driving and intelligent transportation technologies, the production of high-precision maps has become a hot topic in current research. High-precision maps not only play a vital role in the navigation and positioning of autonomous driving vehicles, but also play an important role in the optimization and management of intelligent transportation systems.

[0072] At present, the production of high-precision maps usually involves a variety of complex collection and processing technologies, and requires the careful design and implementation of effective maintenance and update strategies to ensure the accuracy and real-time nature of map data. This includes but is not limited to the use of advanced sensor technology for data collection, and after data collection, the use of efficient data processing algorithms to build high-precision maps. Among them, these algorithms need to process a large amount of raw data, perform data fusion, filtering and classification to generate high-precision maps. In addition, due to the continuous changes in road networks and environments, it is crucial to update map data in a timely manner to reflect the latest road conditions and traffic information. This can be achieved by regularly re-collecting and processing data, or dynamically updating through real-time data streams.

[0073] However, the above-mentioned methods of making high-precision maps inevitably bring the challenge of high production costs. First, the sensor equipment is expensive and has high maintenance costs. Second, the data collection and processing process requires a lot of computing resources and professional technicians, which further increases the cost. Finally, continuous map updates and maintenance work also requires a lot of human and material resources.

[0074] In view of the above problems, the inventors found in the process of studying the production method of high-precision maps that the production cost of high-precision maps is a huge and complex system involving multiple aspects and multiple links. Different map accuracy, different acquisition and processing technologies, different maintenance and update strategies, etc. will have an impact on the cost. After a long period of development, the standard precision map itself has a huge user base and has achieved incremental update capabilities across the country. Whether from the timeliness of traditional maps or the correctness of their production attributes, the standard precision map can be used as a true value reference for the assignment of high-precision maps. Therefore, the inventors consider whether the data in the standard precision map can be used as part of the high-precision map, thereby reducing the production cost of the high-precision map to a certain extent. Specifically, the number of standard precision roads corresponding to each high-precision road in the standard precision map in the high-precision map framework is determined through a predefined road matching algorithm. When the number of standard precision roads corresponding to the high-precision road exceeds the road number threshold, the navigation attributes of the high-precision road are assigned according to the ratio of the length of each standard precision road to the length of the high-precision road and the navigation road attributes, thereby generating the target high-precision road. Compared with existing technical solutions, this method does not require human intervention, greatly improves the efficiency of high-precision map production, and significantly reduces production costs. In addition, through the automated matching and assignment process, the accuracy and consistency of high-precision map data are ensured, the errors and deviations caused by human factors are reduced, and the quality and reliability of high-precision maps are further improved.

[0075] Figure 1 A schematic diagram of an application scenario of a method for making a high-precision map provided in an embodiment of the present application. Figure 1 As shown, the application scenario of the solution provided by the present application includes a computer device 100. Among them, a high-precision map making system 1001 is deployed in the computer device 100.

[0076] The computer device 100 may be a separate terminal device such as a laptop computer, a desktop computer, a vehicle-mounted device, or the like. The computer device 100 may also be a combination of the aforementioned multiple terminal devices. The computer device 100 may also be an independent server, a cloud or server set, or other types of devices. The present application does not specifically limit the specific form and type of the computer device 100.

[0077] Specifically, the high-precision map production system 1001 in the computer device 100 first determines the number of standard precision roads corresponding to each high-precision road in the high-precision map framework according to a predefined road matching algorithm, and then, for high-precision roads with more than one standard precision roads, the navigation road attributes of the high-precision roads are assigned according to the ratio between the length of each standard precision road corresponding to the high-precision road and the length of the high-precision road and the navigation road attributes, thereby obtaining the target high-precision road.

[0078] It should be noted that the above scenario is only an example of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the actual form of the various devices included in the scenario. In the specific application of the solution, it can be set according to actual needs.

[0079] For ease of description, the following describes the implementation of the method by taking the computer device that can execute the method for making a high-precision map as an example. It can be understood that the computer device that executes the method is only an exemplary description and should not be understood as a limitation on the method.

[0080] The technical solutions shown in the present application are described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be described repeatedly in different embodiments.

[0081] Figure 2 The following is a flow chart of a method for making a high-precision map according to an embodiment of the present application. Figure 2 As shown, the process of the method for making a high-precision map may include:

[0082] S201: Determine the number of standard-precision roads corresponding to each high-precision road in the high-precision map framework in the standard-precision map according to a predefined road matching algorithm.

[0083] In this step, in order to reduce costs and improve efficiency when producing high-precision maps covering the entire country, the present application proposes a method of using data in standard maps as the main data source for high-precision maps.

[0084] Specifically, based on the predefined road matching algorithm, the number of standard precision roads corresponding to each high-precision road in the high-precision map framework is determined. In the matching process, multiple factors will be considered, including but not limited to road type, length, name, and surrounding environment characteristics, to ensure the accuracy and completeness of data conversion and mapping between the two maps.

[0085] For example, taking the high-precision road A in the high-precision map framework as an example, the road matching algorithm can be applied to accurately locate the number of standard-precision roads corresponding to the high-precision road A in the standard-precision map.

[0086] Optionally, before determining the number of standard precision roads corresponding to each high-precision road in the standard precision map in the high-precision map framework, the high-precision map framework and the standard precision map can be placed in a pre-constructed three-dimensional coordinate system at the same time, and the data of the two maps can be aligned and registered to ensure that they are in the same reference coordinate system. Then, through geometric matching algorithms, such as nearest neighbor search, shape matching, and topological relationship analysis, the coordinate position, length, curvature and other features of each high-precision road and standard precision road are compared to determine the corresponding relationship between them. The number of standard precision roads corresponding to each high-precision road in the standard precision map is recorded, and verification and optimization are performed to ensure the accuracy and consistency of the mapping relationship. In this way, the number of standard precision roads corresponding to each high-precision road in the standard precision map can be accurately determined, providing a reliable foundation for the subsequent production of high-precision maps.

[0087] It is worth noting that in actual applications, considering the different interruption rules between high-precision roads and standard-precision roads, there may be a situation where the standard-precision roads that match the high-precision road segments are not one-to-one corresponding. Specifically, a high-precision road may correspond to one standard-precision road, or it may correspond to multiple standard-precision roads. Therefore, the number of standard-precision roads corresponding to each high-precision road in the high-precision map framework in the standard-precision map may be one or more.

[0088] Optionally, the high-precision map framework includes but is not limited to the geometric connections, layout, slope, curvature, lane markings, and traffic signs of high-precision roads.

[0089] It should be understood that this method is not only applicable to highways, but can also be applied to various types of road networks such as urban roads and rural roads, providing high-precision map support for fields such as autonomous driving and intelligent transportation.

[0090] It is worth noting that the entire process of high-precision map production in this application is carried out by predefined automated tools, and no human intervention is required throughout the process.

[0091] S202: For a high-precision road whose corresponding number of marked precision roads exceeds a road number threshold, assign navigation road attributes of the high-precision road according to the ratio between the length of each marked precision road corresponding to the high-precision road and the length of the high-precision road and the navigation road attributes to obtain a target high-precision road.

[0092] In this step, according to step S201, after determining the number of marked roads corresponding to each high-precision road in the marked high-precision map framework, the navigation road attributes of the high-precision road are assigned using a method based on length ratio and navigation road attributes, thereby generating the final target high-precision road.

[0093] Specifically, for those high-precision roads whose corresponding number of marked roads in the marked map exceeds the road number threshold, the ratio between the length of each marked road and the length of the corresponding high-precision road is calculated first. This ratio reflects the proportion of each marked road in the high-precision roads and is an important basis for the subsequent assignment of navigation road attributes.

[0094] After obtaining the length ratio, the navigation road attributes of the high-precision road are assigned one by one in combination with the navigation road attributes of each standard road, such as road type, number of lanes, speed limit information, traffic flow, etc. For example, if one of the standard roads corresponding to high-precision road B has a relatively large length and the road type is a main road, the navigation road attribute of high-precision road B may be assigned as a main road.

[0095] Through the above execution steps, the assigned target high-precision road can be finally obtained. The target high-precision road is not only highly consistent with the actual road in terms of geometry, but also accurately reflects the actual situation of the road in terms of navigation attributes.

[0096] It is worth noting that the road number threshold is pre-set according to actual conditions, and this application does not make any specific limitation on the road number threshold.

[0097] In a possible implementation, the road number threshold is 1. In this case, for those high-precision roads whose corresponding number of marked roads in the marked map is one, the navigation road attributes of the marked roads are directly assigned to the high-precision roads, ensuring the consistency of the navigation attributes of the high-precision roads with the actual situation.

[0098] Optionally, methods for assigning navigation road attributes of a high-precision road based on the length ratio include but are not limited to multi-segment assignment, direct assignment, etc.

[0099] The method for making a high-precision map provided in the embodiment of the present application uses a predefined road matching algorithm to determine the number of standard precision roads corresponding to each high-precision road in the high-precision map framework in the standard precision map, and assigns the navigation road attributes of the high-precision road according to the length ratio and the assignment method of the navigation road attributes, thereby obtaining the target high-precision road. This method ensures that the navigation attributes of each high-precision road in the high-precision map can accurately reflect its actual situation in the standard precision map, thereby improving the practicality and reliability of the high-precision map in applications such as navigation and autonomous driving. At the same time, the method reduces the duplication of labor and waste of resources in the process of making high-precision maps by effectively utilizing existing standard precision map data resources, thereby achieving cost reduction and efficiency improvement.

[0100] Next, the specific implementation process of step S202 will be discussed in detail. Figure 3 This is a flow chart of a second embodiment of a method for making a high-precision map provided in an embodiment of the present application. Figure 3 As shown, on the basis of the above embodiment, according to the ratio between the length of each marked road corresponding to the high-precision road and the length of the high-precision road and the navigation road attribute, the navigation road attribute of the high-precision road is assigned to obtain the target high-precision road. The process of the method for making a high-precision map may include:

[0101] S301: If, among the standard precision roads corresponding to the high-precision road, there exists a first standard precision road whose length ratio to the length of the high-precision road is greater than or equal to a first preset ratio, the navigation road attribute of the first standard precision road is assigned to the high-precision road to obtain the target high-precision road.

[0102] In this step, according to step S201, after determining the number of marked roads corresponding to each high-precision road in the high-precision map framework, the method of assigning navigation road attributes to those high-precision roads whose corresponding number of marked roads exceeds the road number threshold will be described in detail.

[0103] Specifically, if the number of standard precision roads corresponding to a high-precision road exceeds the road number threshold and the ratio between the length of the first standard precision road and the length of the high-precision road is greater than or equal to the first preset ratio, it indicates that the navigation road attributes of the first standard precision road can fully represent the characteristics of the high-precision road. Therefore, the navigation road attributes of the first standard precision road can be directly assigned to the high-precision road, and the navigation road attributes of the high-precision road sections corresponding to the remaining standard precision roads directly inherit the navigation road attributes of the first standard precision road, avoiding unnecessary segmentation operations, thereby obtaining the target high-precision road.

[0104] Optionally, the first preset ratio is set according to actual needs. For example, if the first preset ratio is 90%, if the number of standard-precision roads corresponding to a certain high-precision road exceeds the road number threshold, and there is a standard-precision road among the corresponding standard-precision roads whose length accounts for 90% or more of the length of the high-precision road, then the navigation road attribute of the standard-precision road is directly used to assign to the high-precision road.

[0105] In a specific implementation, the first preset ratio is 80%.

[0106] Figure 4 Schematic diagram of a method for obtaining a target high-precision road provided in an embodiment of the present application. Figure 4 As shown, the road number threshold is 1, the first preset ratio is 80%, and according to the predefined road matching algorithm, the high-precision road 400 corresponds to two standard-precision roads, namely standard-precision road 401 and standard-precision road 402. Among them, the length of high-precision road 400 is 1000 meters, the length of standard-precision road 401 is 910 meters, and the length of standard-precision road 402 is 90 meters. The length ratio of standard-precision road 401 to high-precision road 400 is 91%, and the length ratio of standard-precision road 402 to high-precision road 400 is 9%.

[0107] According to the first preset ratio of 80%, the length of the standard precision road 401, 910 meters, accounts for more than 80% of the length of the high-precision road 400, 1000 meters. Therefore, the high-precision road 400 does not need to be divided according to the length ratio. The navigation road attributes of the standard precision road 401 can be directly assigned to the high-precision road 400 to obtain the target high-precision road.

[0108] Figure 5 Schematic diagram of a second method for acquiring a target high-precision road provided in an embodiment of the present application. Figure 5 As shown, the road number threshold is 1, the first preset ratio is 90%, and according to the predefined road matching algorithm, the high-precision road 500 corresponds to two standard-precision roads, namely standard-precision road 501 and standard-precision road 502. Among them, the length of high-precision road 500 is 1000 meters, the length of standard-precision road 501 is 900 meters, and the length of standard-precision road 502 is 100 meters. Then, the length ratio of standard-precision road 501 to high-precision road 500 is 90%, and the length ratio of standard-precision road 502 to high-precision road 500 is 10%.

[0109] According to the first preset ratio of 90%, the length of the standard road 501 (900 meters) accounts for 90% of the length of the high-precision road 500 (1000 meters). Therefore, the high-precision road 500 does not need to be divided according to the length ratio. The navigation road attributes of the standard road 501 are directly assigned to the high-precision road 500 to obtain the target high-precision road.

[0110] S302: If there is no standard precision road corresponding to the high-precision road, and the ratio between the length of the standard precision road and the length of the high-precision road is greater than or equal to the first preset ratio, then according to the preset road segmentation rule, the ratio of the length of each standard precision road to the length of the high-precision road, and the navigation road attributes of each standard precision road, the navigation road attributes of the high-precision road are assigned to obtain the target high-precision road.

[0111] In this step, if the number of standard-precision roads corresponding to the high-precision roads exceeds the road number threshold, and the length ratio of the corresponding standard-precision roads to the high-precision roads is less than the first preset ratio, it is necessary to process the high-precision roads according to the preset road segmentation rules to obtain the target high-precision roads.

[0112] Among them, the road segmentation rule is mainly used to determine how to segment the high-precision road in order to more accurately reflect the characteristics of the high-precision road in actual situations.

[0113] When obtaining the target high-precision road, it is necessary not only to follow the road segmentation rules, but also to consider the ratio of the length of each standard road to the length of the high-precision road, as well as the navigation road attributes of each standard road. Specifically, the ratio of the length of each standard road to the length of the high-precision road can be used to determine the segmentation point of the high-precision road, and the navigation road attributes of each standard road are used to subsequently assign values ​​to the segmented high-precision roads.

[0114] In a specific implementation, firstly, the division points of the high-precision roads are determined according to the ratio of the length of each standard precision road to the length of the high-precision road, and then the navigation road attributes are assigned to the divided high-precision roads, and finally the target high-precision road is obtained.

[0115] Figure 6 Schematic diagram of a third method for acquiring a target high-precision road provided in an embodiment of the present application. Figure 6 As shown, the road number threshold is 1, the first preset ratio is 70%, and according to the predefined road matching algorithm, the high-precision road 600 corresponds to two standard-precision roads, namely standard-precision road 601 and standard-precision road 602. Among them, the length of high-precision road 600 is 100 meters, the length of standard-precision road 601 is 60 meters, and the length of standard-precision road 602 is 40 meters. Then, the length ratio of standard-precision road 601 to high-precision road 600 is 60%, and the length ratio of standard-precision road 602 to high-precision road 600 is 40%.

[0116] According to the first preset ratio of 70%, the length of the standard precision road 601 (60 meters) accounts for less than 70% of the length of the high precision road 600 (100 meters), and the length of the standard precision road 602 (40 meters) also accounts for less than 70% of the length of the high precision road 600 (100 meters). At this time, it is necessary to segment the high precision road 600 according to the road segmentation rule and the length ratio, and after the segmentation is completed, the navigation road attributes of the segmented high precision road are assigned according to the navigation road attributes of the standard precision road, so as to obtain the target high precision road.

[0117] The method for producing a high-precision map provided in the embodiment of the present application flexibly determines the method for obtaining the target high-precision road by determining whether the ratio between the length of the marked road and the length of the high-precision road is greater than or equal to a first preset ratio. Specifically, when the ratio is greater than or equal to the first preset ratio, the navigation attributes of the marked road are directly assigned to the high-precision road, avoiding unnecessary segmentation operations, thereby reducing processing steps, reducing production costs, and ensuring map accuracy while improving production efficiency. When the ratio is less than the first preset ratio, a reasonable segmentation operation is performed to ensure the accuracy and reliability of the high-precision map.

[0118] Next, the specific implementation process of step S302 will be discussed in detail. Figure 7 This is a flow chart of a third embodiment of a method for making a high-precision map provided in an embodiment of the present application. Figure 7 As shown, on the basis of the above embodiment, according to the preset road segmentation rule, the ratio of the length of each marked precision road to the length of the high-precision road, and the navigation road attribute of each marked precision road, the navigation road attribute of the high-precision road is assigned to obtain the target high-precision road. The process of the method for making a high-precision map may include:

[0119] S701: If the ratios of the lengths of all standard precision roads to the length of the high precision roads in the standard precision roads corresponding to the high precision roads are between the second preset ratio and the first preset ratio, then the high precision roads are divided into at least K1 high precision road sections according to the directions and lengths of the standard precision roads. The second preset ratio is smaller than the first preset ratio, and K1 is the number of standard precision roads corresponding to the high precision roads.

[0120] In this step, according to step S302, in the case where the ratio of the length of the standard precision road to the length of the high precision road does not exist in the standard precision roads corresponding to the high precision roads is greater than or equal to the first preset ratio, it will be necessary to further determine whether the ratios of the lengths of these standard precision roads to the lengths of the high precision roads are all between the second preset ratio and the first preset ratio, that is, whether the ratio of the length of the standard precision road to the length of the high precision road is greater than or equal to the second preset ratio and less than the first preset ratio.

[0121] Specifically, if these ratios are between the second preset ratio and the first preset ratio, the high-precision road is divided into K1 high-precision road sections according to the directions and lengths of these marked roads, thereby ensuring that the divided high-precision road sections can more accurately reflect the characteristics of the actual road.

[0122] It is worth noting that K1 is the number of standard precision roads corresponding to high precision roads.

[0123] For example, suppose there is a high-precision road with a length of 5 kilometers, which corresponds to two standard precision roads, namely standard precision road A1 and standard precision road A2. Among them, the road number threshold is 1, the first preset ratio is 80%, the second preset ratio is 10%, the length of standard precision road A1 is 3 kilometers, and the length of standard precision road A2 is 2 kilometers. Therefore, the ratios of these two standard precision roads to high-precision roads are both between the second preset ratio and the first preset ratio. It is necessary to divide the 5-kilometer high-precision road into a high-precision section 1 with a length of 3 kilometers and a high-precision section 2 with a length of 2 kilometers according to the direction and length of these two standard precision roads, that is, K1 is equal to the number of standard precision roads. Among them, the length and direction of high-precision section 1 are consistent with the length and direction of standard precision road A1, and the length and direction of high-precision section 2 are consistent with the length and direction of standard precision road A2.

[0124] For another example, suppose there is a high-precision road with a length of 3 kilometers, which corresponds to two standard precision roads, namely standard precision road A3 and standard precision road A4. Among them, the road number threshold is 1, the first preset ratio is 95%, the second preset ratio is 10%, the length of standard precision road A3 is 0.3 kilometers, and the length of standard precision road A4 is 2.7 kilometers. Therefore, the ratio of standard precision road A3 to high-precision road is equal to the second preset ratio, and the ratio of standard precision road A4 to high-precision road is greater than the second preset ratio and less than the first preset ratio. At this time, it is necessary to divide the 3-kilometer high-precision road into high-precision road segment 1 with a length of 0.3 kilometers and high-precision road segment 2 with a length of 2.7 kilometers according to the direction and length of these two standard precision roads. Among them, the length and direction of high-precision road segment 1 are consistent with the length and direction of standard precision road A3, and the length and direction of high-precision road segment 2 are consistent with the length and direction of standard precision road A4. K1 is 2, corresponding to the number of standard precision roads.

[0125] It is worth noting that the second preset ratio is smaller than the first preset ratio. In a specific implementation, the second preset ratio can be set to 10%. This setting ensures that when segmenting high-precision roads, the roads will not be too fragmented due to a ratio that is too small, thereby affecting the practicality and production cost of the map.

[0126] S702: Assign the navigation road attributes of each marked high-precision road to the corresponding road section in the K1 high-precision road sections to obtain the target high-precision road.

[0127] In this step, after the high-precision road is divided into K1 high-precision road sections according to step S701, the navigation road attributes of each marked high-precision road are respectively assigned to the corresponding road sections in the K1 high-precision road sections, thereby obtaining the target high-precision road.

[0128] Specifically, after the segmentation is completed, the correspondence between each marked road and the corresponding high-precision road section is first determined to ensure the accuracy of the subsequent navigation road attribute assignment, and then the navigation road attributes of each marked road are assigned to the corresponding high-precision road section to obtain the target high-precision road.

[0129] Figure 8 Schematic diagram of a fourth method for acquiring a target high-precision road provided in an embodiment of the present application. Figure 8 As shown, the road number threshold is 1, the first preset ratio is 80%, and the second preset ratio is 20%. According to the predefined road matching algorithm, the high-precision road 800 corresponds to three standard-precision roads, namely standard-precision road 801, standard-precision road 802 and standard-precision road 803.

[0130] Among them, the length of high-precision road 800 is 1000 meters, the length of standard precision road 801 is 400 meters, the length of standard precision road 802 is 350 meters, and the length of standard precision road 803 is 250 meters. The length ratio of standard precision road 801 to high-precision road 800 is 40%, the length ratio of standard precision road 802 to high-precision road 800 is 35%, and the length ratio of standard precision road 803 to high-precision road 800 is 25%. That is, the length ratios of the three standard precision roads corresponding to high-precision road 800 to high-precision road 800 are all between the second preset ratio of 20% and the first preset ratio of 80%. Then, the high-precision road 800 is segmented and the navigation road attributes are assigned according to steps S701 and S702.

[0131] Specifically, according to the length ratio of 40% between the standard precision road 801 and the high precision road 800 and the direction of the standard precision road 801, the first dividing point of the high precision road 800 is determined to obtain the high precision road section 8001, the length and navigation road attributes of the high precision road section 8001 are consistent with the length and navigation road attributes of the standard precision road 801.

[0132] According to the length ratio of 35% between the standard precision road 802 and the high precision road 800 and the direction of the standard precision road 802, the second dividing point of the high precision road 800 is determined to obtain the high precision road section 8002. The length and navigation road attributes of the high precision road section 8002 are consistent with those of the standard precision road 802.

[0133] According to the length ratio of the standard precision road 803 to the high-precision road 800 (25%) and the direction of the standard precision road 803 , the high-precision road section 8003 is obtained. The length and navigation road attributes of the high-precision road section 8003 are consistent with those of the standard precision road 803 .

[0134] The method for making a high-precision map provided in the embodiment of the present application, when it is determined that the ratio between the length of the standard precision road and the length of the high-precision road is between the first preset ratio and the second preset ratio, the high-precision road is divided into high-precision road sections that are the same as the number of the standard precision roads according to the length and direction of the standard precision road, and the navigation road attributes are respectively assigned to obtain the target high-precision road. This method ensures that the high-precision road after segmentation can accurately reflect the actual navigation road attributes, thereby improving the accuracy and reliability of the high-precision map, while enhancing its practicality and value in practical applications.

[0135] Fig. 9 This is a flow chart of a fourth embodiment of a method for making a high-precision map provided in an embodiment of the present application. Fig. 9 As shown, based on the above embodiment, the process of the method for making a high-precision map also includes:

[0136] S901: If, in the standard precision road corresponding to the high-precision road, the ratio of the length of part of the second standard precision road to the length of the high-precision road is between the second preset ratio and the first preset ratio, and the ratio of the length of part of the third standard precision road to the length of the high-precision road is less than the second preset ratio, then the high-precision road is divided into K2 high-precision road sections according to the direction, length and number of the second standard precision roads, and K2 is less than or equal to the number of standard precision roads corresponding to the high-precision road.

[0137] In this step, if the ratio of the length of not all standard precision roads to the length of the high precision road in the standard precision roads corresponding to the high precision road is between the second preset ratio and the first preset ratio, but the ratio of the length of some second standard precision roads to the length of the high precision road is between the second preset ratio and the first preset ratio, and the ratio of the length of some third standard precision roads to the length of the high precision road is less than the second preset ratio. In this case, in order to ensure the accuracy and consistency of the high precision map, the high precision road can be first divided into K2 high precision road sections according to the direction, length and number of the second standard precision roads.

[0138] It is worth noting that K2 is less than or equal to the number of standard precision roads corresponding to the high precision roads. The specific determination of K2 depends on the location of the third standard precision road and the navigation road attributes, etc., which can be referred to step S1001 and will not be repeated here.

[0139] Specifically, the high-precision road is divided according to the direction, length and number of the second standard precision road, so that the direction, length and number of the divided high-precision road sections can be matched with the second standard precision road.

[0140] Through this method, high-precision roads can be divided into finer high-precision road sections according to the direction, length and number of marked high-precision roads, thereby improving the accuracy and practicality of high-precision maps.

[0141] S902: Assign the navigation road attributes of each second high-precision road to the corresponding road section in the K2 high-precision road sections to obtain the target high-precision road.

[0142] In this step, after the high-precision road is divided into K2 high-precision road sections according to step S901, the navigation road attributes of each second high-precision road are assigned to the corresponding road sections in the K2 high-precision road sections, thereby obtaining the target high-precision road.

[0143] Specifically, after the segmentation is completed, the correspondence between each second-standard precision road and the corresponding high-precision road section is first determined, and then the navigation road attributes of each second-standard precision road are assigned to the corresponding high-precision road section in the K2 high-precision road sections, so as to obtain the target high-precision road.

[0144] For the processing method of the third marked road, please refer to step S1001 and step S1002, which will not be repeated here.

[0145] The method for making a high-precision map provided in the embodiment of the present application, when it is determined that the ratio between the length of the standard precision road and the length of the high-precision road is partially between the first preset ratio and the second preset ratio, and partially less than the second preset ratio, the high-precision roads are directly segmented according to the length, number and direction of the standard precision roads whose ratios are between the first preset ratio and the second preset ratio, and the navigation road attributes are assigned, thereby obtaining the target high-precision road. This method avoids the fragmentation phenomenon in the segmentation process, improves the efficiency of making high-precision maps, and reduces the production cost.

[0146] Next, the specific implementation process of step S901 will be discussed in detail. Fig.10 The flowchart of the fifth embodiment of the method for making a high-precision map provided in the present application is shown in FIG. Fig.10 As shown, based on the above embodiment, when the high-precision roads are segmented according to the direction, length and number of the second standard precision roads, the process of making the high-precision map includes:

[0147] S1001: For each third standard precision road whose length ratio between adjacent standard precision roads and high precision roads is less than a second preset ratio, a portion of the high precision road corresponding to the third standard precision road is cut together with a portion of the high precision road corresponding to the adjacent second standard precision road.

[0148] In this step, if, in the standard precision road corresponding to the high-precision road, the ratio of the length of part of the second standard precision road to the length of the high-precision road is between the second preset ratio and the first preset ratio, and the ratio of the length of part of the third standard precision road to the length of the high-precision road is less than the second preset ratio, it is necessary to further consider factors such as the number of third standard precision roads and the position of the high-precision road corresponding to the third standard precision roads.

[0149] Specifically, for each third standard precision road whose length ratio between adjacent standard precision roads and high precision roads is less than the second preset ratio, the portion of the high precision road corresponding to the third standard precision road is cut together with the portion of the high precision road corresponding to the adjacent second standard precision road.

[0150] It is worth noting that the premise for considering dividing the part of the high-precision road corresponding to the third standard precision road and the part of the high-precision road corresponding to the adjacent second standard precision road is that the number of third standard precision roads is less than or equal to the preset number, which is determined based on actual conditions, and the preset number is usually 2.

[0151] Optionally, in a specific implementation, if there are one or two adjacent third standard precision roads corresponding to the beginning or end sections of the high-precision road, and the second standard precision road is adjacent to the third standard precision road, then the portion of the high-precision road corresponding to one or two third standard precision roads is cut together with the portion of the high-precision road corresponding to the adjacent second standard precision road.

[0152] Fig.11 Schematic diagram of a fifth method for acquiring a target high-precision road provided in an embodiment of the present application. Fig.11 As shown, the road number threshold is 1, the first preset ratio is 80%, and the second preset ratio is 10%. Among them, the length ratios of the standard precision road 1102 and the standard precision road 1103 to the high precision road 1100 are both between the first preset ratio and the second preset ratio, the length ratio of the standard precision road 1101 to the high precision road 1100 is less than the second preset ratio, and the standard precision road 1101 corresponds to the head end of the high precision road 1100. Fig.11 In this case, the high-precision road 1100 will be divided into high-precision road segment 11001 and high-precision road segment 11002. The length of high-precision road segment 11001 is the sum of the length of standard-precision road 1101 and the length of standard-precision road 1102. The navigation road attributes of high-precision road 11001 are consistent with the navigation road attributes of standard-precision road 1102, and the navigation road attributes of high-precision road 11002 are consistent with the navigation road attributes of standard-precision road 1103. Fig.11 In this case, K2 is equal to 2, which is less than the number of standard precision roads 3 corresponding to the high precision road 1100.

[0153] Fig.12Schematic diagram of a sixth method for acquiring a target high-precision road provided in an embodiment of the present application. Fig.12 As shown, the road number threshold is 1, the first preset ratio is 80%, and the second preset ratio is 20%, wherein the standard precision road 1201 is adjacent to the standard precision road 1202, and the length ratios of the standard precision road 1201 and the high precision road 1200 are both less than the second preset ratio, and the length ratio of the standard precision road 1203 to the high precision road 1200 is between the first preset ratio and the second preset ratio, and the standard precision road 1203 is adjacent to the standard precision road 1202. It is worth noting that the standard precision road 1201 and the standard precision road 1202 correspond to the head section of the high precision road 1200. Fig.12 In this case, the high-precision road 1200 does not need to be split, that is, the high-precision road section corresponding to the standard precision road 1201 and the high-precision road section corresponding to the standard precision road 1202 are merged with the high-precision road section corresponding to the standard precision road 1203, and the corresponding navigation road attributes are the navigation road attributes possessed by the standard precision road 1203. Fig.12 In this case, K2 is equal to 1, which is less than the number of standard precision roads 3 corresponding to the high precision roads 1200.

[0154] Fig.13 Schematic diagram of a seventh method for acquiring a target high-precision road provided in an embodiment of the present application. Fig.13 As shown, the road number threshold is 1, the first preset ratio is 80%, and the second preset ratio is 20%. Among them, the length ratio of the standard precision road 1301 to the high precision road 1300 is between the first preset ratio and the second preset ratio, and the standard precision road 1302 and the standard precision road 1303 are adjacent, and the length ratios of the standard precision road 1302 and the high precision road 1303 are both less than the second preset ratio. It is worth noting that the standard precision road 1302 and the standard precision road 1303 correspond to the tail section of the high precision road 1300. Fig.13 In this case, the high-precision road 1300 does not need to be split, that is, the high-precision road section corresponding to the standard precision road 1302 and the high-precision road section corresponding to the standard precision road 1303 are merged with the high-precision road section corresponding to the standard precision road 1301, and the corresponding navigation road attributes are the navigation road attributes possessed by the standard precision road 1301. Fig.13 In this case, K2 is equal to 1, which is less than the number of standard precision roads 3 corresponding to the high precision roads 1300.

[0155] Fig.14 Schematic diagram of a target high-precision road acquisition method 8 provided in an embodiment of the present application. Fig.14As shown, the road number threshold is 1, the first preset ratio is 80%, and the second preset ratio is 10%. Among them, the length ratios of the standard precision road 1401 and the standard precision road 1402 to the high precision road 1400 are both between the first preset ratio and the second preset ratio, and the length ratio of the standard precision road 1403 to the high precision road is less than the second preset ratio. It is worth noting that the standard precision road 1403 corresponds to the tail section of the high precision road 1400. Fig.14 In this case, the high-precision road 1400 will be divided into high-precision road section 14001 and high-precision road section 14002. The length and navigation road attributes of high-precision road section 14001 are consistent with those of standard precision road 1401, the length of high-precision road section 14002 is equal to the sum of the lengths of standard precision road 1402 and standard precision road 1403, and the navigation road attributes of high-precision road section 14002 are consistent with those of standard precision road 1402. Fig.14 In this case, K2 is equal to 2, which is less than the number of standard precision roads 3 corresponding to the high precision roads 1400.

[0156] Fig.15 Schematic diagram of a target high-precision road acquisition method 9 provided in an embodiment of the present application. Fig.15 As shown, the first preset ratio is 80%, and the second preset ratio is 10%. Among them, the length ratios of the standard precision road 1501 and the standard precision road 1503 to the high precision road 1500 are both between the first preset ratio and the second preset ratio, and the length ratio of the standard precision road 1502 to the high precision road is less than the second preset ratio. It is worth noting that the standard precision road 1502 is between the standard precision road 1501 and the standard precision road 1503.

[0157] It is worth noting that in Fig.15 In this case, in order to ensure the accuracy of the high-precision road, the high-precision road 1500 will be divided into high-precision road section 15001, high-precision road section 15002 and high-precision road section 15003, and there is no road merging operation. Among them, the length and navigation road attributes of high-precision road section 15001 are consistent with those of standard precision road 1501, the length and navigation road attributes of high-precision road section 15002 are consistent with those of standard precision road 1502, and the length and navigation road attributes of high-precision road section 15003 are consistent with those of standard precision road 1503. At the same time, Fig.15 In this case, K2 is equal to 3, which is equal to the number of standard precision roads 3 corresponding to the high precision road 1500.

[0158] Optionally, if there are two adjacent standard roads and the ratio of the high-precision road is less than the second preset ratio, and these two adjacent standard roads correspond to the middle section of the high-precision road, and the ratio of other standard roads to the high-precision road is between the second preset ratio and the first preset ratio, then the high-precision road is directly divided according to the length, number and direction of the standard roads to avoid road merging operations, which can improve the accuracy and consistency of road data, reduce erroneous assignments, simplify data processing procedures, improve the quality of high-precision maps, reduce processing costs, and facilitate subsequent maintenance and updates. At the same time, in this case, K2 is equal to the number of standard roads corresponding to the high-precision roads.

[0159] Optionally, if there are more than two adjacent standard roads and the ratios of the high-precision roads are all less than the second preset ratio, and these two or more adjacent standard roads correspond to the middle sections of the high-precision roads, and the ratios of other standard roads and the high-precision roads are all between the second preset ratio and the first preset ratio, then you can refer to step S1002 and will not repeat it here.

[0160] S1002: When the length ratio of a plurality of consecutive third-standard precision roads to the high-precision road is less than a second preset ratio, a segmentation method is determined based on whether the plurality of third-standard precision roads have the same attributes.

[0161] In this step, if there are multiple consecutive third-level precision roads, and the length ratios of these third-level precision roads to the high-precision roads are all less than the second preset ratio, it is necessary to determine the segmentation method based on whether these third-level precision roads have the same attributes.

[0162] If they have the same attributes, then reference can be made to step S1601 and step S1603, which will not be repeated here.

[0163] If they do not have the same attributes, please refer to step S2201 to step S2202, which will not be repeated here.

[0164] The method for making a high-precision map provided in the embodiment of the present application mainly explains how to determine whether to segment a high-precision road based on factors such as the number and location of standard precision roads that are less than the second preset ratio. In this way, the fragmentation of the segmentation process can be effectively avoided, thereby maintaining the integrity and continuity of the high-precision road. This not only improves the accuracy and practicality of the high-precision map, but also reduces the generation of redundant information. In addition, this method can more accurately reflect the structure and characteristics of the actual road, and provide more reliable data support for subsequent navigation, autonomous driving and other applications.

[0165] Fig.16 This is a flow chart of a sixth embodiment of a method for making a high-precision map provided in an embodiment of the present application. Fig.16 As shown, based on any one of the above embodiments, the process of the method for making a high-precision map includes:

[0166] S1601: If the ratio of the length of the standard precision road to the length of the high precision road in the standard precision road corresponding to the high precision road is less than the second preset ratio, it is determined whether there is a standard precision road with the same navigation road attributes in the standard precision road.

[0167] In this step, if the ratio of the length of the standard precision road to the length of the high-precision road in the standard precision road corresponding to the high-precision road is less than the second preset ratio, it is necessary to further determine whether there is a standard precision road with the same navigation road attributes in the standard precision road.

[0168] Among them, the reason for determining whether there are marked roads with the same navigation road attributes among the marked roads is to avoid unnecessary fragmentation in the subsequent segmentation process, while ensuring the accuracy of the segmentation operation and the consistency of the high-precision map data.

[0169] Specifically, after determining that the ratio of the length of the completed precision road to the length of the high-precision road is less than the second preset ratio, the navigation road attributes of any two precision roads are compared to see whether they are completely the same.

[0170] For example, the high-precision road corresponds to three standard precision roads, namely standard precision road C, standard precision road D and standard precision road E. The ratios of standard precision roads C, standard precision road D and standard precision road E to the high-precision road are all less than the second preset ratio. Then, a comparison is made to see whether the navigation road attributes of standard precision road C and standard precision road D are exactly the same, whether the navigation road attributes of standard precision road C and standard precision road E are exactly the same, and whether the navigation road attributes of standard precision road D and standard precision road E are exactly the same.

[0171] If there are marked high-precision roads with the same navigation road attributes, how to segment the high-precision roads is further determined based on factors such as the number and location of the marked high-precision roads with the same navigation road attributes.

[0172] If there is no marked road with the same navigation road attributes, you can refer to step S2201 to step S2202, which will not be repeated here.

[0173] S1602: If there are at least two fourth marked roads with the same navigation road attributes in the marked roads, determine whether the at least two fourth marked roads include road sections corresponding to the beginning and the end of the high-precision road.

[0174] In this step, according to step S1601, if it is determined that there are at least two fourth standardized roads with the same navigation road attributes in the standardized roads corresponding to the high-precision road, it is necessary to further determine whether these at least two fourth standardized roads include the beginning and end of the high-precision road to determine whether to split the high-precision road.

[0175] For example, high-precision road C corresponds to three standard precision roads, namely standard precision road C1, standard precision road C2 and standard precision road C3. Among them, the length ratios of these three standard precision roads to high-precision road C are all less than the second preset ratio. At this time, it is necessary to further determine whether there is a standard precision road with the same navigation road attribute among these three standard precision roads. If the navigation road attributes of standard precision road C1 and standard precision road C2 are exactly the same, it is necessary to further determine whether the high-precision road sections corresponding to standard precision road C1 and standard precision road C2 are the beginning and end of high-precision road C, so as to determine whether to split high-precision road C.

[0176] S1603: If at least two fourth-precision roads include road sections corresponding to the beginning and end of the high-precision road, the navigation road attributes of any fourth-precision road are assigned to the high-precision road to obtain the target high-precision road.

[0177] In this step, according to step S1602, if at least two fourth-precision roads include road sections corresponding to the beginning and end of the high-precision road, the high-precision road does not need to be divided, and the navigation attributes of the high-precision road correspond to the navigation road attributes of any fourth-precision road, thereby obtaining the target high-precision road.

[0178] Fig.17 Schematic diagram of a target high-precision road acquisition method 10 provided in this application. Fig.17 As shown, the road number threshold is 1, the second preset ratio is 25%, and according to the predefined road matching algorithm, the high-precision road 1700 corresponds to 5 standard precision roads, namely standard precision road 1701, standard precision road 1702, standard precision road 1703, standard precision road 1704 and standard precision road 1705. Among them, the length ratios of these 5 standard precision roads to the high-precision road 1700 are all less than the second preset ratio of 25%, the navigation road attributes of standard precision road 1701 and standard precision road 1705 are exactly the same, and standard precision road 1701 corresponds to the head section of high-precision road 1700, and standard precision road 1705 corresponds to the tail section of high-precision road 1700. In this case, the high-precision road 1700 does not need to be segmented, and the navigation road attributes of standard precision road 1701 or standard precision road 1705 are directly assigned to the high-precision road 1700, thereby obtaining the target high-precision road.

[0179] In the method for making a high-precision map provided in an embodiment of the present application, when the length ratios of the standard precision road and the high-precision road are both less than a second preset ratio, and there are standard precision roads with exactly the same attributes corresponding to the head section and the tail section of the high-precision road respectively, the high-precision road does not need to be segmented. At this time, the navigation attributes of these standard precision roads with exactly the same attributes can be directly assigned to the high-precision road, thereby obtaining the target high-precision road. In this way, unnecessary road segmentation can be avoided, and the integrity and continuity of the high-precision road can be maintained. This not only simplifies the process of making high-precision maps, but also improves the efficiency of making high-precision maps, thereby reducing the cost of making high-precision maps.

[0180] Fig.18 This is a flow chart of a seventh embodiment of a method for making a high-precision map provided in an embodiment of the present application. Fig.18 As shown, based on any one of the above embodiments, the process of the method for making a high-precision map includes:

[0181] S1801: If at least two fourth-standard precision roads do not include the road sections corresponding to the beginning and end of the high-precision road at the same time, then according to the road direction, all the road sections between the starting point and the end point of at least two fourth-standard precision roads are merged to obtain a fifth-standard precision road.

[0182] In this step, if at least two fourth-standard precision roads do not include the sections corresponding to the beginning and end of the high-precision road at the same time, it is necessary to merge all the sections between the starting point and the end point of at least two fourth-standard precision roads according to the direction of the road to obtain a fifth-standard precision road.

[0183] Fig.19 This is a schematic diagram of a target high-precision road acquisition method eleven provided in this application. Fig.19 As shown in the figure, the threshold of the number of roads is 1, and the high-precision road 1900 corresponds to 5 standard-precision roads, namely standard-precision road 1901, standard-precision road 1902, standard-precision road 1903, standard-precision road 1904 and standard-precision road 1905. Among them, standard-precision road 1902 and standard-precision road 1904 have exactly the same navigation road attributes, so standard-precision road 1902, standard-precision road 1903 and standard-precision road 1904 are merged to obtain standard-precision road 1906.

[0184] S1802: According to the length of the fifth standard precision road and the lengths of other standard precision roads except at least two fourth standard precision roads among the standard precision roads, the high-precision road is divided into K3 high-precision road sections, where K3 is less than the number of standard precision roads corresponding to the high-precision road.

[0185] In this step, according to step S1801, after obtaining a fifth standard precision road, the high-precision road is divided into K3 high-precision road sections according to the length of the fifth standard precision road and the lengths of other standard precision roads in the standard precision road except for at least two fourth standard precision roads.

[0186] It is worth noting that K3 is smaller than the number of standard precision roads corresponding to high precision roads.

[0187] Fig. 20 This is a schematic diagram of a twelfth method for obtaining a target high-precision road provided in this application. Fig. 20 As shown, the threshold of the number of roads is 1, and the high-precision road 2000 corresponds to 5 standard-precision roads, namely standard-precision road 2001, standard-precision road 2002, standard-precision road 2003, standard-precision road 2004 and standard-precision road 2005. Among them, standard-precision road 2002 and standard-precision road 2004 have exactly the same navigation road attributes, so standard-precision road 2002, standard-precision road 2003 and standard-precision road 2004 are first merged to obtain standard-precision road 2006, and then according to the length and direction of standard-precision road 2006, standard-precision road 2001 and standard-precision road 2005, high-precision road 2000 is divided into high-precision road segment 20001, high-precision road segment 20002 and high-precision road segment 20003. Fig. 20 In this case, K3 is equal to 3, which is less than the number of standard precision roads corresponding to the high precision roads, which is 5.

[0188] S1803: Assign the navigation road attributes of any fourth-standard precision road to the section corresponding to the fourth-standard precision road in the K3 high-precision road sections, and assign the navigation road attributes of other standard precision roads in the standard precision roads except for at least two fourth-standard precision roads to the corresponding high-precision road sections, so as to obtain the target high-precision road.

[0189] In this step, according to step S1802, after the high-precision road is divided into K3 high-precision road sections, it is necessary to assign values ​​to the navigation road attributes of the high-precision road sections.

[0190] Specifically, when assigning the navigation road attributes of the K3 high-precision road sections obtained after segmentation, the navigation road attributes of any fourth-precision road are directly assigned to the section corresponding to the fourth-precision road in the K3 high-precision road sections, and the navigation road attributes of other precision roads in the precision roads except for at least two fourth-precision roads are respectively assigned to the corresponding high-precision road sections, so that the target high-precision road can be obtained.

[0191] Fig.21 A schematic diagram of a target high-precision road acquisition method thirteen provided in this application. Fig.21As shown, the road number threshold is 1, and the high-precision road 2100 corresponds to 4 standard precision roads, namely standard precision road 2101, standard precision road 2102, standard precision road 2103 and standard precision road 2104. Among them, standard precision road 2102 and standard precision road 2104 have exactly the same navigation road attributes, so standard precision road 2102, standard precision road 2103 and standard precision road 2104 are first merged to obtain standard precision road 2105, and then according to the length of standard precision road 2105 and standard precision road 2101, high-precision road 2100 is divided into high-precision road segment 21001 and high-precision road segment 21002, and finally, the navigation road attributes of standard precision road 2101 are assigned to high-precision road segment 21001, and the navigation road attributes of standard precision road 2102 or standard precision road 2104 are assigned to high-precision road segment 21002, so as to obtain the target high-precision road. Fig.21 In this case, K3 is equal to 2, which is less than the number of standard precision roads corresponding to high precision roads, which is 4.

[0192] The method for producing a high-precision map provided in an embodiment of the present application is such that when the length ratios of multiple marked roads to the high-precision road are all less than a second preset ratio, and there are marked roads with exactly the same attributes but do not correspond to the beginning and end sections of the high-precision road at the same time, then the two marked roads with exactly the same navigation road attributes and the marked road between the two marked roads are merged to determine the method for dividing the high-precision road.

[0193] Fig. 22 The flowchart of the eighth embodiment of the method for making a high-precision map provided in the present application is shown in FIG. Fig. 22 As shown, based on any one of the above embodiments, the process of the method for making a high-precision map includes:

[0194] S2201: If there are no at least two fourth standard precision roads with the same navigation road attributes in the standard precision roads, the high-precision road is divided into K4 high-precision road sections according to the number and length of the standard precision roads, where K4 is the number of standard precision roads corresponding to the high-precision road.

[0195] In this step, if the ratio of the length of the standard precision road to the length of the high-precision road in the standard precision road corresponding to the high-precision road is less than the second preset ratio, and there are no at least two fourth standard precision roads with the same navigation road attributes in the standard precision road, then the high-precision road is divided into K4 high-precision road sections according to the number and length of the standard precision roads.

[0196] It is worth noting that K4 is the number of standard precision roads corresponding to high precision roads.

[0197] For example, the threshold of the number of roads is 1. Assuming there is a high-precision road with a length of 3 kilometers, it corresponds to two standard precision roads, namely standard precision road F and standard precision road G. Among them, the length of standard precision road F is 1.5 kilometers, and the navigation road attribute is a city trunk road. The length of standard precision road G is 1.5 kilometers, and the navigation road attribute is a suburban road. The ratios of these two standard precision roads to high-precision roads are both less than the second preset ratio, and their navigation road attributes are different. In this case, it is necessary to divide the 3-kilometer high-precision road into a high-precision road section 1 with a length of 1.5 kilometers and a high-precision road section 2 with a length of 1.5 kilometers according to the length and number of these two standard precision roads. In this case, K4 is 2, which is equal to the number of standard precision roads 2 corresponding to the high-precision road.

[0198] This method effectively utilizes the data of high-precision roads and divides the high-precision roads into multiple finer sections according to their characteristics to meet the needs of different regions and road attributes.

[0199] S2202: Assign the navigation road attributes of each marked high-precision road to the corresponding road section in the K4 high-precision road sections to obtain the target high-precision road.

[0200] In this step, according to step S2201, after the high-precision road is divided into K4 high-precision road sections, the navigation road attributes of each marked high-precision road are assigned to the corresponding road sections in the K4 high-precision road sections, thereby obtaining the target high-precision road.

[0201] Fig.23 A schematic diagram of a target high-precision road acquisition method 14 provided in this application. Fig.23 As shown, the road number threshold is 1, and the second preset ratio is 25%. According to the predefined road matching algorithm, the high-precision road 2300 corresponds to 5 standard-precision roads, namely standard-precision road 2301, standard-precision road 2302, standard-precision road 2303, standard-precision road 2304 and standard-precision road 2305.

[0202] Among them, the length of high-precision road 2300 is 50 meters, and the lengths of standard precision roads 2301, 2302, 2303, 2304, and 2305 are all 10 meters, then the length ratios of standard precision roads 2301, 2302, 2303, 2304, and 2305 to high-precision road 2300 are all 20%, which are all less than the second preset ratio. At the same time, standard precision roads 2301, 2302, 2303, 2304, and 2305 have different navigation road attributes.

[0203] Therefore, in Fig.23In the case shown, there is no standard precision road with the same navigation road attributes, so the high precision road 2300 is divided into 5 high precision road sections according to the length and number of standard precision roads. Fig.23 As shown, the high-precision road 2300 is divided into high-precision road segments 23001, 23002, 23003, 23004, and 23005, and the navigation road attributes of the high-precision road segments 23001, 23002, 23003, 23004, and 23005 correspond to the navigation road attributes of the standard precision road 2301, 2302, 2303, 2304, and 2305. Fig.23 In the case shown, K4 is 5, which is equal to the number of standard precision roads 5 corresponding to the high precision road 2300.

[0204] The method for producing a high-precision map provided in the embodiment of the present application mainly involves the situation where the ratio of all the marked roads to the corresponding high-precision roads is less than the second preset ratio and all the marked roads do not have the same navigation road attributes. In this case, the high-precision roads are directly divided according to the number and length of the marked roads, and the corresponding navigation road attributes are assigned to them. This method improves the accuracy and precision of the high-precision map data, ensures the consistency of the navigation road attributes, simplifies the production process, and improves the operating efficiency.

[0205] Fig.24 This is a schematic diagram of the structure of a high-precision map production device embodiment 1 provided in this application. Fig.24 As shown, the high-precision map making device 2400 includes:

[0206] The first processing module 2401 is used to determine the number of standard precision roads corresponding to each high-precision road in the high-precision map framework in the standard precision map according to a predefined road matching algorithm;

[0207] The second processing module 2402 is used to assign navigation road attributes to high-precision roads whose corresponding number of marked precision roads exceeds a road number threshold, based on the ratio between the length of each marked precision road corresponding to the high-precision road and the length of the high-precision road, and the navigation road attributes, to obtain a target high-precision road.

[0208] Optionally, the second processing module 2402 is further used for:

[0209] If, among the standard precision roads corresponding to the high precision road, there is a first standard precision road whose length ratio to the length of the high precision road is greater than or equal to a first preset ratio, assigning the navigation road attribute of the first standard precision road to the high precision road to obtain the target high precision road;

[0210] If, among the standard precision roads corresponding to the high-precision road, there is no ratio between the length of the standard precision road and the length of the high-precision road that is greater than or equal to the first preset ratio, then according to the preset road segmentation rule, the ratio of the length of each standard precision road to the length of the high-precision road, and the navigation road attributes of each standard precision road, the navigation road attributes of the high-precision road are assigned to obtain the target high-precision road.

[0211] Optionally, the second processing module 2402 is further used for:

[0212] If the ratio of the length of all standard precision roads to the length of the high precision road in the standard precision road corresponding to the high precision road is between the second preset ratio and the first preset ratio, then the high precision road is divided into K1 high precision road sections according to the direction and length of the standard precision road, the second preset ratio is less than the first preset ratio, and K1 is the number of standard precision roads corresponding to the high precision road;

[0213] The navigation road attributes of each marked high-precision road are assigned to the corresponding road sections in the K1 high-precision road sections to obtain the target high-precision road.

[0214] Optionally, the second processing module 2402 is further used for:

[0215] If, in the standard precision road corresponding to the high-precision road, the ratio of the length of part of the second standard precision road to the length of the high-precision road is between the second preset ratio and the first preset ratio, and the ratio of the length of part of the third standard precision road to the length of the high-precision road is less than the second preset ratio, then the high-precision road is divided into K2 high-precision road sections according to the direction, length and number of the second standard precision roads, and K2 is less than or equal to the number of standard precision roads corresponding to the high-precision road;

[0216] The navigation road attributes of each second high-precision road are assigned to the corresponding road sections in the K2 high-precision road sections to obtain the target high-precision road.

[0217] Optionally, the second processing module 2402 is further used for:

[0218] For each third standard precision road whose length ratio between adjacent standard precision roads and high precision roads is less than the second preset ratio, a portion of the high precision road corresponding to the third standard precision road is cut together with a portion of the high precision road corresponding to the adjacent second standard precision road;

[0219] In case that the length ratio of a plurality of consecutive third-standard precision roads to the high-precision road is less than a second preset ratio, the segmentation method is determined based on whether the plurality of third-standard precision roads have the same attribute.

[0220] Optionally, the second processing module 2402 is further used for:

[0221] If the ratio of the length of the standard precision road to the length of the high precision road in the standard precision road corresponding to the high precision road is less than the second preset ratio, determining whether there is a standard precision road with the same navigation road attribute in the standard precision road;

[0222] If there are at least two fourth-level marked roads with the same navigation road attribute in the marked roads, determining whether the at least two fourth-level marked roads include the road sections corresponding to the head and tail ends of the high-precision road;

[0223] If at least two fourth-level precision roads include road sections corresponding to the head and tail ends of the high-precision road, the navigation road attributes of any fourth-level precision road are assigned to the high-precision road to obtain the target high-precision road.

[0224] Optionally, the second processing module 2402 is further used for:

[0225] If at least two fourth-standard refined roads do not include the road sections corresponding to the head and tail ends of the high-precision road at the same time, then all the road sections between the start and end points of at least two fourth-standard refined roads are merged according to the road direction to obtain a fifth-standard refined road;

[0226] According to the length of the fifth standard precision road and the lengths of other standard precision roads except at least two fourth standard precision roads among the standard precision roads, the high precision road is divided into K3 high precision road sections, where K3 is less than the number of standard precision roads corresponding to the high precision road;

[0227] The navigation road attributes of any fourth-standard precision road are assigned to the section corresponding to the fourth-standard precision road in the K3 high-precision road sections, and the navigation road attributes of other standard precision roads in the standard precision roads except at least two fourth-standard precision roads are assigned to the corresponding high-precision road sections to obtain the target high-precision road.

[0228] Optionally, the second processing module 2402 is further used for:

[0229] If there are no at least two fourth standard roads with the same navigation road attributes in the standard road, the high-precision road is divided into K4 high-precision road sections according to the number and length of the standard roads, where K4 is the number of standard roads corresponding to the high-precision road;

[0230] The navigation road attributes of each marked high-precision road are assigned to the corresponding sections of the K4 high-precision road sections to obtain the target high-precision road.

[0231] The high-precision map production device provided in the embodiment of the present application can be used to execute the high-precision map production method in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be repeated here.

[0232] Fig.25 A schematic diagram of the structure of a computer device provided for the application. Fig.25 As shown, the computer device 2500 may specifically include a transceiver 2501, a processor 2502 and a memory 2503. The transceiver 2501 is used to implement data exchange with other devices, and the memory 2503 stores computer execution instructions; the processor 2502 executes the computer execution instructions stored in the memory 2503 to implement the method for making a high-precision map in the above embodiment.

[0233] An embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method for producing a high-precision map in the above-mentioned embodiment.

[0234] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the method for producing a high-precision map provided in any of the above embodiments.

[0235] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0236] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for producing a high-precision map, characterized in that: The method comprises: According to the predefined road matching algorithm, determine the number of standard precision roads corresponding to each high-precision road in the high-precision map framework in the standard precision map; For high-precision roads whose corresponding number of marked precision roads exceeds the road number threshold, the navigation road attributes of the high-precision roads are assigned according to the ratio between the length of each marked precision road corresponding to the high-precision road and the length of the high-precision road and the navigation road attributes of each marked precision road to obtain the target high-precision road.

2. The method according to claim 1, characterized in that The assigning of a value to the navigation road attribute of the high-precision road according to the ratio between the length of each standard precision road corresponding to the high-precision road and the length of the high-precision road and the navigation road attribute of each standard precision road to obtain a target high-precision road includes: If, among the standard precision roads corresponding to the high precision road, there exists a first standard precision road whose length ratio to the length of the high precision road is greater than or equal to a first preset ratio, assigning the navigation road attribute of the first standard precision road to the high precision road to obtain the target high precision road; If, among the standard precision roads corresponding to the high-precision road, there does not exist a ratio between the length of the standard precision road and the length of the high-precision road that is greater than or equal to the first preset ratio, then according to the preset road segmentation rule, the ratio of the length of each standard precision road to the length of the high-precision road, and the navigation road attributes of each standard precision road, the navigation road attributes of the high-precision road are assigned to obtain the target high-precision road.

3. The method according to claim 2, characterized in that According to the preset road segmentation rule, the ratio of the length of each marked precision road to the length of the high precision road, and the navigation road attribute of each marked precision road, the navigation road attribute of the high precision road is assigned to obtain the target high precision road, including: If, among the standard precision roads corresponding to the high precision road, the ratios of the lengths of all standard precision roads to the length of the high precision road are between the second preset ratio and the first preset ratio, the high precision road is divided into K1 high precision road sections according to the direction and length of the standard precision road, the second preset ratio is less than the first preset ratio, and K1 is the number of standard precision roads corresponding to the high precision road; The navigation road attributes of each of the marked high-precision roads are respectively assigned to the corresponding sections in the K1 high-precision road sections to obtain the target high-precision road.

4. The method according to claim 3, characterized in that The method comprises: If, in the standard precision road corresponding to the high-precision road, the ratio of the length of part of the second standard precision road to the length of the high-precision road is between the second preset ratio and the first preset ratio, and the ratio of the length of part of the third standard precision road to the length of the high-precision road is less than the second preset ratio, then according to the direction, length and number of the second standard precision road, the high-precision road is divided into K2 high-precision road sections, and K2 is less than or equal to the number of standard precision roads corresponding to the high-precision road; The navigation road attributes of each of the second high-precision roads are respectively assigned to the corresponding sections of the K2 high-precision road sections to obtain the target high-precision road.

5. The method according to claim 4, characterized in that When the high-precision road is divided according to the direction, length and number of the second standard-precision road, the method includes: For each third standard precision road whose length ratio between an adjacent standard precision road and the high precision road is less than the second preset ratio, a portion of the high precision road corresponding to the third standard precision road and a portion of the high precision road corresponding to the adjacent second standard precision road are cut together; In case that the length ratio of a plurality of consecutive third marked fine roads to the high-precision road is less than the second preset ratio, the segmentation method is determined based on whether the plurality of third marked fine roads have the same attribute.

6. The method according to claim 3, characterized in that The method comprises: If, in the standard precision roads corresponding to the high precision roads, the ratios of the lengths of the standard precision roads to the lengths of the high precision roads are all less than the second preset ratio, determining whether there is a standard precision road with the same navigation road attributes in the standard precision roads; If there are at least two fourth marked roads with the same navigation road attribute in the marked roads, determining whether the at least two fourth marked roads include the road sections corresponding to the head end and the tail end of the high-precision road; If the at least two fourth-precision roads include road sections corresponding to the head and tail ends of the high-precision road, the navigation road attributes of any fourth-precision road are assigned to the high-precision road to obtain the target high-precision road.

7. The method according to claim 6, characterized in that The method further comprises: If the at least two fourth-standard refined roads do not include the road sections corresponding to the head end and the tail end of the high-precision road at the same time, then all the road sections between the start point and the end point of the at least two fourth-standard refined roads are merged according to the road direction to obtain a fifth-standard refined road; According to the length of the fifth standard precision road and the lengths of other standard precision roads in the standard precision road except the at least two fourth standard precision roads, the high precision road is divided into K3 high precision road sections, where K3 is less than the number of standard precision roads corresponding to the high precision road; The navigation road attributes of any fourth-standard precise road are assigned to the section corresponding to the fourth-standard precise road in the K3 high-precision road sections, and the navigation road attributes of other standard precise roads in the standard precise roads except the at least two fourth-standard precise roads are assigned to the corresponding high-precision road sections respectively to obtain the target high-precision road.

8. The method according to claim 6, characterized in that The method further comprises: If there are no at least two fourth standard precision roads with the same navigation road attribute in the standard precision road, then the high precision road is divided into K4 high precision road sections according to the number and length of the standard precision roads, where K4 is the number of standard precision roads corresponding to the high precision road; The navigation road attributes of each of the marked high-precision roads are respectively assigned to the corresponding sections of the K4 high-precision road sections to obtain the target high-precision road.

9. A device for making a high-precision map, characterized in that: include: The first processing module is used to determine the number of standard precision roads corresponding to each high-precision road in the high-precision map framework in the standard precision map according to a predefined road matching algorithm; The second processing module is used to assign the navigation road attributes of the high-precision roads whose corresponding number of marked precision roads exceeds the road number threshold according to the ratio between the length of each marked precision road corresponding to the high-precision road and the length of the high-precision road and the navigation road attributes of each marked precision road, so as to obtain the target high-precision road.

10. A computer device, characterized in that: include: A transceiver, a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method for producing a high-precision map as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for producing a high-precision map as described in any one of claims 1 to 8.

12. A computer program product, characterized in that It includes a computer program which, when executed by a processor, implements the method for producing a high-precision map as described in any one of claims 1 to 8.

Images