Data processing method, device, equipment, storage medium and product

Abstract

The present application discloses a data processing method, device, equipment, storage medium and product, which relate to the field of intelligent driving technology. The method obtains vehicle information and map frame information; constructs a map cropping area in the map frame with the vehicle as the center; extracts lane centerline data in the map frame, and the lane centerline data includes a plurality of lane line coordinates; crops the map frame according to the vehicle information, the lane line coordinates and the map cropping area and a preset data set cropping strategy to obtain a cropped map data set, and the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy. The intelligent driving map data set is cropped by the above method to reduce the complexity and calculation difficulty of the intelligent driving map data set, thereby improving the intelligent driving prediction efficiency.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a data processing method, device, equipment, storage medium and product. Background Art

[0002] In the field of intelligent driving, map information is often used as an important data support for vehicles to understand and predict the surrounding environment. However, when intelligent driving vehicles are driving in the real world, their perception and decision-making range is usually limited to a certain area around the vehicle. Intelligent driving vehicles need to process a large amount of geographic information data to ensure accurate understanding of the surrounding environment, but this also brings the challenge of huge data volume.

[0003] In the prior art, intelligent driving systems usually receive and process large-area map data to ensure that all possible relevant environmental information is included. However, due to the large amount of map data and the fact that not all data is necessary for the vehicle's current decision, this results in inefficient data processing and waste of computing resources. In addition, due to the large amount of data, important information may be submerged, affecting the accuracy of the model's recognition and prediction of key areas.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a data processing method, device, equipment, storage medium and computer program product, which aims to trim the intelligent driving map data set, reduce the complexity and calculation difficulty of the intelligent driving map data set, and thus improve the efficiency of intelligent driving prediction.

[0006] To achieve the above objectives, the present application proposes a data processing method, which comprises:

[0007] Get vehicle information and map frame information;

[0008] Constructing a map clipping area in the map frame with the vehicle as the center;

[0009] Extracting lane centerline data in the map frame, the lane centerline data including a plurality of lane line coordinates;

[0010] The map frame is cropped according to the vehicle information, the lane line coordinates, the map cropping area and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy.

[0011] In one embodiment, the vehicle information includes vehicle coordinates and a vehicle heading angle, and the step of clipping the map frame according to the vehicle information, the lane line coordinates, the map clipping area, and a preset data set clipping strategy to obtain a clipped map data set includes:

[0012] The lane line coordinates are converted into the vehicle coordinate system of the vehicle according to the vehicle coordinates and the vehicle heading angle to obtain lane conversion coordinates;

[0013] Performing lane line clipping on the current map frame according to the lane conversion coordinates, lane line coordinates, the map clipping area, and the lane line clipping strategy; or,

[0014] Performing lane coordinate clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane coordinate clipping strategy;

[0015] A clipped map data set is obtained according to the results of the lane line clipping and / or the lane coordinate clipping.

[0016] In one embodiment, the step of performing lane line clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane line clipping strategy includes:

[0017] Determining whether there is a lane conversion coordinate located in the map clipping area among the plurality of lane conversion coordinates corresponding to the lane centerline;

[0018] If there is no lane change coordinate located in the map clipping area, determining whether any two adjacent lane change coordinates among the lane change coordinates corresponding to the lane centerline intersect with the map clipping area;

[0019] If there are no two adjacent lane conversion coordinates intersecting the map clipping area, the lane centerline is clipped and removed.

[0020] In one embodiment, the step of performing lane coordinate clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane coordinate clipping strategy includes:

[0021] determining whether a current lane change coordinate in the lane change coordinates is located in the map clipping area;

[0022] If the current lane change coordinates are not located in the map clipping area, determining whether the predecessor coordinates or the successor coordinates of the current lane change coordinates are located in the map clipping area;

[0023] If the predecessor coordinates of the current lane change coordinates are located in the map clipping area, the predecessor coordinates are determined as the lane clipping boundary point, or, if the successor coordinates of the current lane change coordinates are located in the map clipping area, the successor coordinates are determined as the lane clipping boundary point.

[0024] In one embodiment, the step of performing lane coordinate clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane coordinate clipping strategy further includes:

[0025] If the current lane change coordinates are located in the map clipping area, determining the current lane change coordinates as reserved coordinates;

[0026] Determine the subsequent coordinates of the current lane conversion coordinates as the current lane conversion coordinates, and execute the steps of: determining whether the current lane conversion coordinates in the lane conversion coordinates are located in the map clipping area;

[0027] If the predecessor coordinates or the successor coordinates of the current lane change coordinates are not located in the map clipping area, the successor coordinates of the current lane change coordinates are determined as the current lane change coordinates, and the step of determining whether the current lane change coordinates in the lane change coordinates are located in the map clipping area is performed.

[0028] In one embodiment, the cropped map data set includes a cropped lane centerline and a cropped lane line coordinate, and the method further includes:

[0029] Determine a corresponding reserved road and a road boundary line of the reserved road based on the clipped lane line coordinates and / or the clipped lane center line;

[0030] A clipped lane map is generated according to the reserved road and the road boundary line of the reserved road.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a data processing device, which includes: an acquisition module, used to acquire vehicle information and map frame information;

[0032] A construction module, used for constructing a map clipping area in the map frame with the vehicle as the center;

[0033] An extraction module, used to extract lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates;

[0034] A cropping module is used to crop the map frame according to the vehicle information, lane line coordinates, the map cropping area and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy.

[0035] In addition, to achieve the above objectives, the present application also proposes a data processing device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the data processing method described above.

[0036] In addition, to achieve the above objectives, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the data processing method described above are implemented.

[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the data processing method described above are implemented.

[0038] One or more technical solutions proposed in the present application obtain vehicle information and map frame information; construct a map cropping area in the map frame with the vehicle as the center; extract lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates; and crop the map frame according to the vehicle information, the lane line coordinates, the map cropping area, and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy. The intelligent driving map data set is cropped by the above method to reduce the complexity and computational difficulty of the intelligent driving map data set, thereby improving the efficiency of intelligent driving prediction. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A flowchart of the first embodiment of the data processing method of the present application is provided;

[0042] Figure 2 A schematic diagram of lane line clipping of a map frame by the data processing method of this application;

[0043] Figure 3 A flowchart of the second embodiment of the data processing method of this application is provided;

[0044] Figure 4 A schematic diagram of the lane coordinate clipping of a map frame by the data processing method of this application;

[0045] Figure 5 This is a schematic diagram of the module structure of the data processing device according to an embodiment of the present application;

[0046] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the data processing method in the embodiment of the present application.

[0047] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0049] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0050] The main solution of the embodiment of the present application is to propose two map clipping methods in the construction of intelligent driving data sets, aiming to improve the efficiency and accuracy of intelligent driving prediction model training. The first method is to perform rectangle-based filtering on the map area, but without truncating and clipping the map elements. The specific steps include: first, establish a rectangular area with the vehicle as the center, then extract the lane centerline data of the map in the frame, and convert the coordinate points to the vehicle coordinate system, retaining the center line that falls within the rectangular area, and the lane centerline represented by the line segment that intersects the rectangular area. In this way, map information related to the interaction with the vehicle or the environment around the vehicle can be quickly clipped, thereby improving the pertinence and efficiency of data processing.

[0051] The second method is a further development of the first method. It not only crops the lane lines, but also truncates and crops the lane line elements. The operation steps are similar. First, a rectangular area centered on the vehicle is established. Then, the coordinate points on the center line of each lane are converted and judged, and the coordinate points that fall within the rectangular area and the coordinate points that serve as cropping boundary points are retained. If the coordinate point is not within the rectangular area, but intersects with the rectangular area, or the distance to the previous or next coordinate point exceeds the set threshold, and the line segment intersects with the rectangular area, these coordinate points will also be retained. This method can process map elements more carefully, ensuring that the cropped map retains key information while avoiding unnecessary data redundancy.

[0052] Both methods reduce the computational burden of intelligent driving systems when processing large amounts of non-critical information by precisely cropping map data, while ensuring accurate understanding and prediction of key areas around the vehicle, thereby improving the real-time response capability and decision-making accuracy of intelligent driving systems.

[0053] In the prior art, intelligent driving systems usually receive and process large-area map data to ensure that all possible relevant environmental information is included. However, due to the large amount of map data and the fact that not all data is necessary for the vehicle's current decision, data processing efficiency is low and computing resources are wasted. In addition, due to the large amount of data, important information may be submerged, affecting the accuracy of the model's recognition and prediction of key areas.

[0054] Problems faced by existing technologies include processing delays caused by excessive data volume, excessive consumption of computing resources, and the risk that key information may be overlooked. These defects directly affect the real-time performance and decision-making accuracy of intelligent driving systems. For example, in the application scenario of high-precision maps, map data is usually very large, making it difficult for vehicles to process and respond quickly, and long-distance information with less importance may reduce the model's attention to close-range key information. In addition, if the map data is not properly cropped and filtered, it is difficult for the intelligent driving system to achieve effective understanding and accurate prediction of the vehicle's surrounding environment.

[0055] The present application provides a solution, by acquiring vehicle information and map frame information; constructing a map cropping area in the map frame with the vehicle as the center; extracting lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates; and cropping the map frame according to the vehicle information, the lane line coordinates and the map cropping area and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy. The intelligent driving map data set is cropped by the above method, thereby reducing the complexity and computational difficulty of the intelligent driving map data set and improving the intelligent driving prediction efficiency.

[0056] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a data processing system, etc. The following takes a data processing system as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the present application embodiment provides a data processing method, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the data processing method of the present application.

[0058] In this embodiment, the data processing method includes steps S1000 to S4000:

[0059] Step S1000: obtaining vehicle information and map frame information;

[0060] It should be noted that, in this embodiment, obtaining vehicle information and map frame information is the basis for realizing data processing. Vehicle information includes the coordinates and heading angle of the vehicle, which are the key to determining the precise position of the vehicle in the map, and map frame information covers detailed geographic data of the vehicle's surroundings, such as roads, lanes, traffic signs, etc., which provide basic information for the clipping operation.

[0061] For example, in a specific implementation, the system first obtains the current coordinates and heading angle of the vehicle through the vehicle's sensors or an external positioning system, and simultaneously extracts map frame information of the vehicle's location from a map database.

[0062] Step S2000: constructing a map clipping area in the map frame with the vehicle as the center;

[0063] It should be noted that the step of constructing a map cropping area is to use the vehicle position as a reference point, and define a cropping area in the map frame according to the vehicle's coordinates and heading angle and the preset distance parameters. This cropping area can be a rectangle, a circle or other shapes, and its size and position are dynamically adjusted according to the current state of the vehicle and the surrounding environment.

[0064] For example, in a specific implementation, the system constructs a clipping area with the vehicle coordinates as the center point based on the distance parameters of 200 meters in front of the vehicle, 120 meters behind the vehicle, and 100 meters on the left and right. This area will be used for subsequent lane centerline data clipping.

[0065] Step S3000: extracting lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates;

[0066] It should be noted that the step of extracting lane centerline data involves identifying and collecting the coordinate points that make up each lane centerline. These coordinate points are the geometric representation of the lane in the map, and they define the location and shape of the lane.

[0067] For example, in a specific implementation, the system will analyze the map frame information, identify all lane center lines, and extract all coordinate points that constitute these center lines to prepare for the next step of clipping.

[0068] Step S4000: The map frame is cropped according to the vehicle information, the lane line coordinates, the map cropping area and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy.

[0069] It should be noted that the step of clipping based on vehicle information, lane line coordinates, map clipping area and preset data set clipping strategy is the core of realizing map data set clipping. This step involves converting lane line coordinates to vehicle coordinate system, and then deciding whether to retain these coordinate points based on whether the converted coordinate points are within the clipping area or intersect with the border of the clipping area.

[0070] For example, in a specific implementation, the system first converts the lane line coordinates into the vehicle coordinate system, and then applies the lane line clipping strategy and the lane coordinate clipping strategy to clip the map frame according to the relationship between the converted coordinate points and the clipping area. This process ensures that the clipped map data set only contains information that is useful for the vehicle's current decision.

[0071] In addition, it should be noted that when performing lane line clipping, the system will determine whether the coordinate point on the lane centerline is within the clipping area. If not, the system will further determine whether the adjacent coordinate point intersects with the clipping area to determine whether to retain the lane centerline.

[0072] In a specific implementation, if all coordinate points on the lane centerline are not within the cropping area, but there are adjacent coordinate points that intersect with the cropping area, the system will decide whether to retain this part of the lane centerline based on the preset distance threshold and connection relationship. When performing lane coordinate cropping, the system will determine whether the current lane conversion coordinate is within the cropping area. If not, the system will determine whether its predecessor or successor coordinate point is within the cropping area, and determine the cropping boundary point accordingly. If the current lane conversion coordinate is not within the cropping area, but its predecessor coordinate is within the cropping area, the system determines the predecessor coordinate as the lane cropping boundary point, and vice versa. Finally, it should be noted that the cropped map data set includes the cropped lane centerline and lane line coordinates. Based on these data, the system can determine the corresponding retained roads and road boundaries, and generate a cropped lane map.

[0073] In a feasible implementation manner, the vehicle information includes vehicle coordinates and vehicle heading angle, and the step S4000 may include steps S4100 to S4400:

[0074] Step S4100: converting the lane line coordinates into the vehicle coordinate system of the vehicle according to the vehicle coordinates and the vehicle heading angle to obtain lane conversion coordinates;

[0075] Step S4200: performing lane line clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane line clipping strategy;

[0076] Step S4300: or, performing lane coordinate clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane coordinate clipping strategy;

[0077] Step S4400: Obtain a cropped map data set according to the results of the lane line cropping and / or the lane coordinate cropping.

[0078] It should be noted that the process of converting lane line coordinates to the vehicle's own vehicle coordinate system involves mapping the geographic coordinates of the lane line in the map to a new coordinate system based on the vehicle's current position (vehicle coordinates) and direction (vehicle heading angle). This new coordinate system is centered on the vehicle itself. Such a conversion allows the system to more intuitively understand the relative position of the lane line and the vehicle, laying the foundation for the subsequent clipping step.

[0079] In addition, it should be noted that the lane line clipping strategy is formulated to determine which lane line information is necessary for the vehicle's current driving environment. By comparing the relationship between the lane transformation coordinates and the map clipping area, the system can identify those lane lines that are located in the key area around the vehicle. The purpose of this step is to remove those lane lines that are beyond the current focus of the vehicle, thereby streamlining the data set and improving processing efficiency.

[0080] For example, in a feasible implementation, refer to the present application Figure 2 , Figure 2 This is a schematic diagram of the lane line clipping of a map frame by the data processing method of this application. The system first uses the vehicle's GPS and sensor data to determine the vehicle coordinates and heading angle. Then, the system converts the lane line coordinates in the map to the vehicle coordinate system centered on the vehicle to obtain the lane conversion coordinates. Next, the system applies the lane line clipping strategy based on these coordinates and the predefined map clipping area to clip the lane lines in the current map frame. This process may include identifying whether the lane line is completely or partially within the clipping area, and whether it intersects with the border of the clipping area.

[0081] In addition, it should be noted that the lane coordinate clipping strategy is a rule for further refining the lane line coordinates. If the lane change coordinate is not within the clipping area, the system will check its adjacent coordinate points to determine whether there are predecessor or successor coordinate points within the clipping area. These points will serve as clipping boundary points to ensure that the clipped map dataset can accurately reflect the key road information around the vehicle.

[0082] Finally, it should be noted that the cropped map dataset is obtained based on the results of lane line cropping and / or lane coordinate cropping. This dataset only contains important road and lane information in the vehicle's current driving environment, thereby providing support for intelligent driving decisions.

[0083] For example, in one possible implementation, also refer to Figure 2 , the system first obtains vehicle information and map frame information, and then constructs a clipping area centered on the vehicle. The system converts the lane line coordinates to the ego coordinate system, and applies the lane line clipping strategy and lane coordinate clipping strategy for clipping. Finally, the system generates a streamlined map dataset based on the clipping results. This dataset only contains key geographic information around the vehicle, providing accurate data support for intelligent driving decisions. With the ego vehicle ego as the center, a meter in front of the ego vehicle (a can be 200 meters), b meters behind the ego vehicle (b can be 120 meters), c meters on the left side of the ego vehicle (c can be 100 meters), and d meters on the right side of the ego vehicle (d can be 100 meters), a rectangular area M is established with the ego vehicle as the center, and the lane centerline data of the map in the frame is extracted, such as Figure 2As shown, the lane center lines are composed of 11 lanes, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11. Each lane center line (hereinafter referred to as lane center line) is generally composed of multiple coordinate points (usually composed of 2 or more coordinate points). For each coordinate point P constituting a lane, the coordinate is (X, Y). First, the lane line coordinates are converted to the vehicle coordinate system. Assume that the coordinates of the vehicle are (base_x, base_y), the heading angle of the vehicle is base_theta, and the lane line coordinates are (global_x, global_y). Among them:

[0084] x_diff=global_x-base_x; y_diff=global_y-base_y;

[0085] angle_cos=cos(-base_theta); angle_sin=sin(-base_theta);

[0086] local_x=x*angle_cos-y*angle_sin;

[0087] local_y=x*angle_sin+y*angle_cos;

[0088] Then the coordinates of the other car in the self-car coordinate system are (local_x, local_y). The coordinate point P is converted to the self-car coordinate system to obtain Pt, and its converted coordinates are (xt, yt). If the converted coordinates (xt, yt) fall in the rectangular area M formed by the self-car as the center, then the center line is retained, such as Figure 2 If the lane center lines 1, 2, 3, 6, 7, 11 in the figure do not fall within the rectangular area M formed by the vehicle as the center, then further judgment is made. If the coordinate P is the first coordinate point on the lane center line lane, and the distance between this coordinate point and the adjacent previous coordinate point P_pre on lane is greater than the threshold dist_threhold (here dist_threhold can be taken as 100 meters), then further judgment is made. If the line segment formed by the two adjacent coordinate points P and P_pre intersects with the rectangular area M, then the lane center line will also be retained, such as Figure 2 The center line of the lane in 9.

[0089] In this way, the lane centerline after the map is cropped is obtained, which consists of 1, 2, 3, 6, 7, 11 and 9. The target lane centerline (cropped lane centerline) is filtered out according to the range of the rectangular area M and the lane filtering / screening strategy.

[0090] In a feasible implementation, step S4200 may include steps S4210 to S4230:

[0091] Step S4210: determining whether there is a lane conversion coordinate located in the map clipping area among the plurality of lane conversion coordinates corresponding to the lane centerline;

[0092] Step S4220: If there is no lane conversion coordinate located in the map clipping area, determining whether any two adjacent lane conversion coordinates among the lane conversion coordinates corresponding to the lane centerline intersect with the map clipping area;

[0093] Step S4230: If there are no two adjacent lane conversion coordinates intersecting with the map clipping area, the lane centerline is clipped and removed.

[0094] It should be noted that the purpose of judging whether the lane change coordinates corresponding to the lane centerline are within the map clipping area is to determine which lane centerlines are directly related to the vehicle's current driving environment, thereby retaining map information that is useful for intelligent driving decisions. The map clipping area is a specific area centered on the vehicle and defined according to the vehicle's driving direction and surrounding environment. It determines which map data the vehicle currently needs to pay attention to.

[0095] In addition, it should be noted that if all the conversion coordinates of the lane centerline are not within the map cropping area, the system will perform further judgment to check whether there are any two adjacent lane conversion coordinates that intersect with the map cropping area. This step is to identify lane lines that are not completely within the cropping area but are related to the vehicle's driving path. In this way, even if part of the lane information is not in the direct field of view of the vehicle, the lane information that has a potential impact on the vehicle's driving decision will not be missed.

[0096] For example, still referring to Figure 2 , the system first converts the lane centerline coordinates in the map into the coordinates of the vehicle's own vehicle coordinate system based on the vehicle's coordinates and heading angle. Then, the system checks these converted coordinate points to determine whether any coordinate point falls within the map cropping area. If not, the system will continue to check whether any adjacent point pair among these coordinate points intersects with the cropping area. Specifically, if the converted coordinates (xt, yt) fall within the rectangular area M formed by the vehicle as the center, the center line will be retained, such as Figure 2If the lane center lines 1, 2, 3, 6, 7, 11 in the figure do not fall within the rectangular area M formed by the vehicle as the center, then further judgment is made. If the coordinate P is the first coordinate point on the lane center line lane, and the distance between this coordinate point and the adjacent previous coordinate point P_pre on lane is greater than the threshold dist_threhold (here dist_threhold can be taken as 100 meters), then further judgment is made. If the line segment formed by the two adjacent coordinate points P and P_pre intersects with the rectangular area M, then the lane center line will also be retained, such as Figure 2 The center line of the lane in 9.

[0097] In this way, the lane centerline after the map is cropped is obtained, which consists of 1, 2, 3, 6, 7, 11 and 9. The target lane centerline (cropped lane centerline) is filtered out according to the range of the rectangular area M and the lane filtering / screening strategy.

[0098] If after the above judgment, it is found that the lane centerline has no coordinate points within the clipping area, and no coordinate points intersect with the clipping area, then the system will perform a clipping removal operation. This step means that the lane centerline is not important for the current driving environment of the vehicle, so it can be removed from the map data set to reduce the amount of data and improve processing efficiency.

[0099] For example, in one feasible implementation, the system first defines a map cropping region, and then analyzes each lane centerline in the map frame. The system converts each coordinate point on the lane centerline to the vehicle coordinate system and checks these converted coordinate points. If it is found that all converted coordinate points are not within the cropping region, and no coordinate point intersects with the cropping region, the system will determine that this lane centerline does not contain the key information currently required by the vehicle, and therefore crop it out of the map data set. Through such processing, the system is able to generate a streamlined and relevant map data set to provide accurate road information for intelligent driving.

[0100] The present embodiment provides a data processing method, which obtains vehicle information and map frame information; constructs a map cropping area in the map frame with the vehicle as the center; extracts lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates; crops the map frame according to the vehicle information, the lane line coordinates, the map cropping area, and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy. The intelligent driving map data set is cropped by the above method to reduce the complexity and computational difficulty of the intelligent driving map data set, thereby improving the intelligent driving prediction efficiency.

[0101] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S4300 of the data processing method further includes steps S4310 to S4330:

[0102] Step S4310: determining whether the current lane change coordinates in the lane change coordinates are located in the map clipping area;

[0103] Step S4320: If the current lane change coordinates are not located in the map clipping area, determining whether the predecessor coordinates or the successor coordinates of the current lane change coordinates are located in the map clipping area;

[0104] Step S4330: If the predecessor coordinates of the current lane conversion coordinates are located in the map clipping area, the predecessor coordinates are determined as the lane clipping boundary point; or, if the successor coordinates of the current lane conversion coordinates are located in the map clipping area, the successor coordinates are determined as the lane clipping boundary point.

[0105] It should be noted that, in this embodiment, referring to Figure 4 The purpose of judging whether the lane change coordinates are located in the map clipping area is to determine whether the coordinate points of the lane line in the vehicle's own vehicle coordinate system fall within the predefined clipping area to determine whether these coordinate points need to be retained in the final clipped map dataset. The map clipping area refers to an area of ​​interest defined based on the vehicle's current position and preset parameters (such as the distance to the front, rear, left and right sides) with the vehicle as the center.

[0106] In addition, it should be noted that if the current lane change coordinates are not located in the map cropping area, the system will further determine whether its predecessor coordinates or successor coordinates are located in the map cropping area. The predecessor coordinates and successor coordinates here refer to the previous and next coordinate points of the current coordinate point in the lane line sequence, respectively. This extended judgment is used to ensure that even if some of the coordinate points of some lane lines are not in the cropping area, as long as they are associated with the cropping area (such as intersecting or close), these lane lines can be properly retained or marked, thereby maintaining the continuity and integrity of the map data.

[0107] In one possible implementation, refer to Figure 4, the system first obtains the current coordinates and heading angle of the vehicle, and converts the lane line coordinates into the vehicle's own vehicle coordinate system. Next, the system defines a clipping area centered on the vehicle, which usually covers a certain range in front of, behind, and on both sides of the vehicle. The system then checks whether each lane change coordinate point is within this clipping area. If a coordinate point is not within the clipping area, the system checks its adjacent predecessor or successor coordinate points. If these adjacent coordinate points are within the clipping area, the system determines them as lane clipping boundary points, which will be used for subsequent lane line clipping and map data set generation.

[0108] For example, with the ego car ego as the center, a meters in front of the ego car (a can be 200 meters), b meters behind the ego car (b can be 120 meters), c meters on the left side of the ego car (c can be 100 meters), and d meters on the right side of the ego car (d can be 100 meters) are established to create a rectangular area M. Extract the lane centerline data in the frame map, such as Figure 4 As shown, the lane center lines are composed of 11 lanes, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11. For each lane center line (hereinafter referred to as lane center line), a list lane_point_list is created to store the coordinates after lane clipping. Lanes are generally composed of multiple coordinate points (usually composed of 2 or more coordinate points). For each coordinate point P constituting a lane, the coordinates are (X, Y). The coordinate point P is converted to the vehicle coordinate system in sequence to obtain Pt, and the converted coordinates are (xt, yt). If the converted coordinates (xt, yt) fall within the rectangular area M formed by the vehicle as the center, the coordinate point is added to lane_point_list.

[0109] If the converted coordinates (xt, yt) do not fall within the rectangular area M formed by the vehicle as the center, it is necessary to determine the previous coordinate point P_pre (if it exists) and the next coordinate point P_next (if it exists) of the coordinate point P on the lane, and convert P_pre and P_next to the vehicle coordinate system to obtain Pt_pre and Pt_next. If P_pre falls within the rectangular area M or P_next falls within the rectangular area M, then this coordinate point P is a clipping boundary point, and this coordinate point is added to lane_point_list. Figure 4 As shown, lane center lines 1, 2, 3, 6, 7, and 11 will be truncated and retained. The clipping boundary points are determined based on the rules and area M.

[0110] If neither P_pre nor P_next falls within the rectangular area M, the following judgment is required: determine whether the line segment formed by Pt and P_pre exceeds the distance threshold dist_threhold (here dist_threhold can be taken as 100 meters). If the distance exceeds dist_threhold and the line segment formed by Pt and P_pre intersects with the rectangular area M, the coordinate points P and P_pre will represent the two truncated coordinate points of the lane centerline and be retained.

[0111] Similarly, determine whether the line segment composed of Pt and Pt_next exceeds the distance threshold dist_threhold (here dist_threhold can be taken as 100 meters). If the distance exceeds dist_threhold and the line segment composed of Pt and P_next intersects with the rectangular area M, the coordinate points P and P_nex will represent the two truncated coordinate points of the lane centerline and be retained. Figure 4 The lane center line 9 shown in will be truncated and retained.

[0112] like Figure 4 As shown in the figure, the lane center lines are composed of 11 lines, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11. The red coordinate points represent the retained coordinate points, the black coordinate points represent the cropped coordinate points, and the cropping boundary points are also displayed. At this time, the cropped map lane center lines will be well enclosed by the rectangular frame.

[0113] In addition, since some points on the lane centerline lane are truncated, the front and rear connection relationship of the lane centerline needs to be further modified. If the starting point of the lane centerline lane is clipped, the lane connected to the lane centerline is set to -1. If it is set to -1 at this time, it means that the starting end of the lane centerline is clipped, and the original front and rear lane relationship is no longer applicable, and it is not directly connected to other lane centerlines;

[0114] If the lane centerline lane end point is clipped, the lane connected to the lane centerline is set to -1. If it is set to -1 at this time, it means that the lane centerline terminal is partially clipped, and the original subsequent lane relationship is no longer applicable. It is not directly connected to other lane centerlines. After obtaining the clipped lane centerline number, the corresponding road lane boundary line and road boundary line can be obtained. The road boundary line will be much less than the original map elements.

[0115] It should be noted that the operation of determining lane clipping boundary points is to retain lane lines that are important to vehicle driving as a whole, although some of their coordinate points are not within the clipping area. This processing method can avoid over-simplification of map information during the clipping process and ensure that the intelligent driving system can obtain sufficient road information for effective path planning and decision-making.

[0116] For example, in one possible implementation, the system will first process the map frame around the vehicle, extract the lane centerline data, and convert it into coordinates in the vehicle's own coordinate system. The system will then construct a map cropping region based on the vehicle's current position and preset parameters, and use this information to determine whether each lane change coordinate point needs to be retained. In this way, the system is able to generate a cropped map dataset that is both streamlined and contains key information, thereby providing accurate road and environmental information to the intelligent driving system.

[0117] In a feasible implementation manner, step S4300 may include steps S4340 to S4360:

[0118] Step S4340: If the current lane change coordinates are located in the map clipping area, the current lane change coordinates are determined as reserved coordinates;

[0119] Step S4350: determining the successor coordinates of the current lane conversion coordinates as the current lane conversion coordinates, and executing the step of: determining whether the current lane conversion coordinates in the lane conversion coordinates are located in the map clipping area;

[0120] Step S4360: If the predecessor coordinates or the successor coordinates of the current lane change coordinates are not located in the map cropping area, the successor coordinates of the current lane change coordinates are determined as the current lane change coordinates, and the step of determining whether the current lane change coordinates in the lane change coordinates are located in the map cropping area is executed.

[0121] It should be noted that the operation of determining the retained coordinates involves identifying the lane change coordinates that are within the map cropping region and marking them as retained coordinates. The map cropping region is determined based on the vehicle's position and preset parameters, which defines the key areas in the vehicle's current driving environment. The purpose of retaining coordinates is to ensure that the cropped map dataset contains important road information around the vehicle, thereby supporting the intelligent driving system to make accurate driving decisions.

[0122] In addition, it should be noted that when a lane change coordinate is determined as a retained coordinate, the system will update the current lane change coordinate as its successor coordinate and re-execute the coordinate position determination step. This iterative process ensures that continuous lane information is completely retained in the data set, even if this information is distributed over multiple consecutive coordinate points.

[0123] For example, in one possible implementation, the system first identifies all lane change coordinates within the map clipping region and treats them as reserved coordinates. Then, the system sets the subsequent coordinates of these coordinates as current coordinates and continues to determine whether these updated current coordinates are still within the clipping region. This process is repeated until all relevant lane information has been evaluated.

[0124] In addition, it should be noted that if the predecessor or successor coordinates of the current lane change coordinates are found to be outside the map cropping area during the iteration process, the system will update the current lane change coordinates to their successor coordinates and continue to perform the position determination step. This operation ensures that even if some coordinate points fall outside the cropping area, as long as they are connected to the retained lane information, they will not be mistakenly excluded from the cropped data set.

[0125] For example, in one possible implementation, when processing map data, the system first checks whether each lane change coordinate point falls within the clipping area centered on the vehicle. If the coordinate point is within the area, it will be retained. Then, the system will check the subsequent coordinate points of the retained coordinate point and repeat the process. If a coordinate point is not within the area, the system will continue to check its subsequent coordinate point as the new current coordinate point. In this way, the system can ensure that the clipped map data set is both concise and contains the key information required for vehicle driving.

[0126] In a feasible implementation manner, the cropped map data set includes cropped lane center lines and cropped lane line coordinates, and the data processing method may further include steps S5000 to S6000:

[0127] Step S5000: determining a corresponding reserved road and a road boundary line of the reserved road based on the clipped lane line coordinates and / or the clipped lane center line;

[0128] Step S6000: Generate a cropped lane map based on the reserved road and the road boundary line of the reserved road.

[0129] It should be noted that the purpose of determining the reserved roads and their boundaries based on the clipped lane line coordinates and / or the clipped lane centerline is to ensure that the intelligent driving system can obtain accurate and necessary road information to support its driving decisions and path planning. The clipped lane line coordinates and lane centerline provide the geometric structure of the vehicle's surroundings, and determining the reserved roads and their boundaries is to extract the parts directly related to vehicle driving from these data.

[0130] In addition, it should be noted that generating a cropped lane map is the ultimate goal of the entire cropping process. The determined reserved roads and road boundaries are combined to create a new map view that only displays the road information that the vehicle needs to pay attention to during the current and subsequent driving process. This cropped map will serve as the input of the intelligent driving system, helping the system to process data more efficiently, improve response speed and decision quality.

[0131] Since the road road is composed of multiple lane centerlines, the corresponding road can be found by the lane centerline number. The list of lane centerlines after frame clipping is lane_list. For each lane centerline in lane_list, find its corresponding road and keep this road road. Through this road road, the boundary of the road can be further obtained, and the left and right boundaries of the road road can be kept together. In this way, the clipped road and road boundary line can be generated.

[0132] Each lane centerline in lane_list is further processed to extract its corresponding left and right boundaries, so that the clipped lane boundary line can be generated. The corresponding road is determined according to the clipped lane centerline, and the lane boundary line is determined according to the road, generating the clipped road and road boundary line.

[0133] In one feasible implementation, the system first crops the original map data, retaining the lane line coordinates and lane center lines related to the vehicle's current position and driving path. Next, the system analyzes the cropped data to identify the key roads and their boundaries around the vehicle. This information is used to construct a new map dataset that only contains the road information required by the vehicle in the current driving stage. Finally, the system uses this information to generate a cropped lane map that provides the intelligent driving system with a clear, accurate and efficient view of the road, optimizing the system's decision-making process. In this way, the system is able to remove unnecessary data and focus on information that is critical to vehicle driving, thereby improving the safety and efficiency of intelligent driving.

[0134] This method first crops the lane centerline, and then quickly produces a cropped map based on the relationship between the lane centerline, the road, and the boundary. The cropped map by this method will not be well enclosed by the rectangular frame, but it is very efficient and can meet the needs of intelligent driving prediction data.

[0135] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the data processing method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0136] Please refer to Figure 5 The present application further provides a data processing device 50, the data processing device comprising:

[0137] An acquisition module 51 is used to acquire vehicle information and map frame information;

[0138] A construction module 52, configured to construct a map clipping area in the map frame with the vehicle as the center;

[0139] An extraction module 53, used to extract lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates;

[0140] The cropping module 54 is used to crop the map frame according to the vehicle information, lane line coordinates, the map cropping area and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy.

[0141] The data processing device provided by the present application adopts the data processing method in the above embodiment to solve the technical problem of data processing. Compared with the prior art, the beneficial effects of the data processing device provided by the present application are the same as the beneficial effects of the data processing method provided by the above embodiment, and other technical features in the data processing device are the same as the features disclosed in the above embodiment method, which will not be described in detail here.

[0142] The present application provides a data processing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the data processing method in the above-mentioned embodiment 1.

[0143] Reference below Figure 6, which shows a schematic diagram of the structure of a data processing device suitable for implementing an embodiment of the present application. The data processing device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The data processing device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0144] like Figure 6 As shown, the data processing device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the data processing device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the data processing device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a data processing device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0145] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0146] The data processing device provided in the present application adopts the data processing method in the above-mentioned embodiment. Compared with the prior art, the beneficial effects of the data processing device provided in the present application are the same as the beneficial effects of the data processing method provided in the above-mentioned embodiment, and other technical features in the data processing device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0147] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0148] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0149] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the data processing method in the above-mentioned embodiment.

[0150] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0151] The computer-readable storage medium may be included in a data processing device, or may exist independently without being incorporated into a data processing device.

[0152] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by a data processing device, the data processing device: obtains vehicle information and map frame information; constructs a map cropping area in the map frame with the vehicle as the center; extracts lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates; and crops the current map frame according to the vehicle information, the lane line coordinates, the map cropping area, and a preset data set cropping strategy to obtain a cropped map data set.

[0153] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0154] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0155] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0156] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned data processing method, and can solve the technical problems of data processing. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the data processing method provided in the above-mentioned embodiment, and will not be described in detail here.

[0157] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned data processing method when executed by a processor.

[0158] The computer program product provided by this application can solve the technical problem of data processing. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the data processing method provided by the above embodiment, which will not be repeated here.

[0159] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A data processing method, characterized in that: The method is applied to a vehicle, and comprises: Get vehicle information and map frame information; Constructing a map clipping area in the map frame with the vehicle as the center; Extracting lane centerline data in the map frame, the lane centerline data including a plurality of lane line coordinates; The map frame is cropped according to the vehicle information, the lane line coordinates, the map cropping area, and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy; The step of cropping the map frame according to the vehicle information, the lane line coordinates, the map cropping area, and a preset data set cropping strategy includes: Determine whether several lane line coordinates on the lane center line are located within the map clipping area. If so, retain the lane center line. If not, determine whether the line segment between adjacent coordinate points on the lane center line intersects with the map clipping area. If so, retain the lane center line.

2. The method according to claim 1, characterized in that The vehicle information includes vehicle coordinates and a vehicle heading angle. The step of clipping the map frame according to the vehicle information, the lane line coordinates, the map clipping area, and a preset data set clipping strategy to obtain a clipped map data set includes: The lane line coordinates are converted into the vehicle coordinate system of the vehicle according to the vehicle coordinates and the vehicle heading angle to obtain lane conversion coordinates; Performing lane line clipping on the current map frame according to the lane conversion coordinates, lane line coordinates, the map clipping area, and the lane line clipping strategy; and / or, performing lane coordinate clipping on the current map frame according to the lane conversion coordinates, lane line coordinates, the map clipping area, and the lane coordinate clipping strategy; A clipped map data set is obtained according to the results of the lane line clipping and / or the lane coordinate clipping.

3. The method according to claim 2, characterized in that The step of performing lane line clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane line clipping strategy comprises: Determining whether there is a lane conversion coordinate located in the map clipping area among the plurality of lane conversion coordinates corresponding to the lane centerline; If there is no lane change coordinate located in the map clipping area, determining whether any two adjacent lane change coordinates among the lane change coordinates corresponding to the lane centerline intersect with the map clipping area; If there are no two adjacent lane conversion coordinates intersecting the map clipping area, the lane centerline is clipped and removed.

4. The method according to claim 2, characterized in that The step of performing lane coordinate clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane coordinate clipping strategy comprises: determining whether a current lane change coordinate in the lane change coordinates is located in the map clipping area; If the current lane change coordinates are not located in the map clipping area, determining whether the predecessor coordinates or the successor coordinates of the current lane change coordinates are located in the map clipping area; If the predecessor coordinates of the current lane change coordinates are located in the map clipping area, the predecessor coordinates are determined as the lane clipping boundary point, or, if the successor coordinates of the current lane change coordinates are located in the map clipping area, the successor coordinates are determined as the lane clipping boundary point.

5. The method according to claim 4, characterized in that The step of performing lane coordinate clipping on the current map frame according to the lane conversion coordinates, the lane line coordinates, the map clipping area, and the lane coordinate clipping strategy also includes: If the current lane change coordinates are located in the map clipping area, determining the current lane change coordinates as reserved coordinates; Determine the subsequent coordinates of the current lane conversion coordinates as the current lane conversion coordinates, and execute the steps of: determining whether the current lane conversion coordinates in the lane conversion coordinates are located in the map clipping area; If the predecessor coordinates or the successor coordinates of the current lane change coordinates are not located in the map clipping area, the successor coordinates of the current lane change coordinates are determined as the current lane change coordinates, and the step of determining whether the current lane change coordinates in the lane change coordinates are located in the map clipping area is performed.

6. The method according to claim 2, characterized in that The clipped map data set includes clipped lane center lines and clipped lane line coordinates, and the method further includes: Determine a corresponding reserved road and a road boundary line of the reserved road based on the clipped lane line coordinates and / or the clipped lane center line; A clipped lane map is generated according to the reserved road and the road boundary line of the reserved road.

7. A data processing device, characterized in that: The device comprises: An acquisition module, used to acquire vehicle information and map frame information; A construction module, used for constructing a map clipping area in the map frame with the vehicle as the center; An extraction module, used to extract lane centerline data in the map frame, wherein the lane centerline data includes a plurality of lane line coordinates; A cropping module, used to crop the map frame according to the vehicle information, the lane line coordinates and the map cropping area and a preset data set cropping strategy to obtain a cropped map data set, wherein the data set cropping strategy includes a lane line cropping strategy and a lane coordinate cropping strategy; The clipping module is further used to determine whether several lane line coordinates on the lane center line are located in the map clipping area. If so, the lane center line is retained. If not, it is determined whether the line segment between adjacent coordinate points on the lane center line intersects with the map clipping area. If so, the lane center line is retained.

8. A data processing device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the data processing method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the data processing method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the data processing method according to any one of claims 1 to 6 are implemented.

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