Map data fusion method, vehicle, equipment and program product

Abstract

The invention relates to the technical field of data processing, in particular to a map data fusion method, a vehicle, equipment and a program product. The method comprises the steps that lightweight map data and high-precision map data of a target area are acquired, and the number of road elements contained in the high-precision map data is larger than the number of road elements contained in the lightweight map data; extracting target high-precision road elements used for being fused to lightweight map data from the high-precision map data; carrying out adaptive processing on the target high-precision road element to obtain a target lightweight road element adapted to the lightweight map data; and fusing the target lightweight road element into the lightweight map data to obtain fused map data. According to the method, the lightweight map data and the high-precision map data are integrated, and the required target lightweight road elements are fused in the lightweight map data, so that the finally obtained fused map data can be rapidly loaded or updated, and the road elements in the map can be ensured to be more comprehensive.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a map data fusion method, vehicle, equipment and program product. Background Art

[0002] At present, with the continuous development of navigation technology, the demand for maps is constantly increasing. In-vehicle maps can use high-precision maps such as Standard Definition Map (SD map) with rich road elements or High Definition Map (HD map), which are high-precision maps. They can also use lightweight maps (Lightweight Vector Map, LD map) that include lane lines, intersections and other major road elements but have a limited number of road elements. Although high-precision maps are rich in road elements, they are expensive and the speed of loading or updating map data is too slow, so they cannot be used in scenarios with high real-time requirements such as smart driving maps for navigation. Although lightweight maps can guarantee faster loading or updating speeds due to fewer road elements, too few road elements cannot meet users' increasingly high map guidance needs. Summary of the invention

[0003] Based on the defects and shortcomings of the above-mentioned prior art, the present application proposes a map data fusion method, vehicle, equipment and program product, which integrate lightweight map data and high-precision map data, and fuse the required target lightweight road elements into the lightweight map data, so that the final fused map data can not only be quickly loaded or updated, but also ensure that the road elements in the map are more comprehensive.

[0004] According to a first aspect of an embodiment of the present application, a map data fusion method is provided, comprising: acquiring lightweight map data and high-precision map data of a target area, wherein the number of road elements contained in the high-precision map data is greater than the number of road elements contained in the lightweight map data; extracting target high-precision road elements for fusion into the lightweight map data from the high-precision map data; adaptively processing the target high-precision road elements to obtain target lightweight road elements adapted to the lightweight map data; and fusing the target lightweight road elements into the lightweight map data to obtain fused map data.

[0005] According to the map data fusion method provided in the first aspect of the embodiment of the present application, the adaptive processing of the target high-precision road element to obtain the target lightweight road element adapted to the lightweight map data includes: determining the target lightweight road element corresponding to the target high-precision road element from a plurality of lightweight template elements, wherein the lightweight template element is a template road element adapted to the lightweight map data.

[0006] According to the map data fusion method provided in the first aspect of the embodiment of the present application, the step of fusing the target lightweight road element into the lightweight map data to obtain fused map data includes: based on the element type of the target lightweight road element, determining a reference road element for position reference among the existing lightweight road elements included in the lightweight map data; determining relative position information of the target lightweight road element relative to the reference road element; based on the relative position information, determining a position to be fused of the target lightweight road element in the lightweight map data; and according to the position to be fused, adding the target lightweight road element to the lightweight map data to obtain the fused map data.

[0007] According to the map data fusion method provided in the first aspect of the embodiment of the present application, the position to be fused includes the reference point position and the deflection angle of the target lightweight road element; the position to be fused of the target lightweight road element in the lightweight map data based on the relative position information includes: determining the reference position information of the reference road element in the lightweight map data; combining the relative position information and the reference position information, determining the reference point position of the reference point on the target lightweight road element in the lightweight map data, wherein the reference point is the reference point on the target lightweight road element. any point; based on the reference position information, determining the deflection angle of the target lightweight road element in the lightweight map data with the reference point position as the rotation center; adding the target lightweight road element to the lightweight map data according to the position to be fused to obtain the fused map data, including: placing the reference point on the target lightweight road element at the reference point position, and taking the reference point position as the rotation center, rotating the target lightweight road element to the deflection angle, and then adding the target lightweight road element to the lightweight map data to obtain the fused map data.

[0008] According to the map data fusion method provided in the first aspect of the embodiment of the present application, the target lightweight road element includes at least one target lightweight arrow mark in the same driving direction when entering the target intersection area; the reference road element includes a lane line and a stop line in the lightweight map data; the reference point position of the reference point on the target lightweight road element in the lightweight map data is determined by combining the relative position information and the reference position information, including: based on the reference position information of the lane line, determining the center line of the lane where each of the target lightweight arrow marks is located; for each of the target lightweight arrow marks: taking the center point of the target lightweight arrow mark as the reference point of the lane; The reference point is determined, and based on the relative position information between the stop line and the target lightweight arrow mark, the reference point position of the reference point is determined on the center line; based on the reference position information, the deflection angle of the target lightweight road element in the lightweight map data with the reference point position as the rotation center is determined, including: based on the reference position information of the lane line, calculating the first angle between each lane line and the true north direction; clustering each of the first angles, and determining the first angle of the largest number as the second angle; calculating the average value of each of the second angles as the deflection angle of the normal of each of the target lightweight arrow marks based on the true north direction.

[0009] According to the map data fusion method provided in the first aspect of an embodiment of the present application, the reference road element includes a stop line in the lightweight map data; the process of obtaining the stop line includes: determining the entry lane occupied when entering the target intersection area in the same direction in the lightweight map data; based on the direction of entering the target intersection area, determining the leftmost lane line and the rightmost lane line of the entry lane; connecting the first endpoint of the leftmost lane line and the second endpoint of the rightmost lane line as the stop line of the entry lane based on the target intersection area.

[0010] According to the map data fusion method provided in the first aspect of the embodiment of the present application, after the first endpoint of the leftmost lane line and the second endpoint of the rightmost lane line are connected as the stop line of the entry lane based on the target intersection area, it also includes: adding the stop line in the lightweight map data.

[0011] According to a second aspect of an embodiment of the present application, a vehicle is provided, wherein the vehicle is configured to update lightweight map data into fused map data through a map data fusion method as described in any one of the first aspects.

[0012] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store programs; the processor is used to implement the map data fusion method as described in the first aspect by running the programs in the memory.

[0013] According to a fourth aspect of the embodiments of the present application, a computer program product is provided, comprising computer program instructions; when the computer program instructions are executed by a processor, the processor executes the map data fusion method as described in the first aspect. Optionally, the computer program may be stored in a readable storage medium of a computer device or in the cloud; the processor of the computer device reads the computer program from the readable storage medium or the cloud.

[0014] In an embodiment of the present application, lightweight map data and high-precision map data of a target area are obtained, wherein the number of road elements contained in the high-precision map data is greater than the number of road elements contained in the lightweight map data; target high-precision road elements for fusion into the lightweight map data are extracted from the high-precision map data; the target high-precision road elements are adaptively processed to obtain target lightweight road elements adapted to the lightweight map data; and the target lightweight road elements are fused into the lightweight map data to obtain fused map data. In the above process, the target high-precision road elements extracted from the high-precision map data are not directly integrated into the lightweight map data, but adaptively processed. The target lightweight road elements obtained after the adaptive processing not only ensure the accuracy of the fusion and improve the fusion effect, but also avoid the problem that the data volume of the target high-precision road elements in the high-precision map data is too large, resulting in an excessive increase in the data volume of the lightweight map data, or avoiding the problem that the data format of the target high-precision road elements and the lightweight map data do not match and cannot be integrated. It can not only ensure that the loading and updating speed of the fused map data is fast, but also ensure that the road elements in the fused map data are more comprehensive. By fusing the map data, better guidance effects are provided to users in map usage scenarios such as real-time navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0016] Figure 1 A flowchart of a map data fusion method provided in an embodiment of the present application;

[0017] Figure 2A schematic diagram of a normal line of a straight arrow provided in an embodiment of the present application;

[0018] Figure 3 A schematic diagram of a normal line of a left-turn arrow provided in an embodiment of the present application;

[0019] Figure 4 A schematic diagram of a center point position provided in an embodiment of the present application;

[0020] Figure 5 A schematic diagram of a deviation angle provided in an embodiment of the present application;

[0021] Figure 6 An example diagram of a target intersection area provided in an embodiment of the present application;

[0022] Figure 7 A schematic diagram of a stop line provided in an embodiment of the present application;

[0023] Figure 8 A block diagram of a map data fusion device provided in an embodiment of the present application;

[0024] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] Application Overview

[0027] When the in-vehicle map provides guidance functions for users, the map is usually displayed on the in-vehicle screen, smartphone screen and other human-machine interactive devices based on the map data. The number of road elements in lightweight map data is small, and the types of road elements are not comprehensive. Generally speaking, lightweight maps mainly include major road elements such as lane lines and intersection areas. When rendering maps based on lightweight map data, although a faster rendering speed can be guaranteed, the road elements are not comprehensive, which will lead to poor rendering effects and poor user experience. In addition to lightweight map data, map data with more road elements such as standard definition maps or high-precision maps can also be used. High-precision map data is defined as map data that contains more road elements than the number of road elements contained in lightweight map data. When rendering maps based on high-precision map data, more and more comprehensive road elements are displayed, but the corresponding rendering process needs to load more data, which will reduce the processing speed, especially in the case of high real-time requirements such as real-time navigation; and too many displayed elements are also not conducive to users observing important information.

[0028] Exemplary Methods

[0029] Based on the above, in order to quickly provide users with comprehensive and uncomplicated road elements, this application provides a map data fusion method. This method can be implemented through a software algorithm, and the software algorithm that implements this method can be implemented on any device with data processing capabilities, such as an on-board processor, a smart mobile device, a cloud processor, an independent computer, etc. The scope of protection of this application is not limited to the type of device running the software algorithm corresponding to this method.

[0030] In one embodiment, if Figure 1 As shown, the process steps for implementing the map data fusion method include:

[0031] Step 101, obtaining lightweight map data and high-precision map data of a target area, wherein the number of road elements included in the high-precision map data is greater than the number of road elements included in the lightweight map data.

[0032] In this embodiment, the target area refers to the area where map data fusion is required, and the target area can be an area pre-set according to needs, for example, an area set according to administrative divisions or geographical divisions. The target area can also be an area automatically determined according to certain rules, for example, an area within a radius of 5 kilometers with the vehicle as the center. The target area can be continuously updated during the driving process of the vehicle. The actual determination method of the target area can be set according to actual conditions and needs.

[0033] In this embodiment, road elements refer to the basic elements that provide indication functions in map data. Road elements include road markings such as lane lines, stop lines, and ground driving indication arrows. They may also include traffic lights such as traffic lights, and may also include signs such as no honking and school signs. They may also include traffic facilities such as street lights. According to actual conditions and needs, different map data configurations have different types and quantities of road elements. Lightweight map (Lightweight Vector Map, referred to as LD map) data, the full name usually refers to lightweight vector map data or lightweight geographic information system data. Lightweight map data is mainly used in mobile devices and Internet applications to provide fast-loading, low-bandwidth map information to optimize user experience. Specifically, lightweight map data usually includes simplified geometric information, attribute data, and some necessary map styles, such as lane line information, intersection area information, etc., so as to realize map guidance functions under limited resources. High-precision map data refers to map data that contains more road elements than lightweight map data. The road elements in high-precision map data are more comprehensive and richer. For example, high-precision map data includes standard definition maps (SD maps) or high-precision maps (HD maps). In high-precision map data, various road elements and information are more complete. But in fact, when some road elements and information in high-precision map data are used to render navigation maps and other specific usage environments, not all road elements and information are needed. Too many road elements may cause users to be unable to accurately obtain important content, and the guidance effect on users in map usage scenarios such as real-time navigation will be reduced. The lightweight map data and high-precision map data of the target area can be obtained from cloud storage or local storage. The scope of protection of this application is not limited to the original storage space of lightweight map data and high-precision map data.

[0034] Step 102: extracting target high-precision road elements from the high-precision map data for fusion into the lightweight map data.

[0035] In this embodiment, the high-precision map data includes more comprehensive and richer road elements, such as lane lines, stop lines, arrows in lanes, speed bumps, etc. The road elements in the high-precision map data are defined as high-precision road elements. For some road elements, they are missing in the lightweight map data, but they are indeed required for map rendering. Therefore, the corresponding high-precision road elements in the high-precision map data can be used as target high-precision road elements, and the target high-precision road elements are used for subsequent fusion into the lightweight map data. For example, if the lightweight map data does not have arrows in the lanes to indicate the direction of travel of the vehicle, such as going straight, turning left or turning right, then the arrows in the high-precision map data can be determined to be target high-precision road elements. When extracting the target high-precision road elements from the high-precision map data, one or more element information such as the element type, element contour, and element shape of the target high-precision road elements is extracted.

[0036] Step 103 , adaptively process the target high-precision road element to obtain a target lightweight road element that is adapted to the lightweight map data.

[0037] In this embodiment, after extracting the target high-precision road element from the high-precision map data, in order to avoid the data mismatch problem between the high-precision map data and the lightweight map data, and in order to avoid the problem of a large amount of data of the target high-precision road element extracted from the high-precision map data, the target high-precision road element is not directly merged into the lightweight map data, but the target high-precision road element is adaptively processed to obtain the adaptively processed target lightweight road element that is adapted to the lightweight map data. The indicative role of the target lightweight road element in the lightweight map data is the same as the indicative role of the target high-precision road element in the high-precision map data, but the target lightweight road element can match the lightweight map data in multiple aspects such as data type and data amount, thereby ensuring that the target lightweight road element can be quickly and accurately merged into the lightweight map data.

[0038] In this embodiment, the target high-precision road element is adaptively processed to obtain the target lightweight road element, which can be obtained by matching the target high-precision road element with a plurality of preset lightweight template elements; the element contour of the target high-precision road element can also be directly extracted, and then data conversion, shape adjustment or filling and other processing processes are performed on the basis of the element contour to generate the target lightweight road element adapted to the lightweight map data; the target high-precision road element can also be directly subjected to necessary data conversion and other operations to generate the target lightweight road element adapted to the lightweight map data. Specifically, the target lightweight road element can be obtained in a corresponding manner according to the actual situation and needs.

[0039] Step 104: fuse the target lightweight road element into the lightweight map data to obtain fused map data.

[0040] In this embodiment, the target lightweight road element is adapted to the lightweight map data, and can be quickly and accurately fused into the lightweight map data to obtain fused map data. The fused map data includes not only the important road elements in the lightweight map data, but also the target lightweight road elements. The amount of fused map data is smaller than that of high-precision map data, and the road elements in the fused map data are more comprehensive than those in the lightweight map data. In general, it can provide users with map guidance functions quickly and comprehensively, and improve user experience.

[0041] In one embodiment, the target high-precision road element is adaptively processed to obtain a target lightweight road element adapted to lightweight map data, including: determining a target lightweight road element corresponding to the target high-precision road element from a plurality of lightweight template elements, wherein the lightweight template element is a template road element adapted to lightweight map data.

[0042] In this embodiment, the process of adaptively processing the target high-precision road element to obtain the target lightweight road element is achieved through a plurality of pre-set lightweight template elements. Specifically, according to actual conditions and needs, the lightweight template elements are set based on a variety of road elements such as arrows in lanes, speed bumps, etc. that are more important and commonly used in real scenes. Each road element can be further classified. For example, the arrows can also include left turn arrows, straight arrows, right turn arrows, U-turn arrows, left turn and U-turn combined arrows, and changeable lane road elements. For each road element, a corresponding lightweight template element is set respectively. For example, the arrow marks such as left turn arrows, straight arrows, right turn arrows, U-turn arrows, left turn and U-turn combined arrows, and changeable lane road elements are respectively set with corresponding lightweight template elements.

[0043] In this embodiment, after extracting one or more target high-precision road elements from the high-precision map data, each target high-precision road element is matched with each lightweight template element, and the lightweight template element corresponding to each target high-precision road element is determined as the target lightweight road element corresponding to the target high-precision road element. Specifically, the matching method used for matching the target high-precision road element with the lightweight template element can adopt any matching method such as graphic vector matching, type matching, and matching based on artificial intelligence. For example, when extracting the target high-precision road element from the high-precision map data, the type of each target high-precision road element can be extracted. For example, 3 target high-precision road elements are extracted from the high-precision map data, and the types are left turn arrow, straight arrow, and right turn arrow respectively; when the target high-precision road element is matched with the lightweight template element respectively, the template type pre-set by the lightweight template element is matched, and the lightweight template elements with the same template types of left turn arrow, straight arrow, and right turn arrow are respectively used as the target lightweight road elements corresponding to the three target high-precision road elements.

[0044] In one embodiment, a target lightweight road element is integrated into lightweight map data to obtain integrated map data, including: based on the element type of the target lightweight road element, determining a reference road element for position reference among existing lightweight road elements included in the lightweight map data; determining relative position information of the target lightweight road element relative to the reference road element; based on the relative position information, determining a position of the target lightweight road element to be integrated in the lightweight map data; and according to the position to be integrated, adding the target lightweight road element to the lightweight map data to obtain integrated map data.

[0045] In this embodiment, the existing lightweight road element refers to the road element already included in the lightweight map data. The reference road element refers to the road element used as a reference in the existing lightweight road element. After obtaining the target lightweight road element, when the target lightweight road element is merged into the lightweight map data, it is necessary to determine the position to be merged when each target lightweight road element is merged into the lightweight map data, and then add each target lightweight road element to the lightweight map data according to the position to be merged. When determining the position to be merged, first determine the reference road element in the lightweight map data, and determine the position to be merged with the reference road element as a reference point. When determining the reference road element, it is implemented based on the element type of the target lightweight road element. Specifically, the corresponding relationship between the element type and the reference road element can be pre-set. For example, when the element type of the target lightweight road element is a ground arrow mark, the lane line is used as the corresponding reference road element; when the target lightweight road element is a red road light, the stop line in the intersection area is used as the corresponding reference road element.

[0046] Then, the relative position information of the target lightweight road element relative to the reference road element is determined. The relative position information is the position information of the target lightweight road element relative to the reference road element, and the relative position information can be extracted from the high-precision map data. For example, the reference road element is a lane line, and the target lightweight road element includes multiple ground arrow marks, each of which needs to be integrated into a corresponding lane. The relative position information includes the original arrangement order of each ground arrow mark in each lane, each ground arrow mark on a certain side of a lane line, etc. extracted from the high-precision map data. It should be noted that if there is a deviation between the high-precision map data and the lightweight map data, for example, three ground arrow marks in three lanes are extracted from the high-precision map data, but the lightweight map data has four lanes in the same direction, the ground arrow marks provided by the high-precision map data shall prevail. According to the convention in the actual scene, the three ground arrow marks are directly set in order, starting from the leftmost lane based on the vehicle's driving direction, and the three ground arrow marks are respectively corresponded to the three lanes on the left side of the lightweight map data. This can improve the speed of map data fusion; it can also be combined with the perception technology of the vehicle configuration to perceive in real time whether there are ground arrow marks in each lane in the actual situation, so as to determine which lane the three ground arrow marks are distributed in. This can improve the accuracy of map data fusion, making the final fused map data more accurate and more in line with the actual road scene.

[0047] Then, after obtaining the relative position information of the target lightweight road element relative to the reference road element, the position to be fused of the target lightweight road element in the entire lightweight map data is determined based on the reference road element as the position reference point and combined with the relative position information.

[0048] Finally, the target lightweight road element is added to the lightweight map data according to the indication of the position to be fused, and the fused map data can be obtained.

[0049] In this embodiment, the reference road element of the position reference is determined, and combined with the relative position information of each target lightweight road element, the accurate position to be fused of each target lightweight road element in the lightweight map data is determined, thereby ensuring the feasibility and accuracy of fusion.

[0050] In one embodiment, the position to be fused includes a reference point position and a deflection angle of the target lightweight road element.

[0051] Based on the relative position information, the position of the target lightweight road element to be fused in the lightweight map data is determined, including: determining the reference position information of the reference road element in the lightweight map data; combining the relative position information and the reference position information, determining the reference point position of the target lightweight road element in the lightweight map data, wherein the reference point is any point on the target lightweight road element; based on the reference position information, determining the deflection angle of the target lightweight road element in the lightweight map data with the reference point position as the rotation center. According to the position to be fused, the target lightweight road element is added to the lightweight map data to obtain fused map data, including: placing the reference point on the target lightweight road element at the reference point position, and taking the reference point position as the rotation center, rotating the target lightweight road element to the deflection angle, and then adding the target lightweight road element to the lightweight map data to obtain fused map data.

[0052] In this embodiment, the target lightweight road element is not a point, but has a certain outline and shape, and the layout of the target lightweight road element will also affect the indication function of the target lightweight road element. According to mathematical knowledge, for a target lightweight road element, a point on the target lightweight road element is used as a reference point, and based on the reference point position where the reference point is located as the center, slowly rotate to the required deflection angle, the specific arrangement of the target lightweight road element can be determined to ensure that the target lightweight road element has the correct indication function. The reference point on the target lightweight road element can be any point on the target lightweight road element pre-set according to actual conditions and needs, for example, the center point of the target lightweight road element, and for example, a point on the outline of the target lightweight road element.

[0053] In this embodiment, the specific position of the reference road element in the lightweight map data is the reference position information, and the reference position information can be directly extracted from the lightweight map data. Based on the reference position of the reference road element, the reference point position of the target lightweight road element in the lightweight map data can be determined based on the relative position information of the target lightweight road element relative to the reference road element. Then, the target lightweight road element needs to maintain a relatively correct positional relationship with the reference road element, that is, the target lightweight road element can determine the deflection angle of the target lightweight road element in the lightweight map data with the reference point position as the rotation center based on the reference position information of the reference road element. When the deflection angle is different, the relative positional relationship between each point on the target lightweight road element and the reference road element is different. Only when the deflection angle is appropriate can the target lightweight road element and the reference road element maintain a relatively correct positional relationship. The deflection angle can be determined based on the due north direction, due east direction or any other reference direction to determine the specific angle value.

[0054] In this embodiment, based on the correct reference point position and deflection angle, the target lightweight road element can be reasonably added to the lightweight map data to obtain more accurate fused map data.

[0055] In a specific embodiment, the reference point on the target lightweight road element includes the center point of the target lightweight road element, the reference point position includes the center point position, and the deflection angle of the target lightweight road element in the lightweight map data with the reference point position as the rotation center includes the deviation angle between the normal of the target lightweight road element and the north direction.

[0056] In this embodiment, based on mathematical knowledge, for any target lightweight road element that has been obtained, as long as the center point position and deviation angle of the target lightweight road element are determined, the precise position of the target lightweight road element can be determined. The center point position of the target lightweight road element is the geometric center position of the target lightweight road element. In determining the center point position, first determine the reference position information of a reference road element in the lightweight map data. For example, if a stop line in the lightweight map data is used as a reference road element, the position information of the stop line is the reference position information; for another example, if a lane merging point or branching point is a reference road element, the position information of the merging point or branching point is the reference position information. Combine the relative position information and the reference position information to determine the center point position of the target lightweight road element.

[0057] In this embodiment, the normal of the target lightweight road element can be set according to the specific shape of the target lightweight road element, for example, Figure 2 As shown in the schematic diagram of the normal line of the straight arrow, when the target lightweight road element is a straight arrow, the normal line of the straight arrow is the symmetry line of the execution arrow; Figure 3 The schematic diagram of the normal line of the left-turn arrow shown in the figure shows that when the target lightweight road element is a left-turn arrow, the normal line of the left-turn arrow is the symmetry line of the rectangular part of the left-turn arrow. Based on the road elements in the lightweight map data, the deviation angle between the normal line of the target lightweight road element and the true north direction is determined, so that the target lightweight road element matches the position of the reference road element in the lightweight map data, thereby improving the fusion effect. Based on the center point position and the deviation angle, the target lightweight road element is added to the lightweight map data to obtain the fused map data. In essence, the target lightweight road element is rotated from the true north direction at the center point position until the deviation angle is reached, thereby determining the precise position of the target lightweight road element in the lightweight map data, and the target lightweight road element is fused into the lightweight map data, and does not conflict with the positions of other road elements in the lightweight map data, thereby improving the map fusion effect.

[0058] In one embodiment, the target lightweight road element includes at least one target lightweight arrow mark in the same driving direction when entering the target intersection area; the reference road element includes a lane line and a stop line in the lightweight map data.

[0059] Combine the relative position information and the reference position information to determine the reference point position of the target lightweight road element in the lightweight map data, including: based on the reference position information of the lane line, determine the center line of the lane where each target lightweight arrow mark is located; for each target lightweight arrow mark: take the center point of the target lightweight arrow mark as the reference point, and determine the reference point position of the reference point on the center line based on the relative position information between the stop line and the target lightweight arrow mark. Based on the reference position information, determine the deflection angle of the target lightweight road element in the lightweight map data with the reference point position as the rotation center, including: based on the reference position information of the lane line, calculate the first angle between each lane line and the due north direction; cluster each first angle, determine the first angle with the largest number as the second angle; calculate the average value of each second angle as the deflection angle of the normal of each target lightweight arrow mark based on the due north direction.

[0060] In this embodiment, the ground arrow mark in the road is an important road element. The target lightweight arrow mark is a ground arrow mark in the lightweight map data. When entering the target intersection area, at least one target lightweight arrow mark in the same driving direction is usually arranged side by side in each lane. When the target lightweight arrow mark is integrated into the lightweight map data, the lane line and the stop line are used as reference road elements to determine the reference position information, such as Figure 4 As shown in the schematic diagram of the center point position, the road includes 4 lanes, the driving direction of the vehicle in each lane is the same, and the target lightweight road element includes 4 target lightweight arrow marks corresponding to the 4 lanes, then on the basis of each lane formed by each lane line, with the stop line as the reference, the relative position information of each target lightweight arrow mark includes the corresponding lane of each target lightweight arrow mark based on the existing lane line in the lightweight map data, and the distance of each target lightweight arrow mark from the stop line. Further, in the direction of the vehicle, at a certain distance (for example, 5 meters) from the stop line, assume a straight line parallel to the stop line, each lane line has an intersection with the straight line, and take the midpoint of any two adjacent intersections as the center point position of the target lightweight arrow mark in the corresponding lane between the two adjacent intersections. The center point position is located on the center line of the corresponding lane, which conforms to the arrow mark distribution method in the actual scene.

[0061] In this embodiment, when determining the deviation angle, Figure 5The deviation angle schematic diagram shown in the figure, based on the reference position information of the lane line, can be based on the intersection between the straight line where each center point is located and the corresponding lane line of each corresponding lane, that is, the intersection between the above-mentioned each existing lane line and the parallel straight line, calculate the first angle between each lane line and the true north direction. In order to prevent the situation that a certain lane line is not parallel to other lane lines in a special lane, and to avoid the deviation when calculating the first angle, each first angle is clustered. Specifically, the clustering method for clustering each first angle can adopt any clustering method such as k-means clustering and difference threshold clustering. The first angle with the largest number is determined as the second angle, that is, the influence of a few non-parallel lanes is eliminated, which can ensure that each target lightweight arrow mark is not only adapted to the distribution of existing lane lines in the lightweight map data. After calculating the average value of each second angle, the average value is used as the deflection angle of the normal of each target lightweight arrow mark based on the true north direction, which can ensure that the direction of each target lightweight arrow mark is consistent, meets the requirements of the actual scene, and is also convenient for users to view.

[0062] In one embodiment, the reference road element includes a stop line in lightweight map data. The process of obtaining the stop line includes: determining an entry lane occupied when entering the target intersection area in the same direction in the lightweight map data; determining the leftmost lane line and the rightmost lane line of the entry lane based on the direction of entering the target intersection area; connecting the first end point of the leftmost lane line and the second end point of the rightmost lane line as the stop line of the entry lane based on the target intersection area.

[0063] In this embodiment, there is a situation where the lightweight map data does not include a stop line. The stop line can be determined first according to the road elements in the lightweight map data, so as to facilitate the subsequent addition or fusion of other target lightweight road elements.

[0064] In this embodiment, there may be one or more intersection areas in the target area, and each intersection area may be used as a target intersection area to implement the processing provided in this embodiment. Figure 6 The target intersection area is an example diagram shown in the figure. The target intersection area is an intersection with vehicle entry and exit lanes in all four directions. Stop lines are not required for the exit lanes. For the entry lanes in each direction, the leftmost lane line and the rightmost lane line of the entry lane are determined. The corresponding stop lines can be determined for the entry lanes in each direction, such as Figure 7The stop line schematic diagram shown connects the first end point of the leftmost lane line and the second end point of the rightmost lane line. The line segment between the first end point and the second end point is the stop line of the entry lane based on the target intersection area. The stop line can be used as a reference road element for the target lightweight arrow mark or other target lightweight road element in the lane in this direction, and the position information of the stop line is the reference position information. Based on the stop line, the reference point position of the target lightweight arrow mark or other target lightweight road element can be determined.

[0065] In one embodiment, after connecting the first end point of the leftmost lane line and the second end point of the rightmost lane line as a stop line of the entry lane based on the target intersection area, a stop line is added in the lightweight map data.

[0066] In this embodiment, when the lightweight map data does not include a stop line, after the stop line is determined, the stop line may be added to the lightweight map data, thereby further improving the integrity of the lightweight map data.

[0067] In an embodiment of the present application, lightweight map data and high-precision map data of a target area are obtained, wherein the number of road elements contained in the high-precision map data is greater than the number of road elements contained in the lightweight map data; target high-precision road elements for fusion into the lightweight map data are extracted from the high-precision map data; the target high-precision road elements are adaptively processed to obtain target lightweight road elements adapted to the lightweight map data; and the target lightweight road elements are fused into the lightweight map data to obtain fused map data. In the above process, the target high-precision road elements extracted from the high-precision map data are not directly integrated into the lightweight map data, but adaptively processed. The target lightweight road elements obtained after the adaptive processing not only ensure the accuracy of the fusion and improve the fusion effect, but also avoid the problem that the data volume of the target high-precision road elements in the high-precision map data is too large, resulting in an excessive increase in the data volume of the lightweight map data, or avoiding the problem that the data format of the target high-precision road elements and the lightweight map data do not match and cannot be integrated. It can not only ensure that the loading and updating speed of the fused map data is fast, but also ensure that the road elements in the fused map data are more comprehensive. By fusing the map data, better guidance effects are provided to users in map usage scenarios such as real-time navigation.

[0068] Furthermore, especially for maps used for real-time navigation during vehicle driving, important road elements in the surrounding area of ​​the vehicle are supplemented in real time on the basis of lightweight map data and rendered to the car computer or smart phone. Complete and comprehensive road information is quickly updated for users through human-computer interaction devices, thereby improving user experience.

[0069] Example Snap-in

[0070] Correspondingly, an embodiment of the present application further provides an on-vehicle map management unit, which is configured in a vehicle. The on-vehicle map management unit updates lightweight map data into fused map data through a map data fusion method provided in any of the above embodiments.

[0071] The vehicle-mounted map management unit provided in this embodiment belongs to the same application concept as the map data fusion method provided in the above embodiments of this application, and can execute the map data fusion method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the map data fusion method provided in the above embodiments of this application, and will not be repeated here.

[0072] Example Vehicles

[0073] Accordingly, the embodiment of the present application further provides a vehicle, which updates lightweight map data to fused map data through the map data fusion method provided in any of the above embodiments. Optionally, the vehicle is configured with an on-board map management unit as provided above, and the on-board map management unit updates lightweight map data to fused map data through the map data fusion method provided in any of the above embodiments.

[0074] In one embodiment, the vehicle performs graphic rendering based on the fused map data, and displays the rendered fused map, so as to provide a better guidance effect for the user. Optionally, the vehicle includes a display module, and the fused map is displayed by the display module.

[0075] The vehicle provided in this embodiment belongs to the same application concept as the map data fusion method provided in the above embodiment of this application, and can apply the map data fusion method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the map data fusion method provided in the above embodiment of this application, and will not be repeated here.

[0076] Exemplary Devices

[0077] Accordingly, the embodiment of the present application also provides a map data fusion device, such as Figure 8 As shown, the device may include:

[0078] An acquisition module 801 is used to acquire lightweight map data and high-precision map data of a target area, wherein the number of road elements included in the high-precision map data is greater than the number of road elements included in the lightweight map data;

[0079] An extraction module 802 is used to extract target high-precision road elements for fusion into lightweight map data from high-precision map data;

[0080] The adaptation module 803 is used to perform adaptive processing on the target high-precision road element to obtain the target lightweight road element adapted to the lightweight map data;

[0081] The fusion module 804 is used to fuse the target lightweight road element into the lightweight map data to obtain fused map data.

[0082] In one embodiment, the adaptation module 803 is used to determine a target lightweight road element corresponding to a target high-precision road element from a plurality of lightweight template elements, wherein the lightweight template element is a template road element adapted to lightweight map data.

[0083] In one embodiment, the fusion module 804 is used to determine a reference road element for position reference among existing lightweight road elements included in the lightweight map data based on the element type of the target lightweight road element; determine the relative position information of the target lightweight road element relative to the reference road element; determine the position to be fused of the target lightweight road element in the lightweight map data based on the relative position information; and add the target lightweight road element to the lightweight map data according to the position to be fused to obtain fused map data.

[0084] In one embodiment, the position to be fused includes the reference point position and the deflection angle of the target lightweight road element;

[0085] The fusion module 804 is used to determine the reference position information of the reference road element in the lightweight map data; determine the reference point position of the reference point on the target lightweight road element in the lightweight map data in combination with the relative position information and the reference position information, wherein the reference point is any point on the target lightweight road element; based on the reference position information, determine the deflection angle of the target lightweight road element in the lightweight map data with the reference point position as the rotation center; place the reference point on the target lightweight road element at the reference point position, and with the reference point position as the rotation center, after rotating the target lightweight road element to the deflection angle, add the target lightweight road element to the lightweight map data to obtain fused map data.

[0086] In one embodiment, the target lightweight road element includes at least one target lightweight arrow mark in the same driving direction when entering the target intersection area; the reference road element includes a lane line and a stop line in the lightweight map data;

[0087] Fusion module 804 is used to determine the center line of the lane where each target lightweight arrow mark is located based on the reference position information of the lane line; for each target lightweight arrow mark: take the center point of the target lightweight arrow mark as the reference point, and determine the reference point position of the reference point on the center line based on the relative position information between the stop line and the target lightweight arrow mark; calculate the first angle between each lane line and the north direction based on the reference position information of the lane line; cluster the first angles and determine the first angle with the largest number as the second angle; calculate the average value of the second angles as the deflection angle of the normal of each target lightweight arrow mark based on the north direction.

[0088] In one embodiment, the reference road element comprises a stop line in the lightweight map data;

[0089] The fusion module 804 is also used to obtain the stop line, including: determining the entry lane occupied when entering the target intersection area in the same direction in the lightweight map data; based on the direction of entering the target intersection area, determining the leftmost lane line and the rightmost lane line of the entry lane; connecting the first endpoint of the leftmost lane line and the second endpoint of the rightmost lane line as the stop line of the entry lane based on the target intersection area.

[0090] In one embodiment, the fusion module 804 is further used to connect the first end point of the leftmost lane line and the second end point of the rightmost lane line as a stop line of the entry lane based on the target intersection area, and then add a stop line in the lightweight map data.

[0091] The map data fusion device provided in this embodiment belongs to the same application concept as the map data fusion method provided in the above embodiments of this application, and can execute the map data fusion method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the map data fusion method provided in the above embodiments of this application, and will not be repeated here.

[0092] Exemplary Electronic Devices

[0093] The present application also provides an electronic device, such as Fig. 9 As shown, the electronic device includes: a memory 900 and a processor 901 .

[0094] The memory 900 is connected to the processor 901 and is used to store programs.

[0095] The processor 901 is used to implement the map data fusion method in the above embodiment by running the program stored in the memory 900 .

[0096] Specifically, the electronic device may further include: a communication interface 902 , an input device 903 , an output device 904 and a bus 905 .

[0097] The processor 901, the memory 900, the communication interface 902, the input device 903 and the output device 904 are connected to each other via a bus.

[0098] Bus 905 may include a pathway for transferring information between the various components of the computer system.

[0099] The processor 901 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0100] The processor 901 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0101] The memory 900 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 900 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0102] The input device 903 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0103] Output device 904 may include a device that allows information to be output to a user, such as a display screen, printer, speaker, etc.

[0104] The communication interface 902 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0105] The processor 901 executes the program stored in the memory 900 and calls other devices, which can be used to implement each step of the map data fusion method provided in the above embodiment of the present application.

[0106] Exemplary computer program products and storage media

[0107] In addition to the above-mentioned method and device, the embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the map data fusion method described in the embodiment of the present application.

[0108] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0109] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0110] In addition, the embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the map data fusion method described in the embodiment of the present application.

[0111] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0112] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0113] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0114] The modules and sub-modules in the devices and terminals provided in the embodiments of the present application can be merged, divided and deleted according to actual needs.

[0115] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0116] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0118] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0119] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0120] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0121] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A map data fusion method, characterized in that: include: Acquire lightweight map data and high-precision map data of a target area, wherein the number of road elements included in the high-precision map data is greater than the number of road elements included in the lightweight map data; Extracting target high-precision road elements from the high-precision map data for fusion into the lightweight map data; Adaptively processing the target high-precision road element to obtain a target lightweight road element adapted to the lightweight map data; The target lightweight road element is fused into the lightweight map data to obtain fused map data.

2. The map data fusion method according to claim 1, characterized in that: The step of adaptively processing the target high-precision road element to obtain the target lightweight road element adapted to the lightweight map data includes: A target lightweight road element corresponding to the target high-precision road element is determined from a plurality of lightweight template elements, wherein the lightweight template element is a template road element adapted to the lightweight map data.

3. The map data fusion method according to claim 1, characterized in that: The step of fusing the target lightweight road element into the lightweight map data to obtain fused map data includes: Based on the element type of the target lightweight road element, determining a reference road element for position reference from existing lightweight road elements included in the lightweight map data; Determining relative position information of the target lightweight road element relative to the reference road element; Based on the relative position information, determining a position of the target lightweight road element to be fused in the lightweight map data; According to the position to be fused, the target lightweight road element is added to the lightweight map data to obtain the fused map data.

4. The map data fusion method according to claim 3, characterized in that: The position to be fused includes the reference point position and the deflection angle of the target lightweight road element; The determining, based on the relative position information, the position of the target lightweight road element to be fused in the lightweight map data includes: determining reference position information of the reference road element in the lightweight map data; Determine the reference point position of the reference point on the target lightweight road element in the lightweight map data in combination with the relative position information and the reference position information, wherein the reference point is any point on the target lightweight road element; Based on the reference position information, determining a deflection angle of the target lightweight road element in the lightweight map data with the reference point position as a rotation center; The step of adding the target lightweight road element to the lightweight map data according to the position to be fused to obtain the fused map data includes: The reference point on the target lightweight road element is placed at the reference point position, and the reference point position is used as the rotation center. After the target lightweight road element is rotated to the deflection angle, the target lightweight road element is added to the lightweight map data to obtain the fused map data.

5. The map data fusion method according to claim 4, characterized in that: The target lightweight road element includes at least one target lightweight arrow mark in the same driving direction when entering the target intersection area; the reference road element includes a lane line and a stop line in the lightweight map data; The combining the relative position information and the reference position information to determine the reference point position of the reference point on the target lightweight road element in the lightweight map data includes: Based on the reference position information of the lane line, determining the center line of the lane where each of the target lightweight arrow marks is located; For each of the target lightweight arrow marks: taking the center point of the target lightweight arrow mark as the reference point, and determining the reference point position of the reference point on the center line based on the relative position information between the stop line and the target lightweight arrow mark; The step of determining, based on the reference position information, a deflection angle of the target lightweight road element in the lightweight map data with the reference point position as a rotation center comprises: Based on the reference position information of the lane lines, calculating a first angle between each lane line and the true north direction; Clustering the first angles, and determining the first angle of the largest category as the second angle; The average value of each of the second angles is calculated as the deflection angle of the normal of each of the target lightweight arrow markers based on the true north direction.

6. The map data fusion method according to any one of claims 1 to 5, characterized in that: The reference road element includes a stop line in the lightweight map data; The process of obtaining the stop line includes: Determining an entry lane occupied when entering the target intersection area in the same direction in the lightweight map data; Determine the leftmost lane line and the rightmost lane line of the entry lane based on the direction of entering the target intersection area; The first endpoint of the leftmost lane line and the second endpoint of the rightmost lane line are connected to serve as the stop line of the entry lane based on the target intersection area.

7. The map data fusion method according to claim 6, characterized in that: After the first endpoint of the leftmost lane line and the second endpoint of the rightmost lane line are connected as the stop line of the entry lane based on the target intersection area, the method further includes: In the lightweight map data, the stop line is added.

8. A vehicle, characterized in that: The vehicle updates the lightweight map data into fused map data through the map data fusion method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the map data fusion method according to any one of claims 1 to 7 by running the program in the memory.

10. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor is enabled to execute the map data fusion method according to any one of claims 1 to 7.

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