Map data format conversion method and device, electronic equipment, medium and product

Abstract

The invention discloses a map data format conversion method and device, electronic equipment, a medium and a product, and relates to the technical field of map navigation, the map data format conversion method comprises the following steps: determining map information according to a to-be-converted map file, the map information at least comprising two-dimensional coordinate information; fitting the two-dimensional coordinate information to obtain a fitting curve, and calculating curvature information and course angle information of each point in the fitting curve; based on the fitting curve, the curvature information and the course angle information, a corresponding map topology network is generated by combing road connection relations; and storing the map topology network as a target format to obtain a target map file. According to the technical scheme, the map data format conversion efficiency can be improved, and the accuracy, integrity and precision of the map obtained through conversion are improved.

Description

Technical Field

[0001] The present application relates to the field of map navigation technology, and in particular to a map data format conversion method, device, electronic device, computer-readable storage medium and computer program product. Background Art

[0002] With the development of autonomous driving technology, the combination of high-precision maps and autonomous driving platforms is becoming more and more widespread. Since different autonomous driving platforms and systems may use different map formats, it is necessary to convert map data in high-precision map format (such as OpenDrive) into other target formats to ensure the compatibility and interoperability of autonomous driving platforms.

[0003] The current map format conversion method mainly relies on manual operation and coordinate conversion, which consumes a lot of work, is inefficient and prone to errors. In addition, the coordinate conversion method is difficult to ensure the accuracy and integrity of the converted data, affecting the accuracy and quality of map data.

[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 the present application is to provide a map data format conversion method, device, electronic device, computer-readable storage medium and computer program product, aiming to solve the technical problems that traditional map data format conversion solutions have low efficiency and the converted maps have poor quality and insufficient accuracy.

[0006] To achieve the above purpose, the present application proposes a map data format conversion method, which includes:

[0007] Determining map information according to the map file to be converted, wherein the map information at least includes two-dimensional coordinate information;

[0008] Fitting the two-dimensional coordinate information to obtain a fitting curve, and calculating the curvature information and heading angle information of each point in the fitting curve;

[0009] Based on the fitting curve, the curvature information and the heading angle information, a corresponding map topology network is generated by sorting out road connection relationships;

[0010] The map topology network is saved in a target format to obtain a target map file.

[0011] In one embodiment, the step of determining the map information according to the map file to be converted includes:

[0012] Traversing the road section information in the map file to be converted, and extracting the longitude and latitude coordinate information from the road section information;

[0013] The latitude and longitude coordinate information is cleaned, denoised and outliers are removed, and then the latitude and longitude coordinate information is converted into corresponding two-dimensional coordinate information.

[0014] In one embodiment, the step of converting the latitude and longitude coordinate information into corresponding two-dimensional coordinate information includes:

[0015] The longitude and latitude coordinate information is converted into a rectangular coordinate system by performing UTM projection on the longitude and latitude coordinate information to obtain two-dimensional coordinate information.

[0016] In one embodiment, the step of fitting the two-dimensional coordinate information to obtain a fitting curve includes:

[0017] Performing quadratic polynomial fitting on the coordinates of each point in the two-dimensional coordinate information to obtain polynomial coefficients and corresponding polynomial expressions;

[0018] A fitting curve is generated based on the polynomial coefficients and the polynomial expression.

[0019] In one embodiment, the step of calculating the curvature information and heading angle information of each point in the fitting curve includes:

[0020] Deriving the polynomial expression corresponding to the fitting curve to determine the curvature information of each point;

[0021] Calculate the angle between the tangent direction of each point and the positive direction to obtain the heading angle information of each point.

[0022] In one embodiment, the step of generating a corresponding map topology network by sorting out road connection relationships based on the fitting curve, the curvature information, and the heading angle information includes:

[0023] According to the curvature information and heading angle information of each point in the fitting curve, the road section information and road nodes are divided;

[0024] Based on the road section information and the road nodes, construct a connection relationship between roads;

[0025] A map topology network is generated according to the road section information, the road nodes and the connection relationship.

[0026] In addition, to achieve the above-mentioned purpose, the present application also provides a map data format conversion device, the map data format conversion device comprising:

[0027] A data reading module, used to determine map information according to the map file to be converted, wherein the map information at least includes two-dimensional coordinate information;

[0028] A curve fitting module, used to fit the two-dimensional coordinate information to obtain a fitting curve, and calculate the curvature information and heading angle information of each point in the fitting curve;

[0029] A topology generation module, configured to generate a corresponding map topology network by sorting out road connection relationships based on the fitting curve, the curvature information and the heading angle information;

[0030] The format conversion module is used to save the map topology network into a target format to obtain a target map file.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes an electronic 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 map data format conversion method as described above.

[0032] In addition, to achieve the above-mentioned purpose, 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 map data format conversion method described above are implemented.

[0033] 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 map data format conversion method described above are implemented.

[0034] The present application proposes a method for converting a map data format. In the method, the map information is first determined according to the map file to be converted, wherein the map information includes at least two-dimensional coordinate information, and then the two-dimensional coordinate information is fitted to obtain a fitting curve, and the curvature information and heading angle information of each point in the fitting curve are calculated. Then, based on the fitting curve, the curvature information and the heading angle information, a corresponding map topology network is generated by combing the road connection relationship, and finally the map topology network is saved in a target format to obtain a target map file. The technical solution of the present application realizes automatic reading and processing of map data, determines map information according to the map file to be converted, calculates the fitting curve, the curvature information and the heading angle information, and then generates a map topology network and saves it in a target map file in a target format. There is no need to manually convert the coordinate information throughout the process, which improves the efficiency of map data format conversion. In addition, compared with the traditional conversion scheme, the present application combs the road connection relationship by fitting the two-dimensional coordinate information and calculating the curvature information and the heading angle information, which is more refined, ensures the accuracy and integrity of the converted map, avoids data loss and errors, and improves the map accuracy and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] 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.

[0037] Figure 1 A flowchart of the first embodiment of the method for converting the map data format of the present application is provided;

[0038] Figure 2 This is a schematic diagram of the steps of generating a fitting curve in the map data format conversion method of this application;

[0039] Figure 3 A schematic diagram of the process of generating a map topology network in the map data format conversion method of the present application;

[0040] Figure 4 This is a schematic diagram of the structure of a map data format conversion device in an embodiment of the present application;

[0041] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the map data format conversion method in the embodiment of the present application.

[0042] 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

[0043] 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.

[0044] 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.

[0045] 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, a server, etc., or an electronic device, a control device, etc. capable of realizing the above functions. The following takes a computer as an execution subject as an example to illustrate this embodiment and the following embodiments.

[0046] The present application embodiment provides a method for converting map data format. Figure 1 , Figure 1 This is a flowchart of a first embodiment of a method for converting map data format in the present application. The method for converting map data format includes:

[0047] Step S10, determining map information according to the map file to be converted, wherein the map information at least includes two-dimensional coordinate information;

[0048] The embodiments of the present application are intended to solve the problem that the existing high-precision map format conversion process is too complicated and inefficient. For example, the map file to be converted can be Apollo's OpenDrive, which is a standard format for high-precision maps and is widely used in autonomous driving research and development. Moreover, the OpenDrive format map contains detailed road geometry information and topology, which is crucial for the navigation and path planning of autonomous driving vehicles. However, different autonomous driving platforms and systems may use different map formats, so it is necessary to convert the map data in the OpenDrive format into other target formats to ensure the compatibility and interoperability of autonomous driving platforms and systems.

[0049] Specifically, the required map data can be extracted from the Apollo OpenDrive map file through a pre-written tool script or API (Application Programming Interface), including at least longitude and latitude coordinates, and may also include two-dimensional coordinate points, heading angles, curvature and other information.

[0050] Step S20, fitting the two-dimensional coordinate information to obtain a fitting curve, and calculating the curvature information and heading angle information of each point in the fitting curve;

[0051] In order to make the map information in the final target map file more accurate and complete, in the embodiment of the present application, the two-dimensional coordinate information obtained from the map file to be converted is fitted to ensure the smoothness of the roads and paths in the map information, and the curvature information and heading angle information of each point in the fitting curve are calculated to facilitate the sorting out of the connection relationship between roads. The connection relationship of the roads includes the relationship between the left and right lanes, the front and rear lanes, and the lights on the opposite lanes, etc., which is convenient for path planning.

[0052] Exemplarily, when fitting two-dimensional coordinate information, a quadratic polynomial fitting method can be used, specifically the least squares method is used to fit the two-dimensional coordinate information. The fitting process actually expresses the positional relationship of each point in the form of a polynomial or function, and the image form is expressed in the form of multiple curves.

[0053] Step S30, generating a corresponding map topology network by sorting out road connection relationships based on the fitting curve, curvature information and heading angle information;

[0054] After determining the fitting curve, curvature information, heading angle information and other information, the connection relationship of the roads can be sorted out, the topological structure of the map corresponding to the map file to be converted can be determined, and the corresponding map topology network can be generated.

[0055] For example, the topological structure of a map is an abstract representation of the interconnections and adjacencies between geographic elements in the map, focusing on describing the relative positions, connectivity, and adjacencies between geographic entities. The topological structure information of a map mainly includes the following aspects: In the topological structure, nodes represent key points or intersections in the map, such as road intersections, river confluences, mountain vertices, etc. Nodes are hubs connecting different geographical features or paths; edges represent direct connections between two nodes, usually representing linear features in geography, such as roads, rivers, railway lines, etc., where, in some cases, edges are directional, such as one-way roads; faces are areas surrounded by edges, representing two-dimensional spatial areas on the map, such as lakes, countries, cities, etc. In the topological structure, faces are defined by their boundaries (i.e., edges) and can contain multiple nodes; for example, whether two regions are adjacent, whether two roads intersect, etc.; connectivity refers to the degree to which different parts of the map are connected to each other through nodes and edges, which determines the possible paths from one place to another; for complex maps, such as city maps or national maps, their topological structures may contain hierarchical information, such as different levels of roads (main roads, secondary roads, branch roads), administrative divisions (countries, provinces, cities, counties), etc. These hierarchical structures help to organize and manage map information. In addition, the consistency of the map topology network means that the topological structure of the map remains unchanged under operations such as scaling, rotation or translation. This means that no matter how the map is transformed, the relative positions and connection relationships between the geographical features will not change.

[0056] Step S40, saving the map topology network into a target format to obtain a target map file.

[0057] Finally, the processed map topology network data is converted and saved according to the target map format, which can generally be xml, bin and other common formats suitable for autonomous driving platforms or systems. The content stored in the map topology network specifically includes road boundary information, no-parking zones, crosswalks, speed bumps, traffic lights and other road sign information.

[0058] In the map data format conversion method of the embodiment of the present application, firstly, map information is determined according to the map file to be converted, wherein the map information includes at least two-dimensional coordinate information, then the two-dimensional coordinate information is fitted to obtain a fitting curve, and the curvature information and heading angle information of each point in the fitting curve are calculated, and then based on the fitting curve, the curvature information and the heading angle information, by combing the road connection relationship, a corresponding map topology network is generated, and finally the map topology network is saved in a target format to obtain a target map file. The technical solution of the embodiment of the present application realizes automatic reading and processing of map data, determines map information according to the map file to be converted, calculates the fitting curve and the curvature information and the heading angle information, and then generates a map topology network and saves it in a target map file in a target format, without manually converting the coordinate information, thereby improving the efficiency of map data format conversion. In addition, compared with the traditional conversion scheme, the embodiment of the present application combs the road connection relationship by fitting the two-dimensional coordinate information and calculating the curvature information and the heading angle information, which is more refined, ensures the accuracy and integrity of the converted map, avoids data loss and errors, and improves the map accuracy and quality.

[0059] Furthermore, in a feasible implementation manner, the step of determining the map information according to the map file to be converted includes:

[0060] Step S11, traversing the road section information in the map file to be converted, and extracting the longitude and latitude coordinate information from the road section information;

[0061] Step S12, cleaning, denoising and removing outliers of the longitude and latitude coordinate information, and then converting the longitude and latitude coordinate information into corresponding two-dimensional coordinate information.

[0062] In the embodiment of the present application, the map file to be converted includes various information in the original map, including not only road section information, but also signs, intersections and other information, and then the corresponding longitude and latitude coordinate information is extracted from the road section information. In another feasible embodiment, the connection relationship between the roads can also be extracted from the intersection information to provide a reference in the subsequent process of generating a map topology network.

[0063] In addition, after reading the above data, the data can be further cleaned to remove noise and outliers to ensure that the accuracy of the data is not affected by noise and errors, and then the cleaned longitude and latitude coordinate information is converted into two-dimensional coordinate points in a plane coordinate system to obtain two-dimensional coordinate information.

[0064] Furthermore, the step S12 of converting the latitude and longitude coordinate information into corresponding two-dimensional coordinate information may include:

[0065] Step S121, converting the longitude and latitude coordinate information into a rectangular coordinate system by performing UTM (universal transverse Mercator projection) projection on the longitude and latitude coordinate information to obtain two-dimensional coordinate information.

[0066] Exemplarily, the steps of converting the longitude and latitude coordinate information using the UTM projection method may include: first determining the UTM area code and belt number, and determining the UTM area code and belt number according to the given longitude and latitude coordinates; then using the UTM projection formula, the UTM projection uses a specific mathematical formula to convert the longitude and latitude coordinates into X and Y coordinates on the plane, wherein these formulas take into account the shape of the earth ellipsoid and the specific parameters of the UTM projection. Usually, these calculations need to be completed using professional geographic information system (GIS) software or libraries (such as Python's utm library) because these calculations involve complex trigonometric functions and ellipsoid models; the next step is to calculate the X and Y coordinates in the plane rectangular coordinate system, input the longitude and latitude coordinates and the UTM area code and belt number, and use the UTM projection function in the GIS software or library to calculate, and the calculation results include the coordinate values ​​of X (easting) and Y (northing), and the unit is usually meters. At this point, the whole process of converting the longitude and latitude coordinate information into two-dimensional coordinate information is completed.

[0067] In one possible embodiment, referring to Figure 2 The step of fitting the two-dimensional coordinate information to obtain a fitting curve comprises:

[0068] Step S21, performing quadratic polynomial fitting on the coordinates of each point in the two-dimensional coordinate information to obtain polynomial coefficients and corresponding polynomial expressions;

[0069] Step S22: generating a fitting curve based on the polynomial coefficients and the polynomial expression.

[0070] In the embodiment of the present application, a quadratic polynomial fitting method is used to fit the two-dimensional coordinate points to ensure the smoothness of the path.

[0071] Exemplarily, first calculate the fitted polynomial coefficients, set the expression coeffs = constrainedPolyfit (x, y, poly_order, kappa_max, lambda, epsilon), where coeffs is the polynomial coefficient, constrainedPolyfit is a custom function, x and y are the coordinates of the data points, representing the independent variable and the dependent variable, respectively, and these points (x, y) will be used to fit the polynomial; the poly_order parameter specifies the order of the polynomial, for example, if poly_order is 2, the function will try to fit a quadratic polynomial; kappa_max is used to specify the upper limit of a certain constraint or regularization term. In statistics and machine learning, regularization terms are often used to prevent overfitting, and kappa_max is related to this type of constraint; lambda is used to indicate the regularization strength; epsilon is used to indicate the tolerance or threshold.

[0072] The above expression can calculate and return a set of polynomial coefficients coeffs. These coefficients can be used to construct polynomial expressions (also known as polynomial functions) to approximate the relationship between the original data points (x, y).

[0073] After the polynomial coefficients and polynomial expressions are determined, the corresponding fitting curves can be generated in the two-dimensional coordinate system. The number of fitting curves is more than one, including multiple different fitting curves, which are used to represent the edges and contours of various map elements in the map (such as the curve formed by the edge of the road).

[0074] Furthermore, in a feasible embodiment, the step of calculating the curvature information and the heading angle information of each point in the fitting curve includes:

[0075] Step S23, deriving the polynomial expression corresponding to the fitting curve to determine the curvature information of each point;

[0076] After the fitting curve and polynomial expression are determined, the curvature can be determined by taking the first-order derivative and the second-order derivative of the mathematical expression of the fitting curve, wherein the first-order derivative describes the slope of the curve at a certain point, while the second-order derivative is related to the curvature.

[0077] Exemplarily, the fitting curve C(r(t)) is defined as: r(t)=(x(t), y(t));

[0078] Here, t is a parameter, such as duration or arc length.

[0079] The curvature k can be calculated by the following formula:

[0080]

[0081] Here, x′(t) and y′(t) are the first-order derivatives of x(t) and y(t) with respect to parameter t, respectively, while x″(t) and y″(t) are the second-order derivatives.

[0082] For example, in MATLAB, the polyfit (a curve fitting) function can be used to fit the curve, the polyval function can be used to calculate the fitting value, the gradient (a numerical gradient calculation) function can be used to approximate the slope, and then the curvature can be calculated using the above formula. The diff (derivative) function can also be used to directly calculate the derivative, but it should be noted that the diff function in MATLAB calculates discrete differences, not continuous derivatives.

[0083] Step S24, calculating the angle between the tangent direction of each point and the positive direction to obtain the heading angle information of each point.

[0084] The heading angle θ describes the direction of the curve at a certain point and can be regarded as the angle between the tangent direction and the positive x-axis. The heading angle θ can be obtained by calculating the direction of the tangent vector. The tangent vector T(t) can be expressed as:

[0085] T(t)=(x′(t),y′(t));

[0086] We can then use the inverse tangent function to calculate the heading angle θ(t):

[0087] θ(t)=arctan2(y′(t),x′(t));

[0088] arctan2 is a special inverse tangent function that handles all four quadrants and returns the correct angle value θ(t).

[0089] Exemplarily, assume there is a simple fitting curve r(t)=(cos(t), sin(t)), which is a point on a unit circle.

[0090] Calculate the first-order derivative: x′(t) = -sin(t), y′(t) = cos(t);

[0091] Calculate the second-order derivative: x″(t) = -cos(t), y″(t) = -sin(t);

[0092] Apply the curvature formula:

[0093]

[0094] Therefore, for any point on the unit circle, its curvature is 1.

[0095] In the process of calculating the heading angle: first use the tangent vector: T(t) = (-sin(t), cos(t));

[0096] Then calculate the heading angle: θ(t)=arctan2(cos(t),-sin(t)).

[0097] In this way, the curvature and heading angle of each point on the fitting curve r(t)=(cos(t), sin(t)) can be calculated.

[0098] Further, in a feasible embodiment, referring to Figure 3 The step of generating a corresponding map topology network based on the fitting curve, the curvature information and the heading angle information by sorting out the road connection relationship includes:

[0099] Step S31, dividing the road section information and the road nodes according to the curvature information and the heading angle information of each point in the fitting curve;

[0100] Step S32, constructing a connection relationship between roads based on the road section information and road nodes;

[0101] Step S33, generating a map topology network according to the road section information, road nodes and connection relationships.

[0102] In the process of dividing the road segment information, the road can be divided into multiple road segment information according to the curvature change, road type (such as straight line, curve, intersection, etc.) or other features (such as the change in the number of lanes). The segmentation of road segment information helps to simplify the complexity of the road network and facilitates subsequent analysis. Nodes refer to the connection points in the road network, such as intersections, road endpoints, etc. On the basis of segmentation, all nodes are identified and marked. Then the connection relationship of the road support is constructed. Based on the node and segment information, the connection relationship between roads can be constructed, which usually involves determining which road segments are connected through which nodes and the directionality of these connections. Finally, a topological structure is established to generate a map topological network, organizing the road network and nodes into a topological network structure, where nodes represent road intersections or endpoints, and edges represent connections between road segments. This topological structure helps to perform efficient path query and navigation calculations; finally, data integration is performed, specifically integrating the fitted coordinate points, curvature information, road segmentation and node information into a unified map database. This includes a spatial database and an attribute database, which store the spatial location and attribute information of the road respectively to form a corresponding map topological network.

[0103] In the embodiments of the present application, the road data of the sorted map topology network can be applied to various map services (corresponding to target map files in different target formats), such as navigation, traffic planning, urban planning, etc. These services all rely on accurate road connection relationships and attribute information to provide high-quality map services for the autonomous driving platform or system to achieve autonomous driving navigation.

[0104] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the map data format conversion method of the present application. More forms of simple transformations based on this technical concept are all within the protection scope of the present application.

[0105] The present application provides a map data format conversion device, referring to Figure 4 , the map data format conversion device comprises:

[0106] A data reading module 10, used to determine map information according to the map file to be converted, wherein the map information at least includes two-dimensional coordinate information;

[0107] The curve fitting module 20 is used to fit the two-dimensional coordinate information to obtain a fitting curve, and calculate the curvature information and heading angle information of each point in the fitting curve;

[0108] A topology generation module 30, configured to generate a corresponding map topology network by sorting out road connection relationships based on the fitting curve, the curvature information and the heading angle information;

[0109] The format conversion module 40 is used to save the map topology network into a target format to obtain a target map file.

[0110] In one embodiment, the data reading module 10 is further used for:

[0111] Traversing the road section information in the map file to be converted, and extracting the longitude and latitude coordinate information from the road section information;

[0112] The latitude and longitude coordinate information is cleaned, denoised and outliers are removed, and then the latitude and longitude coordinate information is converted into corresponding two-dimensional coordinate information.

[0113] In one embodiment, the data reading module 10 is further used for:

[0114] The longitude and latitude coordinate information is converted into a rectangular coordinate system by performing UTM projection on the longitude and latitude coordinate information to obtain two-dimensional coordinate information.

[0115] In one embodiment, the curve fitting module 20 is further used for:

[0116] Performing quadratic polynomial fitting on the coordinates of each point in the two-dimensional coordinate information to obtain polynomial coefficients and corresponding polynomial expressions;

[0117] A fitting curve is generated based on the polynomial coefficients and the polynomial expression.

[0118] In one embodiment, the curve fitting module 20 is further used for:

[0119] Deriving the polynomial expression corresponding to the fitting curve to determine the curvature information of each point;

[0120] Calculate the angle between the tangent direction of each point and the positive direction to obtain the heading angle information of each point.

[0121] In one embodiment, the topology generation module 30 is further configured to:

[0122] According to the curvature information and heading angle information of each point in the fitting curve, the road section information and road nodes are divided;

[0123] Based on the road section information and the road nodes, construct a connection relationship between roads;

[0124] A map topology network is generated according to the road section information, the road nodes and the connection relationship.

[0125] The present application provides an electronic device, which includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed 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 map data format conversion method in the above-mentioned embodiment 1.

[0126] Reference below Figure 5 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic devices in the embodiments of the present application may include but are 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 5 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0127] like Figure 5As shown, the electronic device may include a processing device 1001 (e.g., 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 electronic 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 electronic device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an electronic 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.

[0128] 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.

[0129] The electronic device provided by the present application adopts the map data format conversion method in the above embodiment, which can solve the technical problems that the traditional map data format conversion scheme has low efficiency and the converted map has poor quality and insufficient precision. Compared with the prior art, the beneficial effects of the electronic device provided by the present application are the same as the beneficial effects of the map data format conversion method provided by the above embodiment, and other technical features in the electronic device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0130] 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.

[0131] 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.

[0132] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the map data format conversion method in the above-mentioned embodiment.

[0133] 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), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), 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 that can 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), etc., or any suitable combination of the above.

[0134] The computer-readable storage medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0135] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device executes: determining map information according to a map file to be converted, wherein the map information includes at least two-dimensional coordinate information; fitting the two-dimensional coordinate information to obtain a fitting curve, and calculating the curvature information and heading angle information of each point in the fitting curve; based on the fitting curve, the curvature information and the heading angle information, generating a corresponding map topology network by sorting out road connection relationships; saving the map topology network in a target format to obtain a target map file.

[0136] 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).

[0137] 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.

[0138] 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.

[0139] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned map data format conversion method, and can solve the technical problems that the traditional map data format conversion scheme has low efficiency and the converted map has poor quality and insufficient precision. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the map data format conversion method provided by the above-mentioned embodiment, and will not be repeated here.

[0140] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned map data format conversion method when executed by a processor.

[0141] The computer program product provided by the present application can solve the technical problems that the traditional map data format conversion scheme has low efficiency and the converted map has poor quality and insufficient precision. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the map data format conversion method provided by the above embodiment, and will not be elaborated here.

[0142] 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 method for converting map data format, characterized in that: The map data format conversion method comprises: Determining map information according to the map file to be converted, wherein the map information at least includes two-dimensional coordinate information; Fitting the two-dimensional coordinate information to obtain a fitting curve, and calculating the curvature information and heading angle information of each point in the fitting curve; Based on the fitting curve, the curvature information and the heading angle information, a corresponding map topology network is generated by sorting out road connection relationships; The map topology network is saved in a target format to obtain a target map file.

2. The map data format conversion method according to claim 1, characterized in that: The step of determining the map information according to the map file to be converted comprises: Traversing the road section information in the map file to be converted, and extracting the longitude and latitude coordinate information from the road section information; The latitude and longitude coordinate information is cleaned, denoised and outliers are removed, and then the latitude and longitude coordinate information is converted into corresponding two-dimensional coordinate information.

3. The map data format conversion method according to claim 2, characterized in that: The step of converting the latitude and longitude coordinate information into corresponding two-dimensional coordinate information comprises: The longitude and latitude coordinate information is converted into a rectangular coordinate system by performing UTM projection on the longitude and latitude coordinate information to obtain two-dimensional coordinate information.

4. The map data format conversion method according to claim 1, characterized in that: The step of fitting the two-dimensional coordinate information to obtain a fitting curve comprises: Performing quadratic polynomial fitting on the coordinates of each point in the two-dimensional coordinate information to obtain polynomial coefficients and corresponding polynomial expressions; A fitting curve is generated based on the polynomial coefficients and the polynomial expression.

5. The map data format conversion method according to claim 1, characterized in that: The step of calculating the curvature information and heading angle information of each point in the fitting curve comprises: Deriving the polynomial expression corresponding to the fitting curve to determine the curvature information of each point; Calculate the angle between the tangent direction of each point and the positive direction to obtain the heading angle information of each point.

6. The map data format conversion method according to claim 1, characterized in that: The step of generating a corresponding map topology network by sorting out road connection relationships based on the fitting curve, the curvature information and the heading angle information comprises: According to the curvature information and heading angle information of each point in the fitting curve, the road section information and road nodes are divided; Based on the road section information and the road nodes, construct a connection relationship between roads; A map topology network is generated according to the road section information, the road nodes and the connection relationship.

7. A map data format conversion device, characterized in that: The map data format conversion device comprises: A data reading module, used to determine map information according to the map file to be converted, wherein the map information at least includes two-dimensional coordinate information; A curve fitting module, used to fit the two-dimensional coordinate information to obtain a fitting curve, and calculate the curvature information and heading angle information of each point in the fitting curve; A topology generation module, configured to generate a corresponding map topology network by sorting out road connection relationships based on the fitting curve, the curvature information and the heading angle information; The format conversion module is used to save the map topology network into a target format to obtain a target map file.

8. An electronic 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 map data format conversion 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 map data format conversion method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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