Map data processing method and device, equipment and storage medium

Abstract

The invention provides a map data processing method and device, equipment and a storage medium, and relates to the field of artificial intelligence, in particular to the field of maps, navigation and automatic driving. According to the specific implementation scheme, boundary lines of lanes in a target range of first map data are obtained; and determining the hierarchical relationship of the lanes in the target range according to the association relationship between the boundary lines of the lanes in the target range and the second map data. Through the embodiment of the invention, the processing efficiency of the map data can be improved, and the map data quality is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence, and in particular to the fields of mapping, navigation and autonomous driving. Background Art

[0002] With the development of satellite navigation and artificial intelligence technology, lane-level navigation map data is widely used in various navigation systems. When processing complex road data such as overpasses, lane-level navigation map data requires manual adjustment of parameters such as road shape points and landmark lines. Manual adjustment is not only time-consuming and labor-intensive, but also prone to errors. Summary of the invention

[0003] The present disclosure provides a map data processing method, device, equipment and storage medium.

[0004] According to one aspect of the present disclosure, a map data processing method is provided, comprising:

[0005] Acquiring a boundary line of a lane within a target range of the first map data;

[0006] The hierarchical relationship of the lanes within the target range is determined according to the association relationship between the boundary lines of the lanes within the target range and the second map data.

[0007] According to another aspect of the present disclosure, there is provided a map data processing device, comprising:

[0008] An acquisition module, used to acquire a boundary line of a lane within a target range of the first map data;

[0009] The determination module is used to determine the hierarchical relationship of the lanes within the target range according to the association relationship between the boundary lines of the lanes within the target range and the second map data.

[0010] According to another aspect of the present disclosure, there is provided an electronic device, comprising:

[0011] at least one processor; and

[0012] a memory communicatively connected to the at least one processor; wherein,

[0013] 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 to enable the at least one processor to execute any method in the embodiments of the present disclosure.

[0014] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any method according to the embodiments of the present disclosure.

[0015] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, which implements any method according to the embodiments of the present disclosure when executed by a processor.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0018] Figure 1 is a flowchart of a map data processing method according to an embodiment of the present disclosure;

[0019] Figure 2 is a flowchart of a map data processing method according to another embodiment of the present disclosure;

[0020] Figure 3 is a flowchart of a map data processing method according to another embodiment of the present disclosure;

[0021] Figure 4 is a flowchart of a map data processing method according to another embodiment of the present disclosure;

[0022] Figure 5 is a flowchart of a map data processing method according to another embodiment of the present disclosure;

[0023] Figure 6 is a flowchart of a map data processing method according to another embodiment of the present disclosure;

[0024] Figure 7 is a flowchart of a map data processing method according to another embodiment of the present disclosure;

[0025] Figure 8 is a flowchart of a map data processing method according to another embodiment of the present disclosure;

[0026] Fig. 9 is a flowchart of processing lane-level navigation map data according to an embodiment of the present disclosure;

[0027] Fig.10 It is a schematic diagram of the relative height of lane-level data;

[0028] Fig.11 It is a schematic diagram of the shape points within the selection range;

[0029] Fig.12 is a structural schematic diagram of a map data processing device according to an embodiment of the present disclosure;

[0030] Fig.13 is a structural schematic diagram of a map data processing device according to another embodiment of the present disclosure;

[0031] Fig.14 It is a block diagram of an electronic device used to implement the map data processing method of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0033] In the high-precision lane-level navigation rendering requirements of lane-level navigation maps, the relative height difference between the upper and lower roads in the overpass scene should be greater than a certain value, such as 4m. However, lane-level navigation map data often requires manual intervention when processing complex road data such as overpasses. For example, when manually adjusting the relative height value of road shape points, it is necessary to adjust the height values ​​of multiple landmark lines at the same time, and also take into account the height difference requirement of 4m, which is time-consuming, labor-intensive, and prone to errors. For example, after the current relative height is batch processed, it flows to the manual operation link, and the scene where the relative height is incorrectly maintained is indicated by log traction. When encountering a scene where the relative height of an overpass is incorrectly maintained, it is necessary to manually refer to the front view photo to determine the road level on site, and then use the relative height assignment function to maintain the relative height value correctly layer by layer, shape point by shape point, combined with the hierarchical relationship and the horizontal and vertical slope requirements. Therefore, manual operations need to be combined with the front view, and manual judgment and clarification of the hierarchical relationship are difficult and time-consuming. High skills are required for operators. In addition, due to the difficulty of the operation, it is difficult to maintain it correctly at one time, and there are certain data quality risks.

[0034] Figure 1 FIG. 1 is a flow chart of a map data processing method according to an embodiment of the present disclosure. In one embodiment, the method includes:

[0035] S110, obtaining a boundary line of a lane within a target range of the first map data;

[0036] S120: Determine a hierarchical relationship of lanes within the target range according to an association relationship between a boundary line of the lane within the target range and the second map data.

[0037] In the disclosed embodiment, the first map may be a lane-level (Line Definition, LD) map (or referred to as a lane-level navigation map). The first map data may include various data of the lane-level map such as lane lines, boundary lines, shape points, lane widths, lane line types, intersection information, etc. The target range may be determined based on the interaction. For example, in response to an operator's selected operation signal, a partial area of ​​the lane-level map is selected as the target range. Therefore, the target range may also be referred to as a selected range, a box-selected range, a selected range, an effective range, a target area, a selected area, etc.

[0038] In the disclosed embodiment, after determining the target range of the first map data, the boundary lines of one or more lanes in the target range can be automatically obtained. For example, if there is only one lane on the road, two lane lines of the lane can be automatically obtained as the lane boundary lines. If there are multiple lanes in the same direction on the road, two lane lines at the edges of the multiple lanes can be automatically obtained as the lane boundary lines. If there are multiple lanes in different directions on the road, two lane lines at the edges of each direction can be automatically obtained as the lane boundary lines, or two lane lines at the very edges of the road can be obtained as the lane boundary lines.

[0039] In the disclosed embodiment, the data within the target range is lane-level data, and the relative height value of the lane-level data is mainly recorded on the boundary line. A lane may have multiple shape points on its boundary line, and the relative heights of different shape points may be the same or different. After obtaining the boundary line of the lane, the relative height values ​​of the shape points on the boundary line within the target range may be adjusted. For example, the relative height values ​​of the shape points on the boundary line having one or more of the following characteristics may be adjusted: boundary lines of the same lane group of boundary lines within the target range; boundary lines located on the same road surface but with opposite directions of travel. The specific adjustment method may include: automatically smoothing the relative height values ​​of the boundary lines within a certain length range extending from the target range according to the road chain connectivity relationship. If some divergent road shapes or converging road shapes are encountered during the extension process, the extension is stopped, and the adjustment of the relative height value is also stopped. After the adjustment, it can be better applied to determine the hierarchical relationship of the lanes.

[0040] In the disclosed embodiment, the second map may be a standard definition (SD) map (standard navigation map), and the second map data may include various data of the standard map, such as the number of lanes, the topological relationship of the lanes, and the lane scene data. After obtaining the boundary lines of the lanes within the target range, the lane scene data, such as the interchange layer, may be obtained based on the association between the lanes where the boundary lines of the lanes within the target range are located and the second map data. The hierarchical relationship of the lanes within the target range is determined based on the lane scene data. For example, which lanes within the target range belong to the upper lanes and which belong to the lower lanes.

[0041] According to the embodiment of the present disclosure, the hierarchical relationship of lanes within the target range is determined based on the association relationship between the first map data and the second map data, which can improve the processing efficiency of the map data and improve the quality of the map data.

[0042] Figure 2 is a flowchart of a map data processing method according to another embodiment of the present disclosure. The method may include one or more features of the above method. In one embodiment, step S120 determines the relationship between the boundary line of the lane within the target range and the second map data, and determines the hierarchical relationship of the lane within the target range, including:

[0043] S210, searching the second map data for an interchange layer associated with the lane group according to the association relationship between the lane group where the boundary line of the lane within the target range is located and the second map data;

[0044] S220: Determine the upper and lower hierarchical relationship of lanes within the target range according to the interchange layer.

[0045] In the disclosed embodiment, a lane group may include one or more lanes. For example, a road has two different directions, and one direction has multiple lanes. The multiple lanes in each direction may belong to one lane group. For another example, multiple lanes in the same direction on a road may belong to one lane group. The lane group where the boundary line of the lane is located can also be understood as the lane group where the lane to which the boundary line belongs is located. In the lane topology relationship of the second map data, information such as the lane group number may be included. For example, the lane group where the boundary line of the lane within the target range is located includes G1, and the associated interchange layer may be searched in the second map data based on G1. For another example, the multiple lane groups where the multiple boundary lines of the lane within the target range are located include G1, G2 and G3, and the associated interchange layer may be searched in the second map data based on G1, G2 and G3. According to the coordinates of the interchange layer, the hierarchical sequence number, etc., the hierarchical relationship of the lane-level data within the target range, that is, the hierarchical relationship of the lanes, may be determined. For example, if the coordinates of a certain shape point on the boundary line E1 are close to the coordinates of the first layer of the overpass layer, the lane of the lane group where the boundary line E1 is located can be determined to be in the first layer of the overpass layer.

[0046] According to the disclosed embodiment, the interchange layer is determined by the association between the lane group where the boundary line is located and the second map data, and the upper and lower hierarchical relationship of the lanes within the target range is determined by the interchange layer, so as to improve the accuracy of road hierarchy classification.

[0047] Figure 3: is a flowchart of a map data processing method according to another embodiment of the present disclosure. The method may include one or more features of the above method. In one embodiment, the method further includes:

[0048] S310 , stratifying the boundary lines of the lanes within the target range according to geometric relationships to obtain a geometric relationship stratification result, wherein the geometric relationship stratification result includes stratifying the boundary lines within the target range that have geometric relationships at the same level into the same group.

[0049] In the disclosed embodiments, the geometric relationship may include the coplanarity of roads connected by road links, the coplanarity of roads located on the same road surface but with opposite travel directions, etc. For example, if the road links of two boundary lines are connected, it can be considered that the geometric relationship of the two boundary lines belongs to the same level. For another example, if two boundary lines are located on the same road surface but with opposite travel directions, it can be considered that the geometric relationship of the two boundary lines belongs to the same level. The depth-first method can be used to find boundary lines whose geometric relationship belongs to the same level based on the road link (LINK) connectivity relationship. For example, lane A and lane B included in the lane group where boundary lines E1 and E2 are located belong to lanes on the same level. Lane C and lane D included in the lane group where boundary lines E3 and E4 are located belong to lanes on the same level.

[0050] Through the embodiments of the present disclosure, the hierarchical relationship between lane boundary lines is determined according to geometric relationships, which can improve the accuracy of road hierarchy classification.

[0051] Figure 4 : is a flowchart of a map data processing method according to another embodiment of the present disclosure. The method may include one or more features of the above method. In one embodiment, the method further includes:

[0052] S410: Verify the hierarchical relationship between the upper and lower layers of the lanes within the target range according to the stratification result of the geometric relationship.

[0053] In the disclosed embodiment, after executing S220 and S310, a double check can be performed based on the upper and lower layer hierarchical relationship of the lanes in S220 and the stratification result of the geometric relationship in S310. For example, if the lanes at the same geometric level have multiple layers of association relationship, automatic stratification may not be possible. Through the association relationship, the upper and lower layer relationships between multiple groups of lanes at the same geometric level can be obtained.

[0054] For example, according to the geometric relationship stratification results, it can be determined that lanes A, lanes B, and lanes C all belong to the same layer. According to the upper and lower layer hierarchical relationship determined by the interchange layer, the relative height of lane A is less than the relative height of lane C, and the relative height of lane A is less than the relative height of lane C. It can be determined that lanes A and lanes B are on the same layer, such as the lower layer, and lane C is on the upper layer.

[0055] Through the embodiments of the present disclosure, automatic verification is performed based on the geometric relationship stratification results and the upper and lower hierarchical relationships of lanes within the target range, which can improve the accuracy of road hierarchy classification and improve the quality of map data.

[0056] Figure 5 : is a flowchart of a map data processing method according to another embodiment of the present disclosure. The method may include one or more features of the above method. In one embodiment, the method further includes:

[0057] S510: When the existing hierarchical relationship within the target range is incorrect, the hierarchical relationship between the upper and lower layers of the lanes within the target range is reversed.

[0058] In the disclosed embodiment, the first map data may have preset or previously detected hierarchical relationships of some lanes or roads. If these existing hierarchical relationships are inconsistent with the hierarchical relationships obtained in the above S220, S310 or S410, it can be considered that the existing hierarchical relationships are incorrect. In the case where the existing hierarchical relationships are incorrect, it is necessary to adjust the hierarchical relationships of the upper and lower layers by using a hierarchical inversion method, and the relative height values ​​of the upper and lower layers can be exchanged by hierarchical inversion.

[0059] According to the embodiments of the present disclosure, by performing a hierarchical inversion when an existing hierarchical relationship is incorrect, parameters of the upper and lower layers, such as relative height values, can be adjusted quickly and accurately, thereby improving the accuracy of map data.

[0060] Figure 6 is a flowchart of a map data processing method according to another embodiment of the present disclosure. The method may include one or more features of the above method. In one embodiment, step S510 performs a hierarchical reversal of the upper and lower hierarchical relationships of the lanes within the target range, including:

[0061] S610, respectively calculating the average relative heights of the upper shape points and the lower shape points within the target range;

[0062] S620, assigning the average relative height value of the original lower layer shape points within the target range to the upper layer shape points;

[0063] S630, assigning the average relative height value of the original upper layer shape points within the target range to the lower layer shape points.

[0064] In the disclosed embodiment, the boundary line of the upper lane may include one or more shape points, which may be referred to as the shape points of the upper lane or the upper shape points. The boundary line of the lower lane may include one or more shape points, which may be referred to as the shape points of the lower lane or the lower shape points. If an upper boundary line includes multiple upper shape points, the average relative height value of the multiple upper shape points may be calculated. If a lower boundary line includes multiple lower shape points, the average relative height value of the multiple lower shape points may be calculated. Then, the average relative height value of the original lower shape points may be assigned to the upper shape points, and the average relative height value of the upper shape points may be assigned to the lower shape points, that is, the relative height values ​​of the upper and lower shape points may be exchanged. The above steps S620 and S630 may not be restricted in the order of execution, and S620 may be executed first, or S630 may be executed first.

[0065] According to the embodiment of the present disclosure, more reasonable relative height values ​​of different levels can be obtained after level inversion, thereby improving the accuracy of map data.

[0066] Figure 7 : is a flowchart of a map data processing method according to another embodiment of the present disclosure. The method may include one or more features of the above method. In one embodiment, the method further includes:

[0067] S710: Linearly interpolate shape points of the extended lane outside the target range.

[0068] In the disclosed embodiment, linear interpolation can also be performed on the shape points of the lanes extending outside the target range after performing the level inversion. Linear interpolation is an interpolation method for data, which estimates the value based on the neighboring data points of the points that need to be interpolated in the data sequence. For example, the adjacent shape points are interpolated based on the reassigned upper shape points or lower shape points. After interpolation, it can be calculated whether the height difference between the upper and lower layers satisfies the requirement of being greater than or equal to the set height, such as 4 meters. If so, smoothing is performed within a certain range, such as 100 meters; if not, the heights of the upper and lower layers can be adjusted.

[0069] According to the embodiment of the present disclosure, the linear difference is used to facilitate smoothing of the extended road outside the target range, which can better improve the quality of the assignment.

[0070] Figure 8 : is a flowchart of a map data processing method according to another embodiment of the present disclosure. The method may include one or more features of the above method. In one embodiment, the method further includes:

[0071] S810: Adjust relative heights of adjacent levels according to the level relationship of lanes within the target range.

[0072] In the disclosed embodiment, the road scene may have a limited requirement for the height difference between adjacent levels. If the limited requirement is not met, the relative height of the adjacent levels can be adjusted. For example, if the height difference between adjacent levels is less than the height difference requirement, it means that the distance between the two levels is too close. By adjusting the relative height value of one or two levels, or the height difference between two levels, the distance between the two levels can be increased to meet the height difference requirement, thereby meeting the driving requirement.

[0073] Through the embodiments of the present disclosure, the relative heights of adjacent levels can be adjusted so that the adjacent levels meet the specified requirements, thereby improving the accuracy of map data.

[0074] In one implementation, step S810 adjusts the relative heights of adjacent levels according to the level relationship of lanes within the target range, including:

[0075] Calculate the minimum height of the upper shape points and the maximum height of the lower shape points within the target range;

[0076] When the difference between the minimum height and the maximum height is smaller than the height difference threshold, the relative heights of the upper shape points and / or the lower shape points within the target range are adjusted.

[0077] In the disclosed embodiment, there are multiple upper shape points on the upper boundary line within the target range, and the minimum height of the multiple upper shape points can be calculated. There are multiple lower shape points on the lower boundary line within the target range, and the maximum height of the multiple lower shape points can be calculated. The difference between the minimum height and the maximum height can represent the closest distance between the upper layer and the lower layer. If this closest distance is too small, for example, less than the height difference threshold, it means that the distance between the upper and lower layers is too close and does not meet the driving requirements, and the relative height value of the upper shape point and / or the lower shape point can be adjusted.

[0078] In the disclosed embodiment, the adjustment of the relative height value may include raising the upper layer and / or lowering the lower layer. Raising the upper layer may include increasing the height value of the upper layer shape points within the target range; lowering the lower layer may include decreasing the height value of the lower layer shape points within the target range.

[0079] According to the embodiment of the present disclosure, the height difference between the upper and lower layers is adjusted by adjusting the relative height value, so that the height difference of the road level can meet the requirements and improve the accuracy of the map data.

[0080] In one embodiment, the relative heights of the upper shape points and / or the lower shape points within the target range are adjusted, including one or more of the following:

[0081] Raising the relative height of the upper shape point within the target range by a first value;

[0082] The relative height of the lower shape points within the target range is reduced by a second value.

[0083] In the disclosed embodiment, the relative height of each shape point can be raised or lowered respectively, or the shape points of the same layer can be assigned the same height value. The first data value of the raise and the second value of the lower lower can be the same or different. For example, the relative height value of the upper shape point is adjusted to the maximum value of the lower shape point, and the first value, such as 4 meters, is increased, or the relative height value of the lower shape point is adjusted to the minimum value of the upper shape point, and the second value, such as 4 meters, is reduced. For another example, the relative height value of the upper shape point is adjusted to the maximum value of the lower shape point, and the first value, such as 3 meters, is increased, and the relative height value of the lower shape point is adjusted to the minimum value of the upper shape point, and the second value, such as 1 meter, is reduced. For another example, the relative height value of each upper shape point is increased by a first value, such as 4 meters, or the relative height value of each lower shape point is reduced by a second value, such as 4 meters. For another example, the relative height value of each upper shape point is increased by a first value, such as 3 meters, and the relative height value of each lower shape point is reduced by a second value, such as 1 meter. The above height values ​​are only examples and not limitations. In practical applications, they can be flexibly adjusted according to needs.

[0084] According to the embodiment of the present disclosure, the height difference between the upper and lower layers is adjusted by adjusting the relative height, so that the height difference between the upper and lower layers meets the road scene requirements, thereby improving the accuracy of the map data.

[0085] In one implementation, step S810 adjusts the relative heights of adjacent levels according to the level relationship of lanes within the target range, and further includes:

[0086] Calculating the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane after adjustment;

[0087] The final height adjustment method is determined according to the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane.

[0088] In the disclosed embodiment, there are multiple ways to adjust the relative height of the lane level, such as adjusting only the relative height value of the upper layer and adjusting only the relative height value of the lower layer. After the adjustment, the road inclination angle after each adjustment method can be calculated, and the appropriate adjustment method can be selected according to the size of the road inclination angle. For example, an adjustment method with a smaller inclination angle can be selected.

[0089] In some examples, the angle between the extension line of the lane (or boundary line) within the target range and the lane (or boundary line) outside the target range can be used as the road inclination angle.

[0090] For example, if the relative height value of each upper shape point is increased by a first value, such as 4 meters, the road inclination angle corresponding to the upper lane after adjustment is θ1. If the relative height value of each lower shape point is reduced by a second value, such as 4 meters, the road inclination angle corresponding to the lower lane after adjustment is θ2. If θ1 is less than θ2, the adjustment method of increasing the relative height value of each upper shape point by the first value may be selected.

[0091] For another example, adjustment method one is: increase the relative height value of each upper shape point by a first value, such as 3 meters, and reduce the relative height value of each lower shape point by a second value, such as 1 meter. After adjustment, the road inclination angle corresponding to the upper lane is θ1, and the road inclination angle corresponding to the lower lane is θ2. Adjustment method two is: increase the relative height value of each upper shape point by a first value, such as 2 meters, and reduce the relative height value of each lower shape point by a second value, such as 2 meters. After adjustment, the road inclination angle corresponding to the upper lane is θ3, and the road inclination angle corresponding to the lower lane is θ4. If θ1 is greater than θ3 and θ2 is greater than θ4, adjustment method two can be selected. If θ1 is greater than θ3 and θ2 is less than θ4, further comparison can be performed based on the difference between θ1 and θ3, and the difference between θ2 and θ4. For example, if the difference between θ1 and θ3 is less than the difference between θ2 and θ4, adjustment method one is selected.

[0092] According to the embodiment of the present disclosure, the final height adjustment method is determined by the road inclination angle, which can further improve the accuracy of data adjustment and improve the quality of map data.

[0093] The map data processing method of the disclosed embodiment can be applied to a lane-level navigation map data relative height rapid assignment system, which can quickly and accurately adjust the relative height of shape points. The system can automatically adjust the relative height value of shape points within the selected range in the secondary interchange scene, and can smoothly straighten them according to the connectivity relationship, so that the road level is correct, and the level height difference and horizontal and vertical slopes meet the requirements.

[0094] Specific steps are as follows Fig. 9 As shown:

[0095] S901, determine the scope of action: According to the interactive selection of shape points, the scope of action is determined through attributes such as road link tracking and coplanar relationship. Fig.10 The relative height values ​​of shape points on the boundary line within the interactively selected range (i.e., the scope of action) can be adjusted. For example, to ensure that the data better meets the application requirements, the relative height values ​​of shape points on the boundary line with the following characteristics can be automatically adjusted:

[0096] (1) The boundary line of the same lane group as the boundary line within the selected range;

[0097] (2) Boundary lines located on the same road surface with opposite directions of traffic.

[0098] In addition, the relative height value of the boundary line extending from the selected range within a certain range, such as 100 meters, can be automatically smoothed according to the attributes such as the road link connectivity relationship and the coplanar relationship. When encountering divergence or confluence, the road shape stops spreading, that is, the relative height adjustment stops, including this third-order point, such as Fig.11 shown.

[0099] S902, distinguish lanes on the same level based on geometric relationships: The lanes are geometrically layered based on mutual encouragement and connectivity. For example, roads connected by road chains are coplanar, and roads on the same road surface with opposite directions are coplanar. The boundary lines with geometric relationships on the same level within the scope of action are grouped into the same group using the depth-first method.

[0100] S903, determine the upper and lower layers: according to the association relationship between LSD (lane-level map and standard map), find the SD layer data; according to the SD layer data, determine the upper and lower layers of the LD data. For example, according to the association relationship between the lane group where the boundary line is selected in the LD lane-level data and SD, find the interchange layer of the SD data, and determine the hierarchical relationship of the LD lane-level data in the selected range according to the coordinates and layer sequence number of the interchange layer. Double check with the geometric relationship layering result. The verification content example is as follows:

[0101] (1) If lanes at the same geometric level have multiple levels of association, automatic stratification cannot be performed.

[0102] (2) Through the association relationship, the upper and lower layer relationships between multiple groups of geometrically identical lanes can be obtained.

[0103] For example, lane A on the same level < lane C on the same level, lane B on the same level < lane C on the same level. Ultimately, all lanes are divided into two levels.

[0104] If the LD lane level upper and lower layer data are incorrect, execute step S904; if the LD lane level upper and lower layer data are correct, execute S905.

[0105] S904, level inversion: exchange the upper and lower layer focus data of LD to achieve level inversion. For example, if the level relationship of the LD lane-level data within the scope of action is correct, level inversion will not be performed. Otherwise, level inversion is performed, and the strategy for level inversion is as follows: calculate the average relative heights of the shape points within the upper and lower selection ranges respectively, and assign the original average relative height value of the lower layer to the upper shape points within the selection range; assign the original average relative height value of the upper layer to the lower shape points within the selection range, and exchange the relative height values. Linear interpolation is performed on the remaining points. Then calculate whether the height difference between the upper and lower layers is greater than or equal to 4 meters. If so, smoothing is performed within a range of 100 meters. If not, the upper and lower layers are adjusted.

[0106] S905: Determine whether the relative height difference between the upper and lower floors is greater than or equal to a set threshold, such as 4 meters. If the condition of being greater than or equal to the set threshold, such as 4 meters, is not met, step S906 is executed, and if the condition of being greater than or equal to 4 meters is met, the process ends directly.

[0107] S906, upper and lower layer adjustment: raise the upper layer or lower the lower layer to adjust the height difference between the upper and lower layers, and select the better adjustment method. For example, if the hierarchical relationship between the upper and lower layers is wrong and has been reversed, or the hierarchical relationship between the upper and lower layers is correct, calculate the minimum value of the upper shape point and the maximum value of the lower shape point within the selection range. If the height difference between the two values ​​does not meet the requirement of being greater than or equal to 4 meters, a relative height adjustment is required. The upper and lower layer adjustments are divided into two methods: raising the upper layer and lowering the lower layer. Raising the upper layer means increasing the relative height value of the upper frame selection point, and the height value is adjusted to the maximum value of the lower point +4 meters, and smoothing is performed outside the range. Lowering the lower layer means lowering the relative height value of the lower frame selection point, and the height value is adjusted to the minimum value of the upper point -4 meters, and smoothing is performed outside the range. The program will pre-assign values ​​for raising the upper layer and lowering the lower layer respectively, calculate the inclination angle of the adjusted road, and give priority to the adjustment method with a smaller inclination angle.

[0108] Fig.12 is a schematic diagram of the structure of a map data processing device according to an embodiment of the present disclosure, the device may include:

[0109] An acquisition module 1210 is used to acquire a boundary line of a lane within a target range of the first map data;

[0110] The determination module 1220 is used to determine the hierarchical relationship of the lanes within the target range according to the association relationship between the boundary lines of the lanes within the target range and the second map data.

[0111] Fig.13 is a schematic diagram of the structure of a map data processing device according to another embodiment of the present disclosure, and the device may include one or more features of the above-mentioned video generation device. In one embodiment, the determination module 1220 includes:

[0112] A search submodule 1310 is used to search the second map data for an interchange layer associated with the lane group according to the association relationship between the lane group where the lane boundary line within the target range is located and the second map data;

[0113] The determination submodule 1320 is used to determine the upper and lower layer hierarchical relationship of the lanes within the target range according to the interchange layer.

[0114] In one embodiment, it further includes:

[0115] The stratification module 1330 is used to stratify the boundary lines of the lanes within the target range according to geometric relationships to obtain a geometric relationship stratification result. The geometric relationship stratification result includes grouping boundary lines within the target range that have geometric relationships at the same level into the same group.

[0116] In one embodiment, it further includes:

[0117] The verification module 1340 is used to verify the relationship between the upper and lower layers of the lanes within the target range according to the geometric relationship layering result.

[0118] In one embodiment, it further includes:

[0119] The level reversal module 1350 is used to reverse the level relationship of the upper and lower levels of the lanes within the target range when the existing level relationship within the target range is incorrect.

[0120] In one embodiment, the level inversion module 1350 is used to:

[0121] Calculate the average relative heights of the upper shape points and the lower shape points within the target range respectively;

[0122] Assign the average relative height value of the original lower layer shape points within the target range to the upper layer shape points;

[0123] The average relative height value of the original upper layer shape points within the target range is assigned to the lower layer shape points.

[0124] In one embodiment, the map data processing device further includes:

[0125] The linear interpolation module 1360 is used to perform linear interpolation on the shape points of the extended lane outside the target range.

[0126] In one embodiment, the map data processing device further includes:

[0127] The height adjustment module 1370 is used to adjust the relative heights of adjacent levels according to the level relationship of the lanes within the target range.

[0128] In one embodiment, the height adjustment module 1370 is used to:

[0129] Calculate the minimum height of the upper shape points and the maximum height of the lower shape points within the target range;

[0130] When the difference between the minimum height and the maximum height is smaller than the height difference threshold, the relative heights of the upper shape points and / or the lower shape points within the target range are adjusted.

[0131] In one embodiment, the relative heights of the upper shape points and / or the lower shape points within the target range are adjusted, including one or more of the following:

[0132] Raising the relative height of the upper shape point within the target range by a first value;

[0133] The relative height of the lower shape points within the target range is reduced by a second value.

[0134] In one embodiment, the height adjustment module 1370 is further used to:

[0135] Calculating the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane after adjustment;

[0136] The final height adjustment method is determined according to the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane.

[0137] For the description of specific functions and examples of each module and submodule of the device in the embodiment of the present disclosure, reference can be made to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0138] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0139] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0140] Fig.14 A schematic block diagram of an example electronic device 1400 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0141] like Fig.14As shown, the device 1400 includes a computing unit 1401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1402 or a computer program loaded from a storage unit 14014 into a random access memory (RAM) 1403. In the RAM 1403, various programs and data required for the operation of the device 1400 can also be stored. The computing unit 1401, the ROM 1402, and the RAM 1403 are connected to each other via a bus 1404. An input / output (I / O) interface 1405 is also connected to the bus 1404.

[0142] A number of components in the device 1400 are connected to the I / O interface 1405, including: an input unit 1406, such as a keyboard, a mouse, etc.; an output unit 1407, such as various types of displays, speakers, etc.; a storage unit 14014, such as a disk, an optical disk, etc.; and a communication unit 1409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1409 allows the device 1400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0143] The computing unit 1401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1401 performs the various methods and processes described above, such as the map data processing method. For example, in some embodiments, the map data processing method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 14014. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1400 via the ROM 1402 and / or the communication unit 1409. When the computer program is loaded into the RAM 1403 and executed by the computing unit 1401, one or more steps of the map data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 1401 may be configured to execute the map data processing method in any other appropriate manner (eg, by means of firmware).

[0144] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0145] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0146] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0147] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0148] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0149] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0150] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0151] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A map data processing method, comprising: Acquiring a boundary line of a lane within a target range of the first map data; The hierarchical relationship of the lanes within the target range is determined according to the association relationship between the boundary lines of the lanes within the target range and the second map data.

2. The method according to claim 1, wherein: Determining the hierarchical relationship of the lanes within the target range according to the association relationship between the boundary lines of the lanes within the target range and the second map data includes: According to the association relationship between the lane group where the boundary line of the lane within the target range is located and the second map data, searching the second map data for an interchange layer associated with the lane group; The upper and lower hierarchical relationships of lanes within the target range are determined according to the interchange layer.

3. The method according to claim 2, further comprising: Boundary lines of lanes within the target range are layered according to geometric relationships to obtain a geometric relationship layering result, wherein the geometric relationship layering result includes grouping boundary lines within the target range that have geometric relationships at the same level into the same group.

4. The method according to claim 3, further comprising: The geometric relationship stratification result is verified with the upper and lower hierarchical relationships of the lanes within the target range.

5. The method according to claim 2, further comprising: When the existing hierarchical relationship within the target range is incorrect, the hierarchical relationship of the upper and lower layers of the lanes within the target range is reversed.

6. The method according to claim 5, wherein: The upper and lower hierarchical relationships of the lanes within the target range are reversed, including: Calculating the average relative heights of the upper shape points and the lower shape points within the target range respectively; Assigning the average relative height value of the original lower layer shape points within the target range to the upper layer shape points; The average relative height value of the original upper layer shape points within the target range is assigned to the lower layer shape points.

7. The method according to claim 5, wherein: The method further comprises: Linear interpolation is performed on shape points of the extended lane outside the target range.

8. The method according to any one of claims 1 to 7, wherein: The method further comprises: According to the hierarchical relationship of the lanes within the target range, the relative heights of adjacent levels are adjusted.

9. The method according to claim 8, wherein: According to the hierarchical relationship of the lanes within the target range, the relative heights of adjacent levels are adjusted, including: Calculate the minimum height of the upper shape points and the maximum height of the lower shape points within the target range; When the difference between the minimum height and the maximum height is less than a height difference threshold, the relative heights of the upper shape points and / or the lower shape points within the target range are adjusted.

10. The method according to claim 9, wherein: Adjusting the relative heights of the upper shape points and / or the lower shape points within the target range includes one or more of the following: Raising the relative height of the upper shape points within the target range by a first value; The relative height of the lower shape points within the target range is reduced by a second value.

11. The method according to any one of claims 8 to 10, wherein: According to the hierarchical relationship of the lanes within the target range, the relative heights of adjacent levels are adjusted, further comprising: Calculating the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane after adjustment; A final height adjustment method is determined according to the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane.

12. A map data processing device, comprising: An acquisition module, used to acquire a boundary line of a lane within a target range of the first map data; The determination module is used to determine the hierarchical relationship of the lanes within the target range according to the association relationship between the boundary lines of the lanes within the target range and the second map data.

13. The map data processing device according to claim 12, wherein: The determining module comprises: A search submodule, configured to search the second map data for an interchange layer associated with the lane group according to the association relationship between the lane group where the lane boundary line within the target range is located and the second map data; The determination submodule is used to determine the upper and lower layer hierarchical relationship of the lanes within the target range according to the interchange layer.

14. The map data processing device according to claim 13, further comprising: The stratification module is used to stratify the boundary lines of the lanes within the target range according to geometric relationships to obtain a geometric relationship stratification result, wherein the geometric relationship stratification result includes dividing the boundary lines within the target range that belong to the same level of geometric relationship into the same group.

15. The map data processing device according to claim 14, further comprising: A verification module is used to verify the upper and lower hierarchical relationships of the lanes within the target range according to the geometric relationship stratification result.

16. The map data processing device according to claim 13, further comprising: The hierarchical reversal module is used to reverse the hierarchical relationship of the upper and lower layers of the lanes within the target range when the existing hierarchical relationship within the target range is incorrect.

17. The map data processing device according to claim 16, wherein: The level inversion module is used to: Calculating the average relative heights of the upper shape points and the lower shape points within the target range respectively; Assigning the average relative height value of the original lower layer shape points within the target range to the upper layer shape points; The average relative height value of the original upper layer shape points within the target range is assigned to the lower layer shape points.

18. The map data processing device according to claim 16, wherein: The map data processing device further comprises: The linear interpolation module is used to perform linear interpolation on shape points of the extended lane outside the target range.

19. The map data processing device according to any one of claims 12 to 18, wherein: The map data processing device further comprises: The height adjustment module is used to adjust the relative heights of adjacent levels according to the hierarchical relationship of the lanes within the target range.

20. The map data processing device according to claim 19, wherein: The height adjustment module is used for: Calculate the minimum height of the upper shape points and the maximum height of the lower shape points within the target range; When the difference between the minimum height and the maximum height is less than a height difference threshold, the relative heights of the upper shape points and / or the lower shape points within the target range are adjusted.

21. The map data processing device according to claim 20, wherein: Adjusting the relative heights of the upper shape points and / or the lower shape points within the target range includes one or more of the following: Raising the relative height of the upper shape points within the target range by a first value; The relative height of the lower shape points within the target range is reduced by a second value.

22. The map data processing device according to any one of claims 19 to 21, wherein: The height adjustment module is also used for: Calculating the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane after adjustment; A final height adjustment method is determined according to the road inclination angle corresponding to the upper lane and / or the road inclination angle corresponding to the lower lane.

23. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; 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 to enable the at least one processor to perform the method according to any one of claims 1 to 11.

24. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-11.

25. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 11.

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