Map data processing method and device, equipment, storage medium and program product
By processing vehicle position and attitude angle information, the flat map data is corrected, and the problem of abnormal vehicle path planning and positioning in areas with elevation fluctuations is solved, and more accurate path planning and positioning is achieved.
Patent Information
- Application Number
- CN202411583537.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-02-18
AI Technical Summary
When used in areas with large elevation fluctuations, flat map data can easily lead to abnormal vehicle path planning and positioning.
By obtaining the vehicle's position information and navigation path information, combining the vehicle's attitude angle information, the navigation map data is corrected and processed, converted to the bicycle coordinate system, and corrected and processed based on the attitude angle information to obtain the corrected navigation map data after the correction process .
The map data correction compensation based on road environment changes is realized, distance deviation during path planning is avoided, and the accuracy of vehicle positioning is improved.
Smart Images
Figure CN119469178A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of map correction processing, and in particular to a map data processing method, device, equipment, storage medium and program product. Background Art
[0002] To ensure driving safety, smart driving cars generally use prior map information. Through the input of the vehicle's position coordinates, the map engine searches and broadcasts the map data of the vehicle's surroundings using a specific protocol. The broadcast data generally needs to include the location coordinates of lane lines and surrounding traffic signs, as well as attribute information.
[0003] Due to the confidentiality requirements of geographic information data, all commercial map data do not carry elevation information, that is, the maps are two-dimensional and flat, and the elements are displayed on the plane in projected coordinates. In areas with large slopes, such as cities with large elevation fluctuations, or ramp sections, the ground elements are obviously not on the same horizontal plane. At this time, if the data is still broadcast in a flat form, it will cause errors, and serious problems will cause vehicle path planning and positioning. Summary of the invention
[0004] The main purpose of the present application is to provide a map data processing method, device, equipment, storage medium and program product, aiming to solve the technical problem that flat maps easily cause abnormal vehicle path planning and positioning.
[0005] To achieve the above objectives, the present application proposes a map data processing method, which includes:
[0006] Obtain vehicle location information and navigation path information;
[0007] Determine navigation map data under the navigation path information based on the location information;
[0008] Get the vehicle's attitude angle information;
[0009] The navigation map data is corrected based on the position information and the attitude angle information to obtain the corrected navigation map data.
[0010] In one embodiment, the step of correcting the navigation map data based on the position information and the attitude angle information includes:
[0011] Get the map coordinate point set in the navigation map data;
[0012] Convert the map coordinate point set to the vehicle coordinate system according to the position information to obtain the map vehicle coordinate point set;
[0013] Correcting the map ego-vehicle coordinate point set according to the attitude angle information to obtain a corrected map ego-vehicle coordinate point set;
[0014] The corrected navigation map data is obtained according to the corrected map ego-vehicle coordinate point set.
[0015] In one embodiment, the step of correcting the map ego-vehicle coordinate point set according to the attitude angle information to obtain the corrected map ego-vehicle coordinate point set includes:
[0016] Determining pitch angle data of the vehicle based on the attitude angle information;
[0017] The map ego-vehicle coordinate points are corrected according to the pitch angle data to obtain a corrected map ego-vehicle coordinate point set.
[0018] In one embodiment, the step of converting the map coordinate point set to the vehicle coordinate system according to the position information to obtain the map vehicle coordinate point set includes:
[0019] Determining the vehicle's own vehicle position coordinates based on the position information;
[0020] Taking the vehicle position coordinates as the origin of the vehicle coordinate system, performing translation processing on the map coordinate points in the map coordinate point set to obtain the translated map coordinate point set;
[0021] Construct a rotation matrix based on the pose of the ego-vehicle coordinate system relative to the map coordinate system;
[0022] The map coordinate points in the translated map coordinate point set are rotated based on the rotation matrix to obtain a map vehicle coordinate point set.
[0023] In one embodiment, the step of determining the navigation map data under the navigation path information based on the location information includes:
[0024] Input the location information into a map module for retrieval to obtain surrounding map data;
[0025] The navigation map data under the navigation path information is determined based on the surrounding map data.
[0026] In one embodiment, the step of correcting the map ego-vehicle coordinate points according to the pitch angle data to obtain a corrected map ego-vehicle coordinate point set includes:
[0027] Performing preprocessing based on the pitch angle data to obtain standard pitch angle data;
[0028] Inputting the standard pitch angle data into a slope angle estimation model for processing to obtain slope angle data;
[0029] The map vehicle coordinate points are corrected according to the slope angle data to obtain a corrected map vehicle coordinate point set.
[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a map data processing device, the map data processing device comprising:
[0031] A location information acquisition module is used to obtain the vehicle's location information and navigation path information;
[0032] A map data acquisition module, used to determine the navigation map data under the navigation path information based on the location information;
[0033] A posture data acquisition module is used to obtain the posture angle information of the vehicle;
[0034] The map data processing module is used to perform correction processing on the navigation map data based on the position information and the attitude angle information to obtain the corrected navigation map data.
[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a map data processing device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the map data processing method as described above.
[0036] 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 processing method described above are implemented.
[0037] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the map data processing method described above are implemented.
[0038] One or more technical solutions proposed in this application have at least the following technical effects:
[0039] The present application obtains the vehicle's location information and navigation path information; determines the navigation map data under the navigation path information based on the location information; obtains the vehicle's attitude angle information; and corrects the navigation map data based on the location information and attitude angle information to obtain the corrected navigation map data. Since the correction processing of the flat navigation map data is based on the attitude angle information, correction compensation based on the map data based on the changes in the road environment is achieved, avoiding the problem of distance deviation and error in the planned path when using lane line point set data for path planning. BRIEF DESCRIPTION OF THE DRAWINGS
[0040] 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.
[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0042] Figure 1 A flowchart of the first embodiment of the map data processing method of the present application is provided;
[0043] Figure 2 A schematic diagram of a vehicle body coordinate system in one implementation of the map data processing method of the present application;
[0044] Figure 3 A flowchart diagram of the second embodiment of the map data processing method of the present application is provided;
[0045] Figure 4 A schematic diagram of a scene in one implementation of the map data processing method of the present application;
[0046] Figure 5 A flowchart of the third embodiment of the map data processing method of the present application is provided;
[0047] Figure 6 A schematic diagram of a final map data point set in one implementation of the map data processing method of the present application;
[0048] Figure 7 This is a schematic diagram of a final map data point set in another implementation of the map data processing method of the present application;
[0049] Figure 8 This is a schematic diagram of the module structure of the map data processing device according to an embodiment of the present application;
[0050] Fig. 9Schematic diagram of the device structure of the hardware operating environment involved in the map data processing method in the embodiment of the present application.
[0051] 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
[0052] 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.
[0053] 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.
[0054] The main solution of the embodiment of the present application is: obtaining the vehicle's position information and navigation path information; determining the navigation map data under the navigation path information based on the position information; obtaining the vehicle's attitude angle information; correcting the navigation map data based on the position information and attitude angle information to obtain the corrected navigation map data.
[0055] In one implementation, the map data in global absolute coordinates can be broadcasted according to the position coordinates of the vehicle and the radius area, and broadcasted in the form of plane coordinates, with only X and Y coordinates, without the elevation Z direction value. The user of the data gets the map data, reconstructs it, and converts it to the vehicle coordinate system.
[0056] In this scheme, the coordinates of the location points have been determined. If the elevation difference is large or the ramp is steep, the location represented by the coordinate points is on the same horizontal plane, but the actual road has a significant angle with the horizontal plane. The actual relative distance will change similarly to the point set given by the map. When the planning algorithm is given for path planning, distance deviation will occur.
[0057] The present application provides a solution, which aims to solve the problem that the map data obtained based on a flat map has a large deviation between the map projection coordinate distance and the actual distance of the actual coordinate point on the road surface in areas with large slopes and obvious elevation differences, resulting in abnormal vehicle path planning and positioning. The correction method adopted by the solution of the present application is real-time and dynamic, and different correction compensations are given based on changes in the road environment. This avoids the problem of distance deviation and error in the planned path when using lane line point set data for path planning.
[0058] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as an in-vehicle intelligent terminal, a server connected to the in-vehicle intelligent terminal, etc., or an electronic device capable of realizing the above functions, a virtual device, etc. The following takes a map data processing device (referred to as a processing device) as an example to illustrate this embodiment and the following embodiments.
[0059] Based on this, the present application embodiment provides a map data processing method, referring to Figure 1 , Figure 1 This is a flowchart diagram of the first embodiment of the map data processing method of the present application.
[0060] In this embodiment, the map data processing method includes steps S10 to S40:
[0061] Step S10, obtaining the vehicle's location information and navigation path information.
[0062] It should be noted that a vehicle-side positioning sensor may be provided on the vehicle. Through the vehicle-side positioning sensor installed on the vehicle, the position, direction or motion state of the vehicle can be measured and determined, thereby providing relevant information such as the vehicle's coordinates, orientation, speed and acceleration in three-dimensional space.
[0063] In some implementations of the embodiments of the present application, the vehicle-side positioning sensor used may be a positioning sensor based on the Global Positioning System (GPS), a positioning sensor based on an inertial measurement unit (IMU), or other types of positioning sensors, which are not limited in the embodiments of the present application.
[0064] It is understandable that the above navigation path information may include navigation starting point information, navigation end point information, navigation waypoint information, etc. selected by the user. It is understandable that the input method of the navigation path information may be voice input, text input, manual selection, etc., which is not limited in the embodiment of the present application.
[0065] Step S20: determining navigation map data under the navigation path information based on the location information.
[0066] It should be noted that a map module may be provided or connected to the processing device of the present application, and the map module is capable of retrieving the input location information and determining the surrounding navigation map data based on the navigation path information. Specifically, the navigation path of the vehicle may be determined based on the navigation path information, and the map coordinates of the vehicle may be input into the map module for retrieval to determine the navigation map data under the navigation path. That is, the step of determining the navigation map data under the navigation path information based on the location information includes:
[0067] Input the location information into a map module for retrieval to obtain surrounding map data;
[0068] The navigation map data under the navigation path information is determined based on the surrounding map data.
[0069] It can be understood that the map module is an integral part of the vehicle navigation system. The map module can provide the vehicle with online or offline digital navigation maps. The digital navigation map can provide the system with a variety of important information such as map features, road locations and coordinates, traffic rules, infrastructure, etc., thereby providing accurate and real-time route guidance for the navigation process.
[0070] It should be understood that the obtained navigation map data may include feature label information, lane line information, traffic flow information, etc. of the vehicle's surrounding environment, and the embodiments of the present application are not limited to this.
[0071] Step S30, obtaining the attitude angle information of the vehicle.
[0072] Step S40: Correcting the navigation map data based on the position information and the attitude angle information to obtain corrected navigation map data.
[0073] It is understandable that a posture sensor may also be provided on the vehicle, and the posture angle information of the vehicle may be obtained by the posture sensor at the vehicle end, and the posture angle information may be used to describe the posture state of the vehicle. By measuring the posture information obtained, the pitch angle of the vehicle on the ramp may be determined.
[0074] It should be noted that, based on the position information and attitude angle information, the navigation map data can be processed for elevation, thereby achieving correction of the navigation map data and obtaining the corrected navigation map data. It can be understood that based on the three-dimensional spatial attributes of the map, a map coordinate system can be established, wherein the Z axis of the map coordinate system can be used to represent the elevation information of the vehicle. Specifically, since the navigation map data obtained from the map module is usually flat two-dimensional map data, it can be corrected based on the attitude angle information of the vehicle to determine the height information of the vehicle, thereby achieving correction of the navigation map data and obtaining the corrected navigation map data.
[0075] It should be explained that based on the position of the vehicle, a front-left-up body coordinate system of the vehicle, that is, the vehicle coordinate system, can be constructed. Figure 2 Based on the established vehicle coordinate system and the vehicle's attitude angle information, the navigation map data in the map coordinate system can be converted and corrected to obtain the corrected navigation map data.
[0076] The embodiment of the present application obtains the vehicle's position information and navigation path information; determines the navigation map data under the navigation path information based on the position information; obtains the vehicle's attitude angle information; and corrects the navigation map data based on the position information and attitude angle information to obtain the corrected navigation map data. Since the correction processing is performed on the flat navigation map data based on the attitude angle information, correction compensation based on the map data based on the changes in the road environment is achieved, avoiding the problem of distance deviation and error in the planned path when the lane line point set data is used for path planning.
[0077] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 In an embodiment of the present application, the step of correcting the navigation map data based on the position information and the attitude angle information includes:
[0078] Step S41, obtaining a map coordinate point set in the navigation map data.
[0079] Step S42: convert the map coordinate point set to the vehicle coordinate system according to the position information to obtain the map vehicle coordinate point set.
[0080] It should be noted that if Figure 4 As shown, based on the vehicle's position information, the vehicle's position coordinates P on the map coordinate system can be determined carBased on the vehicle's own vehicle position coordinates, the original map point set in the navigation map data can be further obtained, that is, the map coordinate point set; based on the map coordinate point set, it is necessary to determine the coordinate point position corresponding to the actual ground. For the sake of convenience, in this embodiment of the application, taking a lane line as an example, the obtained map coordinate point set can be Vec line [P1 P2 … Pn].
[0081] It needs to be explained that based on the vehicle position coordinates P car A self-vehicle coordinate system may be constructed. Specifically, the self-vehicle coordinate system may be defined as a carrier coordinate system with the self-vehicle coordinate position as the origin and the front-left-upper direction of the vehicle as the XYZ direction of the coordinate system.
[0082] In some implementations of the embodiments of the present application, the map coordinate points on the map coordinate system may be coordinates based on the global UTM projection.
[0083] In some implementations of the embodiments of the present application, the step of converting the map coordinate point set to the vehicle coordinate system according to the position information to obtain the map vehicle coordinate point set includes:
[0084] Determining the vehicle's own vehicle position coordinates based on the position information;
[0085] Taking the vehicle position coordinates as the origin of the vehicle coordinate system, performing translation processing on the map coordinate points in the map coordinate point set to obtain the translated map coordinate point set;
[0086] Construct a rotation matrix based on the pose of the ego-vehicle coordinate system relative to the map coordinate system;
[0087] The map coordinate points in the translated map coordinate point set are rotated based on the rotation matrix to obtain a map vehicle coordinate point set.
[0088] It should be noted that for each coordinate point P[x, y, z] in the vehicle coordinate system, it is composed of three-dimensional coordinates. To rotate and translate from the UTM coordinates to the vehicle coordinate system, it is necessary to subtract the vehicle coordinate P car , the translation vector can be used At the same time, the corresponding three-dimensional rotation needs to be completed, and the rotation matrix can be used By calculating each point Pn in the map coordinate point set, such as After obtaining the transformed coordinates P′1, we can get the transformed map ego vehicle coordinate point set Vec line2 [P′1 P′2 … P′ n ].
[0089] Step S43, correcting the map ego-vehicle coordinate point set according to the attitude angle information to obtain a corrected map ego-vehicle coordinate point set.
[0090] Step S44, obtaining corrected navigation map data according to the corrected map vehicle coordinate point set.
[0091] It should be noted that, since the distance between two points on a plane is different from the distance between two points on a ramp, when determining the map ego vehicle coordinate point set, the map ego vehicle coordinate points in the map ego vehicle coordinate point set can be corrected based on the vehicle's attitude angle information, thereby determining the actual height position of the vehicle and the height position of each point on the ramp, and then obtaining the corrected map ego vehicle coordinate point set.
[0092] It can be understood that the corrected navigation map data can be obtained based on the corrected map coordinate point set, and the corrected navigation map data is also the map data obtained after compensating the original navigation map data based on the acquired attitude angle, which may include lane line point sets and / or feature objects with point coordinates, etc.
[0093] The embodiment of the present application obtains a map coordinate point set in the navigation map data; converts the map coordinate point set to the vehicle coordinate system according to the position information to obtain the map self-vehicle coordinate point set; corrects the map self-vehicle coordinate point set according to the attitude angle information to obtain the corrected map self-vehicle coordinate point set; obtains the corrected navigation map data according to the corrected map self-vehicle coordinate point set. Since the map self-vehicle coordinate points are obtained by converting the map coordinate points in the map coordinate point set to the vehicle coordinate system, and then correcting the map self-vehicle coordinate points based on the vehicle attitude angle information, the elevation information of the map data is compensated, and the path planning and positioning abnormalities caused by the plane path information not matching the ramp path information due to the map data only containing two-dimensional flat information are avoided.
[0094] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first embodiment and / or the second embodiment can refer to the above introduction, and will not be repeated later. Figure 5 In the embodiment of the present application, the step of correcting the map ego-vehicle coordinate point set according to the attitude angle information to obtain the corrected map ego-vehicle coordinate point set includes:
[0095] Step S100, determining the pitch angle data of the vehicle based on the attitude angle information;
[0096] Step S200: Correct the map ego-vehicle coordinate points according to the pitch angle data to obtain a corrected map ego-vehicle coordinate point set.
[0097] In some implementations of the embodiments of the present application, the attitude angle information of the vehicle can be obtained based on the attitude sensor provided on the vehicle, and the pitch angle data of the vehicle can be read. The map ego vehicle coordinate points can be corrected based on the pitch angle data of the vehicle. Specifically, the step of correcting the map ego vehicle coordinate points according to the pitch angle data to obtain the corrected map ego vehicle coordinate point set includes:
[0098] Performing preprocessing based on the pitch angle data to obtain standard pitch angle data;
[0099] Inputting the standard pitch angle data into a slope angle estimation model for processing to obtain slope angle data;
[0100] The map vehicle coordinate points are corrected according to the slope angle data to obtain a corrected map vehicle coordinate point set.
[0101] It should be noted that the set of coordinate points of the vehicle on the map obtained after conversion is Vec line2 [P′1 P′2 … P′ n ], although it is converted to the vehicle coordinate system, the relative position relationship in the plane is still maintained. On the ramp, the slope angle (i.e. the slope inclination) of the ramp can be set to θ. If the distance between two points on the plane is l1, then the distance between the two points on the ramp surface is l2, and the relationship between the two is l1 = l2*cosθ.
[0102] It needs to be explained that in the point set Vec line2 For any P′[x, y, z] coordinate point, the X direction is in the vehicle's forward direction, and the final point set relative to the vehicle's coordinate system is Q[X / cosθ, Y, Z]. The final point set is Vec line3 [Q1 Q2 …Q n ].like Figure 6 and Figure 7 shown.
[0103] In some implementations of the embodiments of the present application, the input pitch angle data can be processed by constructing a slope angle estimation model to obtain slope angle data. It is understood that in order to improve the accuracy of the obtained slope angle data, the obtained pitch angle data can be firstly subjected to preprocessing methods such as standardization and Kalman filtering to obtain standard pitch angle data.
[0104] It can be understood that the above-mentioned slope angle estimation model can be an estimation model based on machine learning. The specific construction method thereof is not limited in the embodiment of the present application and can be constructed according to the needs of actual applications.
[0105] The embodiment of the present application determines the pitch angle data of the vehicle based on the attitude angle information; corrects the map ego vehicle coordinate points according to the pitch angle data to obtain a corrected map ego vehicle coordinate point set. Since the map ego vehicle coordinate points are corrected based on the pitch angle data, dynamic compensation of the map data is achieved.
[0106] This application also provides a map data processing device, please refer to Figure 8 , the map data processing device comprises:
[0107] The location information acquisition module 10 is used to acquire the location information and navigation path information of the vehicle;
[0108] A map data acquisition module 20, configured to determine navigation map data under the navigation path information based on the location information;
[0109] The posture data acquisition module 30 is used to obtain the posture angle information of the vehicle;
[0110] The map data processing module 40 is used to perform correction processing on the navigation map data based on the position information and the attitude angle information to obtain the corrected navigation map data.
[0111] The map data processing device provided by the present application adopts the map data processing method in the above embodiment, which can solve the technical problem that flat maps easily cause abnormal vehicle path planning and positioning. Compared with the prior art, the beneficial effects of the map data processing device provided by the present application are the same as the beneficial effects of the map data processing method provided by the above embodiment, and other technical features in the map data processing device are the same as the features disclosed in the above embodiment method, which will not be repeated here.
[0112] The present application provides a map data processing 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 processing method in the above-mentioned embodiment 1.
[0113] Reference below Fig. 9, which shows a schematic diagram of the structure of a map data processing device suitable for implementing the embodiment of the present application. The map data processing device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The map data processing device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.
[0114] like Fig. 9 As shown, the map data processing 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 the RAM 1004, various programs and data required for the operation of the map data processing device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 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 map data processing device to communicate with other devices wirelessly or by wire to exchange data. Although the map data processing device with various systems is shown in the figure, 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.
[0115] 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.
[0116] The map data processing device provided by the present application adopts the map data processing method in the above embodiment, which can solve the technical problem that flat maps easily cause abnormal vehicle path planning and positioning. Compared with the prior art, the beneficial effects of the map data processing device provided by the present application are the same as the beneficial effects of the map data processing method provided by the above embodiment, and other technical features in the map data processing device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.
[0117] 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.
[0118] 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.
[0119] 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 processing method in the above-mentioned embodiment.
[0120] 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.
[0121] The computer-readable storage medium may be included in the map data processing device; or may exist independently without being assembled into the map data processing device.
[0122] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the map data processing device, the map data processing device:
[0123] Obtain vehicle location information and navigation path information;
[0124] Determine navigation map data under the navigation path information based on the location information;
[0125] Get the vehicle's attitude angle information;
[0126] The navigation map data is corrected based on the position information and the attitude angle information to obtain the corrected navigation map data.
[0127] 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).
[0128] 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.
[0129] 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.
[0130] 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 processing method, and can solve the technical problem that flat maps easily cause abnormal vehicle path planning and positioning. 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 processing method provided by the above-mentioned embodiment, and will not be repeated here.
[0131] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned map data processing method when executed by a processor.
[0132] The computer program product provided by the present application can solve the technical problem that flat maps easily cause abnormal vehicle path planning and positioning. 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 processing method provided by the above embodiment, which will not be repeated here.
[0133] 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 map data processing method, characterized in that: The method comprises: Obtain vehicle location information and navigation path information; Determine navigation map data under the navigation path information based on the location information; Get the vehicle's attitude angle information; The navigation map data is corrected based on the position information and the attitude angle information to obtain the corrected navigation map data.
2. The map data processing method according to claim 1, characterized in that: The step of correcting the navigation map data based on the position information and the attitude angle information comprises: Get the map coordinate point set in the navigation map data; Convert the map coordinate point set to the vehicle coordinate system according to the position information to obtain the map vehicle coordinate point set; Correcting the map ego-vehicle coordinate point set according to the attitude angle information to obtain a corrected map ego-vehicle coordinate point set; The corrected navigation map data is obtained according to the corrected map ego-vehicle coordinate point set.
3. The map data processing method according to claim 2, characterized in that: The step of correcting the map ego-vehicle coordinate point set according to the attitude angle information to obtain the corrected map ego-vehicle coordinate point set comprises: Determining pitch angle data of the vehicle based on the attitude angle information; The map ego-vehicle coordinate points are corrected according to the pitch angle data to obtain a corrected map ego-vehicle coordinate point set.
4. The map data processing method according to claim 2, characterized in that: The step of converting the map coordinate point set into the vehicle coordinate system according to the position information to obtain the map vehicle coordinate point set comprises: Determining the vehicle's own vehicle position coordinates based on the position information; Taking the vehicle position coordinates as the origin of the vehicle coordinate system, performing translation processing on the map coordinate points in the map coordinate point set to obtain the translated map coordinate point set; Construct a rotation matrix based on the pose of the ego-vehicle coordinate system relative to the map coordinate system; The map coordinate points in the translated map coordinate point set are rotated based on the rotation matrix to obtain a map vehicle coordinate point set.
5. The map data processing method according to claim 1, characterized in that: The step of determining the navigation map data under the navigation path information based on the position information comprises: Input the location information into a map module for retrieval to obtain surrounding map data; The navigation map data under the navigation path information is determined based on the surrounding map data.
6. The map data processing method according to claim 3, characterized in that: The step of correcting the map ego-vehicle coordinate points according to the pitch angle data to obtain a corrected map ego-vehicle coordinate point set comprises: Performing preprocessing based on the pitch angle data to obtain standard pitch angle data; Inputting the standard pitch angle data into a slope angle estimation model for processing to obtain slope angle data; The map vehicle coordinate points are corrected according to the slope angle data to obtain a corrected map vehicle coordinate point set.
7. A map data processing device, characterized in that: The map data processing device comprises: A location information acquisition module is used to obtain the vehicle's location information and navigation path information; A map data acquisition module, used to determine the navigation map data under the navigation path information based on the location information; A posture data acquisition module is used to obtain the posture angle information of the vehicle; The map data processing module is used to perform correction processing on the navigation map data based on the position information and the attitude angle information to obtain the corrected navigation map data.
8. A map data processing device, characterized in that: The device comprises: a memory, a processor, and a map data processing program stored in the memory and executable on the processor, wherein the map data processing program is configured to implement the steps of the map data processing method according to any one of claims 1 to 6.
9. A storage medium, characterized in that: The storage medium stores a map data processing program, and when the map data processing program is executed by the processor, the steps of the map data processing method according to any one of claims 1 to 6 are implemented.
10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the map data processing method according to any one of claims 1 to 6 are implemented.