Rendering method and device based on map and perception data, vehicle and medium

Abstract

The invention relates to a rendering method and device based on a map and perception data, a vehicle and a medium. The method comprises the steps that a target high-precision map of an area where a target vehicle is located and first positioning information of the target vehicle in the target high-precision map are acquired; acquiring target sensing data collected for the surrounding environment of the target vehicle; and then, according to the first positioning information, the target high-precision map and the target sensing data, target prompt information is rendered. Accurate and efficient scene rendering is realized through fusion positioning, a high-precision map, perception data and other information, and it is ensured that a driver can accurately master surrounding road condition information.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle heading angle detection, and in particular to a rendering method based on map and perception data, a rendering device based on map and perception data, a vehicle and a computer-readable storage medium. Background Art

[0002] In actual applications, the lane lines, signage and other information can be rendered on the display by retrieving map data for the driver to view; although this can make it convenient for the driver to view map data, the driver can only know information such as lane lines; and the map data may not be updated in a timely manner, resulting in the information viewed by the user on the display being different from the actual road environment, causing the driver to make wrong driving decisions. Summary of the invention

[0003] In view of the above problems, a rendering method based on a map and perception data, a rendering device based on a map and perception data, a vehicle and a computer-readable storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0004] A rendering method based on a map and perception data, the method comprising:

[0005] Obtaining a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map;

[0006] Acquire target perception data collected from the surrounding environment of the target vehicle;

[0007] Render target prompt information according to the first positioning information, the target high-precision map and the target perception data.

[0008] Optionally, rendering target prompt information according to the first positioning information, the target high-precision map and the target perception data includes:

[0009] Correcting the first positioning information according to the target perception data to obtain second positioning information;

[0010] Render target prompt information according to the second positioning information, the target high-precision map and the target perception data.

[0011] Optionally, rendering target prompt information according to the second positioning information, the target high-precision map and the target perception data includes:

[0012] In a preset coordinate system, rendering the target vehicle at a corresponding position according to the second positioning information;

[0013] And, projecting the information corresponding to the target high-precision map and the target perception data into the preset coordinate system.

[0014] Optionally, projecting the information corresponding to the target high-precision map and the target perception data into the preset coordinate system includes:

[0015] Obtaining first weight information of information in the target high-precision map at different distances from the target vehicle, and second weight information of information in the target perception data at different distances from the target vehicle;

[0016] According to the first weight information and the second weight information, at different positions in the preset coordinate system, information in the target high-precision map and / or the target perception data is selected and rendered into the preset coordinate system.

[0017] Optionally, when the distance between the information and the target vehicle is less than a target distance threshold, the first weight information is less than the second weight information, and the selecting, at different positions in the preset coordinate system, information in the target high-precision map and / or the target perception data to be rendered to the preset coordinate system according to the first weight information and the second weight information includes:

[0018] At a position where the first weight information is greater than the second weight information, selecting to render the information in the target high-precision map into the preset coordinate system;

[0019] At a position where the first weight information is less than the second weight information, the information in the target perception data is selected to be rendered into the preset coordinate system.

[0020] Optionally, projecting the information corresponding to the target high-precision map and the target perception data into the preset coordinate system includes:

[0021] Obtaining third weight information of different types of information at different distances from the target vehicle in the target high-precision map, and fourth weight information of different types of information at different distances from the target vehicle in the target perception data;

[0022] According to the third weight information and the fourth weight information, information in the target high-precision map and / or the target perception data is selected at different positions in the preset coordinate system and rendered into the preset coordinate system.

[0023] Optionally, projecting the information corresponding to the target high-precision map and the target perception data into the preset coordinate system includes:

[0024] Performing lane matching on the target high-precision map and the target perception data;

[0025] According to the lane matching result, the information corresponding to the target high-precision map and the target perception data is projected into the preset coordinate system.

[0026] Optionally, obtaining a target high-precision map of an area where the target vehicle is located includes:

[0027] Obtain a first high-precision map within a preset range of the area where the target vehicle is located;

[0028] The first high-precision map is cropped to obtain the target high-precision map.

[0029] Optionally, the first positioning information includes first lane information to which the target vehicle belongs, and first position information of the target vehicle in a lane corresponding to the first lane information;

[0030] The step of correcting the first positioning information according to the target perception data to obtain second positioning information includes:

[0031] Determine, according to the target perception data, the second lane information to which the target vehicle belongs, and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information;

[0032] According to the second lane information and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information, the first lane information and the first position information are corrected to obtain the second positioning information.

[0033] The present invention also provides a rendering device based on a map and perception data, the device comprising:

[0034] A first acquisition module is used to acquire a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map;

[0035] The second acquisition module is used to acquire target perception data collected from the surrounding environment of the target vehicle;

[0036] A rendering module is used to render target prompt information according to the first positioning information, the target high-precision map and the target perception data.

[0037] Optionally, the rendering module is used to correct the first positioning information according to the target perception data to obtain second positioning information; and render target prompt information according to the second positioning information, the target high-precision map and the target perception data.

[0038] Optionally, the rendering module is used to render the target vehicle at a corresponding position in a preset coordinate system according to the second positioning information; and to project information corresponding to the target high-precision map and the target perception data into the preset coordinate system.

[0039] Optionally, the rendering module is used to obtain first weight information of information in the target high-precision map at different distances from the target vehicle, and second weight information of information in the target perception data at different distances from the target vehicle; according to the first weight information and the second weight information, at different positions in the preset coordinate system, select the information in the target high-precision map and / or the target perception data to be rendered into the preset coordinate system.

[0040] Optionally, when the distance between the information and the target vehicle is less than the target distance threshold, the first weight information is less than the second weight information, and the rendering module is used to select to render the information in the target high-precision map into the preset coordinate system at the position where the first weight information is greater than the second weight information; and select to render the information in the target perception data into the preset coordinate system at the position where the first weight information is less than the second weight information.

[0041] Optionally, the rendering module is used to obtain third weight information of different types of information in the target high-precision map at different distances from the target vehicle, and fourth weight information of different types of information in the target perception data at different distances from the target vehicle; according to the third weight information and the fourth weight information, at different positions in the preset coordinate system, select information in the target high-precision map and / or the target perception data to be rendered into the preset coordinate system.

[0042] Optionally, the rendering module is used to perform lane matching on the target high-precision map and the target perception data; based on the lane matching result, project the information corresponding to the target high-precision map and the target perception data into the preset coordinate system.

[0043] Optionally, the first acquisition module is used to acquire a first high-precision map within a preset range of the area where the target vehicle is located; and to crop the first high-precision map to obtain the target high-precision map.

[0044] Optionally, the first positioning information includes first lane information to which the target vehicle belongs, and first position information of the target vehicle in a lane corresponding to the first lane information;

[0045] The rendering module is used to determine the second lane information to which the target vehicle belongs and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information based on the target perception data; and to correct the first lane information and the first position information based on the second lane information and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information to obtain the second positioning information.

[0046] The present invention also provides a vehicle, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above-mentioned rendering method based on map and perception data when executed by the processor.

[0047] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the rendering method based on map and perception data as described above is implemented.

[0048] Beneficial effects of the present invention:

[0049] In the embodiment of the present invention, the target high-precision map of the area where the target vehicle is located and the first positioning information of the target vehicle in the target high-precision map are first obtained; and the target perception data collected for the surrounding environment of the target vehicle are obtained; then, the target prompt information is rendered according to the first positioning information, the target high-precision map and the target perception data. By integrating information such as positioning, high-precision map and perception data, accurate and efficient scene rendering is achieved, ensuring that the driver can accurately control the surrounding road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a flowchart of the steps of a rendering method based on map and perception data according to an embodiment of the present invention;

[0051] Figure 2 is a flowchart of another method for rendering based on map and perception data according to an embodiment of the present invention;

[0052] Figure 3 is a flowchart of the steps of another rendering method based on map and perception data according to an embodiment of the present invention;

[0053] Figure 4 is a flowchart of the steps of a rendering process according to an embodiment of the present invention;

[0054] Figure 5 This is a step flow of a process for obtaining a high-precision map in an embodiment of the present invention;

[0055] Figure 6 is a flowchart of steps of a correction process of an embodiment of the present invention;

[0056] Figure 7 It is a structural schematic diagram of a vehicle intention recognition device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In order to reconstruct the correct external scene in the vehicle, the embodiment of the present invention provides a rendering method based on map and perception data, which integrates information such as positioning, high-precision map and perception data to achieve accurate and efficient scene rendering, ensuring that the driver can accurately control the surrounding road conditions; for details, please refer to Figure 1 , Figure 1 A flowchart showing a rendering method based on map and perception data according to an embodiment of the present invention is shown.

[0059] like Figure 1 As shown, the method may include the following steps:

[0060] Step 101: Obtain a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map.

[0061] In actual applications, when the target vehicle is in a driving state, a target high-precision map of the area where the target vehicle is currently located and the first positioning information of the target vehicle in the target high-precision map can be obtained first; exemplarily, the target high-precision map can be a high-precision map or a memory map, which is not limited by the embodiments of the present invention.

[0062] The first positioning information may refer to the specific position of the target vehicle in the target high-precision map. For example, it may include information about the lane in which the target vehicle is located, the specific position in the lane, and other information. This embodiment of the present invention is not limited to this.

[0063] Step 102: Acquire target perception data collected for the surrounding environment of the target vehicle.

[0064] On the other hand, in an embodiment of the present invention, perception data of the current surrounding environment of the target vehicle can also be collected to obtain target perception data; the target perception data can be obtained from sensors of the target vehicle, for example: it can be obtained from an image sensor, or it can be obtained from infrared sensors, radar sensors, and other sensors deployed in the target vehicle for detecting the environment. The embodiment of the present invention does not limit this.

[0065] In practical applications, based on target perception data, information such as lane lines, signs, obstacles, etc. in the surrounding environment can be determined.

[0066] Step 103: Render target prompt information according to the first positioning information, the target high-precision map and the target perception data.

[0067] After obtaining the first positioning information, the target high-precision map, and the target perception data, the first positioning information, the target high-precision map, and the target perception data can be fused and the target prompt information can be rendered; then, the target prompt information can be displayed in the target vehicle; based on the target prompt information, the driver can determine the current position of the target vehicle, as well as the road conditions on the subsequent path, such as: the curvature, changes, and indicator signs of the subsequent path, etc.

[0068] Among them, when performing fusion, the target perception data can be classified first; specifically, the ground signs can be distinguished first, such as ground arrows, crosswalks, speed bumps and other information, which are relatively independent. Then the lane lines are sorted and distributed neatly, and the lane information is generated according to the lane lines and curbs. For example, if the width of every two lane lines from left to right meets the minimum width of the lane, they can be post-processed into a "lane" (a virtual lane that meets the needs of vehicle traffic). The attributes of the lane are composed of a series of point sets and the association relationship between the lane lines and the unique ID.

[0069] After classifying the target perception data, the information included in the target perception data can be determined; then, the information in the target high-precision map, the information in the target perception data, and the first positioning information can be fused to render the target prompt information.

[0070] In the embodiment of the present invention, the target high-precision map of the area where the target vehicle is located and the first positioning information of the target vehicle in the target high-precision map can be obtained first; and the target perception data collected for the surrounding environment of the target vehicle can be obtained; then, the target prompt information is rendered according to the first positioning information, the target high-precision map and the target perception data. By integrating positioning, high-precision map and perception data and other information, accurate and efficient scene rendering is achieved, ensuring that the driver can accurately control the surrounding road conditions.

[0071] Reference Figure 2 , shows a flowchart of another rendering method based on map and perception data according to an embodiment of the present invention, which may include the following steps:

[0072] Step 201: Obtain a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map.

[0073] In actual applications, when the target vehicle is in a driving state, a target high-precision map of the area where the target vehicle is currently located and the first positioning information of the target vehicle in the target high-precision map can be obtained first.

[0074] In one embodiment of the present invention, step 201 may be implemented in the following manner:

[0075] Obtain a first high-precision map within a preset range of the area where the target vehicle is located; crop the first high-precision map to obtain a target high-precision map.

[0076] In some feasible embodiments, the position of the target vehicle can be determined based on the RTK (Real-Time Kinematic) positioning system, and whether the area where the target vehicle is located is covered by a high-precision map; for example: it can be determined whether the area is covered by a high-precision map or a memory map.

[0077] If there is high-precision map coverage, the first high-precision map within the preset range of the area can be obtained; illustratively, a high-precision map within a radius of 2 kilometers of the area where the target vehicle is located can be obtained as the first high-precision map.

[0078] In one example, after obtaining the first high-precision map, it can be provided to an autonomous driving planning control module to plan a path in advance.

[0079] In another example, after obtaining the first high-precision map, the first high-precision map can be cropped according to navigation information or travel direction to obtain a target high-precision map; illustratively, the high-precision maps of 300m in front and 100m behind the area where the target vehicle is located in the first high-precision map can be retained as the target high-precision map, and this embodiment of the present invention is not limited to this.

[0080] Step 202: Acquire target perception data collected for the surrounding environment of the target vehicle.

[0081] On the other hand, in the embodiment of the present invention, perception data of the current surrounding environment of the target vehicle may also be collected to obtain target perception data.

[0082] Step 203: Correct the first positioning information according to the target perception data to obtain second positioning information.

[0083] In practical applications, because the current RTK positioning system is not a lane-level positioning, there are lateral or longitudinal deviations from the actual position. If it is not corrected, there will be major problems in the use of map data; if the deviation is greater than one lane, there will be mismatches when matching with perception later. Therefore, after obtaining the first positioning information and target perception data, the first positioning information can be corrected based on the target perception data to obtain the corrected positioning information, that is, the second positioning information.

[0084] In one embodiment of the present invention, the first positioning information includes the first lane information to which the target vehicle belongs, and the first position information of the target vehicle in the lane corresponding to the first lane information; step 203 can be implemented in the following manner:

[0085] According to the target perception data, the second lane information to which the target vehicle belongs and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information are determined; according to the second lane information and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information, the first lane information and the first position information are corrected to obtain the second positioning information.

[0086] In some feasible embodiments, after obtaining the first positioning information and target perception data, the second lane information of the lane to which the target vehicle belongs and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information can be determined based on the target perception data; since the target perception data is a detection of the surrounding environment of the target vehicle, the second lane information and the second position information obtained based on the target perception data are more accurate than the first lane information and the first position information corresponding to the RTK positioning system. Therefore, the first lane information and the first position information can be corrected according to the second lane information and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information, thereby obtaining the second positioning information.

[0087] Step 204: Render target prompt information based on the second positioning information, the target high-precision map and the target perception data.

[0088] After obtaining the second positioning information, the target vehicle can fuse the second positioning information, the target high-precision map and the target perception data, and render the target prompt information; then, the target prompt information can be displayed in the target vehicle; based on the target prompt information, the driver can determine the current position of the target vehicle, as well as the road conditions on the subsequent path, such as: the curvature, changes, and indicator signs of the subsequent path.

[0089] In the embodiment of the present invention, a target high-precision map of the area where the target vehicle is located and first positioning information of the target vehicle in the target high-precision map are obtained; target perception data collected for the surrounding environment of the target vehicle are obtained; the first positioning information is corrected according to the target perception data to obtain second positioning information; and target prompt information is rendered according to the second positioning information, the target high-precision map and the target perception data. Accurate and efficient scene rendering is achieved by integrating information such as positioning, high-precision maps and perception data, ensuring that the driver can accurately control the surrounding road conditions.

[0090] Reference Figure 3 , shows a flowchart of another method for rendering based on map and perception data according to an embodiment of the present invention, which may include the following steps:

[0091] Step 301: Obtain a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map.

[0092] In actual applications, when the target vehicle is in a driving state, a target high-precision map of the area where the target vehicle is currently located and the first positioning information of the target vehicle in the target high-precision map can be obtained first.

[0093] Step 302: Acquire target perception data collected for the surrounding environment of the target vehicle.

[0094] On the other hand, in the embodiment of the present invention, perception data of the current surrounding environment of the target vehicle may also be collected to obtain target perception data.

[0095] Step 303: Correct the first positioning information according to the target perception data to obtain second positioning information.

[0096] After obtaining the first positioning information and the target perception data, the first positioning information is first corrected based on the target perception data to obtain corrected positioning information, that is, the second positioning information.

[0097] Step 304: Render the target vehicle at a corresponding position in a preset coordinate system according to the second positioning information; and project the information corresponding to the target high-precision map and the target perception data into the preset coordinate system to obtain target prompt information.

[0098] In some feasible embodiments, the target vehicle can be rendered at the corresponding position in a preset coordinate system according to the second positioning information; in addition, the object of the information contained in the target high-precision map and the target perception data can also be projected into the preset coordinate system to obtain target prompt information.

[0099] The preset coordinate system may be the target vehicle's own vehicle coordinate system, which is not limited in the embodiment of the present invention.

[0100] In one embodiment of the present invention, the information corresponding to the target high-precision map and the target perception data can be projected into a preset coordinate system through the following sub-steps:

[0101] Sub-step 11: classify the information in the target high-precision map and target perception data.

[0102] In some feasible embodiments, the information to be reconstructed (i.e., the information in the target high-precision map and the target perception data) can be classified first; specifically, it can be divided into the following layers: lane lines, road surfaces, ground signs, obstacle targets, etc.

[0103] Sub-step 12: Based on the classification results, the information in the target high-precision map and the target perception data is rendered into a preset coordinate system.

[0104] After classification, based on the classification results, the information in the target high-precision map and target perception data can be rendered into a preset coordinate system. Specifically, lane lines, ground signs and obstacle target information, which are information existing in the real world, are laid out on the screen according to their position, type and color, with corresponding car models or line types.

[0105] Road surface is an abstract concept, which is to display the concept of lane in the picture, and its meaning is similar to "the area where vehicles can drive". The main expression of road surface is through the point set mark of the lane centerline, which can be widened according to fixed lanes or according to the left and right lane lines, and then this area is paved with road color, which is different from the background color. After all elements are laid out, a complete frame of video (i.e. target prompt information) is formed, and the low-frequency periodic fusion data is interpolated to form a higher-frequency video stream to present to the user.

[0106] In one embodiment of the present invention, step 304 may also be implemented by the following sub-steps:

[0107] Sub-step 21: obtaining first weight information of information in the target high-precision map at different distances from the target vehicle, and second weight information of information in the target perception data at different distances from the target vehicle.

[0108] In some feasible embodiments, the credibility of the information in the target high-precision map is different when it is at different distances from the target vehicle; in addition, the credibility of the information in the target perception data is also different when it is at different distances from the target vehicle. Based on this, the weight information of the information in the high-precision map at different distances from the vehicle and the weight information of the information in the perception data at different distances from the vehicle can be preset.

[0109] Then, the first weight information of the information in the target high-precision map at different distances from the target vehicle and the second weight information of the information in the target perception data at different distances from the target vehicle can be obtained.

[0110] Sub-step 22: According to the first weight information and the second weight information, at different positions in the preset coordinate system, select information in the target high-precision map and / or target perception data and render it into the preset coordinate system.

[0111] Then, based on the first weight information and the second weight information, the information in the target high-precision map and / or the target perception data can be selectively rendered into the preset coordinate system at different positions in the preset coordinate system.

[0112] Exemplarily, when the distance between the information and the target vehicle is less than the target distance threshold, the first weight information is less than the second weight information; on this basis, sub-step 21 can be implemented in the following manner:

[0113] At the position where the first weight information is greater than the second weight information, choose to render the information in the target high-precision map into the preset coordinate system; at the position where the first weight information is less than the second weight information, choose to render the information in the target perception data into the preset coordinate system.

[0114] In some feasible embodiments, the road conditions at close range are more reliable based on perception, and the lane information in the map that does not match the perception needs to be removed outside the hard isolation. For example, if the number of lanes is reduced due to construction closures on the road, the map data needs to be corrected to give the actual number of lanes and related attributes. If the sensor is blocked by a vehicle or cannot see farther due to the sensor characteristics, such as a curve, the map needs to fill in the uncovered area according to the map data.

[0115] Based on this, it can be set that when the distance between the information and the target vehicle is less than the target distance threshold, the first weight information is less than the second weight information; on this basis, at the position where the first weight information is greater than the second weight information (that is, the position farther away from the target vehicle), choose to render the information in the target high-precision map to the preset coordinate system; at the position where the first weight information is less than the second weight information (that is, the position closer to the target vehicle), choose to render the information in the target perception data to the preset coordinate system.

[0116] In an embodiment of the present invention, step 304 may also be implemented by the following sub-steps:

[0117] Sub-step 31: Obtain third weight information of different types of information at different distances from the target vehicle in the target high-precision map, and fourth weight information of different types of information at different distances from the target vehicle in the target perception data.

[0118] In some feasible embodiments, different types of information in high-precision maps and perception data may have different feasibility at different distances; based on this, corresponding weight information can also be set in advance for different types of information in high-precision maps and perception data at different distances.

[0119] Then, the third weight information of different types of information at different distances from the target vehicle in the target high-precision map and the fourth weight information of different types of information at different distances from the target vehicle in the target perception data can be obtained.

[0120] Sub-step 32: According to the third weight information and the fourth weight information, at different positions in the preset coordinate system, select information in the target high-precision map and / or target perception data and render it into the preset coordinate system.

[0121] Next, according to the size of the third weight information and the fourth weight information, the information in the target high-precision map and / or target perception data can be selectively rendered into the preset coordinate system at different positions in the preset coordinate system.

[0122] In an embodiment of the present invention, step 304 may also be implemented by the following sub-steps:

[0123] Sub-step 41: perform lane matching on the target high-precision map and the target perception data.

[0124] In some feasible embodiments, before projecting the information corresponding to the target high-precision map and the target perception data into a preset coordinate system, lane matching may be performed on the target high-precision map and the target perception data to match and associate the lanes in the target high-precision map with the lanes in the target perception data.

[0125] Sub-step 42: Based on the lane matching result, the information corresponding to the target high-precision map and the target perception data is projected into a preset coordinate system.

[0126] Based on the results of lane matching, the information corresponding to the target high-precision map and the target perception data can be projected into a preset coordinate system; specifically, based on the results of lane matching, the correspondence between each information in the target high-precision map and each information in the target perception data can be determined, and based on the correspondence, the same information can be selectively projected into the preset coordinate system, and the embodiments of the present invention are not limited to this.

[0127] For example, Figure 4As shown, the GNSS (Global Navigation Satellite System) positioning can be obtained first, and a target high-precision map (for example, a memory map or a high-precision map) of the target area where the target vehicle is located can be obtained based on the GNSS positioning; in addition, target perception data can be obtained from sensors.

[0128] Then, the target perception data can be used to perform positioning correction; next, the target high-precision map, the second positioning information and the target perception data can be fused to obtain target prompt information, and the target prompt information can be rendered and presented.

[0129] like Figure 5 As shown, after obtaining the GNSS positioning of the target vehicle, it is possible to first determine whether the area where the target vehicle is located is covered by a high-precision map; if so, the first high-precision map corresponding to the area can be obtained from the map engine; then, the target high-precision map is obtained by cropping. On the contrary, if there is no high-precision map, the process ends.

[0130] like Figure 6 As shown, after obtaining the first positioning information, the lane in which the target vehicle is located and the lateral distance between the target vehicle and the lane line corresponding to the lane can be determined according to the target perception data; then, based on the determined lane in which the target vehicle is located and the lateral distance between the target vehicle and the lane line corresponding to the lane, the first positioning information can be corrected to obtain the second positioning information.

[0131] Specifically, the target vehicle can be first determined in which lane according to the target perception data; then, the first positioning information can be corrected using the lane number of the target vehicle determined based on the target perception data; in addition, the lateral distance between the target vehicle and the lane line corresponding to the lane can be determined according to the target perception data to correct the position information in the first positioning information, thereby obtaining the second positioning information.

[0132] In an embodiment of the present invention, a target high-precision map of the area where the target vehicle is located and first positioning information of the target vehicle in the target high-precision map are obtained; target perception data collected for the surrounding environment of the target vehicle are obtained; the first positioning information is corrected according to the target perception data to obtain second positioning information; in a preset coordinate system, the target vehicle is rendered at a corresponding position according to the second positioning information; and the information corresponding to the target high-precision map and the target perception data is projected into the preset coordinate system to obtain target prompt information. Accurate and efficient scene rendering is achieved by integrating information such as positioning, high-precision maps, and perception data, ensuring that the driver can accurately control the surrounding road conditions.

[0133] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0134] Reference Figure 7 , shows a schematic diagram of the structure of a rendering device based on map and perception data according to an embodiment of the present invention, which may include the following modules:

[0135] The first acquisition module 701 is used to acquire a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map;

[0136] The second acquisition module 702 is used to acquire target perception data collected from the surrounding environment of the target vehicle;

[0137] The rendering module 703 is used to render target prompt information according to the first positioning information, the target high-precision map and the target perception data.

[0138] In one embodiment of the present invention, the rendering module 703 is used to correct the first positioning information according to the target perception data to obtain the second positioning information; and render the target prompt information according to the second positioning information, the target high-precision map and the target perception data.

[0139] In one embodiment of the present invention, the rendering module 703 is used to render the target vehicle at a corresponding position in a preset coordinate system according to the second positioning information; and to project information corresponding to the target high-precision map and the target perception data into the preset coordinate system.

[0140] In one embodiment of the present invention, the rendering module 703 is used to obtain first weight information of information in the target high-precision map at different distances from the target vehicle, and second weight information of information in the target perception data at different distances from the target vehicle; according to the first weight information and the second weight information, at different positions in the preset coordinate system, select information in the target high-precision map and / or target perception data to be rendered into the preset coordinate system.

[0141] In one embodiment of the present invention, when the distance between the information and the target vehicle is less than the target distance threshold, the first weight information is less than the second weight information, and the rendering module 703 is used to select the information in the target high-precision map to be rendered into the preset coordinate system at the position where the first weight information is greater than the second weight information; and select the information in the target perception data to be rendered into the preset coordinate system at the position where the first weight information is less than the second weight information.

[0142] In one embodiment of the present invention, the rendering module 703 is used to obtain third weight information of different types of information at different distances from the target vehicle in the target high-precision map, and fourth weight information of different types of information at different distances from the target vehicle in the target perception data; according to the third weight information and the fourth weight information, at different positions in the preset coordinate system, select information in the target high-precision map and / or target perception data to be rendered into the preset coordinate system.

[0143] In one embodiment of the present invention, the rendering module 703 is used to perform lane matching on the target high-precision map and the target perception data; based on the lane matching result, the information corresponding to the target high-precision map and the target perception data is projected into a preset coordinate system.

[0144] In one embodiment of the present invention, the first acquisition module is used to acquire a first high-precision map within a preset range of the area where the target vehicle is located; and to crop the first high-precision map to obtain a target high-precision map.

[0145] In one embodiment of the present invention, the first positioning information includes first lane information to which the target vehicle belongs, and first position information of the target vehicle in a lane corresponding to the first lane information;

[0146] The rendering module 703 is used to determine the second lane information to which the target vehicle belongs and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information based on the target perception data; based on the second lane information and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information, the first lane information and the first position information are corrected to obtain the second positioning information.

[0147] In the embodiment of the present invention, the target high-precision map of the area where the target vehicle is located and the first positioning information of the target vehicle in the target high-precision map are first obtained; and the target perception data collected for the surrounding environment of the target vehicle are obtained; then, the target prompt information is rendered according to the first positioning information, the target high-precision map and the target perception data. By integrating positioning, high-precision map and perception data and other information, accurate and efficient scene rendering is achieved, ensuring that the driver can accurately control the surrounding road conditions.

[0148] An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above-mentioned rendering method based on map and perception data is implemented.

[0149] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the rendering method based on map and perception data as described above is implemented.

[0150] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0151] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0152] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0153] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0154] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0156] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0157] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0158] The above provides a detailed introduction to a rendering method based on map and perception data, a rendering device based on map and perception data, a vehicle and a computer-readable storage medium. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A rendering method based on map and perception data, characterized in that: The method comprises: Obtaining a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map; Acquire target perception data collected from the surrounding environment of the target vehicle; Render target prompt information according to the first positioning information, the target high-precision map and the target perception data.

2. The method according to claim 1, characterized in that The rendering of target prompt information according to the first positioning information, the target high-precision map and the target perception data includes: Correcting the first positioning information according to the target perception data to obtain second positioning information; Render target prompt information according to the second positioning information, the target high-precision map and the target perception data.

3. The method according to claim 2, characterized in that The rendering of target prompt information according to the second positioning information, the target high-precision map and the target perception data includes: In a preset coordinate system, rendering the target vehicle at a corresponding position according to the second positioning information; And, projecting the information corresponding to the target high-precision map and the target perception data into the preset coordinate system.

4. The method according to claim 3, characterized in that The projecting the information corresponding to the target high-precision map and the target perception data to the preset coordinate system includes: Obtaining first weight information of information in the target high-precision map at different distances from the target vehicle, and second weight information of information in the target perception data at different distances from the target vehicle; According to the first weight information and the second weight information, at different positions in the preset coordinate system, information in the target high-precision map and / or the target perception data is selected and rendered into the preset coordinate system.

5. The method according to claim 4, characterized in that When the distance between the information and the target vehicle is less than the target distance threshold, the first weight information is less than the second weight information, and the information in the target high-precision map and / or the target perception data is selected and rendered to the preset coordinate system at different positions in the preset coordinate system according to the first weight information and the second weight information, including: At a position where the first weight information is greater than the second weight information, selecting to render the information in the target high-precision map into the preset coordinate system; At a position where the first weight information is less than the second weight information, the information in the target perception data is selected to be rendered into the preset coordinate system.

6. The method according to claim 3, characterized in that The projecting the information corresponding to the target high-precision map and the target perception data to the preset coordinate system includes: Obtaining third weight information of different types of information at different distances from the target vehicle in the target high-precision map, and fourth weight information of different types of information at different distances from the target vehicle in the target perception data; According to the third weight information and the fourth weight information, information in the target high-precision map and / or the target perception data is selected at different positions in the preset coordinate system and rendered into the preset coordinate system.

7. The method according to claim 3, characterized in that The projecting the information corresponding to the target high-precision map and the target perception data to the preset coordinate system includes: Performing lane matching on the target high-precision map and the target perception data; According to the lane matching result, the information corresponding to the target high-precision map and the target perception data is projected into the preset coordinate system.

8. The method according to claim 1, characterized in that The step of obtaining a target high-precision map of the area where the target vehicle is located includes: Obtain a first high-precision map within a preset range of the area where the target vehicle is located; The first high-precision map is cropped to obtain the target high-precision map.

9. The method according to claim 2, characterized in that: The first positioning information includes first lane information to which the target vehicle belongs, and first position information of the target vehicle in the lane corresponding to the first lane information; The step of correcting the first positioning information according to the target perception data to obtain second positioning information includes: Determine, according to the target perception data, the second lane information to which the target vehicle belongs, and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information; According to the second lane information and the distance between the target vehicle and the lane line of the lane corresponding to the second lane information, the first lane information and the first position information are corrected to obtain the second positioning information.

10. A rendering device based on map and perception data, characterized in that: The device comprises: A first acquisition module is used to acquire a target high-precision map of the area where the target vehicle is located, and first positioning information of the target vehicle in the target high-precision map; The second acquisition module is used to acquire target perception data collected from the surrounding environment of the target vehicle; A rendering module is used to render target prompt information according to the first positioning information, the target high-precision map and the target perception data.

11. A vehicle, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the rendering method based on map and perception data as claimed in any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the rendering method based on a map and perception data as claimed in any one of claims 1 to 9 is implemented.

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