A high-precision map matching method and device, electronic equipment and storage medium

Abstract

The disclosure provides a high-precision map matching method and device, electronic equipment and storage medium, relates to the technical field of computers, and particularly relates to the technical field of artificial intelligence, automatic driving and intelligent transportation. The specific implementation scheme is: obtaining position information of each trajectory point in a plurality of trajectory points, position information included in each high-precision road segment in at least one high-precision road segment, and position information included in each standard road segment in at least one standard road segment; generating a first correspondence relationship according to the position information of each trajectory point and the position information included in each high-precision road segment; generating a second correspondence relationship according to the position information of each trajectory point and the position information included in each standard road segment; and generating a target correspondence relationship according to the first correspondence relationship and the second correspondence relationship, wherein the target correspondence relationship includes a correspondence relationship between a high-precision map and a standard map.

Description

[0001] This application is a divisional application. The original application has the application number 202211217612.7 and the original application date is September 30, 2022. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of computer technology, and more particularly to the fields of artificial intelligence, autonomous driving, and intelligent transportation. Specifically, it provides a high-precision map matching method, apparatus, electronic device, and storage medium. Background Technology

[0003] High-precision maps, also known as high-resolution maps, are used by autonomous vehicles. They possess precise vehicle location information and rich road element data, helping cars anticipate complex road conditions such as slope, curvature, and heading, thus better avoiding potential risks. The road segments included in a high-precision map are high-precision road segments, while the corresponding standard map (also known as a regular map) includes standard road segments. Currently, electronic devices can determine whether the map corresponding to a high-precision road segment matches the map corresponding to that standard road segment by checking if they intersect. Alternatively, electronic devices can use buffer lookups to determine the high-precision map that matches the standard map. Summary of the Invention

[0004] This disclosure provides a method, apparatus, electronic device, and storage medium for high-precision map matching with higher accuracy.

[0005] According to one aspect of this disclosure, a high-precision map matching method is provided. The method includes: acquiring location information of each trajectory point from a plurality of trajectory points, location information included in each of at least one high-precision road segment, and location information included in each of at least one standard road segment, wherein each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map; generating a first correspondence relationship based on the location information of each trajectory point and the location information included in each high-precision road segment, the first correspondence relationship including the correspondence between trajectory points and high-precision road segments; generating a second correspondence relationship based on the location information of each trajectory point and the location information included in each standard road segment, the second correspondence relationship including the correspondence between trajectory points and standard road segments; and generating a target correspondence relationship based on the first correspondence relationship and the second correspondence relationship, the target correspondence relationship including the correspondence between the high-precision map and the standard map.

[0006] According to another aspect of this disclosure, a high-precision map matching device is provided, comprising: an acquisition module and a processing module; the acquisition module is configured to acquire location information of each trajectory point in a plurality of trajectory points, location information included in each high-precision road segment in at least one high-precision road segment, and location information included in each standard road segment in at least one standard road segment, wherein each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map; the processing module is configured to generate a first correspondence relationship based on the location information of each trajectory point and the location information included in each high-precision road segment, wherein the first correspondence relationship includes a correspondence relationship between trajectory points and high-precision road segments; the processing module is further configured to generate a second correspondence relationship based on the location information of each trajectory point and the location information included in each standard road segment, wherein the second correspondence relationship includes a correspondence relationship between trajectory points and standard road segments; the processing module is further configured to generate a target correspondence relationship based on the first correspondence relationship and the second correspondence relationship, wherein the target correspondence relationship includes a correspondence relationship between high-precision maps and standard maps.

[0007] According to another aspect of this disclosure, an electronic device is provided. It includes: at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the high-precision map matching method provided in this disclosure.

[0008] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform the high-precision map matching method provided in this disclosure.

[0009] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the high-precision map matching method provided in this disclosure.

[0010] According to another aspect of this disclosure, an autonomous vehicle is provided, including the electronic equipment provided in this disclosure.

[0011] Based on any of the above aspects, in this disclosure, the electronic device can acquire the location information of each trajectory point in a plurality of trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment; then, it generates a first correspondence relationship based on the location information of each trajectory point and the location information included in each high-precision road segment, and generates a second correspondence relationship based on the location information of each trajectory point and the location information included in each standard road segment; subsequently, the electronic device can generate a target correspondence relationship based on the first correspondence relationship and the second correspondence relationship, the target correspondence relationship including the correspondence relationship between the high-precision map and the standard map. In this disclosure, since high-precision road segments are road segments included in high-precision maps and standard road segments are road segments included in standard maps, the electronic device can use trajectory points as a reference to determine the correspondence between trajectory points and road segments included in high-precision maps (i.e., high-precision road segments) based on the positional relationship between the location information of the trajectory points and the location information included in high-precision road segments. Furthermore, it can determine the correspondence between trajectory points and road segments included in standard maps (i.e., standard road segments) based on the positional relationship between the location information of the trajectory points and the location information included in standard road segments. Combining these two correspondences (i.e., the first correspondence and the second correspondence) can accurately and effectively generate the correspondence between high-precision maps and standard maps (i.e., the target correspondence). Based on this target correspondence, the high-precision map corresponding to each standard map can be accurately determined (or matched), improving the accuracy of map matching.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0013] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0014] Figure 1 A flowchart illustrating a high-precision map matching method provided in an embodiment of this disclosure is shown.

[0015] Figure 2 A flowchart illustrating another high-precision map matching method provided in an embodiment of this disclosure is shown;

[0016] Figure 3 A flowchart illustrating another high-precision map matching method provided in an embodiment of this disclosure is shown;

[0017] Figure 4 A flowchart illustrating another high-precision map matching method provided in an embodiment of this disclosure is shown;

[0018] Figure 5 A flowchart illustrating another high-precision map matching method provided in an embodiment of this disclosure is shown;

[0019] Figure 6 A flowchart illustrating another high-precision map matching method provided in an embodiment of this disclosure is shown;

[0020] Figure 7 A schematic diagram of a process for generating a third correspondence relationship provided by an embodiment of this disclosure is shown;

[0021] Figure 8 This diagram illustrates the structure of a high-precision map matching device provided in an embodiment of the present disclosure.

[0022] Figure 9 This is a block diagram of an electronic device used to implement the high-precision map matching method of the embodiments of this disclosure. Detailed Implementation

[0023] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0024] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0025] It should also be understood that the term "comprising" indicates the presence of the described feature, whole, step, operation, element and / or component, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements and / or components.

[0026] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0027] In related technologies, electronic devices can determine whether the map corresponding to a high-precision road segment matches the map corresponding to a standard road segment by judging whether the two intersect. Alternatively, electronic devices can determine the high-precision map that matches the standard map by querying a cache. However, since the precision of high-precision maps differs from that of standard maps, these methods may affect the accuracy of map matching.

[0028] Based on this, embodiments of this disclosure provide a high-precision map matching method. An electronic device can use trajectory points as a reference to determine the correspondence between trajectory points and road segments included in a high-precision map (i.e., high-precision road segments) based on the positional relationship between the location information of the trajectory points and the location information included in standard road segments. Furthermore, it can determine the correspondence between trajectory points and road segments included in standard maps (i.e., standard road segments) based on the positional relationship between the location information of the trajectory points and the location information included in standard road segments. Then, these two correspondences (e.g., the first correspondence and the second correspondence) are combined to accurately and effectively generate the correspondence between the high-precision map and the standard map (e.g., the target correspondence). Based on this target correspondence, the high-precision map corresponding to each standard map can be accurately determined (or matched), improving the accuracy of map matching.

[0029] The high-precision map matching method, apparatus, electronic device, and storage medium provided in this disclosure are applied in autonomous driving scenarios. Specifically, the electronic device, based on the high-precision map matching method provided in this disclosure, can accurately match the high-precision map corresponding to each standard map, fulfilling the user's navigation needs and realizing autonomous driving of the vehicle.

[0030] like Figure 1 As shown, the high-precision map matching method provided in this embodiment includes S101-S104.

[0031] S101, The electronic device acquires the location information of each trajectory point in multiple trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment.

[0032] High-precision road segments are those included in high-precision maps, while standard road segments are those included in standard maps.

[0033] It should be understood that these multiple trajectory points can be included in a single acquisition trajectory or in multiple acquisition trajectories. These multiple trajectory points are points at corresponding locations collected by the acquisition device (e.g., an acquisition vehicle) over time. For an acquisition trajectory, it can be understood as a time series composed of at least one trajectory point. That is, the electronic device can also acquire the acquisition time of each of the above trajectory points.

[0034] In one implementation of this disclosure, when the multiple trajectory points are included in multiple acquisition trajectories, for a certain acquisition trajectory (e.g., the first acquisition trajectory), some trajectory points included in the first acquisition trajectory may be included in other acquisition trajectories (i.e., acquisition trajectories other than the first acquisition trajectory, such as the second and third acquisition trajectories). For example, the first trajectory point may be included in all three acquisition trajectories. However, the position information of the first trajectory point in the three acquisition trajectories may be different. In this case, the electronic device can determine the position information of the first trajectory point by averaging the position information of the first trajectory point in the first acquisition trajectory, the position information of the first trajectory point in the second acquisition trajectory, and the position information of the third trajectory point in the third acquisition trajectory. This allows for accurate determination of the position information of each trajectory point, thereby improving the accuracy of the first correspondence, the second correspondence, and the target correspondence.

[0035] In this embodiment, both the standard map and the high-definition map are electronic maps. The standard map can provide road-level navigation information (including the connections between roads), while the high-definition map can provide lane-level navigation information (including the number of lanes in each road, the function of different lanes, and traffic instructions for different lanes). When a user has navigation needs, they can input the starting point and the destination point into the electronic device. Based on the starting point, the destination point, and the standard map, the electronic device can determine a road-level driving plan. This road-level driving plan can guide the vehicle to start from the starting point and travel through multiple roads (or road segments) to reach the destination point.

[0036] However, electronic devices relying solely on road-level navigation information, or determining only road-level driving routes, may not accurately and effectively guide the vehicle's journey. For example, a vehicle might not be able to determine which lane it should be in: this includes needing to be in the right-turn lane before making a right turn, or needing to change lanes due to an abnormal situation in the current lane (such as a disabled vehicle in the current lane). In such cases, the electronic device needs to combine road-level navigation information with lane-level navigation information to determine a more accurate lane-level driving route for the user.

[0037] It should be understood that electronic devices can store multiple standard maps and multiple high-precision maps. Therefore, determining which standard maps can be matched with which high-precision maps before determining a lane-level driving plan for the user becomes a pressing technical problem in this field.

[0038] It is understood that the location information included in a road segment (including high-precision road segments and standard road segments) refers to the location information of the points included in that road segment. The number of points included in a road segment can be one or more, and this disclosure does not specifically limit the number of location information included in a road segment.

[0039] Optionally, the location information in the embodiments of this disclosure can be represented in the form of global positioning system (GPS) coordinates.

[0040] S102. The electronic device generates a first correspondence based on the position information of each trajectory point among multiple trajectory points and the position information included in each high-precision road segment in at least one high-precision road segment.

[0041] The first correspondence includes the correspondence between trajectory points and high-precision road segments.

[0042] In one case, the first correspondence may also include the identifier of each of the plurality of trajectory points and the identifier of the high-precision road segment corresponding to each trajectory point.

[0043] In another case, the first correspondence may also include the name of each trajectory point and the name of the high-precision road segment corresponding to each trajectory point.

[0044] S103. The electronic device generates a second correspondence based on the location information of each trajectory point among multiple trajectory points and the location information included in each standard road segment of at least one standard road segment.

[0045] The second correspondence includes the correspondence between trajectory points and standard road segments.

[0046] Based on the description of the above embodiments, it should be understood that the second correspondence may further include the identifier of each trajectory point among the plurality of trajectory points and the identifier of the standard road segment corresponding to each trajectory point. The first correspondence may also include the name of each trajectory point and the name of the standard road segment corresponding to each trajectory point.

[0047] In one implementation of this disclosure, the electronic device can determine the second correspondence based on the location information of each trajectory point and the location information included in each standard road segment, combined with a hidden Markov model.

[0048] S104. The electronic device generates a target correspondence based on the first correspondence and the second correspondence.

[0049] This target correspondence includes the correspondence between high-precision maps and standard maps.

[0050] In one implementation of this disclosure, the electronic device may perform a fusion process on the first correspondence and the second correspondence to obtain the target correspondence.

[0051] Optionally, the target correspondence may also include the identifier of each high-precision map among multiple high-precision maps and the identifier of the standard map corresponding to each high-precision map. The target correspondence may also include the name of each high-precision map and the name of the standard map corresponding to each high-precision map.

[0052] The technical solution provided by the above embodiments can bring at least the following beneficial effects: As can be seen from S101-S104, the electronic device can acquire the location information of each trajectory point in multiple trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment; then, a first correspondence relationship is generated based on the location information of each trajectory point and the location information included in each high-precision road segment, and a second correspondence relationship is generated based on the location information of each trajectory point and the location information included in each standard road segment; then, the electronic device can generate a target correspondence relationship based on the first correspondence relationship and the second correspondence relationship, and the target correspondence relationship includes the correspondence relationship between the high-precision map and the standard map. In this embodiment, since high-precision road segments are road segments included in high-precision maps and standard road segments are road segments included in standard maps, the electronic device can use trajectory points as a reference to determine the correspondence between trajectory points and road segments included in high-precision maps (i.e., high-precision road segments) based on the positional relationship between the location information of trajectory points and the location information included in high-precision road segments. Furthermore, it can determine the correspondence between trajectory points and road segments included in standard maps (i.e., standard road segments) based on the positional relationship between the location information of trajectory points and the location information included in standard road segments. Combining these two correspondences (i.e., the first correspondence and the second correspondence) can accurately and effectively generate the correspondence between high-precision maps and standard maps (i.e., the target correspondence). Based on this target correspondence, the high-precision map corresponding to each standard map can be accurately determined (or matched), improving the accuracy of map matching.

[0053] Combination Figure 1 ,like Figure 2 As shown. In one implementation of this disclosure, the electronic device generates a first correspondence relationship based on the position information of each trajectory point among multiple trajectory points and the position information included in each high-precision road segment of at least one high-precision road segment, including S1021.

[0054] S1021. When the location information of the first trajectory point is included in the location information of the first high-precision road segment, the electronic device determines that the first high-precision road segment corresponds to the first trajectory point.

[0055] The first high-precision road segment is one of the above-mentioned at least one high-precision road segment, and the first trajectory point is one of the above-mentioned multiple trajectory points.

[0056] It should be understood that since the accuracy of the aforementioned collected trajectory is the same as or similar to that of the high-precision map, the collected trajectory can also be understood as a high-precision trajectory. That is, the points included in the collected trajectory (i.e., trajectory points) can accurately correspond to the points included in the high-precision map (specifically, high-precision road segments). In this way, the electronic device can determine whether the location information of a certain trajectory point (e.g., the first trajectory point) exists in the location information included in a certain high-precision road segment (e.g., the first high-precision road segment).

[0057] It is understandable that when the location information of the first trajectory point exists within the location information included in the first high-precision road segment, it means that the location information of the first trajectory point is a location information included in the first high-precision road segment, or it can be understood as the first trajectory point being a point included in the first high-precision road segment. At this time, the electronic device can determine that the first high-precision road segment corresponds to the first trajectory point.

[0058] In one alternative implementation, the electronic device can determine the high-precision road segment corresponding to each trajectory point, or the trajectory point corresponding to each high-precision road segment, by constructing a spatial index.

[0059] Specifically, in one scenario, the electronic device can query, based on a trajectory point (e.g., the first trajectory point), which of the above-mentioned at least one high-precision road segments contains the location information of the first trajectory point, that is, the electronic device determines the high-precision road segment corresponding to the first trajectory point.

[0060] In another scenario, the electronic device can also query, based on a high-precision road segment (e.g., the first high-precision road segment), which of the above multiple trajectory points has its location information existing in the first high-precision road segment (or which trajectory point has its location information included in the location information of the first high-precision road segment), that is, the electronic device determines the trajectory point corresponding to the first high-precision road segment.

[0061] It should be noted that the method by which the electronic device determines which trajectory point among other high-precision road segments (i.e., high-precision road segments other than the first high-precision road segment) corresponds to other trajectory points (i.e., trajectory points other than the first trajectory point among multiple trajectory points) is the same as or similar to the method by which the electronic device determines the correspondence between the first high-precision road segment and the first trajectory point, and will not be repeated here. That is, the electronic device can generate the above-mentioned first correspondence based on the description in the above embodiments, and the first correspondence includes the correspondence between trajectory points and high-precision road segments.

[0062] The technical solution provided by the above embodiments can bring at least the following beneficial effects: As can be seen from S1021, when the location information of the first trajectory point exists in the location information included in the first high-precision road segment, it means that the location information of the first trajectory point is a location information included in the first high-precision road segment, which can also be understood as the first trajectory point being a point included in the first high-precision road segment. At this time, the electronic device can determine that the first high-precision road segment corresponds to the first trajectory point, and can accurately determine which trajectory point corresponds to each high-precision road segment based on the positional relationship between the location information of the trajectory point and the location information included in the high-precision road segment, generating a first correspondence relationship with high accuracy, and ensuring the accuracy of the correspondence relationship between the trajectory point and the high-precision road segment.

[0063] Combination Figure 1 ,like Figure 3 As shown. In one implementation of this disclosure, the electronic device generates a second correspondence based on the location information of each trajectory point among multiple trajectory points and the location information included in each standard road segment of at least one standard road segment, including S1031-S1032.

[0064] S1031. The electronic device determines the candidate road segment corresponding to each trajectory point from at least one standard road segment based on the location information of each trajectory point among multiple trajectory points and the location information included in each standard road segment among at least one standard road segment.

[0065] Among them, the candidate road segment corresponding to a trajectory point is the standard road segment with the smallest distance to that trajectory point.

[0066] It should be understood that there is a significant difference between the accuracy of the standard map and the accuracy of the collected trajectory. Specifically, the accuracy of the location information of the points included in the standard map (or standard road segment) is relatively low. In this case, the electronic device needs to match the points included in the collected trajectory (i.e., trajectory points) with the points included in the standard road segment.

[0067] Understandably, for a trajectory point (e.g., a first trajectory point), the electronic device can determine the distance between the first trajectory point and each of the at least one standard road segment. When the distance between the first trajectory point and a certain standard road segment (e.g., the first standard road segment) is less than the distance between the first trajectory point and other standard road segments (i.e., the standard road segments other than the first standard road segment among the at least one standard road segment) (i.e., when the distance between the first trajectory point and the first standard road segment is the minimum), it indicates that the first standard road segment is closest to the first trajectory point. At this time, the electronic device can determine the first standard road segment as a candidate road segment corresponding to the first trajectory point.

[0068] S1032. When the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, the electronic device determines that the first standard road segment corresponds to the first trajectory point.

[0069] Among them, the first standard road segment is the candidate road segment corresponding to the first trajectory point, the first trajectory point is one of the above multiple trajectory points, the second trajectory point is the previous trajectory point of the first trajectory point, and the third trajectory point is the next trajectory point of the first trajectory point.

[0070] Based on the description of the above embodiments, it should be understood that the electronic device can obtain the acquisition time of each of the plurality of trajectory points, and the acquisition trajectory can be understood as a time series composed of each trajectory point.

[0071] In this embodiment of the disclosure, after selecting a first trajectory point from a plurality of trajectory points, the electronic device can determine the aforementioned second and third trajectory points from the plurality of trajectory points based on the acquisition time of each trajectory point. The second, first, and third trajectory points can be understood as three consecutive trajectory points acquired in chronological order.

[0072] Understandably, when the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, it means that the three consecutive trajectory points fall into the same candidate road segment, which is consistent with the vehicle's driving logic, that is, the vehicle can continuously travel in the same road segment. At this time, the electronic equipment can determine that the same candidate road segment corresponds to the middle trajectory point (i.e., the first trajectory point) among the three consecutive trajectory points.

[0073] It should be understood that the process by which the electronic device determines the correspondence between the first standard road segment and the first trajectory point based on the candidate road segments corresponding to the first trajectory point, the candidate road segments corresponding to the first trajectory point, and the candidate road segments corresponding to the third trajectory point can be understood as the process by which the electronic device generates a second correspondence using a Hidden Markov Model. Specifically, the electronic device can use a Hidden Markov Model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) with the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the positional information of the trajectory point and the positional information included in the standard road segment. This can generate a second correspondence with higher accuracy, improving the matching accuracy between trajectory points and standard road segments.

[0074] It should be noted that the electronic device can also determine, based on the descriptions in S1031-S1032 above, the correspondence between other standard road segments (i.e., standard road segments other than the first standard road segment among the above at least one standard road segment) and a certain trajectory point among the above other trajectory points. That is, the electronic device can generate a second correspondence relationship based on the descriptions in the above embodiments, and the second correspondence relationship includes the correspondence relationship between trajectory points and standard road segments.

[0075] The technical solution provided by the above embodiments can bring at least the following beneficial effects: As shown in S1031-S1032, on the one hand, the electronic device can determine the candidate road segment corresponding to each trajectory point from the at least one standard road segment based on the location information of each trajectory point in a plurality of trajectory points and the location information included in each standard road segment in at least one standard road segment. For a trajectory point (e.g., a first trajectory point), the electronic device can determine the distance between the first trajectory point and each standard road segment in the at least one standard road segment. When the distance between the first trajectory point and a certain standard road segment (e.g., the first standard road segment) is less than the distance between the first trajectory point and other standard road segments (i.e., standard road segments other than the first standard road segment in the at least one standard road segment) (i.e., when the distance between the first trajectory point and the first standard road segment is the minimum), it indicates that the first standard road segment is closest to the first trajectory point. At this time, the electronic device can determine the first standard road segment as the candidate road segment corresponding to the first trajectory point. It can quickly and effectively determine the candidate road segment corresponding to each trajectory point.

[0076] On the other hand, the second trajectory point, the first trajectory point, and the third trajectory point can be understood as three consecutive trajectory points collected in chronological order. When the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, it indicates that the three consecutive trajectory points fall into the same candidate road segment, which conforms to the vehicle's driving logic, that is, the vehicle can continuously travel in the same road segment. At this time, the electronic device can determine that the same candidate road segment corresponds to the middle trajectory point (i.e., the first trajectory point) among the three consecutive trajectory points. In this embodiment of the present disclosure, the electronic device can use a hidden Markov model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) with the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the positional information of the trajectory points and the positional information included in the standard road segment. This can accurately determine which trajectory point corresponds to each standard road segment, generate a second correspondence with high accuracy, and improve the matching accuracy of trajectory points and standard road segments.

[0077] Combination Figure 3 ,like Figure 4As shown. In one implementation of this disclosure, the electronic device generates a second correspondence based on the location information of each trajectory point among multiple trajectory points and the location information included in each standard road segment of at least one standard road segment, including S1033-S1034.

[0078] S1033. When the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, the electronic device determines whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point.

[0079] Based on the description of the above embodiments, it should be understood that the second trajectory point, the first trajectory point, and the third trajectory point can be understood as three consecutive trajectory points collected in chronological order.

[0080] When the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, it indicates that the three consecutive trajectory points do not fall into the same candidate road segment. Specifically, the first trajectory point and the second trajectory point fall into the same candidate road segment, while the third trajectory point falls into a different candidate road segment. At this time, the electronic device can determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point.

[0081] S1034. When there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the electronic device determines that the third standard road segment corresponds to the third trajectory point.

[0082] Among them, the third standard road segment is the candidate road segment corresponding to the third trajectory point.

[0083] In this embodiment of the disclosure, the connection relationship described above can also be understood as an intersection relationship. The electronic device can determine whether there is a connection relationship between one road segment and another road segment by obtaining the road topology information in the standard map.

[0084] It should be understood that when there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, it means that the candidate road segment corresponding to the third trajectory point is adjacent to the candidate road segment corresponding to the first trajectory point. Specifically, the vehicle can travel from the candidate road segment corresponding to the first trajectory point to the candidate road segment corresponding to the third trajectory point (which can also be understood as the end point of the candidate road segment corresponding to the first trajectory point and the start point of the candidate road segment corresponding to the third trajectory point being the same or similar), which conforms to the vehicle's driving logic, that is, the vehicle can travel from one road segment to a road segment adjacent to that road segment. At this time, the electronic equipment can determine that the third standard road segment (i.e., the candidate road segment corresponding to the last trajectory point (i.e., the third trajectory point) among the three consecutive trajectory points) corresponds to the third trajectory point.

[0085] It should be understood that the process by which the electronic device determines the correspondence between the third standard road segment and the third trajectory point based on the descriptions in S1033-S1034 above can be understood as the process by which the electronic device generates a second correspondence using a Hidden Markov Model. Specifically, the electronic device can use a Hidden Markov Model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) with the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the location information of the trajectory point and the location information included in the standard road segment, as well as the road topology information in the standard map. This can generate a second correspondence with high accuracy, improving the matching accuracy between trajectory points and standard road segments.

[0086] In one alternative implementation, when there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the electronic device can also determine that the first standard road segment (i.e., the candidate road segment corresponding to the first trajectory point) corresponds to the first trajectory point.

[0087] It should be noted that when there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the explanation given by the electronic device for determining the correspondence between the first standard road segment and the first trajectory point is the same as or similar to the description given by the electronic device for determining the correspondence between the third standard road segment and the third trajectory point. That is, the electronic device can generate a second correspondence based on the description in the above embodiments, and the second correspondence includes the correspondence between trajectory points and standard road segments.

[0088] In another optional implementation, when there is no connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, it indicates that the candidate road segment corresponding to the third trajectory point is not an adjacent road segment to the candidate road segment corresponding to the first trajectory point (this can also be understood as the distance between the end point of the candidate road segment corresponding to the first trajectory point and the start point of the candidate road segment corresponding to the third trajectory point being relatively far), which does not conform to the vehicle's driving logic. Specifically, it is impossible for a vehicle to directly travel from one road segment to another road segment that is relatively far away from that road segment. In this case, the electronic equipment can determine that the aforementioned third standard road segment is not the standard road segment corresponding to the third trajectory point.

[0089] The technical solution provided by the above embodiments can bring at least the following beneficial effects: As can be seen from S1033-S1034, when the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, it indicates that the three consecutive trajectory points do not fall into the same candidate road segment. At this time, the electronic device can determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point.

[0090] When there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, it indicates that the candidate road segment corresponding to the third trajectory point is adjacent to the candidate road segment corresponding to the first trajectory point. Specifically, the vehicle can travel from the candidate road segment corresponding to the first trajectory point to the candidate road segment corresponding to the third trajectory point (which can also be understood as the end point of the candidate road segment corresponding to the first trajectory point and the start point of the candidate road segment corresponding to the third trajectory point being the same or similar), which conforms to the vehicle's driving logic, that is, the vehicle can travel from one road segment to an adjacent road segment. At this time, the electronic equipment can determine that the third standard road segment (i.e., the candidate road segment corresponding to the last trajectory point (i.e., the third trajectory point) among the three consecutive trajectory points) corresponds to the third trajectory point. In this embodiment of the disclosure, the electronic device can use a Hidden Markov Model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) with the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the location information of the trajectory points and the location information included in the standard road segments, as well as the road topology information in the standard map. Since more and more effective information (including location information, road topology information, etc.) is used in the matching process between trajectory points and standard road segments, it can more accurately determine which trajectory point corresponds to each standard road segment, and generate a second correspondence with higher accuracy, thereby improving the matching accuracy of trajectory points and standard road segments.

[0091] Combination Figure 3 ,like Figure 5 As shown. The high-precision map matching method provided in this embodiment of the disclosure also includes S105.

[0092] S105. When the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point, the electronic device determines that the first standard road segment is not the standard road segment corresponding to the first trajectory point.

[0093] Based on the description of the above embodiments, it should be understood that the second trajectory point, the first trajectory point, and the third trajectory point can be understood as three consecutive trajectory points collected in chronological order. When the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point, it indicates that the three consecutive trajectory points do not fall into the same candidate road segment. Specifically, the second trajectory point and the third trajectory point fall into the same candidate road segment, while the first trajectory point falls into another candidate road segment, meaning that adjacent trajectory points do not fall into the same candidate road segment. This does not conform to the vehicle's driving logic; specifically, after a vehicle travels from an initial road segment to another road segment, it is impossible for it to instantly return from the other road segment to the initial road segment. At this time, the electronic device determines that the first standard road segment (i.e., the candidate road segment corresponding to the middle trajectory point (i.e., the first trajectory point) among the three consecutive trajectory points) is not the standard road segment corresponding to the first trajectory point.

[0094] It should be understood that the process by which the electronic device determines that the first standard road segment is not the standard road segment corresponding to the first trajectory point based on the description in S105 above can be understood as the process by which the electronic device generates the second correspondence using a Hidden Markov Model. Specifically, the electronic device can use a Hidden Markov Model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) with the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the location information of the trajectory point and the location information included in the standard road segment, as well as the matching result constraints before and after the road segment included in the standard map (specifically, after a vehicle travels from an initial road segment to another road segment, it is impossible to instantly return from the other road segment to the initial road segment). This can accurately filter out which candidate road segments are not the standard road segments corresponding to the trajectory points.

[0095] Optionally, the aforementioned first standard road segment (i.e., the candidate road segment corresponding to the first trajectory point) can be understood as the first candidate road segment corresponding to the first trajectory point (i.e., the standard road segment with the smallest distance to the first trajectory point among the at least one standard road segment). When the first standard road segment is not the standard road segment corresponding to the first trajectory point, the electronic device can also determine a second standard road segment (assuming that the second standard road segment is the standard road segment with the second smallest distance to the first trajectory point among the at least one standard road segment), and can determine whether the second standard road segment corresponds to the first trajectory point in conjunction with the relevant processes disclosed in the above embodiments. This continues until the standard road segment corresponding to each trajectory point is determined.

[0096] The technical solution provided by the above embodiments can bring at least the following beneficial effects: As shown in S105, when the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point, it indicates that the three consecutive trajectory points do not fall into the same candidate road segment. Specifically, the second trajectory point and the third trajectory point fall into the same candidate road segment, while the first trajectory point falls into another candidate road segment, that is, adjacent trajectory points do not fall into the same candidate road segment. This does not conform to the driving logic of the vehicle, specifically, after the vehicle travels from an initial road segment to another road segment, it is impossible for it to instantly return from the other road segment to the initial road segment. At this time, the electronic device determines that the first standard road segment (i.e., the candidate road segment corresponding to the middle trajectory point (i.e., the first trajectory point) among the three consecutive trajectory points) is not the standard road segment corresponding to the first trajectory point. In this embodiment of the disclosure, the electronic device can use a Hidden Markov Model to match the sampled trajectory (specifically, the trajectory points included in the sampled trajectory) with the standard map (specifically, the standard road segments included in the standard map) based on the positional relationship between the location information of the trajectory points and the location information included in the standard road segments, as well as the matching result constraints before and after the road segments included in the standard map (specifically, after a vehicle travels from an initial road segment to another road segment, it is impossible to instantly return from the other road segment to the initial road segment). This can accurately filter out which candidate road segments are not the standard road segments corresponding to the trajectory points, thus ensuring the matching accuracy between trajectory points and standard road segments.

[0097] Combination Figure 1 ,like Figure 6 As shown. In one implementation of this disclosure, the electronic device generates a target correspondence based on a first correspondence and a second correspondence, including steps S1041-S1043.

[0098] S1041. The electronic device generates a third correspondence based on the first correspondence and the second correspondence.

[0099] The third correspondence includes the correspondence between high-precision road segments and standard road segments.

[0100] Based on the description of the above embodiments, it should be understood that the first correspondence includes the correspondence between trajectory points and high-precision road segments, and the second correspondence includes the correspondence between trajectory points and standard road segments.

[0101] In this embodiment of the disclosure, the electronic device can use the trajectory points as a reference and, by determining and combining the correspondence between the trajectory points and the high-precision road segments (i.e., the first correspondence) and the correspondence between the trajectory points and the standard road segments (i.e., the second correspondence), accurately and effectively generate the correspondence between the high-precision road segments and the standard road segments (i.e., the third correspondence).

[0102] In one alternative implementation, the electronic device may fuse the first correspondence and the second correspondence to obtain the third correspondence.

[0103] In one case, the third correspondence may also include the identifier of each standard road segment in the above-mentioned at least one standard road segment and the identifier of the high-precision road segment corresponding to each standard road segment.

[0104] In another case, the third correspondence may also include the name of each standard road segment and the name of the high-precision road segment corresponding to each standard road segment.

[0105] The following example illustrates the specific process by which an electronic device obtains a third correspondence in an embodiment of this disclosure. For example... Figure 7 As shown, the process includes S201-S209.

[0106] S201. Electronic devices acquire at least one standard road segment (SD-Link).

[0107] Specifically, electronic devices can acquire location information included in each of the at least one standard road segment.

[0108] S202. The electronic device acquires at least one acquisition trajectory (HD-trajectory).

[0109] Specifically, the electronic device can acquire the location information of the trajectory points (i.e., the aforementioned multiple trajectory points) included in at least one acquisition trajectory.

[0110] S203. Electronic equipment acquires at least one high-precision road segment (HD-Road).

[0111] Specifically, the electronic device can acquire the location information included in each of the at least one high-precision road segment.

[0112] It should be noted that the embodiments disclosed herein do not limit the execution order of S201, S202, and S203. For example, an electronic device may execute S201, S202, and S203 in sequence, or it may execute S203, S202, and S201 in sequence, or it may execute S201, S202, and S203 simultaneously.

[0113] S204. The electronic equipment matches at least one collected trajectory and at least one standard road segment (trajectory-SD matching).

[0114] Specifically, electronic devices can determine the standard road segment corresponding to each of the multiple trajectory points mentioned above.

[0115] S205. The electronic equipment performs matching on at least one acquired trajectory and at least one high-precision road segment (trajectory-HD matching).

[0116] Specifically, electronic devices can determine the high-precision road segment corresponding to each trajectory point.

[0117] S206. The electronic equipment obtains a mapping table (trajectory-SD mapping table) between the collected trajectory and the standard road segment.

[0118] Specifically, the electronic device can generate the aforementioned second correspondence, which includes the correspondence between trajectory points and standard road segments.

[0119] S207. The electronic equipment obtains a mapping table (trajectory-HD mapping table) between the collected trajectory and the high-precision road segment.

[0120] Specifically, the electronic device can generate the aforementioned first correspondence, which includes the correspondence between trajectory points and high-precision road segments.

[0121] S208, Electronic equipment performs matching on standard road sections and high-precision road sections (HD-SD matching).

[0122] Specifically, electronic devices can determine the high-precision road segment corresponding to each standard road segment (or the standard road segment corresponding to each high-precision road segment).

[0123] S209. The electronic equipment obtains a mapping table (HD-SD mapping table) between standard road sections and high-precision road sections.

[0124] Specifically, electronic devices can generate the aforementioned third correspondence, which includes the correspondence between high-precision road segments and standard road segments.

[0125] S1042. The electronic device acquires the fourth and fifth correspondence relationships.

[0126] The fourth correspondence includes the correspondence between high-precision road segments and high-precision maps, and the fifth correspondence includes the correspondence between standard road segments and standard maps.

[0127] Based on the description of the above embodiments, it should be understood that the fourth correspondence may also include the identifier of each high-precision road segment in the at least one high-precision road segment and the identifier of the high-precision map corresponding to each high-precision road segment. The fourth correspondence may also include the name of each high-precision road segment and the name of the high-precision map corresponding to each high-precision road segment.

[0128] Similarly, the fifth correspondence may also include the identifier of each standard road segment and the identifier of the standard map corresponding to each standard road segment. The fourth correspondence may also include the name of each standard road segment and the name of the standard map corresponding to each standard road segment.

[0129] S1043. The electronic device generates a target correspondence based on the third correspondence, the fourth correspondence, and the fifth correspondence.

[0130] Based on the description of the above embodiments, it should be understood that the third correspondence includes the correspondence between high-precision road segments and standard road segments, the fourth correspondence includes the correspondence between high-precision road segments and high-precision maps, and the fifth correspondence includes the correspondence between standard road segments and standard maps. Since high-precision road segments are road segments included in high-precision maps, and standard road segments are road segments included in standard maps, the electronic device can determine which high-precision map each high-precision road segment corresponds to (or belongs to) based on the fourth correspondence, and determine which standard map each standard road segment corresponds to (or belongs to) based on the fifth correspondence. Furthermore, since the third correspondence includes the correspondence between high-precision road segments and standard road segments, it can characterize which standard road segment each high-precision road segment corresponds to (or which high-precision road segment each standard road segment corresponds to). Thus, for a standard map, electronic devices can accurately determine the high-precision map corresponding to each standard map among multiple standard maps by determining the standard road segment corresponding to the standard road segment, determining the high-precision road segment corresponding to the standard road segment, and determining the high-precision map corresponding to the high-precision road segment. (This can also be understood as determining the ordinary map corresponding to each high-precision map among multiple high-precision maps.)

[0131] The following describes the specific application process of the target correspondence provided in the embodiments of this disclosure, in the context of autonomous driving scenarios.

[0132] When a user needs navigation, they can input their starting and ending points into the electronic device. The device can then select a target standard map from multiple standard maps, which includes both the starting and ending points. Based on this, the device can then determine a road-level driving plan that guides the vehicle from the starting point, traversing multiple road segments to reach the destination.

[0133] At this point, the electronic device can also determine the target high-precision map corresponding to the target standard map based on the target standard map and the target correspondence provided in the embodiments of this disclosure, and can determine the lane-level driving plan by combining the target high-precision map. Specifically, the lane-level driving plan can indicate which lane the vehicle should travel in on the road (or road segment), whether a lane change is required, and which road segment is congested and requires a change of driving plan, etc. It can accurately and effectively guide the vehicle's driving process and meet the user's autonomous driving needs.

[0134] The technical solution provided by the above embodiments can bring at least the following beneficial effects: As can be seen from S1041-S1043, the electronic device can generate a third correspondence (including the correspondence between high-precision road segments and standard road segments) based on the first correspondence and the second correspondence, and obtain a fourth correspondence (including the correspondence between high-precision road segments and high-precision maps) and a fifth correspondence (including the correspondence between standard road segments and standard maps); then the electronic device can generate a target correspondence (including the correspondence between high-precision maps and standard maps) based on the third correspondence, the fourth correspondence, and the fifth correspondence.

[0135] In this embodiment, since high-precision road segments are road segments included in high-precision maps and standard road segments are road segments included in standard maps, the electronic device can determine which high-precision map each high-precision road segment corresponds to (or belongs to) based on the fourth correspondence, and determine which standard map each standard road segment corresponds to (or belongs to) based on the fifth correspondence. Furthermore, since the third correspondence includes the correspondence between high-precision road segments and standard road segments, it can characterize which standard road segment each high-precision road segment corresponds to (or which high-precision road segment each standard road segment corresponds to). Thus, for a standard map, the electronic device can accurately determine the high-precision map corresponding to each standard map among multiple standard maps (which can also be understood as determining the ordinary map corresponding to each high-precision map among multiple high-precision maps) by determining the standard road segment corresponding to the standard map, determining the high-precision road segment corresponding to the standard road segment, and determining the high-precision map corresponding to the high-precision road segment, through the process of determining the standard road segment corresponding to the standard map, determining the high-precision road segment corresponding to the standard road segment, and determining the high-precision map corresponding to the high-precision road segment. This allows for accurate and effective generation of target correspondences, ensuring the accuracy of the correspondence between high-precision maps and standard maps.

[0136] It is understood that, in practical implementation, the electronic device described in the embodiments of this disclosure may include one or more hardware structures and / or software modules for implementing the aforementioned corresponding high-precision map matching method. These hardware structures and / or software modules can constitute an electronic device. Those skilled in the art should readily recognize that, based on the algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is implemented in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0137] Based on this understanding, the present disclosure also provides a high-precision map matching device. Figure 8 A schematic diagram of the structure of the high-precision map matching device provided in an embodiment of this disclosure is shown. Figure 8 As shown, the high-precision map matching device 30 may include an acquisition module 301 and a processing module 302.

[0138] The acquisition module 301 is used to acquire the location information of each trajectory point in multiple trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment, wherein each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map.

[0139] The processing module 302 is used to generate a first correspondence relationship based on the location information of each trajectory point and the location information included in each high-precision road segment. The first correspondence relationship includes the correspondence relationship between the trajectory point and the high-precision road segment.

[0140] The processing module 302 is further configured to generate a second correspondence relationship based on the location information of each trajectory point and the location information included in each standard road segment, the second correspondence relationship including the correspondence relationship between the trajectory point and the standard road segment.

[0141] The processing module 302 is further configured to generate a target correspondence based on the first correspondence and the second correspondence, the target correspondence including the correspondence between the high-precision map and the standard map.

[0142] Optionally, the device also includes a determining module 303.

[0143] The determining module 303 is used to determine that the first high-precision road segment corresponds to the first trajectory point when the location information of the first trajectory point exists in the location information included in the first high-precision road segment. The first high-precision road segment is one of the at least one high-precision road segment, and the first trajectory point is one of the plurality of trajectory points.

[0144] Optionally, the determining module 303 is used to determine the candidate road segment corresponding to each trajectory point from the at least one standard road segment based on the location information of each trajectory point and the location information included in each standard road segment, wherein the candidate road segment corresponding to a trajectory point is the standard road segment with the smallest distance to the trajectory point.

[0145] The determining module 303 is further configured to determine that when the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, the first standard road segment corresponds to the first trajectory point, the first standard road segment is the candidate road segment corresponding to the first trajectory point, the first trajectory point is one of the plurality of trajectory points, the second trajectory point is the previous trajectory point of the first trajectory point, and the third trajectory point is the next trajectory point of the first trajectory point.

[0146] Optionally, the determining module 303 is further configured to determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point when the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point.

[0147] The determining module is further configured to determine that a third standard road segment corresponds to the third trajectory point when there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, and the third standard road segment is the candidate road segment corresponding to the third trajectory point.

[0148] Optionally, the determining module 303 is further configured to determine that the first standard road segment is not the standard road segment corresponding to the first trajectory point when the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point.

[0149] Optionally, the processing module 302 is specifically used to generate a third correspondence based on the first correspondence and the second correspondence, the third correspondence including the correspondence between high-precision road segments and standard road segments.

[0150] The acquisition module 301 is also used to acquire a fourth correspondence and a fifth correspondence. The fourth correspondence includes the correspondence between high-precision road segments and high-precision maps, and the fifth correspondence includes the correspondence between standard road segments and standard maps.

[0151] The processing module 302 is further configured to generate the target correspondence based on the third correspondence, the fourth correspondence, and the fifth correspondence.

[0152] As described above, the embodiments of this disclosure can divide the high-precision map matching device into functional modules according to the above method examples. The integrated modules can be implemented in hardware or software. Furthermore, it should be noted that the module division in these embodiments is illustrative and represents only one logical functional division; in actual implementation, other division methods may be used. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into a single processing module.

[0153] The specific methods by which each module performs its operation and the beneficial effects of the high-precision map matching device in the above embodiments have been described in detail in the foregoing method embodiments, and will not be repeated here.

[0154] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0155] Figure 9A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0156] like Figure 9 As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 402 or a computer program loaded from storage unit 404 into random access memory (RAM) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0157] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 404, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0158] The computing unit 401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the high-precision map matching method. For example, in some embodiments, the high-precision map matching method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 404. In some embodiments, part or all of the computer program may be loaded and / or installed on device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the high-precision map matching method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the high-precision map matching method by any other suitable means (e.g., by means of firmware).

[0159] According to embodiments of this disclosure, this disclosure also provides an autonomous driving vehicle, including the electronic devices described in the above embodiments.

[0160] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0161] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0162] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0163] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0164] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0165] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0166] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0167] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A high-precision map matching method, comprising: The location information of each trajectory point in multiple trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment are obtained. Each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map. Based on the location information of each trajectory point and the location information included in each high-precision road segment, a first correspondence is generated, the first correspondence including the correspondence between trajectory points and high-precision road segments; Based on the location information of each trajectory point and the location information included in each standard road segment, a candidate road segment corresponding to each trajectory point is determined from the at least one standard road segment, wherein the candidate road segment corresponding to a trajectory point is the standard road segment with the smallest distance to the trajectory point; When the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same, a second correspondence is determined. The second correspondence includes: a first standard road segment corresponds to the first trajectory point, the first standard road segment is a candidate road segment corresponding to the first trajectory point, the first trajectory point is one of the plurality of trajectory points, the second trajectory point is the previous trajectory point of the first trajectory point, and the third trajectory point is the next trajectory point of the first trajectory point. Based on the first correspondence and the second correspondence, a target correspondence is generated, which includes the correspondence between the high-precision map and the standard map.

2. The method according to claim 1, wherein, The step of generating the first correspondence based on the location information of each trajectory point and the location information included in each high-precision road segment includes: When the location information of the first trajectory point is present in the location information included in the first high-precision road segment, it is determined that the first high-precision road segment corresponds to the first trajectory point. The first high-precision road segment is one of the at least one high-precision road segment, and the first trajectory point is one of the plurality of trajectory points.

3. The method according to claim 1 or 2, wherein, The determination of the second correspondence also includes: When the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point, determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point. When there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, the third standard road segment is determined to correspond to the third trajectory point, and the third standard road segment is the candidate road segment corresponding to the third trajectory point.

4. The method according to claim 1 or 2, further comprising: When the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point, it is determined that the first standard road segment is not the standard road segment corresponding to the first trajectory point.

5. The method according to claim 1 or 2, wherein, When the multiple trajectory points are trajectory points included in multiple acquisition trajectories, the position information of the same trajectory point included in the multiple acquisition trajectories is determined based on the average value of the position information of the same trajectory point in the multiple acquisition trajectories; The step of generating the target correspondence based on the first correspondence and the second correspondence includes: Based on the first and second correspondences, a third correspondence is generated, which includes the correspondence between high-precision road segments and standard road segments. Obtain the fourth and fifth correspondence relationships. The fourth correspondence relationship includes the correspondence between high-precision road segments and high-precision maps, and the fifth correspondence relationship includes the correspondence between standard road segments and standard maps. The target correspondence is generated based on the third correspondence, the fourth correspondence, and the fifth correspondence.

6. A high-precision map matching device, comprising: The module includes an acquisition module, a processing module, and a determination module. The acquisition module is used to acquire the location information of each trajectory point in a plurality of trajectory points, the location information included in each high-precision road segment in at least one high-precision road segment, and the location information included in each standard road segment in at least one standard road segment, wherein each high-precision road segment is a road segment included in a high-precision map, and each standard road segment is a road segment included in a standard map; The processing module is used to generate a first correspondence relationship based on the location information of each trajectory point and the location information included in each high-precision road segment. The first correspondence relationship includes the correspondence relationship between the trajectory point and the high-precision road segment. The determining module is further configured to determine a candidate road segment corresponding to each trajectory point from the at least one standard road segment based on the location information of each trajectory point and the location information included in each standard road segment, wherein a candidate road segment corresponding to a trajectory point is the standard road segment with the smallest distance to the trajectory point; The determining module is further configured to determine a second correspondence when the candidate road segment corresponding to the first trajectory point, the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the third trajectory point are the same. The second correspondence includes: a first standard road segment corresponds to the first trajectory point, the first standard road segment is a candidate road segment corresponding to the first trajectory point, the first trajectory point is one of the plurality of trajectory points, the second trajectory point is the previous trajectory point of the first trajectory point, and the third trajectory point is the next trajectory point of the first trajectory point. The processing module is further configured to generate a target correspondence based on the first correspondence and the second correspondence, wherein the target correspondence includes the correspondence between the high-precision map and the standard map.

7. The apparatus according to claim 6, The determining module is used to determine that the first high-precision road segment corresponds to the first trajectory point when the location information of the first trajectory point exists in the location information included in the first high-precision road segment. The first high-precision road segment is one of the at least one high-precision road segment, and the first trajectory point is one of the plurality of trajectory points.

8. The apparatus according to claim 6 or 7, The determining module is further configured to determine whether there is a connection relationship between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point when the candidate road segment corresponding to the first trajectory point is the same as the candidate road segment corresponding to the second trajectory point, and the candidate road segment corresponding to the first trajectory point is different from the candidate road segment corresponding to the third trajectory point. The determining module is further configured to determine that a third standard road segment corresponds to the third trajectory point when there is a connection between the candidate road segment corresponding to the first trajectory point and the candidate road segment corresponding to the third trajectory point, wherein the third standard road segment is the candidate road segment corresponding to the third trajectory point.

9. The apparatus according to claim 6 or 7, The determining module is further configured to determine that the first standard road segment is not the standard road segment corresponding to the first trajectory point when the candidate road segment corresponding to the second trajectory point is the same as the candidate road segment corresponding to the third trajectory point, and the candidate road segment corresponding to the second trajectory point is different from the candidate road segment corresponding to the first trajectory point.

10. The apparatus according to claim 6 or 7, wherein when the plurality of trajectory points are trajectory points included in a plurality of acquisition trajectories, the position information of the same trajectory point included in the plurality of acquisition trajectories is determined based on the average value of the position information of the same trajectory point in the plurality of acquisition trajectories; The processing module is specifically used to generate a third correspondence based on the first correspondence and the second correspondence, wherein the third correspondence includes the correspondence between high-precision road segments and standard road segments; The acquisition module is further configured to acquire a fourth correspondence relationship and a fifth correspondence relationship. The fourth correspondence relationship includes the correspondence relationship between high-precision road segments and high-precision maps, and the fifth correspondence relationship includes the correspondence relationship between standard road segments and standard maps. The processing module is further configured to generate the target correspondence based on the third correspondence, the fourth correspondence, and the fifth correspondence.

11. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-5.

13. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-5.

14. An autonomous vehicle, including the electronic equipment as claimed in claim 11.

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