Region matching method and device, equipment and storage medium

Abstract

The invention relates to a region matching method and device, equipment and a storage medium. According to the main technical scheme, area information, reported at different moments, of specific areas of different vehicles is obtained, the area information comprises area polygons and area coordinates of the specific areas, the mass center unique identification codes of the area polygons are determined according to the area coordinates, and element information of multiple map elements around the specific areas is obtained; the element information comprises element coordinates of map elements, determining relative position codes of the map elements and the centroids of the regional polygons according to the element coordinates and the regional coordinates, and determining the current coding information according to the unique identification codes of the centroids, the relative position codes of the map elements and the centroids of the regional polygons and the current coding information. The specific areas reported by different vehicles at different moments can be matched. The method can ensure that the same areas reported by different vehicles at different moments can be accurately matched.

Description

Technical Field

[0001] This application relates to the field of information processing technology, and in particular to a region matching method, apparatus, device, and storage medium. Background Technology

[0002] Autonomous driving is a crucial research direction now and in the future, not only making our travel more convenient but also playing a vital role in improving vehicle safety. During operation, autonomous vehicles continuously monitor specific areas, including but not limited to construction zones, accident zones, and areas protected by traffic barriers. Reporting these detection results to a cloud server and distributing them to other vehicles as needed greatly assists their path planning. However, it's impossible to guarantee that the specific areas reported by different vehicles at different times are the same. To avoid confusion in the storage of specific areas, it's necessary to match the same areas reported by different vehicles at different times.

[0003] Currently, the Intersection Over Union (IOU) ratio of the reported region polygons is typically used to determine whether they belong to the same region. If the IOU is greater than a certain threshold, they are considered to be in the same region; otherwise, they are not. However, this method cannot guarantee that the region polygons detected by different vehicles at different times in the same region will be similar, nor can it distinguish between some adjacent region polygons. Therefore, it cannot guarantee accurate matching of the same region reported by different vehicles at different times. Summary of the Invention

[0004] Based on this, this application provides a region matching method, apparatus, device, and storage medium to solve the technical problem that it is impossible to guarantee accurate matching of the same region reported by different vehicles at different times.

[0005] Firstly, a region matching method is provided, the method comprising: Obtain the area information of a specific area reported by different vehicles at different times. The area information includes the area polygon and area coordinates of the specific area. Based on the region coordinates, determine the unique identifier code of the centroid of the region polygon; Get element information of multiple map elements around a specific area, including the coordinates of the map elements; Based on the element coordinates and region coordinates, determine the relative position code of the map element and the centroid of the region polygon; Based on the unique centroid identifier code, the relative position code of the centroid of the map element and the region polygon, and the current coding information, the specific area reported by different vehicles at different times is matched.

[0006] According to one feasible method in an embodiment of this application, determining the unique centroid identifier code of a region polygon based on region coordinates includes: Determine the centroid coordinates of the region polygon based on the region coordinates; The centroid coordinates of the region polygon are encoded to obtain a unique identifier code for the centroid of the region polygon.

[0007] According to one feasible method in an embodiment of this application, determining the relative position encoding of a map element and the centroid of a region polygon based on element coordinates and region coordinates includes: Determine the centroid coordinates of the region polygon based on the region coordinates; Based on the element coordinates and centroid coordinates, determine the relative position vector between the map element and the centroid of the region polygon; Encode the relative position vectors of the map elements and the centroids of the region polygons to obtain the relative position codes of the map elements and the centroids of the region polygons.

[0008] According to one feasible method in an embodiment of this application, the relative position vector between a map element and the centroid of a region polygon is encoded to obtain the relative position encoding between the map element and the centroid of the region polygon, including: Establish a rectangular coordinate system with the centroid of the region polygon as the origin, the eastward direction of the region polygon as the positive direction of the horizontal coordinate, and the northward direction of the region polygon as the positive direction of the vertical coordinate. Based on the relative position vector between the map element and the centroid of the region polygon, determine the quadrant position of the map element in the rectangular coordinate system. The quadrant positions of map elements in a Cartesian coordinate system are encoded to obtain the relative position codes of map elements and the centroids of region polygons.

[0009] According to one achievable method in an embodiment of this application, the current encoding information includes the encoding algorithm version number and the map version used for encoding; based on the centroid unique identifier encoding, the relative position encoding of the centroids of map elements and region polygons, and the current encoding information, matching specific areas reported by different vehicles at different times includes: The unique centroid identifier code, the relative position code of the centroid of the map element and the region polygon are combined to obtain the coding sequence; The encoding sequence, encoding algorithm version number, and map version used for encoding are encoded to obtain a unique identifier code for the region polygon; Based on the unique identifier of the region polygon, the specific region reported by different vehicles at different times is matched.

[0010] According to one achievable method in an embodiment of this application, matching specific areas reported by different vehicles at different times based on the unique identifier code of the region polygon includes: Regions with the same unique identifier code reported by different vehicles at different times in a specific area are matched as the same region; Regions with different unique identifier codes reported by different vehicles at different times in specific areas are matched as different regions.

[0011] According to one possible implementation method in the embodiments of this application, map elements include pedestrian crossings, parking lines, buildings, intersections, and safety islands around a specific area.

[0012] Secondly, a region matching device is provided, the device comprising: The acquisition module is used to acquire the area information of a specific area reported by different vehicles at different times. The area information includes the area polygon and area coordinates of the specific area. The determination module is used to determine the unique identifier code of the centroid of the region polygon based on the region coordinates; The acquisition module is also used to acquire element information of multiple map elements around a specific area, including the element coordinates of the map elements; The determination module is also used to determine the relative position encoding of the centroid of the map element and the region polygon based on the element coordinates and the region coordinates. The matching module is used to match specific areas reported by different vehicles at different times based on the unique centroid identifier code, the relative position code of the centroid of the map element and the region polygon, and the current coding information.

[0013] Thirdly, a computer device is provided, comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores computer instructions that can be executed by the at least one processor to enable the at least one processor to perform the method involved in the first aspect above.

[0014] Fourthly, a computer-readable storage medium is provided, having stored thereon computer instructions, wherein the computer instructions are used to cause a computer to perform the methods involved in the first aspect above.

[0015] According to the technical content provided in the embodiments of this application, by obtaining the area information of a specific area reported by different vehicles at different times, wherein the area information includes the area polygon and area coordinates of the specific area, the unique centroid identifier code of the area polygon is determined based on the area coordinates, the element information of multiple map elements around the specific area is obtained, the element information includes the element coordinates of the map elements, the relative position code of the map element and the centroid of the area polygon is determined based on the element coordinates and area coordinates, and the unique centroid identifier code, the relative position code of the map element and the centroid of the area polygon, and the current code information, the specific area reported by different vehicles at different times can be matched, which can ensure accurate matching of the same area reported by different vehicles at different times. Attached Figure Description

[0016] Figure 1 This is a diagram illustrating the application environment of the region matching method in one embodiment; Figure 2 This is a flowchart illustrating a region matching method in one embodiment; Figure 3 This is a structural block diagram of a region matching device in one embodiment; Figure 4 This is a schematic structural diagram of a computer device in one embodiment. Detailed Implementation

[0017] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the scope of the present application.

[0018] For ease of understanding, the system to which this application applies will first be described. The region matching method provided in this application can be applied to, for example... Figure 1 In the system architecture shown, the vehicle-mounted terminal in vehicle 110 communicates with server 120 via a network. Server 120 obtains area information of specific regions reported by different vehicles at different times. This area information includes the region polygon and coordinates. Based on the region coordinates, it determines the unique centroid identifier of the region polygon. Server 120 also obtains element information of multiple map elements surrounding the specific region, including element coordinates. Based on the element coordinates and region coordinates, it determines the relative position code between the map element and the centroid of the region polygon. Finally, based on the unique centroid identifier, the relative position code between the map element and the centroid of the region polygon, and the current encoding information, it matches the specific regions reported by different vehicles at different times. Vehicle 110 can include both autonomous and non-autonomous vehicles. The vehicle-mounted terminal in vehicle 110 can be, but is not limited to, various personal computers and laptops. Server 120 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0019] Figure 2 A flowchart illustrating a region matching method provided in this application embodiment, the method can be performed by, for example... Figure 1 Server 120 in the system shown is executing. For example... Figure 2 As shown, the method may include the following steps: S210: Obtain area information for a specific area reported by different vehicles at different times.

[0020] The specific area refers to areas with abnormal road conditions encountered by vehicle 110 during its journey, including but not limited to: construction areas, accident areas, and areas with traffic barriers. Area information includes the specific area's polygon, coordinates, road type, area type, and city.

[0021] The data collection equipment of vehicle 110 detects areas with abnormal road conditions encountered during driving, transmits the collected area information to the vehicle terminal of vehicle 110, and the vehicle terminal of vehicle 110 reports it to server 120.

[0022] Server 120 receives area information of specific areas reported by different vehicles at different times, stores it, and uses it to match whether the specific areas reported by different vehicles at different times are the same area and perform deduplication.

[0023] S220, Based on the region coordinates, determine the unique identifier code of the centroid of the region polygon.

[0024] Based on the region coordinates, determine the centroid coordinates of the region polygon, encode the centroid coordinates of the region polygon, and obtain the unique identifier code of the centroid of the region polygon.

[0025] The position of the centroid of the region polygon is determined by the geometry and size of the region polygon, and the centroid coordinates are obtained by calculating the "weighted average" position of all points in the region polygon.

[0026] S230: Obtain element information of multiple map elements surrounding a specific area.

[0027] Map elements are all the components that make up a complete and usable map, such as roads, rivers, railways, oil pipelines, contour lines, parks, forests, farmland, and residential areas. Element information includes the element's coordinates, name, quantity, and label.

[0028] This process involves acquiring element information from multiple map elements surrounding a specific area, and then determining a unique identifier for that area through the permutations and combinations of these map elements. Ideally, the selected map elements should be those closest to the specific area. These map elements do not need to have any actual connection to the specific area; for example, they don't need to be closed road names or lane numbers. The unique identifier for the specific area is determined by the permutations and combinations of multiple unrelated map elements. It should be noted that the absence of a certain type of map element can also provide relative location information. The more map elements selected, the better; for example, 5-10 can be used for calculation.

[0029] S240, based on the element coordinates and the region coordinates, determine the relative position encoding of the centroid of the map element and the region polygon.

[0030] Based on the region coordinates, determine the centroid coordinates of the region polygon. Based on the element coordinates and centroid coordinates, determine the relative position vector of each map element to the centroid of the region polygon. Encode the relative position vector of each map element to the centroid of the region polygon to obtain the relative position codes of multiple map elements to the centroid of the region polygon.

[0031] S250 matches specific areas reported by different vehicles at different times based on the unique centroid identifier code, the relative position code of the centroid of map elements and region polygons, and the current coding information.

[0032] The current encoding information includes the encoding algorithm version number and the map version used for encoding. The centroid unique identifier code, the relative position code of the map element and the centroid of the region polygon are combined to obtain the encoding sequence. The encoding sequence, the encoding algorithm version number and the map version used for encoding are then encoded to obtain the unique identifier code of the region polygon. Based on the unique identifier code of the region polygon, the specific region reported by different vehicles at different times is matched.

[0033] Since the same map elements are likely to exist in the same area, the permutations and combinations of map elements around that area are more robust. Furthermore, using only map elements related to a specific area for encoding results in complex encoding logic, making optimization and iteration difficult, and leading to poor scalability. If map elements do not need to be related to a specific area, any map element can be used for encoding calculations. Additionally, due to the simpler encoding logic, it is easier to solve the problem of unique identifier code collisions, resulting in greater scalability.

[0034] As can be seen, this application embodiment obtains the area information of a specific area reported by different vehicles at different times. The area information includes the area polygon and area coordinates of the specific area. Based on the area coordinates, the unique centroid identifier code of the area polygon is determined. The element information of multiple map elements around the specific area is obtained. The element information includes the element coordinates of the map elements. Based on the element coordinates and area coordinates, the relative position code between the map element and the centroid of the area polygon is determined. Based on the unique centroid identifier code, the relative position code between the map element and the centroid of the area polygon, and the current code information, the specific area reported by different vehicles at different times is matched, which can ensure accurate matching of the same area reported by different vehicles at different times.

[0035] As one feasible approach, the unique identifier code of the centroid of the region polygon is determined based on the region coordinates, including: Determine the centroid coordinates of the region polygon based on the region coordinates; The centroid coordinates of the region polygon are encoded to obtain a unique identifier code for the centroid of the region polygon.

[0036] The region coordinates include the coordinates of each point within a specific region. The x-coordinate of the centroid of the region polygon is obtained by calculating the average of the x-coordinates of all points within the specific region, and the y-coordinate of the centroid of the region polygon is obtained by calculating the average of the y-coordinates of all points within the specific region.

[0037] The centroid coordinates of the region polygon are input into the encoder for encoding to obtain a unique centroid identifier code for the region polygon.

[0038] As one feasible approach, the relative positional encoding of map elements and the centroids of region polygons is determined based on element coordinates and region coordinates, including: Determine the centroid coordinates of the region polygon based on the region coordinates; Based on the element coordinates and centroid coordinates, determine the relative position vector between the map element and the centroid of the region polygon; Encode the relative position vectors of the map elements and the centroids of the region polygons to obtain the relative position codes of the map elements and the centroids of the region polygons.

[0039] After obtaining the centroid coordinates based on the coordinates of each point within a specific area, the relative position vector between the map element and the centroid of the region polygon is obtained by calculating the difference between the element coordinates and the centroid coordinates. The relative position vector between the map element and the centroid of the region polygon is then encoded to obtain the relative position code between the map element and the centroid of the region polygon.

[0040] Specifically, a rectangular coordinate system is established with the centroid of the region polygon as the origin, the eastward direction of the region polygon as the positive direction of the horizontal coordinate, and the northward direction of the region polygon as the positive direction of the vertical coordinate. Based on the relative position vector between the map element and the centroid of the region polygon, determine the quadrant position of the map element in the rectangular coordinate system. The quadrant positions of map elements in a Cartesian coordinate system are encoded to obtain the relative position codes of map elements and the centroids of region polygons.

[0041] Based on the constructed Cartesian coordinate system, the quadrant of the Cartesian coordinate system containing the line connecting the map element and the centroid of the region polygon is determined by the relative position vector between the map element and the centroid of the region polygon. The quadrant positions include the first, second, third, and fourth quadrants. The encoder encodes the quadrant position of the map element in the Cartesian coordinate system, obtaining the relative position code between the map element and the centroid of the region polygon. Since different map elements require encoding, different encoders are used for each map element, and different encoding algorithms can be set according to the element design of each map element. Map elements can include pedestrian crossings, parking lines, buildings, intersections, and safety islands around a specific area. Buildings can be schools, hospitals, etc. For example, when the map element is a school, the encoding algorithm also needs to additionally encode whether the road is within the school's restricted area.

[0042] While detection results for specific areas vary depending on the vehicle, the relative relationships between an area and its surrounding map elements remain stable. Therefore, encoding an area using its relative positional relationships with these elements provides better stability than encoding it using information about the area itself. For example, a large area will appear different from different angles, but even the largest area maintains a stable relative positional relationship with its surrounding map elements (such as intersections and safety islands), which does not change with the viewing angle. Representing a specific area through its relative relationships with its surrounding map elements is more accurate.

[0043] As one feasible approach, based on the unique centroid identifier code, the relative position code of the centroids of map elements and region polygons, and the current coding information, specific areas reported by different vehicles at different times are matched, including: The unique centroid identifier code, the relative position code of the centroid of the map element and the region polygon are combined to obtain the coding sequence; The encoding sequence, encoding algorithm version number, and map version used for encoding are encoded to obtain a unique identifier code for the region polygon; Based on the unique identifier of the region polygon, the specific region reported by different vehicles at different times is matched.

[0044] The unique centroid identifier and the relative position code of the map element and the centroid of the region polygon are combined to obtain the coding sequence. Taking 5 map elements as an example, the unique centroid identifier is denoted as s1, the relative position code of the first map element and the centroid of the region polygon is denoted as s2, the relative position code of the second map element and the centroid of the region polygon is denoted as s3, the relative position code of the third map element and the centroid of the region polygon is denoted as s4, the relative position code of the fourth map element and the centroid of the region polygon is denoted as s5, and the relative position code of the fifth map element and the centroid of the region polygon is denoted as s6. By arranging and combining these, the coding sequence {s1,s2,s3, s4, s5} can be obtained.

[0045] The encoding sequence, encoding algorithm version number, and map version used for encoding are input into the final encoder to obtain a unique identifier code for the region polygon, which serves as the globally unique identifier for the region polygon. Based on the unique identifier code of the region polygon, the encoder matches whether specific areas reported by different vehicles at different times belong to the same region.

[0046] Specifically, regions with the same unique identifier code reported by different vehicles at different times are matched as the same region, and regions with different unique identifier codes reported by different vehicles at different times are matched as different regions.

[0047] Different versions of the encoding algorithm have different version numbers, and even in the same scenario, they will naturally produce different globally unique identifiers. Therefore, there is no need for complex matching between different algorithm versions; simply using the globally unique identifier as the unique matching standard is sufficient to achieve synchronous maintenance of multiple algorithm versions.

[0048] If different vehicles are equipped with different versions of the encoding algorithm, and only the relative position codes generated by map elements are considered, different vehicles may give the same unique identifier code to different areas. Since it is impossible to guarantee that there will be no unique identifier code collision between different versions of the encoding algorithm, the encoding algorithm version number is combined to generate a globally unique identifier. Then the unique identifier code calculated by different versions of the encoding algorithm will definitely be different. This can avoid the situation where different vehicles give the same unique identifier code to different areas, and automatically realize the simultaneous maintenance of multiple versions of the algorithm without interference between them.

[0049] The aforementioned region matching method is not only applicable to the server side, but can also be applied to scenarios where multiple vehicles communicate with each other. This method can be used in the vehicle terminal of any of the multiple vehicles.

[0050] It should be understood that, although Figure 2The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this application, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Furthermore, Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0051] Figure 3 This is a schematic diagram of a region matching device provided in an embodiment of this application. The device can be disposed in... Figure 1 Server 120 in the system shown is used to perform, for example... Figure 2 The method flow is shown below. Figure 3 As shown, the region matching device 300 may include: an acquisition module 310, a determination module 320, and a matching module 330. The main functions of each component module are as follows: The acquisition module 310 is used to acquire the area information of a specific area reported by different vehicles at different times. The area information includes the area polygon and area coordinates of the specific area. The determination module 320 is used to determine the unique identifier code of the centroid of the region polygon based on the region coordinates; The acquisition module 310 is also used to acquire element information of multiple map elements around a specific area, including the element coordinates of the map elements; The determination module 320 is also used to determine the relative position encoding of the centroid of the map element and the region polygon based on the element coordinates and the region coordinates. The matching module 330 is used to match specific areas reported by different vehicles at different times based on the centroid unique identifier code, the relative position code of the centroid of the map element and the region polygon, and the current coding information.

[0052] As one possible approach, module 320 is specifically used to: determine the centroid coordinates of the region polygon based on the region coordinates; and encode the centroid coordinates of the region polygon to obtain a unique centroid identifier code for the region polygon.

[0053] As one possible approach, module 320 is specifically used to: determine the centroid coordinates of the region polygon based on the region coordinates; determine the relative position vector between the map element and the centroid of the region polygon based on the element coordinates and the centroid coordinates; and encode the relative position vector between the map element and the centroid of the region polygon to obtain the relative position code between the map element and the centroid of the region polygon.

[0054] As one feasible approach, module 320 is specifically used to: establish a rectangular coordinate system with the centroid of the region polygon as the origin, the eastward direction of the region polygon as the positive direction of the horizontal coordinate, and the northward direction of the region polygon as the positive direction of the vertical coordinate; determine the quadrant position of the map element in the rectangular coordinate system based on the relative position vector between the map element and the centroid of the region polygon; and encode the quadrant position of the map element in the rectangular coordinate system to obtain the relative position code between the map element and the centroid of the region polygon.

[0055] As one possible approach, the current encoding information includes the encoding algorithm version number and the map version used for encoding; the matching module 330 is specifically used to: combine the centroid unique identifier encoding, the relative position encoding of the map element and the centroid of the region polygon to obtain an encoding sequence; encode the encoding sequence, the encoding algorithm version number and the map version used for encoding to obtain the unique identifier encoding of the region polygon; and match the specific region reported by different vehicles at different times based on the unique identifier encoding of the region polygon.

[0056] As one possible approach, the matching module 330 is specifically used to: match areas with the same unique identifier code reported by different vehicles at different times as the same area; and match areas with different unique identifier codes reported by different vehicles at different times as different areas.

[0057] The same or similar parts among the above embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0058] It should be noted that the embodiments of this application may involve the use of user data. In practical applications, user-specific personal data may be used in the scheme described herein within the scope permitted by applicable laws and regulations, provided that it complies with the applicable laws and regulations of the country (e.g., explicit consent from the user, actual notification to the user, explicit authorization from the user, etc.).

[0059] According to embodiments of this application, this application also provides a computer device and a computer-readable storage medium.

[0060] like Figure 4 The diagram shown is a block diagram of a computer device according to an embodiment of this application. The term "computer device" is intended to represent various forms of digital computers or mobile devices. The digital computer may include a desktop computer, a portable computer, a workbench, a personal digital assistant, a server, a mainframe computer, and other suitable computers. The mobile device may include a tablet computer, a smartphone, a wearable device, etc.

[0061] like Figure 4 As shown, the computer device 400 includes a computing unit 401, a ROM 402, a RAM 403, a bus 404, and an input / output (I / O) interface 405. The computing unit 401, ROM 402, and RAM 403 are interconnected via the bus 404. The input / output (I / O) interface 405 is also connected to the bus 404.

[0062] The computing unit 401 can execute various processes in the method embodiments of this application according to computer instructions stored in the read-only memory (ROM) 402 or computer instructions loaded from the storage unit 408 into the random access memory (RAM) 403. The computing unit 401 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. The computing unit 401 can include, but is not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. In some embodiments, the methods provided in the embodiments of this application can be implemented as computer software programs, which are tangibly contained in a computer-readable storage medium, such as the storage unit 408.

[0063] RAM 403 can also store various programs and data required for the operation of computer device 400. Part or all of the computer program can be loaded and / or installed on computer device 400 via ROM 402 and / or communication unit 409.

[0064] The input unit 406, output unit 407, storage unit 408, and communication unit 409 in the computer device 400 can be connected to the I / O interface 405. The input unit 406 can be, for example, a keyboard, mouse, touchscreen, or microphone; the output unit 407 can be, for example, a monitor, speaker, or indicator light. The computer device 400 can exchange information and data with other devices through the communication unit 409.

[0065] It should be noted that the device may also include other components necessary for normal operation. It may also include only the components necessary for implementing the solution of this application, without necessarily including all the components shown in the figures.

[0066] Various implementations of the systems and techniques described 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), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof.

[0067] The computer instructions used to implement the methods of this application may be written in any combination of one or more programming languages. These computer instructions may be provided to the computing unit 401 such that when executed by the computing unit 401, such as a processor, the computer instructions cause the execution of the steps involved in the embodiments of the methods of this application.

[0068] The computer-readable storage medium provided in this application can be a tangible medium that can contain or store computer instructions for performing the steps involved in the method embodiments of this application. The computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, and other forms of storage media.

[0069] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. 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 application should be included within the scope of protection of this application.

Claims

1. A method of area matching, characterized by, The method comprises: acquiring area information of a specific area reported by different vehicles at different time, wherein the area information comprises an area polygon and area coordinates of the specific area; determining a centroid unique identification code of the area polygon according to the area coordinates; acquiring element information of a plurality of map elements around the specific area, wherein the element information comprises element coordinates of the map elements; determining a relative position code of the map elements and the centroid of the area polygon according to the element coordinates and the area coordinates; matching the specific area reported by different vehicles at different time according to the centroid unique identification code, the relative position code of the map elements and the centroid of the area polygon and current encoding information.

2. The method of claim 1, wherein, The determination of the centroid unique identification code of the area polygon according to the area coordinates comprises: determining centroid coordinates of the area polygon according to the area coordinates; encoding the centroid coordinates of the area polygon to obtain the centroid unique identification code of the area polygon.

3. The method of claim 1, wherein, The determination of the relative position code of the map elements and the centroid of the area polygon according to the element coordinates and the area coordinates comprises: determining centroid coordinates of the area polygon according to the area coordinates; determining a relative position vector of the map elements and the centroid of the area polygon according to the element coordinates and the centroid coordinates; encoding the relative position vector of the map elements and the centroid of the area polygon to obtain the relative position code of the map elements and the centroid of the area polygon.

4. The method of claim 3, wherein, The encoding of the relative position vector of the map elements and the centroid of the area polygon to obtain the relative position code of the map elements and the centroid of the area polygon comprises: establishing a rectangular coordinate system with the centroid of the area polygon as the origin, the east direction of the area polygon as the positive direction of the horizontal coordinate and the north direction of the area polygon as the positive direction of the vertical coordinate; determining a quadrant position of the map elements in the rectangular coordinate system based on the relative position vector of the map elements and the centroid of the area polygon; encoding the quadrant position of the map elements in the rectangular coordinate system to obtain the relative position code of the map elements and the centroid of the area polygon.

5. The method of claim 1, wherein, The current encoding information comprises an encoding algorithm version number and a map version used for encoding; and the matching of the specific area reported by different vehicles at different time according to the centroid unique identification code, the relative position code of the map elements and the centroid of the area polygon and the current encoding information comprises: combining the centroid unique identification code and the relative position code of the map elements and the centroid of the area polygon to obtain an encoding sequence; encoding the encoding sequence, the encoding algorithm version number and the map version used for encoding to obtain a unique identification code of the area polygon; matching the specific area reported by different vehicles at different time according to the unique identification code of the area polygon.

6. The method of claim 5, wherein, The matching of the specific areas reported by different vehicles at different times comprises: Matching the areas with the same unique identification code in the specific areas reported by different vehicles at different times as the same area; Matching the areas with different unique identification codes in the specific areas reported by different vehicles at different times as different areas.

7. The method of claim 1, wherein, The map elements include crosswalks, stop lines, buildings, intersections, and safety islands around the specific areas.

8. An area matching device, characterized by The device comprises: An acquisition module configured to acquire area information of specific areas reported by different vehicles at different times, wherein the area information comprises area polygons and area coordinates of the specific areas; A determination module configured to determine a unique identification code of a centroid of the area polygons according to the area coordinates; The acquisition module is further configured to acquire element information of a plurality of map elements around the specific areas, wherein the element information comprises element coordinates of the map elements; The determination module is further configured to determine relative position codes of the map elements and the centroid of the area polygons according to the element coordinates and the area coordinates; A matching module configured to match the specific areas reported by different vehicles at different times according to the unique identification code of the centroid, the relative position codes of the map elements and the centroid of the area polygons, and current code information.

9. A computer device comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores computer instructions executable by the at least one processor, and the computer instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

10. A computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-7.

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