Path matching method and apparatus, computer device, storage medium, and product

Abstract

This application relates to a path matching method, apparatus, computer device, storage medium, and product, and pertains to the field of map data technology. The method includes: acquiring start-point information and first path information of a first path, the first path information including: attribute information of each road segment traversed by the first path in a first map; acquiring a starting road segment based on the start-point information of the first path; the starting road segment being the road segment in a second map where the start of the first path is located; and performing path matching in the second map based on the first path information, starting from the starting road segment, to obtain a second path corresponding to the first path in the second map. This method automates path matching, improving its efficiency and accuracy.

Description

Technical Field

[0001] This application relates to the field of map data technology, and in particular to a path matching method, apparatus, computer equipment, storage medium, and product. Background Technology

[0002] With the continuous development of electronic map applications, electronic maps are being used more and more widely in fields such as vehicle navigation.

[0003] Vehicles equipped with autonomous driving technology typically have in-vehicle navigation systems that use SD (Street Directory) maps, which are traditional navigation maps. To achieve autonomous driving functionality, both SD maps and high-precision maps need to be used simultaneously. The mapping relationship between the two maps is then combined to perform data matching and obtain more accurate map data, thus ensuring the safety of autonomous driving.

[0004] However, in related technologies, data matching between SD maps and high-precision maps depends on the mapping relationship between the two, which usually relies on manual maintenance. Different types of maps represent the same information differently, making it difficult to maintain the mapping relationship between maps and resulting in a high error rate. Summary of the Invention

[0005] This application provides a path matching method, apparatus, computer device, storage medium, and product, which can improve the efficiency and accuracy of path matching. The technical solution is as follows:

[0006] On the one hand, a path matching method is provided, the method comprising:

[0007] Obtain the starting point information and the first path information of the first path, wherein the first path information includes: attribute information of each road segment that the first path passes through on the first map;

[0008] The starting road segment is obtained based on the starting point information of the first path; the starting road segment is the road segment in the second map where the starting point of the first path is located.

[0009] Starting from the initial road segment, path matching is performed in the second map based on the first path information to obtain the second path corresponding to the first path in the second map.

[0010] On the other hand, a path matching device is provided, the device comprising:

[0011] The information acquisition module is used to acquire the starting point information and the first path information of the first path. The first path information includes the attribute information of each road segment that the first path passes through on the first map.

[0012] The starting road segment acquisition module is used to acquire the starting road segment based on the starting point information of the first path; the starting road segment is the road segment in the second map where the starting point of the first path is located.

[0013] The path matching module is used to perform path matching in the second map based on the first path information, starting from the starting road segment, to obtain the second path in the second map corresponding to the first path.

[0014] In one possible implementation, the attribute information of the route segment includes: the length of the route segment, the turning angle of the route segment, and at least one of the auxiliary attributes;

[0015] The auxiliary attributes include at least one of the following: the functional level of the route segment, the road type of the route segment, the number of lanes of the route segment, the heading of the route segment, the curvature of the route segment, and the slope of the route segment.

[0016] In one possible implementation, the information acquisition module includes:

[0017] The message receiving submodule is used to receive a first transmission message sent by the first map function component; the first transmission message is obtained by encapsulating the starting point information and the first path information of the first path according to the first map transmission protocol; the first map function component is a function component that uses the first map.

[0018] The parsing submodule is used to parse the first transmission message to obtain the starting point information and the first path information of the first path;

[0019] The device further includes:

[0020] The message encapsulation module is used to encapsulate the second path information corresponding to the second path according to the second map transmission protocol to obtain the second transmission message.

[0021] The message sending module is used to send the second transmission message to the second map function component; the second map function component is a function component that uses the second map.

[0022] In one possible implementation, the second map transmission protocol is the Advanced Driver Assistance System Architecture Specification Version 3 protocol;

[0023] The first map transmission protocol is any map data transmission protocol that is different from the second map transmission protocol.

[0024] In one possible implementation, the path matching module includes:

[0025] The candidate path selection submodule is used to select candidate paths from the second map starting from the initial road segment; the length of the candidate path is equal to the length of the first path.

[0026] The matching error calculation submodule is used to calculate the matching error between each candidate path and the first path based on the first path information.

[0027] The second path acquisition submodule is used to acquire the candidate path with the smallest matching error as the second path in the second map corresponding to the first path.

[0028] In one possible implementation, the candidate path selection submodule includes:

[0029] The road segment traversal unit is used to traverse the road segments starting from the initial road segment and based on the i-th road segment to obtain at least one successor road segment of the i-th road segment; the starting point of the successor road segment of the i-th road segment is the ending point of the i-th road segment, i≥1, and i is a positive integer;

[0030] A road segment determination unit is used to determine at least one (i+1)th road segment based on the attribute information of each of the at least one subsequent road segment and the attribute information of the reference road segment of the (i+1)th road segment; the length from the start point of the reference road segment of the (i+1)th road segment to the start point of the first path is matched with the length from the end point of the i-th road segment to the start point of the starting road segment.

[0031] The candidate path acquisition unit is configured to acquire the path composed of the first i+1 road segments connected in the determined road segment order as the candidate path in response to the total length of the first path reaching the total length of the first path.

[0032] In one possible implementation, the road segment determination unit is configured to determine the target successor road segment as the (i+1)th road segment in response to the fact that the difference between the attribute information of the target successor road segment and the attribute information of the reference road segment of the (i+1)th road segment is less than an attribute difference threshold.

[0033] The target successor road segment is any one of the at least one successor road segments.

[0034] In one possible implementation, the matching error calculation submodule includes:

[0035] The attribute information acquisition unit is used to acquire the attribute information of each road segment traversed by the target candidate path; the target candidate path is any one of the candidate paths.

[0036] The matching error calculation unit is used to calculate the matching error between the target candidate path and the first path based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path.

[0037] In one possible implementation, the matching error calculation unit is used to obtain sub-errors between N road segments in the target candidate path and reference road segments of the N road segments, based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path; N is a positive integer.

[0038] The sum of sub-errors between the N road segments and their respective reference road segments is used to obtain the matching error between the target candidate path and the first path.

[0039] In one possible implementation, the matching error calculation unit is used to obtain the distance difference between the path length of the j-th road segment in the target candidate path and the path length of the reference road segment of the j-th road segment; 1≤j≤N, where j is a positive integer;

[0040] Obtain the angle difference between the turning angle of the j-th road segment and the turning angle of the reference road segment of the j-th road segment;

[0041] The distance difference and the angle difference are weighted to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

[0042] In one possible implementation, the matching error calculation unit is configured to, in response to a difference between the auxiliary attributes of the j-th road segment and the auxiliary attributes of the reference road segment of the j-th road segment, perform weighted processing on the distance difference, the angle difference, and the matching penalty term to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

[0043] In one possible implementation, the device further includes:

[0044] The road segment merging module is used to merge two adjacent road segments in response to the sum of their lengths being less than a length threshold.

[0045] In one possible implementation, the starting road segment acquisition module is used to determine the mapping point of the starting point of the first path in the second map based on the starting point information of the first path;

[0046] The road segment with the smallest vertical distance to the mapping point in the second map is the starting road segment.

[0047] In one possible implementation, the accuracy of the second map is higher than that of the first map.

[0048] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the path matching method as described above.

[0049] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the path matching method as described above.

[0050] On the other hand, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the path matching method provided in the various alternative implementations described above.

[0051] The technical solution provided in this application may include the following beneficial effects:

[0052] After obtaining the starting point information and the first path information of the first path generated based on the first map, the starting segment obtained in the second map based on the starting point information of the first path can be used as the starting point to construct the path, and the second path in the second map that matches the first path can be obtained based on the first path information; thus, the path mapping between maps from different data sources can be completed. The above method can realize the automation of path matching and improve the efficiency and accuracy of path matching.

[0053] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0054] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0055] Figure 1 This is a schematic diagram illustrating the structure of an electronic map application system according to an exemplary embodiment;

[0056] Figure 2This is a flowchart illustrating a path matching method according to an exemplary embodiment;

[0057] Figure 3 A flowchart illustrating a path matching method according to an exemplary embodiment of this application is shown;

[0058] Figure 4 A schematic diagram illustrating a subsequent road segment is shown in an exemplary embodiment of this application;

[0059] Figure 5 A schematic diagram illustrating road segment selection in an exemplary embodiment of this application is shown;

[0060] Figure 6 A schematic diagram illustrating a path matching method according to an exemplary embodiment of this application is shown;

[0061] Figure 7 This illustration shows a schematic diagram of the interaction process between a first map function component, a matching component, and a second map function component, as illustrated in an exemplary embodiment of this application.

[0062] Figure 8 A block diagram of a path matching apparatus illustrated in an exemplary embodiment of this application is shown;

[0063] Figure 9 This is a schematic diagram of the structure of a computer device according to an exemplary embodiment. Detailed Implementation

[0064] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0065] Figure 1 This is a schematic diagram illustrating the structure of an electronic map application system according to an exemplary embodiment. The system includes a server 120 and several terminals 140.

[0066] Server 120 includes at least one of a single server, multiple servers, a cloud computing platform, and a virtualization center.

[0067] Terminal 140 can be a terminal device with an interface display function, such as a mobile phone, tablet computer, e-book reader, smart glasses, smartwatch, MP3 player (Moving Picture Experts Group Audio Layer III), MP4 player (Moving Picture Experts Group Audio Layer IV), laptop computer, and desktop computer, etc.

[0068] Terminal 140 and server 120 are connected via a communication network. Optionally, the communication network can be a wired network or a wireless network.

[0069] Optionally, the system may also include a management device 160 (not shown in the figure), which is connected to the server 120 via a communication network. Optionally, the communication network may be a wired network or a wireless network.

[0070] Optionally, the aforementioned wireless or wired networks use standard communication technologies and / or protocols. The network is typically the Internet, but can also be any network, including but not limited to Local Area Networks (LANs), Metropolitan Area Networks (MANs), Wide Area Networks (WANs), mobile, wired or wireless networks, private networks, or any combination of virtual private networks. In some embodiments, technologies and / or formats, including Hyper Text Markup Language (HTML), Extensible Markup Language (XML), etc., are used to represent data exchanged over the network. Furthermore, conventional encryption technologies such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Networks (VPNs), and Internet Protocol Security (IPsec) can be used to encrypt all or some links. In other embodiments, custom and / or dedicated data communication technologies can be used to replace or supplement the aforementioned data communication technologies.

[0071] The aforementioned terminal 140 includes an electronic map application that can provide various applications based on electronic maps, such as navigation, route query, location search, etc.

[0072] Server 120 can be a server corresponding to an electronic map application. Server 120 can provide online map services, such as online navigation, online route query, and online location search, to the electronic map application in terminal 140 based on road network data; or, server 120 can provide road network data to terminal 140, and the electronic map application in terminal 140 can provide local map services based on the road network data.

[0073] In the field of online navigation, users can set the starting point and destination based on the map installed on their vehicle to construct a navigation route based on the current map. To optimize or correct this route, the server can match the user's route on the current map with routes on other maps to obtain more accurate route information than the current map's route information. The current map and other maps are maps from different data sources.

[0074] Figure 2 This is a flowchart illustrating a path matching method according to an exemplary embodiment, which can be used in computer devices, such as those described above. Figure 1 The system shown is housed in a server 120 or management device 160, or other computer equipment (such as a vehicle navigation system, desktop computer, laptop computer, personal workstation, or other server). Figure 2 As shown, the path matching method may include the following steps:

[0075] Step 210: Obtain the starting point information and the first path information of the first path. The first path information includes the attribute information of each road segment that the first path passes through on the first map.

[0076] The first path can be any path in the first map, or it can be a path obtained by the user through a search in the first map, or it can be a navigation path planned based on the start and end points entered by the user on the navigation panel and the first map, or it can be a navigation path planned based on the start and end points selected by the user in a map interface displaying the first map, or it can be a navigation path planned in the first map after voice recognition based on the user's voice information including the start and end points. This application does not restrict the way the user inputs the start and end points. The first map can be a map set in the vehicle's in-vehicle navigation system, or it can be a map set in the user terminal. When the first map is set in different computer devices, the corresponding navigation panel can have different settings for each computer device. For example, when the first map is a map set in the vehicle's in-vehicle navigation system, the navigation panel can be the in-vehicle navigation panel, and the first map is a map pre-set in the in-vehicle navigation system. Schematic, the first map is an SD map pre-set in the in-vehicle navigation system.

[0077] After obtaining the first path, and combining it with the first map, information about the first path can be obtained, such as the total length of the first path, the intersections it passes through, the number of branch paths at each intersection, the attribute information of each branch path, and the distance between each intersection and the starting point of the first path, etc. In this embodiment of the application, the first path information needs to include the attribute information of each road segment traversed by the first path.

[0078] In one possible implementation, after the user inputs the starting point and the ending point, multiple selectable paths can be constructed in the first map based on the starting point and the ending point for the user to choose from. In this case, the path determined based on the user's selection operation is obtained as the first path.

[0079] After the terminal determines the first path based on the user's selection operation, it sends the starting point information and the first path information of the first path to the computer device. Correspondingly, the computer device obtains the starting point information and the first path information of the first path.

[0080] Step 220: Obtain the starting road segment based on the starting point information of the first path; the starting road segment is the road segment in the second map where the starting point of the first path is located.

[0081] The starting point information of the first path can be implemented as the location information of the starting point of the first path. For example, the location information of the starting point of the first path can refer to the GPS (Global Positioning System) information of the starting point, so that the computer device can accurately locate the starting point of the first path in the second map based on the GPS information to obtain the starting road segment.

[0082] Step 230: Starting from the initial road segment, perform path matching on the second map based on the first path information to obtain the second path corresponding to the first path on the second map.

[0083] The second map is a map from a different data source than the first map. It is illustrative that the accuracy of the second map may be less than that of the first map, or the accuracy of the second map may be greater than that of the first map.

[0084] Optionally, starting from the initial road segment, the process of matching the first path with the second path in the second map based on the first path information can be carried out during the construction of the second path. That is, during the construction of the second path, the road segments in the first path that match the second map are found in real time, so that the complete second path is obtained when the last road segment in the first path is matched; or, after multiple candidate paths are constructed, the second path that matches the first path can be obtained from the multiple candidate paths based on the first path information.

[0085] In summary, the path matching method provided in this application, after obtaining the starting point information and first path information of the first path generated based on the first map, can construct a path using the starting road segment obtained in the second map based on the starting point information of the first path as the starting point, and obtain a second path in the second map that matches the first path based on the first path information; thereby completing the path mapping between maps from different data sources. The above method can automate path matching and improve the efficiency and accuracy of path matching.

[0086] Meanwhile, even without GPS signal or without obtaining GPS signal for an unexplored path, it can achieve path matching between two maps based on the first path information, expanding the possible implementation methods of map path matching and realizing path matching even without GPS signal or without obtaining GPS signal for an unexplored path.

[0087] The path matching method provided in this application embodiment can be applied to emerging in-vehicle application scenarios such as lane-level navigation, ADAS (Advanced Driver-assistance Systems), and autonomous driving. In the above scenarios, the accuracy of the second map can be higher than that of the first map. Therefore, when performing in-vehicle navigation or autonomous driving, the in-vehicle navigation system or autonomous driving system can provide more accurate in-vehicle navigation content or safer autonomous driving performance based on the high-accuracy path information obtained from the second map that matches the first path. Here, the first path is the path in the first map. In illustrative terms, in vehicles equipped with ordinary in-vehicle navigation systems using SD maps, the accuracy of the navigation path information obtained based on the SD map planning is relatively low. In the aforementioned scenario, it is necessary to improve the accuracy of the map or the accuracy of the generated navigation path to ensure the accuracy of navigation or the safety of autonomous driving. Therefore, high-definition maps (HD maps) can be used for assistance. However, adapting HD maps to SD map data and software requires a certain development time and has high development costs and poor flexibility. Based on this, the path matching method between maps from different data sources provided in this application can be adopted. Based on the starting point information and first path information of the obtained first path, a second path corresponding to the first path in the second map is obtained, thereby obtaining the road sequence contained in the second path. The road sequence and other information contained in the second path are then sent to the corresponding applications or components, so that these applications or components can directly extend HD map data and software on existing SD map in-vehicle navigation systems without modifying the SD map portion to adapt to the above scenario.

[0088] This application embodiment takes the starting segment obtained in the second map based on the starting point information of the first path as the starting point, and obtains multiple candidate paths based on the first path information. Then, it obtains the second path in the second map that matches the first path from the multiple candidate paths to illustrate the path configuration method provided by this application. Figure 3 A flowchart illustrating a path matching method in an exemplary embodiment of this application is shown. This path matching method can be used in computer devices, such as those described above. Figure 1 This is in the system's server 120 or management device 160, or other computer equipment (such as desktop computers, laptops, personal workstations, or other servers). Figure 2 As shown, the path matching method may include the following steps:

[0089] Step 310: Obtain the starting point information and the first path information of the first path. The first path information includes the attribute information of each road segment that the first path passes through on the first map.

[0090] In this embodiment of the application, the starting point information of the first path includes the latitude and longitude information of the starting point of the first path, or GPS information. This information is the same in maps from different data sources, that is, the latitude and longitude information of the same location is fixed.

[0091] The attribute information of the route segment includes: the length of the route segment, the turning angle of the route segment, and at least one of the auxiliary attributes;

[0092] The auxiliary attributes include at least one of the following: the functional level of the route segment, the road type of the route segment, the number of lanes of the route segment, the heading of the route segment, the curvature of the route segment, and the slope of the route segment.

[0093] In one possible implementation, after obtaining the first path, the first map function component encapsulates the starting point information and the first path information, and then sends the encapsulated first transmission message to the matching component in the computer device. This first map function component is an illustrative example of a component using the first map. Correspondingly, the matching component in the computer device receives the first transmission message sent by the first map function component. This first transmission message is obtained by encapsulating the starting point information and the first path information according to the first map transmission protocol. Subsequently, the matching component in the computer device can parse the first transmission message to obtain the starting point information and the first path information. This first map function component can be implemented as a software component or a physical component.

[0094] Different map transmission protocols require different attribute information for each road segment. In this embodiment, the map transmission protocol can be implemented as the ADASIS (Advanced Driver Assistance Systems Interface Specifications) protocol. The ADASIS protocol may include one of the ADASIS v1, ADASIS v2, and ADASIS v3 protocols. The first map transmission protocol may be one of the above-mentioned map transmission protocols. Alternatively, the map data transmission protocol may also be other protocols used to define the data mode and transmission method when transmitting map data, such as user-defined protocols.

[0095] When the map data transmission protocol is ADASISv2, Table 1 shows the attribute information corresponding to each route segment under the ADASISv2 protocol provided in an exemplary embodiment of this application:

[0096] Table 1

[0097] Offset Distance ahead Turnangle Steering angle Functionalroadclass Road Functional Level Formofway Road type Number of lanes Number of lanes

[0098] In one possible implementation, the first path information may further include attribute information of each intersection traversed by the first path. The attribute information of each intersection is used to indicate the distance information between each intersection and the starting point. The distance information includes at least one of the distance between each intersection and the distance between each intersection and the starting point. The attribute information of each intersection may also include the number of road segment branches corresponding to each intersection. Based on the attribute information of each intersection traversed by the first path, combined with the attribute information of the road segment branches corresponding to each intersection, a path reference can be provided for the matching component in the computer device to obtain a second path matching the first path in the second map.

[0099] Step 320: Obtain the starting road segment based on the starting point information of the first path; the starting road segment is the road segment where the starting point of the first path is located in the second map.

[0100] Optionally, the process of determining the starting road segment can be implemented as follows:

[0101] Based on the starting point information of the first path, determine the mapping point of the starting point of the first path in the second map;

[0102] In the second map, the road segment with the smallest vertical distance to the mapping point is taken as the starting road segment.

[0103] Based on the latitude and longitude information (or GPS information) of the starting point of the first path, the mapping point corresponding to the latitude and longitude information can be located in the second map, and the mapping point can be obtained as the starting point of the second navigation path; that is, the starting point of the first path is mapped to the second map based on the latitude and longitude information.

[0104] When determining the starting road segment, the perpendicular distance from the mapping point to each path can be calculated to determine the starting road segment. Optionally, to reduce the amount of calculation required to determine the starting road segment, the acquisition range of the starting road segment can be limited. Within the specified range, the perpendicular distance of each path to the mapping point is calculated, and the path with the smallest perpendicular distance is taken as the starting road segment. For example, if there are two selectable road segments within a 10-meter radius of the mapping point, the perpendicular distance between the mapping point and the two road segments is obtained. Assuming that the perpendicular distance between the mapping point and road segment A is 0 and the perpendicular distance between the mapping point and road segment B is 8, then the road segment where the mapping point is located is determined to be road segment A, and road segment A is taken as the starting road segment.

[0105] Step 330: Starting from the initial road segment, select each candidate path from the second map; the length of the candidate path is equal to the length of the first path.

[0106] In this embodiment of the application, the candidate path can be a path whose length is equal to the length of the first path, which is obtained by extending the starting road segment based on each intersection in the second map in different ways. For example, assuming that there are two extension directions corresponding to intersection A after moving 100 meters along the starting road segment, the starting road segment can be extended based on the two extension directions respectively, and then extended again when reaching the next intersection. The above process is repeated until the total length of the extended path is equal to the length of the first path.

[0107] In one possible implementation, the process of selecting candidate paths can be implemented as follows:

[0108] Starting from the initial road segment, traverse the road segments based on the i-th road segment to obtain at least one successor road segment of the i-th road segment; the starting point of the successor road segment of the i-th road segment is the ending point of the i-th road segment, i≥1, and i is a positive integer;

[0109] Based on the attribute information of at least one subsequent road segment and the attribute information of the reference road segment of the (i+1)th road segment, at least one (i+1)th road segment is determined; the length from the start of the reference road segment of the (i+1)th road segment to the start of the first path is matched with the length from the end of the i-th road segment to the start of the starting road segment.

[0110] In response to the total length of the first i+1 road segments connected in the determined order of road segments reaching the total length of the first path, the path composed of the first i+1 road segments connected in the determined order of road segments is obtained as a candidate path.

[0111] The process of determining at least one (i+1)th road segment based on the attribute information of each of at least one subsequent road segment and the attribute information of the reference road segment of the (i+1)th road segment includes:

[0112] In response to the attribute information of the target successor road segment, if the difference between the attribute information of the target successor road segment and the reference road segment of the (i+1)th road segment is less than the attribute difference threshold, the target successor road segment is determined as the (i+1)th road segment.

[0113] The target successor segment is any one of at least one successor segment.

[0114] When i=1, the first road segment is the starting road segment. For illustration, using the starting road segment as an example, we traverse the road segments based on the starting road segment to obtain at least one successor road segment. (This is also for illustration purposes.) Figure 4 A schematic diagram illustrating a subsequent road segment is shown in an exemplary embodiment of this application, as follows: Figure 4As shown, road segment 410 is the starting road segment. In this embodiment, a road segment is used to indicate a road segment between two intersections. When road segment 410 reaches intersection 420, intersection 420 is determined to be the end point of road segment 410. Starting from this end point, there are three road segment branches, namely the three subsequent road segments of the starting road segment 410. These three subsequent road segments may have similar or identical extension directions, or different extension directions, such as... Figure 4 As shown, the extension directions of subsequent road segments 430, 440, and 450 are all different. Each subsequent road segment has its own attribute information, the contents of which can be found in Table 1. The attribute information of each subsequent road segment of the starting road segment is compared with the attribute information of the road segments (reference road segments) that pass through the starting road segment in the first path to exclude road segments that differ too much from the reference road segments, thereby avoiding meaningless calculations. This is illustrative. Figure 5 A schematic diagram illustrating road segment selection in an exemplary embodiment of this application is shown, such as... Figure 5 As shown, the initial road segment 510 corresponds to three subsequent road segments. Among them, the subsequent road segments 520 and 530 have significant attribute differences from the reference road segment 550, while the subsequent road segment 540 has relatively small attribute differences from the reference road segment 550. Therefore, the subsequent road segment 540 can be obtained as the second road segment after the initial road segment to continue traversing the subsequent road segments, while stopping the traversal of the subsequent road segments 520 and 530 to avoid wasting computing and processing resources. The road segments with small differences from the reference road segment are extended, and the subsequent road segments are traversed based on these road segments. The above road segment selection process is repeated until the total length of the traversed road segments connected in the determined road segment order reaches the total length of the first path. The road segment traversal is then confirmed to be complete, and at least one candidate path is obtained.

[0115] The reference road segment corresponding to the subsequent road segment can be determined based on its distance from the starting point. That is, the road segment in the first path that is a first length from the starting point is determined as the reference road segment corresponding to the (i+1)th road segment, where the first length indicates the total length of the first i road segments. The magnitude of the difference between the attribute information of the subsequent road segment and the attribute information of the corresponding reference road segment can be determined based on the relationship between the attribute difference and the attribute difference threshold. When the attribute difference is less than the attribute difference threshold, the difference is considered small, and the corresponding subsequent road segment can be obtained as the (i+1)th road segment. When the attribute difference is greater than the attribute difference threshold, the difference is considered large, and the extension and traversal of the corresponding subsequent road segment can be stopped.

[0116] In determining the magnitude of attribute differences, one can select one of multiple attribute information of a road segment for comparison. For example, the turning angle of the road segment can be selected for comparison. If the angle difference between the turning angle of the subsequent road segment and the turning angle of the reference road segment is less than the angle difference threshold, the difference is determined to be small; if the angle difference between the turning angle of the subsequent road segment and the turning angle of the reference road segment is greater than the angle difference threshold, the difference is determined to be large. Alternatively, at least two of the multiple attribute information of the road segment can be selected for comparison. When at least two comparison results are both less than their respective attribute values, the difference is considered smaller. When the difference threshold is met, the difference is considered small; otherwise, the difference is considered large. Furthermore, comparison levels can be set for at least two attribute pieces of information, and they can be compared sequentially. For example, first calculate the difference in turning angle between the subsequent road segment and the reference road segment. If it is less than the angle difference threshold, then calculate the difference in length between the subsequent road segment and the reference road segment. If it is less than the length difference threshold, then calculate the difference in the number of lanes between the subsequent road segment and the reference road segment. If it is less than the number of lanes difference threshold, then the difference between the subsequent road segment and the reference road segment is determined to be small. If either of these conditions is not met, then the difference between the subsequent road segment and the reference road segment is determined to be large.

[0117] It should be noted that the types and number of attribute information used for attribute difference comparisons are merely illustrative. Relevant personnel can make different settings based on actual needs. In addition, relevant personnel can also customize the threshold for each attribute difference. This application does not impose any restrictions on this.

[0118] Step 340: Based on the first path information, calculate the matching error between each candidate path and the first path.

[0119] Taking one of the candidate paths as an example, the process of calculating the matching error between the candidate path and the first path is explained. This process can be implemented as follows:

[0120] Obtain the attribute information of each road segment traversed by the target candidate path; the target candidate path is any one of the candidate paths.

[0121] Based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path, the matching error between the target candidate path and the first path is calculated.

[0122] In one possible implementation, when calculating the matching error between the target candidate path and the first path, the matching error can be accumulated based on the matching errors between each road segment traversed by the target candidate path and each road segment traversed by the first path to obtain the matching error between the target candidate path and the first path. In other words, this process can be implemented as follows:

[0123] Based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path, obtain the sub-errors between N road segments in the target candidate path and the reference road segments of each of the N road segments; N is a positive integer.

[0124] The sum of the sub-errors between each of the N road segments and its reference road segments is taken as the matching error between the target candidate path and the first path.

[0125] The sub-error is used to indicate the matching error between a road segment in the path and its corresponding reference road segment.

[0126] Taking a road segment in the target candidate path as an example, the process of calculating the sub-error between this road segment and the reference road segment can be implemented as follows:

[0127] Get the path length of the j-th road segment in the target candidate path, and the distance difference between it and the path length of the reference road segment of the j-th road segment; 1≤j≤N, j is a positive integer;

[0128] Obtain the angle difference between the turning angle of the j-th road segment and the turning angle of the reference road segment of the j-th road segment;

[0129] The distance and angle differences are weighted to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

[0130] In this embodiment, a road segment refers to the road segment between two intersections. That is, the length of the i-th road segment is used to indicate the length between the intersection corresponding to its starting point and the intersection corresponding to its ending point; the turning angle is used to indicate the turning direction and degree of the road; by weighted summing the distance difference and angle difference between the i-th road segment in the target candidate path and the reference road segment corresponding to the i-th road segment in the first path, the matching error between the i-th road segment and the reference road segment corresponding to the i-th road segment can be obtained. Based on the same method, the matching error is calculated for each of the other road segments in the target candidate path, and the matching error between each road segment in the target candidate path and each road segment in the first path is obtained. The sum of the matching errors of each road segment is obtained as the matching error between the target candidate path and the first path.

[0131] Optionally, to improve the accuracy of path matching, the attributes of other road segments can be introduced into the calculation of matching error. That is, in response to the difference between the auxiliary attributes of the j-th road segment and the auxiliary attributes of the reference road segment of the j-th road segment, the distance difference, angle difference and matching penalty term are weighted to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

[0132] To illustrate, taking the calculation of the sub-error between road segment a in the target candidate path and road segment b in the first path corresponding to road segment a as an example, this sub-error can be expressed as:

[0133] f(a,b)=k1*f offset (a,b)+k2*f angle (a,b)+k3*f other (a,b)

[0134] Among them, f offset (a,b) represents the difference between the lengths of road segment a and road segment b, f angle (a,b) represents the difference between the turning angles of road segment a and road segment b, f other (a,b) represents the matching penalty when there is a difference in auxiliary attributes, and k1, k2, and k3 are weighting parameters. The values ​​of these weighting parameters and the values ​​of the matching penalty can be set by relevant personnel, and this application does not impose any restrictions on them.

[0135] Let the intersection sequence of the first path be A1, A2, ..., A m The intersection sequence of the target candidate path is B1, B2, ..., B n The system matches road segments corresponding to intersections in the first path and the target candidate path in a sequential order. Due to differences in map data, there may be multiple consecutive road segments with short lengths. Therefore, the road segment matching process may involve one-to-many or many-to-one situations. In such cases, the road segments in the target candidate path can be preprocessed. If the sum of the lengths of two adjacent road segments in the target candidate path is less than a length threshold, the two adjacent road segments are merged. The reference road segment corresponding to the merged two road segments can be the same road segment in the first path. Alternatively, multiple road segments within the length threshold range can be merged into one road segment. That is, when multiple road segments exist within a short distance, the multiple road segments can be merged, and the reference road segment in the first path can be obtained based on the later road segment for matching, thereby reducing the waste of computational resources in the road segment matching process.

[0136] Schematic, the matching of the target candidate path with the first path can be represented as: M = (A p1 B q1 ),(A p2 B q2 ... (1≤p1≤p2≤...≤m, 1≤q1≤q2≤...≤n);

[0137] Correspondingly, the matching error between the target candidate path and the first path can be expressed as: F(M) = f(A) p1 B q1 )+f(A p2 B q2)+…;

[0138] Step 350: The candidate path with the smallest matching error is obtained as the second path in the second map corresponding to the first path.

[0139] In one possible implementation, after obtaining the second path, the matching component in the computer device can encapsulate the second path information corresponding to the second path according to the second map transmission protocol to obtain the second transmission message.

[0140] Send a second transmission message to the second map function component; the second map function component is a function component that uses the second map.

[0141] The second map information may include at least one of the following: attribute information of each road segment the second path passes through on the second map, attribute information of each intersection the second path passes through, the number of road segment branches corresponding to each intersection, and attribute information of each road segment branch corresponding to each intersection.

[0142] The second map function component can be implemented as a software component or a physical component. Schematic, the second map function component can be implemented as an in-vehicle navigation system or an autonomous driving system. For example, in an in-vehicle navigation scenario, the accuracy of the second map is greater than that of the first map. After obtaining the second path, the matching component in the computer device can send the second path to the ADAS (Advanced Driver Assistance System). Specifically, the path information of the second path can be sent to the ADAS, which can be a driving system installed in the vehicle, so that the ADAS can provide more accurate in-vehicle navigation services.

[0143] When the matching component in the computer device sends the second transmission message to the second map function component, it can send the second transmission message through the second map transmission protocol. In application scenarios with high-precision map requirements, the second map transmission protocol is the Advanced Driver Assistance System Architecture Specification ADASIS Version 3 Protocol (ADASIS v3 Protocol). In this case, the first map transmission protocol is any map data transmission protocol that is different from the second map transmission protocol.

[0144] The first map function component and the second map function component can be implemented as part of a computer device in the form of software, hardware, or a combination of software and hardware. Alternatively, the first map function component and the second map function component can also be implemented as other devices besides computer devices. This application does not impose any restrictions on this.

[0145] In summary, the path matching method provided in this application, after obtaining the starting point information and first path information of the first path generated based on the first map, can construct a path using the starting road segment obtained in the second map based on the starting point information of the first path as the starting point, and obtain a second path in the second map that matches the first path based on the first path information; thereby completing the path mapping between maps from different data sources. The above method can automate path matching and improve path matching efficiency.

[0146] Meanwhile, even without GPS signal or without obtaining GPS signal for an unexplored path, it can achieve path matching between two maps based on the first path information, expanding the possible implementation methods of map path matching and realizing path matching even without GPS signal or without obtaining GPS signal for an unexplored path.

[0147] Taking the path matching method provided in this application as an example, it directly extends the existing SD map (first map) in-vehicle navigation system to make the in-vehicle navigation system suitable for autonomous driving scenarios with high accuracy requirements. Figure 6 The diagram illustrates a path matching method according to an exemplary embodiment of this application. This method can be interactively executed by a first map function component, a matching component, and a second map function component. The method may include the following steps:

[0148] Step 610: The first map function component, based on the SD map, obtains the starting point and the ending point.

[0149] Step 620: The first map function component calculates the first path based on the starting point and the ending point.

[0150] Step 630: The first map function component encapsulates the starting point information and the first path information of the first path to obtain the first transmission message.

[0151] The first transmission message may include the vehicle's current location, road information ahead in the SD map, navigation route, etc.

[0152] The first map can encapsulate the starting point information and the first path information of the first path through the EHP (Electronic Horizon Provider) v2 module to obtain the first transmission message.

[0153] Step 640: The first map function component sends a first transmission message to the matching component via the ADASIS v2 protocol, and the matching component receives the first transmission message accordingly.

[0154] Step 650: The matching component parses the first transmission message to obtain the starting point information of the first path and the first path message.

[0155] The matching component may include EHR (Electronic Horizon Reconstructor) v2, which is used to parse messages sent by EHP v2 and reconstruct map data; the electronic horizon provider, map transmission protocol and electronic horizon reconstructor correspond to each other.

[0156] Step 660: The matching component uses a matching algorithm to match the data in the HD map to obtain a second path that matches the first path in the HD map.

[0157] Step 670: The matching component obtains the path information corresponding to the second path, and encapsulates the path information to obtain the second transmission message.

[0158] The matching component may include EHP v3, which is used to encapsulate the path information of the corresponding path in the HD map, i.e. the pathability of the second path, to obtain the second transmission message.

[0159] In step 680, the matching component sends the second transmission message to the second map function component via the ADASIS v3 protocol. Accordingly, the second map function component receives the second transmission message and performs the corresponding function.

[0160] In the application scenario corresponding to this embodiment, the second map function component can be implemented as an autonomous driving component. The autonomous driving component can perform autonomous driving based on the received second transmission message, thereby improving the safety of autonomous driving.

[0161] The interaction process between the first map function component, the matching component, and the second map function component is as follows. Figure 7 This illustration shows a schematic diagram of the interaction process between a first map function component, a matching component, and a second map function component, as illustrated in an exemplary embodiment of this application. Figure 7As shown, after obtaining a first path constructed based on the SD map, or a first path selected from the SD map, the first map function component 710 calculates the starting point information and the first path information of the first path. It then encapsulates the starting point information and the first path information through an EHP v2 subcomponent and sends them to the matching component 720 via the ADASIS v2 protocol. The matching component 720 includes an EHR v2 subcomponent 721, a matching subcomponent 722, and an EHP v3 subcomponent 723. The EHR v2 subcomponent 721 parses the received encapsulated message to obtain the starting point information and the first path information. The matching subcomponent 722 obtains at least one candidate path based on the starting point information and the first path information, performs path matching between the obtained candidate path and the first path information, and obtains a second path in the HD map that matches the first path. The EHP v3 subcomponent 723 encapsulates the path information of the second path and sends it via the ADASIS protocol. The v3 protocol is sent to second map function components, such as autonomous driving components and in-vehicle navigation components, so that these components can perform corresponding functions based on the obtained second path path information.

[0162] It should be noted that the relevant content in the above process can be referenced. Figure 2 or Figure 3 The relevant details of the corresponding embodiments will not be repeated here.

[0163] In this embodiment of the application, by setting a matching component between the first map function component and the second map function component, and through protocol conversion between EHP v2 and EHP v3, path mapping between the first map used in the first map function component and the second map used in the second map function component is realized. Thus, based on the path information obtained in the first map, high-precision path information corresponding to the path can be obtained from the second map to meet the application scenarios with high accuracy requirements, such as in-vehicle navigation scenarios and autonomous driving scenarios.

[0164] It should be noted that the types of the first and second maps provided in this embodiment, as well as the protocol conversion between the first and second maps, are only illustrative. This application does not limit the types of the first and second maps, or the objects of protocol conversion.

[0165] Figure 8 A block diagram of a path matching apparatus illustrated in an exemplary embodiment of this application is shown, such as Figure 8 As shown, the path matching device includes:

[0166] The information acquisition module 810 is used to acquire the starting point information and the first path information of the first path. The first path information includes: the attribute information of each road segment through which the first path passes on the first map.

[0167] The starting road segment acquisition module 820 is used to acquire the starting road segment based on the starting point information of the first path; the starting road segment is the road segment in the second map where the starting point of the first path is located.

[0168] The path matching module 830 is used to perform path matching in the second map based on the first path information, starting from the starting road segment, to obtain the second path in the second map corresponding to the first path.

[0169] In one possible implementation, the information acquisition module 810 includes:

[0170] The message receiving submodule is used to receive a first transmission message sent by the first map function component; the first transmission message is obtained by encapsulating the starting point information and the first path information of the first path according to the first map transmission protocol; the first map function component is a function component that uses the first map.

[0171] The parsing submodule is used to parse the first transmission message to obtain the starting point information and the first path information of the first path;

[0172] The device further includes:

[0173] The message encapsulation module is used to encapsulate the second path information corresponding to the second path according to the second map transmission protocol to obtain the second transmission message.

[0174] The message sending module is used to send the second transmission message to the second map function component; the second map function component is a function component that uses the second map.

[0175] In one possible implementation, the second map transmission protocol is the Advanced Driver Assistance System Architecture Specification Version 3 protocol;

[0176] The first map transmission protocol is any map data transmission protocol that is different from the second map transmission protocol.

[0177] In one possible implementation, the attribute information of the route segment includes: the length of the route segment, the turning angle of the route segment, and at least one of the auxiliary attributes;

[0178] The auxiliary attributes include at least one of the following: the functional level of the route segment, the road type of the route segment, the number of lanes of the route segment, the heading of the route segment, the curvature of the route segment, and the slope of the route segment.

[0179] In one possible implementation, the path matching module 830 includes:

[0180] The candidate path selection submodule is used to select candidate paths from the second map starting from the initial road segment; the length of the candidate path is equal to the length of the first path.

[0181] The matching error calculation submodule is used to calculate the matching error between each candidate path and the first path based on the first path information.

[0182] The second path acquisition submodule is used to acquire the candidate path with the smallest matching error as the second path in the second map corresponding to the first path.

[0183] In one possible implementation, the candidate path selection submodule includes:

[0184] The road segment traversal unit is used to traverse the road segments starting from the initial road segment and based on the i-th road segment to obtain at least one successor road segment of the i-th road segment; the starting point of the successor road segment of the i-th road segment is the ending point of the i-th road segment, i≥1, and i is a positive integer;

[0185] A road segment determination unit is used to determine at least one (i+1)th road segment based on the attribute information of each of the at least one subsequent road segment and the attribute information of the reference road segment of the (i+1)th road segment; the length from the start point of the reference road segment of the (i+1)th road segment to the start point of the first path is matched with the length from the end point of the i-th road segment to the start point of the starting road segment.

[0186] The candidate path acquisition unit is configured to acquire the path composed of the first i+1 road segments connected in the determined road segment order as the candidate path in response to the total length of the first path reaching the total length of the first path.

[0187] In one possible implementation, the road segment determination unit is configured to determine the target successor road segment as the (i+1)th road segment in response to the fact that the difference between the attribute information of the target successor road segment and the attribute information of the reference road segment of the (i+1)th road segment is less than an attribute difference threshold.

[0188] The target successor road segment is any one of the at least one successor road segments.

[0189] In one possible implementation, the matching error calculation submodule includes:

[0190] The attribute information acquisition unit is used to acquire the attribute information of each road segment traversed by the target candidate path; the target candidate path is any one of the candidate paths.

[0191] The matching error calculation unit is used to calculate the matching error between the target candidate path and the first path based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path.

[0192] In one possible implementation, the matching error calculation unit is used to obtain sub-errors between N road segments in the target candidate path and reference road segments of the N road segments, based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path; N is a positive integer.

[0193] The sum of sub-errors between the N road segments and their respective reference road segments is used to obtain the matching error between the target candidate path and the first path.

[0194] In one possible implementation, the matching error calculation unit is used to obtain the distance difference between the path length of the j-th road segment in the target candidate path and the path length of the reference road segment of the j-th road segment; 1≤j≤N, where j is a positive integer;

[0195] Obtain the angle difference between the turning angle of the j-th road segment and the turning angle of the reference road segment of the j-th road segment;

[0196] The distance difference and the angle difference are weighted to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

[0197] In one possible implementation, the matching error calculation unit is configured to, in response to a difference between the auxiliary attributes of the j-th road segment and the auxiliary attributes of the reference road segment of the j-th road segment, perform weighted processing on the distance difference, the angle difference, and the matching penalty term to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

[0198] In one possible implementation, the device further includes:

[0199] The road segment merging module is used to merge two adjacent road segments in response to the sum of their lengths being less than a length threshold.

[0200] In one possible implementation, the starting road segment acquisition module 820 is used to determine the mapping point of the starting point of the first path in the second map based on the starting point information of the first path;

[0201] The road segment with the smallest vertical distance to the mapping point in the second map is the starting road segment.

[0202] In one possible implementation, the accuracy of the second map is higher than that of the first map.

[0203] In summary, the path matching device provided in this application, after obtaining the starting point information and the first path information of the first path generated based on the first map, can construct a path using the starting road segment obtained in the second map based on the starting point information of the first path as the starting point, and obtain a second path in the second map that matches the first path based on the first path information; thereby completing the path mapping between maps from different data sources. The above method can automate path matching and improve path matching efficiency.

[0204] Meanwhile, even without GPS signal or without obtaining GPS signal for an unexplored path, it can achieve path matching between two maps based on the first path information, expanding the possible implementation methods of map path matching and realizing path matching even without GPS signal or without obtaining GPS signal for an unexplored path.

[0205] Figure 9 A structural block diagram of a computer device 900 illustrated in an exemplary embodiment of this application is shown. This computer device can be implemented as a server as described above in this application. The computer device 900 includes a Central Processing Unit (CPU) 901, a system memory 904 including Random Access Memory (RAM) 902 and Read-Only Memory (ROM) 903, and a system bus 905 connecting the system memory 904 and the CPU 901. The computer device 900 also includes a mass storage device 906 for storing an operating system 909, application programs 910, and other program modules 911.

[0206] The mass storage device 906 is connected to the central processing unit 901 via a mass storage controller (not shown) connected to the system bus 905. The mass storage device 906 and its associated computer-readable media provide non-volatile storage for the computer device 900. That is, the mass storage device 906 may include computer-readable media (not shown) such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0207] Without loss of generality, the computer-readable medium may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage media are not limited to the above-mentioned types. The system memory 904 and mass storage device 906 described above can be collectively referred to as memory.

[0208] According to various embodiments of this disclosure, the computer device 900 can also be connected to a remote computer on a network, such as the Internet. That is, the computer device 900 can be connected to a network 908 via a network interface unit 907 connected to the system bus 905, or it can use the network interface unit 907 to connect to other types of networks or remote computer systems (not shown).

[0209] The memory further includes at least one instruction, at least one program, code set, or instruction set, which are stored in the memory. The central processing unit 901 executes the at least one instruction, at least one program, code set, or instruction set to implement all or part of the steps in the path matching method shown in the above embodiments.

[0210] In one exemplary embodiment, a computer-readable storage medium is also provided for storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement all or part of the steps in the path matching method described above. For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, or optical data storage device, etc.

[0211] In one exemplary embodiment, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the aforementioned actions. Figure 2 , Figure 3 or Figure 6 All or part of the steps of the method shown in any embodiment.

[0212] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0213] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A path matching method, characterized in that, The method includes: Obtain the starting point information and the first path information of the first path, wherein the first path information includes: attribute information of each road segment that the first path passes through on the first map; The starting road segment is obtained based on the starting point information of the first path; the starting road segment is the road segment in the second map where the starting point of the first path is located. Starting from the initial road segment, a road segment traversal is performed based on the i-th road segment to obtain at least one successor road segment of the i-th road segment; the starting point of the successor road segment of the i-th road segment is the ending point of the i-th road segment, i≥1, and i is a positive integer; Based on the attribute information of each of the at least one subsequent road segment and the attribute information of the reference road segment of the (i+1)th road segment, at least one (i+1)th road segment is determined; the length from the start of the reference road segment of the (i+1)th road segment to the start of the first path is matched with the length from the end of the i-th road segment to the start of the starting road segment. In response to the total length of the first i+1 road segments connected in the determined road segment order reaching the total length of the first path, the path composed of the first i+1 road segments connected in the determined road segment order is obtained as a candidate path; Based on the first path information, the matching error between each candidate path and the first path is calculated. The candidate path with the smallest matching error is obtained as the second path in the second map corresponding to the first path.

2. The method according to claim 1, characterized in that, The attribute information of the route segment includes: the length of the route segment, the turning angle of the route segment, and at least one of the auxiliary attributes; The auxiliary attributes include at least one of the following: the functional level of the route segment, the road type of the route segment, the number of lanes of the route segment, the heading of the route segment, the curvature of the route segment, and the slope of the route segment.

3. The method according to claim 1 or 2, characterized in that, The process of obtaining the starting point information and the first path information includes: Receive a first transmission message sent by a first map function component; the first transmission message is obtained by encapsulating the starting point information and the first path information of the first path according to the first map transmission protocol; the first map function component is a function component that uses the first map. The first transmission message is parsed to obtain the starting point information and the first path information of the first path; The method further includes: The second path information corresponding to the second path is encapsulated according to the second map transmission protocol to obtain the second transmission message; The second transmission message is sent to the second map function component; the second map function component is a function component that uses the second map.

4. The method according to claim 3, characterized in that, The second map transmission protocol is the Advanced Driver Assistance System Architecture Specification, Version 3. The first map transmission protocol is any map data transmission protocol that is different from the second map transmission protocol.

5. The method according to claim 1, characterized in that, The step of determining at least one of the (i+1)th road segments based on the attribute information of each of the at least one subsequent road segment and the attribute information of the reference road segment corresponding to the (i+1)th road segment includes: In response to the attribute information of the target successor road segment, if the difference between the attribute information of the target successor road segment and the attribute information of the reference road segment of the (i+1)th road segment is less than the attribute difference threshold, the target successor road segment is determined as the (i+1)th road segment. The target successor road segment is any one of the at least one successor road segments.

6. The method according to claim 1, characterized in that, The step of calculating the matching error between each candidate path and the first path based on the first path information includes: Obtain the attribute information of each road segment traversed by the target candidate path; the target candidate path is any one of the candidate paths. Based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path, the matching error between the target candidate path and the first path is calculated.

7. The method according to claim 6, characterized in that, The step of calculating the matching error between the target candidate path and the first path based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path includes: Based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path, sub-errors between N road segments in the target candidate path and reference road segments of the N road segments are obtained; N is a positive integer. The sum of the sub-errors between the N road segments and their respective reference road segments is obtained as the matching error between the target candidate path and the first path.

8. The method according to claim 7, characterized in that, The step of obtaining the sub-errors between the N road segments in the target candidate path and the reference road segments of the N road segments includes: Obtain the path length of the j-th road segment in the target candidate path, and the distance difference between it and the path length of the reference road segment of the j-th road segment; 1≤j≤N, j is a positive integer; Obtain the angle difference between the turning angle of the j-th road segment and the turning angle of the reference road segment of the j-th road segment; The distance difference and the angle difference are weighted to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

9. The method according to claim 8, characterized in that, The weighted processing of the distance difference and the angle difference to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment includes: In response to the difference between the auxiliary attributes of the j-th road segment and the auxiliary attributes of the reference road segment of the j-th road segment, the distance difference, the angle difference, and the matching penalty term are weighted to obtain the sub-error between the j-th road segment and the reference road segment of the j-th road segment.

10. The method according to claim 7, characterized in that, The method further includes: In response to the fact that the sum of the lengths of two adjacent road segments in the target candidate path is less than a length threshold, the two adjacent road segments are merged.

11. The method according to claim 1, characterized in that, The step of obtaining the starting road segment based on the starting point information of the first path includes: Based on the starting point information of the first path, determine the mapping point of the starting point of the first path in the second map; The road segment with the smallest vertical distance to the mapping point in the second map is the starting road segment.

12. The method according to claim 1, characterized in that, The accuracy of the second map is higher than that of the first map.

13. A path matching device, characterized in that, The device includes: The information acquisition module is used to acquire the starting point information and the first path information of the first path. The first path information includes the attribute information of each road segment that the first path passes through on the first map. The starting road segment acquisition module is used to acquire the starting road segment based on the starting point information of the first path; the starting road segment is the road segment in the second map where the starting point of the first path is located. The path matching module is used to traverse road segments starting from the initial road segment, based on the i-th road segment, to obtain at least one successor road segment of the i-th road segment; the starting point of the successor road segment of the i-th road segment is the ending point of the i-th road segment, i≥1, and i is a positive integer; based on the attribute information of each of the at least one successor road segment and the attribute information of the reference road segment of the (i+1)-th road segment, at least one (i+1)-th road segment is determined; the length from the starting point of the reference road segment of the (i+1)-th road segment to the starting point of the first path matches the length from the ending point of the i-th road segment to the starting point of the initial road segment; in response to the total length of the first (i+1)-th road segments connected in the determined road segment order reaching the total length of the first path, the path composed of the first (i+1)-th road segments connected in the determined road segment order is obtained as a candidate path; based on the first path information, the matching error is calculated between each candidate path and the first path; the candidate path with the smallest matching error is obtained as the second path in the second map corresponding to the first path.

14. The apparatus according to claim 13, characterized in that, The attribute information of the route segment includes: the length of the route segment, the turning angle of the route segment, and at least one of the auxiliary attributes; The auxiliary attributes include at least one of the following: the functional level of the route segment, the road type of the route segment, the number of lanes of the route segment, the heading of the route segment, the curvature of the route segment, and the slope of the route segment.

15. The apparatus according to claim 13 or 14, characterized in that, The information acquisition module includes: The message receiving submodule is used to receive a first transmission message sent by the first map function component; the first transmission message is obtained by encapsulating the starting point information and the first path information of the first path according to the first map transmission protocol; the first map function component is a function component that uses the first map. The parsing submodule is used to parse the first transmission message to obtain the starting point information and the first path information of the first path; The device further includes: The message encapsulation module is used to encapsulate the second path information corresponding to the second path according to the second map transmission protocol to obtain the second transmission message. The message sending module is used to send the second transmission message to the second map function component; the second map function component is a function component that uses the second map.

16. The apparatus according to claim 15, characterized in that, The second map transmission protocol is the Advanced Driver Assistance System Architecture Specification, Version 3. The first map transmission protocol is any map data transmission protocol that is different from the second map transmission protocol.

17. The apparatus according to claim 13, characterized in that, The path matching module is used to determine the target successor road segment as the (i+1)th road segment if the difference between the attribute information of the target successor road segment and the attribute information of the reference road segment of the (i+1)th road segment is less than the attribute difference threshold. The target successor road segment is any one of the at least one successor road segments.

18. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or the instruction set being loaded and executed by the processor to implement the path matching method as described in any one of claims 1 to 12.

19. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the path matching method as described in any one of claims 1 to 12.

20. A computer program product, characterized in that, The computer program product includes at least one computer program, which is loaded and executed by a processor to implement the path matching method as described in any one of claims 1 to 12.

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