CN109597861A - Processing method, device and the readable storage medium storing program for executing of map datum - Google Patents
Processing method, device and the readable storage medium storing program for executing of map datum Download PDFInfo
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Abstract
Processing method, device and the readable storage medium storing program for executing of map datum provided by the invention receive the geographic coordinate information and map datum of the target object that acquisition obtains；According to the geographic coordinate information of the target object determine the target object belonging to map block；The map datum is stored into the vector tile of the map block, high-precision electronic map is obtained according to the vector tile of each map block, by the way that the map datum of target object is stored according to the map block belonging to it, to obtain the high-precision electronic map being made of the vector tile of each map block, piecemeal storage is carried out to high-precision electronic map to realize, and then be convenient for downloading and use of the unmanned equipment to it, efficiently solve the problems, such as in the prior art due to caused by document size is larger in high-precision electronic map room loading efficiency it is low.
Description
Technical field
The present invention relates to computer technology more particularly to a kind of processing methods of map datum, device and readable storage medium
Matter.
Background technique
The development of unmanned technology be unable to do without the development for the electronic map that it is based on.Wherein, with conventional navigation electronics
Map is compared, and high-precision electronic map provides that precision is higher, real-time is stronger, information is more abundant for unmanned equipment
Map Services.
In the prior art, unmanned steer has been will include in high-precision electronic map when executing automatic Pilot task
The map datum of total data, such as road, lane, crossing, mark, traffic lights etc. can be used, these map datums are generally
Vector data.The high-precision for being stored in server can be downloaded and read when executing automatic Pilot task by unmanned equipment
Electronic map, to realize that it drives function.
But since the information content of high-precision electronic map is very big, occupied by physical file size it is very big, be unfavorable for
Downloading and acquisition of the unmanned equipment when executing automatic Pilot task to it.
Summary of the invention
It is very big for the occupied physical file size of the above-mentioned existing high-precision electronic map referred to, it is unmanned
Equipment when executing automatic Pilot task to the downloading and acquisition of high-precision electronic map the time required to it is longer, loading efficiency is lower
The problem of, the present invention provides a kind of processing method of map datum, device and readable storage medium storing program for executing.
On the one hand, the present invention provides a kind of processing methods of map datum, comprising:
Receive the geographic coordinate information and map datum of the target object that acquisition obtains；
According to the geographic coordinate information of the target object determine the target object belonging to map block；
The map datum is stored into the vector tile of the map block, according to the vector tile of each map block
Obtain high-precision electronic map.
In a kind of wherein optional embodiment, it is described receive acquisition obtain target object geographic coordinate information and
Before map datum, further includes:
The complete map in the world is divided according to the geographical feature in the world, obtains multiple map blocks in the world.
In a kind of wherein optional embodiment, the geographic coordinate information of the target object is the target object wheel
Wide coordinate；
Correspondingly, the geographic coordinate information according to the target object determines map belonging to the target object
Block, comprising:
Judge the objects' contour coordinate whether the boundary line coordinates between adjacent map block there are intersection points；
If so, using several adjacent map blocks belonging to line of demarcation as map belonging to the target object
Block；
If it is not, then determining unique map block belonging to the target object according to the range coordinate of each map block.
It is described to store the map datum to the vector of the map block in a kind of wherein optional embodiment
In tile, after the vector tile of each map block acquisition high-precision electronic map, further includes:
The map acquisition request that unmanned equipment is initiated when executing automatic Pilot task is received, the map acquisition is asked
It include the current position coordinates of the unmanned equipment in asking；
According to the position coordinates, the target map block where the unmanned equipment is determined；
The vector tile of target map block where the unmanned equipment is sent to the unmanned equipment,
So that it executes automatic Pilot task according to the vector tile of the map block.
Target map block in a kind of wherein optional embodiment, where the determination unmanned equipment
Later, further includes:
Several map blocks adjacent with the target map block are determined according to the target map block；
The vector tile by the target map block where the unmanned equipment is sent to described unmanned
Equipment, comprising:
By the adjacent several map blocks of the vector tile of the target map block and the target map block
Vector tile is sent to the unmanned equipment.
Another aspect, the present invention provides a kind of processing units of map datum, comprising:
Acquisition module, for receiving the geographic coordinate information and map datum of the target object that acquisition obtains；
Processing module, for according to the geographic coordinate information of the target object determine the target object belonging to ground
Figure block；
Memory module, for storing the map datum into the vector tile of the map block, according to each map
The vector tile of block obtains high-precision electronic map.
In a kind of wherein optional embodiment, the processing module is in the target object for receiving acquisition acquisition
Before geographic coordinate information and map datum, it is also used to divide the complete map in the world according to the geographical feature in the world, obtains
Obtain multiple map blocks in the world.
In a kind of wherein optional embodiment, the processing unit of the map datum further includes communication module；
The communication module is used to receive the map acquisition that unmanned equipment is initiated when executing automatic Pilot task and asks
It asks, includes the current position coordinates of the unmanned equipment in the map acquisition request；
Correspondingly, the processing module, it is also used to according to the position coordinates, where determining the unmanned equipment
Target map block；So that the communication module sends out the vector tile of the target map block where the unmanned equipment
It send to the unmanned equipment.
In another aspect, the present invention provides a kind of processing units of map datum, comprising: memory and the memory
The processor of connection, and it is stored in the computer program that can be run on the memory and on the processor, feature exists
In,
The processor executes such as preceding described in any item methods when running the computer program.
Last aspect, the present invention provides a kind of readable storage medium storing program for executing, including program, when it runs at the terminal,
So that terminal executes such as preceding described in any item methods.
Processing method, device and the readable storage medium storing program for executing of map datum provided by the invention receive the object that acquisition obtains
The geographic coordinate information and map datum of body；Belonging to the target object is determined according to the geographic coordinate information of the target object
In map block；The map datum is stored into the vector tile of the map block, according to the arrow of each map block
It measures tile and obtains high-precision electronic map, by depositing the map datum of target object according to the map block belonging to it
Storage, to obtain the high-precision electronic map being made of the vector tile of each map block, to realize to high-precision electronic map
Piecemeal storage is carried out, and then is convenient for downloading and use of the unmanned equipment to it, is efficiently solved in the prior art due to height
The low problem of loading efficiency caused by document size is larger in precision electronic map room.
Detailed description of the invention
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Fig. 1 be the present invention is based on network architecture schematic diagram；
Fig. 2 is a kind of flow diagram of the processing method for map datum that the embodiment of the present invention one provides；
Fig. 3 is a kind of flow diagram of the processing method of map datum provided by Embodiment 2 of the present invention；
Fig. 4 is a kind of structural schematic diagram of the processing unit for map datum that the embodiment of the present invention three provides；
Fig. 5 is a kind of hardware schematic of the processing unit for map datum that the embodiment of the present invention four provides.
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
The development of unmanned technology be unable to do without the development for the electronic map that it is based on.Wherein, with conventional navigation electronics
Map is compared, and high-precision electronic map provides that precision is higher, real-time is stronger, information is more abundant for unmanned equipment
Map Services.
In the prior art, unmanned steer has been will include in high-precision electronic map when executing automatic Pilot task
The map datum of total data, such as road, lane, crossing, mark, traffic lights etc. can be used, these map datums are generally
Vector data.The high-precision for being stored in server can be downloaded and read when executing automatic Pilot task by unmanned equipment
Electronic map, to realize that it drives function.
But since the information content of high-precision electronic map is very big, occupied by physical file size it is very big, be unfavorable for
Downloading and acquisition of the unmanned equipment when executing automatic Pilot task to it.
For above-mentioned the technical issues of referring to, the present invention provides a kind of processing methods of map datum, device and readable
Storage medium.It should be noted that the application, which provides map data processing method, device and readable storage medium storing program for executing, can be used in extensively
In ubiquitous application scenarios relevant to high-precision electronic map, these application scenarios include but is not limited to: being based on high precision electro
The unmanned navigation field of sub- map, production, update and editor of high-precision electronic map etc..
Fig. 1 be the present invention is based on network architecture schematic diagram, as shown in Figure 1, in the network architecture that is based on of the present invention
It may include collecting vehicle 1, the processing unit of map datum 2 and unmanned equipment 3.The collecting vehicle 1 and unmanned equipment 3 can
It is obtained through wireless communication with the processing unit of map datum 2 respectively and connects and carry out data interaction.In addition, of the invention
The processing unit 2 of provided map datum can specifically be constituted by setting up server beyond the clouds or server cluster, the cloud
Server or the executable processing logic of server cluster and arithmetic logic.In addition, the present invention can be used in electronic map
The scenes such as production, update or editor in, therefore, the processing unit 2 of the map datum can with the production of electronic map, update or
Editing platform combines, and present embodiment is not limited this.
Fig. 2 is a kind of flow diagram of the processing method for map datum that the embodiment of the present invention one provides.
As shown in Fig. 2, the processing method of the map datum includes:
Step 101, the geographic coordinate information and map datum for receiving the target object that acquisition obtains.
Step 102, according to the geographic coordinate information of the target object determine the target object belonging to map area
Block.
Step 103 stores the map datum into the vector tile of the map block, according to each map block
Vector tile obtains high-precision electronic map.
It should be noted that the executing subject of the processing method of map datum provided by the invention is concretely shown in Fig. 1
Map datum processing unit.
Specifically, the present invention provides a kind of processing methods of map datum, firstly, the processing unit of map datum connects
Receive the geographic coordinate information and map datum by collecting vehicle target object collected.It should be noted that collecting vehicle generally can
Data acquisition, after data acquisition, collecting vehicle meeting are carried out to each object along acquisition route according to default acquisition route
The data of each object are sent in the processing unit of map datum for its processing.Wherein, the number for the object that collecting vehicle is sent
According to including geographic coordinate information and map datum.Geographic coordinate information is used to indicate the geographical location where the object, such as
GPS coordinate etc.；And map datum then can be used for indicating the information such as the existing forms of the object, such as contour of object information, with it
The connection relationship etc. of his object.
Then, the processing unit of map datum determines the mesh for according to the geographic coordinate information of the target object received
Mark map block belonging to object.Wherein, map block constructs in advance, can the geographical feature based on the world to the world
Complete map carries out division acquisition.
Furthermore, it is understood that being directed to for city map, general geographical feature distribution is more average, map block
Other division modes can also be used according to administrative area in division；It is directed to for suburb/mountain area/uncultivated chorography, it is general
Geographical feature distribution is more mixed and disorderly, and dividing for map block can be according to the true geographical form of this area, such as longitude and latitude, height above sea level
Deng.Certainly, it may make up complete world map by multiple map blocks of division.
The geographic coordinate information of target object may include the coordinate for having objects' contour, for example, target object is a certain
Road, then the longitude and latitude at the edge on the road coordinate Ze Keweigai of objects' contour.And accordingly according to the target object
Geographic coordinate information determine map block belonging to target object, then can be determined as follows: judge target object
The coordinate of profile whether the boundary line coordinates between adjacent map block there are intersection points；If so, by belonging to line of demarcation
Several adjacent map blocks are as map block belonging to the target object；If it is not, then according to the model of each map block
It sits around to mark and determines unique map block belonging to the target object.That is, by the longitude and latitude at the edge on this road with
The range of each map block divided in advance is compared, and can determine whether to know whether this road crosses over multiple map blocks, i.e., should
The coordinate of the profile on road whether the boundary line coordinates between adjacent map block there are intersection points.Once this road is crossed over multiple
Map block then can regard multiple map block as map block belonging to this road, correspondingly, the wheel on the road Ruo Gaitiao
Wide coordinate is respectively positioned in same map block, and the road Ze Gaitiao only belongs to unique map block.
After the processing unit of map datum is completed to the determination of map block belonging to target object, map datum
Processing unit the map datum of target object is stored into the vector tile of map block, according to the vector of each map block
Tile obtains high-precision electronic map.By using aforesaid way, high-precision electronic map is enabled to be divided into multiplely
Figure block is simultaneously stored in a manner of vector tile, and then convenient for the vector watt of unmanned equipment electronic map with high precision
Piece is loading unit, and high-precision electronic map is loaded and used.
The processing method for the map datum that the embodiment of the present invention one provides, by the ground for receiving the target object that acquisition obtains
Manage coordinate information and map datum；According to the geographic coordinate information of the target object determine the target object belonging to ground
Figure block；The map datum is stored into the vector tile of the map block, according to the vector tile of each map block
High-precision electronic map is obtained, by storing the map datum of target object according to the map block belonging to it, to obtain
The high-precision electronic map being made of the vector tile of each map block is obtained, piecemeal is carried out to high-precision electronic map to realize
Storage, and then it is convenient for downloading and use of the unmanned equipment to it, it efficiently solves in the prior art due to high-precision electronic
The low problem of loading efficiency caused by document size is larger in map room.
Based on the above embodiment one, the present embodiment two provides a kind of processing method of map datum, and Fig. 3 is that the present invention is real
A kind of flow diagram of the processing method of map datum of the offer of example two is provided.
As shown in figure 3, the processing method of the map datum includes:
Step 201, the geographic coordinate information and map datum for receiving the target object that acquisition obtains.
Step 202, according to the geographic coordinate information of the target object determine the target object belonging to map area
Block.
Step 203 stores the map datum into the vector tile of the map block, according to each map block
Vector tile obtains high-precision electronic map.
Step 204 receives the map acquisition request that unmanned equipment is initiated when executing automatic Pilot task, describedly
It include the current position coordinates of the unmanned equipment in figure acquisition request.
Step 205, according to the position coordinates, determine the target map block where the unmanned equipment.
Step 206, by the vector tile of the target map block where the unmanned equipment be sent to it is described nobody
Steer, so that it executes automatic Pilot task according to the vector tile of the map block.
Specifically, the executing subject of the processing method for the map datum that the present embodiment two provides should be shown in FIG. 1ly
The processing unit of diagram data.
Similarly with embodiment one, firstly, the processing unit of map datum is received by collecting vehicle object collected
The geographic coordinate information and map datum of body.It should be noted that collecting vehicle generally can be according to default acquisition route to acquisition road
Each object along line carries out data acquisition, and after data acquisition, the data of each object can be sent to map by collecting vehicle
In the processing unit of data, for its processing.Wherein, the data for the object that collecting vehicle is sent include geographic coordinate information and ground
Diagram data.Geographic coordinate information is used to indicate the geographical location where the object, such as GPS coordinate etc.；And map datum then may be used
The information such as the existing forms for indicating the object, such as contour of object information, with the connection relationship of other objects etc..
Then, the processing unit of map datum determines the mesh for according to the geographic coordinate information of the target object received
Mark map block belonging to object.Wherein, map block constructs in advance, is the geographical feature based on the world to the world
Complete map is divided to obtain.Furthermore, it is understood that being directed to for city map, general geographical feature distribution is more flat
, other division modes can also be used according to administrative area in the division of map block；It is directed to suburb/mountain area/uncultivated area
For map, general geographical feature distribution is more mixed and disorderly, and dividing for map block can be according to the true geographical shape of this area
State, such as longitude and latitude, height above sea level.Certainly, it may make up complete world map by multiple map blocks of division.
Furthermore, it is understood that the geographic coordinate information of target object may include the coordinate for having objects' contour, for example, target
Object is a certain road, then the longitude and latitude at the edge on the road coordinate Ze Keweigai of objects' contour.And accordingly according to institute
The geographic coordinate information for stating target object determines map block belonging to target object, then can be determined as follows: sentence
The coordinate of disconnected objects' contour whether the boundary line coordinates between adjacent map block there are intersection points；If so, will boundary
Several adjacent map blocks are as map block belonging to the target object belonging to line；If it is not, then according to various regions
The range coordinate of figure block determines unique map block belonging to the target object.That is, by the edge on this road
Longitude and latitude be compared with the range of each map block divided in advance, can determine whether to know whether this road crosses over multiple maps
Block, the coordinate of the profile on the road Ji Gaitiao whether the boundary line coordinates between adjacent map block there are intersection points.Once this
Multiple map blocks are crossed on road, then can regard multiple map block as map block belonging to this road, correspondingly, if
The coordinate of the profile on this road is respectively positioned in same map block, and the road Ze Gaitiao only belongs to unique map block.
After the processing unit of map datum is completed to the determination of map block belonging to target object, map datum
Processing unit the map datum of target object is stored into the vector tile of map block, according to the vector of each map block
Tile obtains high-precision electronic map.By using aforesaid way, high-precision electronic map is enabled to be divided into multiplely
Figure block is simultaneously stored in a manner of vector tile, so convenient for unmanned equipment to the load of high-precision electronic map and
It uses.
What is different from the first embodiment is that the processing method of map datum provided by Embodiment 2 of the present invention further includes receiving nothing
The map acquisition request that people's steer is initiated when executing automatic Pilot task wherein includes for nobody in the map acquisition request
The current position coordinates of steer.The processing unit of map datum will be sat according to the position of the unmanned equipment received
Mark, determines the target map block where it, and the vector tile of target map block is sent to unmanned equipment, for
It executes automatic Pilot task according to the vector tile of the map block.
Preferably, in order to further increase the efficiency that unmanned equipment loads high-precision electronic map, nobody is being determined
After target map block where steer, other map areas adjacent thereto can be also determined according to the target map block
Block.Then, the processing unit of map datum can be by the vector tile of target map block and its other adjacent map block
Vector tile be sent to unmanned equipment together, for its use.
The processing method for the map datum that the present embodiment two provides on the basis of example 1, is set also according to unmanned
Standby position coordinates, are sent to it the vector tile of corresponding target map block, to enable unmanned equipment
Quickly load high-precision electronic map, and then further improve loading efficiency.
Fig. 4 is a kind of structural schematic diagram of the processing unit for map datum that the embodiment of the present invention three provides, such as Fig. 4 institute
Show, the processing unit of the map datum includes:
Acquisition module 10, for receiving the geographic coordinate information and map datum of the target object that acquisition obtains；
Processing module 20, belonging to determining the target object according to the geographic coordinate information of the target object
Map block；
Memory module 30, for storing the map datum into the vector tile of the map block, according to various regions
The vector tile of figure block obtains high-precision electronic map.
Optionally, the processing module 20 is in the geographic coordinate information and map for receiving the target object that acquisition obtains
Before data, it is also used to divide the complete map in the world according to the geographical feature in the world, obtains multiple map areas in the world
Block.
It optionally, further include communication module；The communication module is executing automatic Pilot for receiving unmanned equipment
The map acquisition request initiated when task includes that the current position of the unmanned equipment is sat in the map acquisition request
Mark；
Correspondingly, the processing module 20, is also used to determine the unmanned equipment place according to the position coordinates
Target map block；So that the communication module is by the vector tile of the target map block where the unmanned equipment
It is sent to the unmanned equipment.
The processing unit for the map datum that the embodiment of the present invention three provides receives the geographical of the target object that acquisition obtains and sits
Mark information and map datum；According to the geographic coordinate information of the target object determine the target object belonging to map area
Block；The map datum is stored into the vector tile of the map block, is obtained according to the vector tile of each map block
High-precision electronic map, by the way that the map datum of target object is stored according to the map block belonging to it, with obtain by
The high-precision electronic map that the vector tile of each map block is constituted is deposited to realize and carry out piecemeal to high-precision electronic map
Storage, and then it is convenient for downloading and use of the unmanned equipment to it, it efficiently solves in the prior art due to high-precision electronic
The low problem of loading efficiency caused by document size is larger in figure room.
Fig. 5 is a kind of hardware schematic of the processing unit for map datum that the embodiment of the present invention four provides.Such as Fig. 5 institute
Show, the processing unit of the map datum includes: processor 42 and is stored on memory 41 and can run on processor 42
Computer program, processor 42 run the method for executing above-described embodiment when computer program.
The present invention also provides a kind of readable storage medium storing program for executing, including program, when it runs at the terminal, so that terminal executes
The method of any of the above-described embodiment.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of processing method of map datum characterized by comprising
Receive the geographic coordinate information and map datum of the target object that acquisition obtains；
According to the geographic coordinate information of the target object determine the target object belonging to map block；
The map datum is stored into the vector tile of the map block, is obtained according to the vector tile of each map block
High-precision electronic map.
2. the processing method of map datum according to claim 1, which is characterized in that the target for receiving acquisition and obtaining
Before the geographic coordinate information and map datum of object, further includes:
The complete map in the world is divided according to the geographical feature in the world, obtains multiple map blocks in the world.
3. the processing method of map datum according to claim 2, which is characterized in that the geographical coordinate of the target object
Information is the coordinate of the objects' contour；
Correspondingly, the geographic coordinate information according to the target object determines map area belonging to the target object
Block, comprising:
Judge the objects' contour coordinate whether the boundary line coordinates between adjacent map block there are intersection points；
If so, using several adjacent map blocks belonging to line of demarcation as map area belonging to the target object
Block；
If it is not, then determining unique map block belonging to the target object according to the range coordinate of each map block.
4. the processing method of map datum according to claim 1, which is characterized in that described to store the map datum
Into the vector tile of the map block, after obtaining high-precision electronic map according to the vector tile of each map block, also
Include:
The map acquisition request that unmanned equipment is initiated when executing automatic Pilot task is received, in the map acquisition request
Including the current position coordinates of the unmanned equipment；
According to the position coordinates, the target map block where the unmanned equipment is determined；
The vector tile of target map block where the unmanned equipment is sent to the unmanned equipment, for
It executes automatic Pilot task according to the vector tile of the map block.
5. the processing method of map datum according to claim 4, which is characterized in that the determination is described unmanned to be set
After the target map block at standby place, further includes:
Several map blocks adjacent with the target map block are determined according to the target map block；
The vector tile by the target map block where the unmanned equipment is sent to the unmanned equipment,
Include:
By the vector of the adjacent several map blocks of the vector tile of the target map block and the target map block
Tile is sent to the unmanned equipment.
6. a kind of processing unit of map datum characterized by comprising
Acquisition module, for receiving the geographic coordinate information and map datum of the target object that acquisition obtains；
Processing module, for according to the geographic coordinate information of the target object determine the target object belonging to map area
Block；
Memory module, for storing the map datum into the vector tile of the map block, according to each map block
Vector tile obtain high-precision electronic map.
7. the processing unit of map datum according to claim 6, which is characterized in that the processing module is in the reception
Before the geographic coordinate information and map datum that acquire the target object obtained, the geographical feature according to the world is also used to the world
Complete map is divided, and multiple map blocks in the world are obtained.
8. the processing unit of map datum according to claim 6, which is characterized in that further include communication module；
The communication module is for receiving the map acquisition request that unmanned equipment is initiated when executing automatic Pilot task, institute
Stating in map acquisition request includes the current position coordinates of the unmanned equipment；
Correspondingly, the processing module, is also used to determine the target where the unmanned equipment according to the position coordinates
Map block；So that the vector tile of the target map block where the unmanned equipment is sent to by the communication module
The unmanned equipment.
9. a kind of processing unit of map datum characterized by comprising memory, the processor being connect with the memory,
And it is stored in the computer program that can be run on the memory and on the processor, which is characterized in that
Perform claim requires the described in any item methods of 1-5 when the processor runs the computer program.
10. a kind of readable storage medium storing program for executing, which is characterized in that including program, when it runs at the terminal, so that terminal right of execution
Benefit requires the described in any item methods of 1-5.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110567466A (en) * | 2019-08-20 | 2019-12-13 | 广州力挚网络科技有限公司 | map generation method and device, electronic equipment and readable storage medium |
| CN111210490A (en) * | 2020-01-06 | 2020-05-29 | 北京百度网讯科技有限公司 | Electronic map construction method, device, equipment and medium |
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| CN110567466B (en) * | 2019-08-20 | 2022-11-25 | 广州力挚网络科技有限公司 | Map generation method and device, electronic equipment and readable storage medium |
| CN111210490A (en) * | 2020-01-06 | 2020-05-29 | 北京百度网讯科技有限公司 | Electronic map construction method, device, equipment and medium |
| CN111210490B (en) * | 2020-01-06 | 2023-09-19 | 北京百度网讯科技有限公司 | Electronic map construction method, device, equipment and medium |
| CN113448973A (en) * | 2020-03-27 | 2021-09-28 | 北京四维图新科技股份有限公司 | Map data updating method, server, vehicle machine and storage medium |
| CN113448973B (en) * | 2020-03-27 | 2024-06-04 | 北京四维图新科技股份有限公司 | Map data updating method, server, vehicle machine and storage medium |
| CN114061599A (en) * | 2020-07-31 | 2022-02-18 | 华为技术有限公司 | Navigation positioning method, electronic equipment and navigation positioning system |
| CN112287062A (en) * | 2020-12-23 | 2021-01-29 | 智道网联科技(北京)有限公司 | Real-time traffic information synchronization method and device and electronic equipment |
| CN112287062B (en) * | 2020-12-23 | 2021-04-02 | 智道网联科技(北京)有限公司 | Real-time traffic information synchronization method and device and electronic equipment |
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