CN115248833A

CN115248833A - Map, map generation method, map use method and device

Info

Publication number: CN115248833A
Application number: CN202110456265.2A
Authority: CN
Inventors: 王兴冰; 刘建琴; 石峰
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2022-10-28
Also published as: WO2022228082A1

Abstract

The application discloses a map, a map generation method, a map using method and a map using device, wherein the method comprises the following steps: obtaining a plurality of positioning information of a plurality of location points and a plurality of positioning quality reference information of the plurality of location points; generating positioning quality indicating information for indicating positioning quality in the first driving area according to the plurality of positioning quality reference information; generating association relation indicating information for indicating an association relation between the first travel area and at least one map element (e.g., an area, a road, or a lane) in the map, based on the plurality of positioning information; and finally, adding the positioning quality indication information and the incidence relation indication information into a map. By implementing the method and the device, a map with higher positioning reference can be provided, so that a vehicle and the like can selectively use positioning information in a high-precision map.

Description

Map, map generation method, map use method and device

Technical Field

The present application relates to the field of automatic driving, and in particular, to a map, a map generation method, a map using method, and a map using apparatus.

Background

A High Definition Map (HD Map) is also called a High Definition Map or a High precision Map, and is often used as an auxiliary Map for automatic driving. The high-precision map comprises static information and dynamic information, can realize the loading of map information in modes of cloud cooperation, vehicle-road cooperation and the like, and is used for assisting in vehicle perception, positioning, planning and control.

The generation of high-precision maps depends on the positioning data of position points, and the acquisition of the positioning data is easily influenced by the surrounding environment, so that the quality of the positioning data obtained on different map elements (such as roads, lanes and the like) in the high-precision maps is different. If the positioning data with lower quality in the high-precision map is used in the automatic driving process, the deviation of the navigation route is easily caused by inaccurate positioning, and even the driving safety of the vehicle is influenced.

Disclosure of Invention

The embodiment of the application discloses a map, a map generation method, a map using method and a map using device, so that a vehicle or a portable terminal using the map can selectively use positioning information in a high-precision map, and the safety of automatic driving is improved.

In a first aspect, an embodiment of the present application provides a map generation method, where the method includes: obtaining a plurality of positioning information of a first plurality of location points and a first plurality of positioning quality reference information of the first plurality of location points; generating first positioning quality indication information according to the first plurality of positioning quality reference information, wherein the first positioning quality indication information is used for indicating positioning quality in the first driving area; generating first incidence relation indicating information according to the plurality of positioning information, wherein the first incidence relation indicating information is used for indicating incidence relation between a first driving area and at least one map element in a map, and the map element comprises an area, a road or a lane; and adding the first positioning quality indication information and the first incidence relation indication information into the map.

In the method, the positioning quality of a certain driving area is obtained by referring to a plurality of positioning information of a plurality of position points, and at least one map element in a map related to the driving area is determined according to the plurality of positioning information of the plurality of position points.

The driving area may be an area, a road, or a lane in the map, or an area newly divided based on the area in the map, or a road newly divided based on the road in the map, or a lane newly divided based on the lane in the map. The positioning quality obtained based on a plurality of position points in the driving area has high reliability and reference value.

In the embodiments of the present application, there is an association relationship between the first travel area and at least one map element in the map, and this association relationship may be a mapping relationship or a non-mapping relationship. The mapping relation comprises the following steps: the coverage area of the first driving area is equal to the coverage area of one map element in the map, namely the driving area corresponding to the positioning quality indication information is one map element in the map, such as one road or one lane; or, the coverage area of the first travel area is equal to the coverage area of the plurality of map elements in the map, that is, the travel area corresponding to the positioning quality indication information is the entirety of the plurality of map elements in the map, for example, the geographic area covered by the plurality of roads, the geographic area covered by the plurality of lanes, or the geographic area covered by the plurality of roads and the plurality of lanes. The non-mapping relationship comprises: the boundary of the first travel region is not entirely constituted by the boundary of the map elements in the map, and the coverage area expressed as the first travel region is constituted by a partial area of at least one map element in the map, for example, the coverage area of the first travel region is an east half of a road 1 and a west half of a road 2 in the map, and the association indicates that the first travel region relates to the road 1 and the road 2, in which case, the association between the first travel region indicated by the first association indicating information and the at least one map element in the map indicates only that the first travel region relates to the at least one map element in the map, and the non-first travel region is constituted by the at least one map element in the map.

In an implementation manner of the first aspect, the first positioning quality indication information includes a standard deviation error of the plurality of positioning information with respect to a reference true value, a ratio of fixed solutions in the plurality of positioning information, a ratio of positioning information with satisfactory positioning accuracy in the plurality of positioning information, an average number of observable satellites at the first plurality of location points, or an average dilution of precision DOP value of the plurality of positioning information.

By implementing the implementation manner, the first positioning quality indication information counts the positioning quality of the driving area based on a plurality of indexes (for example, the average precision factor DOP value, the ratio of fixed solutions, the standard deviation of errors of positioning information, and the like), and the reliability and the accuracy of the estimated positioning quality in the driving area are improved.

In one implementation manner of the first aspect, the first association relation indication information is an identification of at least one map element.

By implementing the implementation manner, the area, the road or the lane in the existing map is used as the first driving area indicated by the positioning quality indication information, so that the positioning quality corresponding to each map element in the map can be directly and quickly obtained based on the positioning quality indication information.

In one implementation of the first aspect, the first association indication information includes an identification of the first travel area and an identification of the at least one map element.

By implementing the implementation mode, the correlation exists between the identifier of the first driving area and the identifier of the at least one map element, namely, the first driving area is divided again based on the at least one map element in the map, a reasonable range is provided for the statistics of the positioning quality, and the reliability and the reference value of the estimated positioning quality in the first driving area are improved.

In one implementation form of the first aspect, the method further comprises: generating low-quality positioning area indication information according to the first plurality of positioning quality reference information, wherein the low-quality positioning area indication information is used for indicating a first map element in a first driving area, the first map element is one of at least one map element, the first map element is an area, a road or a lane, and at least one position point with positioning quality lower than a threshold value exists in the first map element; the low quality positioning area indication information is added to the map.

By implementing the implementation mode, the low-quality positioning area indication information is generated and used for marking the map element where the position point with the positioning quality lower than the threshold value is located, so that a map user can autonomously avoid a driving area with poor positioning quality according to the low-quality positioning area indication information, and the safety of automatic driving is improved.

In one implementation form of the first aspect, the method further comprises: obtaining first positioning information of a first position point and first positioning quality reference information of the first position point, wherein the first position point is not in a first driving area; generating second positioning quality indication information according to the first positioning quality reference information, wherein the second positioning quality indication information is used for indicating positioning quality in a second driving area; generating second incidence relation indicating information according to the first positioning information, wherein the second incidence relation indicating information is used for indicating the incidence relation between a second driving area and at least one map element in the map; and adding the second positioning quality indication information and the second incidence relation indication information into the map.

In this case, second positioning quality indication information indicating the positioning quality of the second driving area and second association relation indication information indicating the mapping relation between the second driving area and map elements in the map can be generated based on the positioning information of the new position point and the positioning quality reference information, so that the content of the map is enriched, and the positioning quality indication information and the association relation indication information provided by the map are more complete and detailed.

In one implementation form of the first aspect, the method further comprises: obtaining a second plurality of positioning quality reference information, the second plurality of positioning quality reference information comprising updated values of the first plurality of positioning quality reference information, or a plurality of positioning quality reference information for a second plurality of location points, the second plurality of location points being located within the first travel area; generating third positioning quality indication information according to the first plurality of positioning quality reference information and the second plurality of positioning quality reference information; and updating the first positioning quality indication information in the map by using the third positioning quality indication information.

Wherein the second plurality of positioning quality reference information comprises updated values of the first plurality of positioning quality reference information, or the plurality of positioning quality reference information of the second plurality of location points may be any one of: (1) The second plurality of positioning quality reference information is the updated value of the first plurality of positioning quality reference information; (2) The second plurality of positioning quality reference information is a plurality of positioning quality reference information of a second plurality of position points, and the second plurality of position points are positioned in the first driving area; (3) The second plurality of positioning quality reference information comprises updated values of the first plurality of positioning quality reference information and a plurality of positioning quality reference information for the second plurality of location points.

By implementing the implementation mode, because seasonal changes, climate changes and the like can influence the generation and distribution conditions of trees, vegetation and the like beside a driving area, the generated first positioning quality indication information is possibly no longer accurate after a period of time, under the condition, a group of new positioning quality reference information, namely a plurality of second positioning quality reference information can be obtained, and the first positioning indication information in the map is updated by combining the new positioning quality reference information, so that the applicability of the map to the change of the surrounding environment is improved, and the reference value of the map is improved.

In one implementation manner of the first aspect, the positioning quality in the first driving area is a statistical value obtained according to the first plurality of positioning quality reference information.

In one implementation of the first aspect, the positioning quality reference information includes an error of each positioning information with respect to a reference true value, whether each positioning information is a fixed solution, a positioning accuracy of each positioning information, a number of satellites observable at each location point, or a dilution of precision (DOP) value of each positioning information.

The smaller the error of each piece of positioning information relative to the reference true value is, the better the positioning quality at the position of the positioning information is; the more satellites can be observed at each position, the better the positioning quality at the position is; the DOP value is used for measuring the error caused by the geometric position of the satellite relative to an observer (for example, a data acquisition vehicle for acquiring a position point), and the smaller the DOP value of each positioning information is, the better the positioning quality of the positioning information is; the positioning quality when the positioning information is a fixed solution is better than the positioning quality when the positioning information is a non-fixed solution, and the positioning information is a fixed solution means that the corresponding ambiguity is an integer when the positioning information is calculated based on the carrier phase solution.

In a second aspect, an embodiment of the present application provides a map using method, including: receiving positioning quality indication information and incidence relation indication information in a map, wherein the positioning quality indication information is used for indicating positioning quality in a first driving area, and the incidence relation indication information is used for indicating incidence relation between the first driving area and at least one map element in the map, and the map element comprises an area, a road or a lane; and performing path planning, driving decision or vehicle control according to the positioning quality indication information and the incidence relation indication information.

In the method, the map containing the positioning quality indication information and the incidence relation indication information is provided, so that the terminal can timely avoid a driving area with poor positioning quality based on the map, and thus accurate positioning position information can be obtained when the terminal drives in the driving area with good positioning quality (such as roads, lanes and the like), and the accuracy rate of route planning, driving decision and the like and the travel safety rate are improved.

In one implementation of the second aspect, the positioning quality indication information includes a standard deviation of an error of the positioning value with respect to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values for which positioning accuracy meets requirements, an average observable satellite number, or an average dilution of precision (DOP) value.

In one implementation of the second aspect, the association relation indication information is an identification of at least one map element.

In one implementation of the second aspect, the association indication information includes an identification of the first travel area and an identification of the at least one map element.

In one implementation form of the second aspect, the method further comprises: receiving low-quality positioning area indication information, wherein the low-quality positioning area indication information is used for indicating a first map element in a first driving area, the first map element is one of at least one map element, the first map element is an area, a road or a lane, and at least one position point with positioning quality lower than a threshold value exists in the first map element; and performing path planning, driving decision or vehicle control according to the low-quality positioning area indication information.

By implementing the implementation mode, a map user can quickly know map elements with poor positioning quality in the map according to the indication information of the low-quality positioning area, so that areas, roads or lanes with poor positioning quality in the map can be avoided autonomously in the processes of making driving decisions, path planning and the like, and the accuracy of operations such as path planning, driving decisions and the like is improved.

In one implementation manner of the second aspect, the positioning quality in the first driving area is a statistical value obtained according to a plurality of positioning quality reference information of a plurality of positioning points in the first driving area.

In a third aspect, an embodiment of the present application provides a map generating apparatus, including: an acquisition unit configured to acquire a plurality of positioning information of a first plurality of location points and a first plurality of positioning quality reference information of the first plurality of location points; a statistical unit, configured to generate first positioning quality indication information according to the first plurality of positioning quality reference information, where the first positioning quality indication information is used to indicate positioning quality in the first travel area; the system comprises an association unit, a positioning unit and a display unit, wherein the association unit is used for generating first association relation indication information according to a plurality of positioning information, the first association relation indication information is used for indicating an association relation between a first driving area and at least one map element in a map, and the map element comprises an area, a road or a lane; and the processing unit is used for adding the first positioning quality indication information and the first incidence relation indication information into the map.

Usually, the map is generated by a server, and the map generating device may be a map server, or may be a component or chip in the map server. In addition, the map may also be generated by a road side device, a vehicle or a mobile terminal, and the map generating device may also be the road side device, the vehicle or the mobile terminal, or a component or a chip of the road side device, the vehicle or the mobile terminal.

In an implementation manner of the third aspect, the first positioning quality indication information includes a standard deviation error of the plurality of positioning information with respect to a reference true value, a ratio of fixed solutions in the plurality of positioning information, a ratio of positioning information with satisfactory positioning accuracy in the plurality of positioning information, an average number of observable satellites at the first plurality of location points, or an average dilution of precision DOP value of the plurality of positioning information.

In one implementation manner of the third aspect, the first association relation indication information is an identification of at least one map element.

In one implementation of the third aspect, the first association indication information includes an identification of the first travel area and an identification of the at least one map element.

In an implementation manner of the third aspect, the statistical unit is further configured to generate low-quality positioning area indication information according to the first plurality of positioning quality reference information, the low-quality positioning area indication information is used to indicate a first map element in the first driving area, the first map element is one of at least one map element, the first map element is an area, a road or a lane, and at least one position point with a positioning quality lower than a threshold exists in the first map element; and the processing unit is also used for adding the low-quality positioning area indication information into the map.

In one implementation manner of the third aspect, the obtaining unit is further configured to obtain first positioning information of a first position point and first positioning quality reference information of the first position point, where the first position point is not in the first driving area; the statistical unit is further used for generating second positioning quality indication information according to the first positioning quality reference information, and the second positioning quality indication information is used for indicating the positioning quality in the second driving area; the association unit is further used for generating second association relation indication information according to the first positioning information, and the second association relation indication information is used for indicating an association relation between a second driving area and at least one map element in the map; and the processing unit is also used for adding the second positioning quality indication information and the second incidence relation indication information into the map.

In one implementation of the third aspect, the obtaining unit is further configured to obtain a second plurality of positioning quality reference information, where the second plurality of positioning quality reference information includes updated values of the first plurality of positioning quality reference information, or a plurality of positioning quality reference information of a second plurality of location points, and the second plurality of location points are located in the first driving area; a statistical unit, further configured to generate third positioning quality indication information according to the first plurality of positioning quality reference information and the second plurality of positioning quality reference information; and the processing unit is also used for updating the first positioning quality indication information in the map by using the third positioning quality indication information.

In a fourth aspect, an embodiment of the present application provides a map using apparatus, including: the map positioning method comprises a receiving unit, a processing unit and a display unit, wherein the receiving unit is used for receiving positioning quality indication information and incidence relation indication information in a map, the positioning quality indication information is used for indicating positioning quality in a first traveling area, the incidence relation indication information is used for indicating incidence relation between the first traveling area and at least one map element in the map, and the map element comprises an area, a road or a lane; and the processing unit is used for carrying out path planning, driving decision or vehicle control according to the positioning quality indication information and the incidence relation indication information.

The map using device may be a vehicle, a component that can be used in a vehicle (such as a navigation device or an automatic driving device in a vehicle), or a chip that can be used in a vehicle.

The map using device may be a portable terminal such as a mobile phone, a portable computer, or a navigator, may be a component usable in the portable terminal, and may be a chip usable in the portable terminal.

In one implementation of the fourth aspect, the positioning quality indication information includes a standard deviation of an error of the positioning value with respect to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values satisfying a positioning accuracy requirement, an average observable satellite number, or an average dilution of precision (DOP) value.

In one implementation of the fourth aspect, the association indication information is an identification of at least one map element.

In one implementation of the fourth aspect, the association indication information includes an identification of the first travel area and an identification of the at least one map element.

In one implementation manner of the fourth aspect, the receiving unit is further configured to receive low-quality positioning area indication information, where the low-quality positioning area indication information is used to indicate a first map element in the first driving area, the first map element is one of at least one map element, the first map element is an area, a road, or a lane, and at least one location point with positioning quality lower than a threshold exists in the first map element; and the processing unit is also used for carrying out path planning, driving decision or vehicle control according to the low-quality positioning area indication information.

In one implementation manner of the fourth aspect, the positioning quality in the first travel area is a statistical value obtained according to a plurality of positioning quality reference information of a plurality of positioning points in the first travel area.

In a fifth aspect, embodiments of the present application provide a map, where the map includes positioning quality indication information and association relation indication information, the positioning quality indication information is used for indicating positioning quality in a first travel area, and the association relation indication information is used for indicating an association relation between the first travel area and at least one map element in the map, and the map element includes an area, a road, or a lane.

The positioning quality indication information and the association relation indication information may exist in the form of a map layer in the map.

The positioning quality indication information in the map provides positioning quality of a driving area with reference value and high reliability, and the incidence relation indication information in the map indicates the driving area corresponding to the map element in the map, so that the map can provide more accurate prior information of the positioning quality of the map element in the map for a user of the map.

In one implementation of the fifth aspect, the map further comprises time information indicating an effective time of the localization quality within the first travel area.

By implementing the implementation mode and introducing the time information, the influence of the surrounding environment (such as vegetation change along with changes of seasons and climates) on the positioning quality is fully considered, the effective time of the positioning quality in the driving area is limited based on the time information, and the reliability and the reference value of the positioning quality in the driving area are improved.

In one implementation form of the fifth aspect, the positioning quality indication information includes a standard deviation of an error of the positioning value with respect to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values whose positioning accuracy meets requirements, an average observable satellite number, or an average dilution of precision (DOP) value.

In one implementation of the fifth aspect, the localization quality within the first travel area is a statistical value obtained from a plurality of localization quality reference information of a plurality of localization points within the first travel area.

In a sixth aspect, embodiments of the present application provide a computer-readable storage medium for storing a map, the map including location quality indication information and association relation indication information, the location quality indication information indicating location quality within a first travel region, and the association relation indication information indicating an association relation between the first travel region and at least one map element in the map, the map element including a region, a road, or a lane.

The positioning quality indication information and the association relation indication information may exist in the form of a map layer in the map. In one implementation of the sixth aspect, the map further comprises time information indicating a time of validity of the localization quality within the first travel area.

In one implementation form of the sixth aspect, the positioning quality indication information includes a standard deviation of an error of the positioning value with respect to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values whose positioning accuracy meets requirements, an average observable satellite number, or an average dilution of precision (DOP) value.

In one implementation manner of the sixth aspect, the positioning quality in the first travel area is a statistical value obtained according to a plurality of positioning quality reference information of a plurality of positioning points in the first travel area.

In a seventh aspect, the present application provides a computer program product, where the computer program product includes a map, where the map includes positioning quality indication information and association relation indication information, the positioning quality indication information is used to indicate positioning quality in a first travel area, and the association relation indication information is used to indicate an association relation between the first travel area and at least one map element in the map, where the map element includes an area, a road, or a lane.

In one implementation of the seventh aspect, the map further includes time information indicating a time of validity of the localization quality within the first travel region.

In an implementation manner of the seventh aspect, the positioning quality indication information includes a standard deviation of an error of the positioning value with respect to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values whose positioning accuracy meets a requirement, an average observable satellite number, or an average dilution of precision (DOP) value.

In one implementation of the seventh aspect, the localization quality within the first travel area is a statistical value obtained from a plurality of localization quality reference information of a plurality of localization points within the first travel area.

In an eighth aspect, the embodiment of the application provides a map using method, which comprises the steps of receiving a map, wherein the map comprises positioning quality indication information and association relation indication information, the positioning quality indication information is used for indicating positioning quality in a first driving area, the association relation indication information is used for indicating association relation between the first driving area and at least one map element in the map, and the map element comprises an area, a road or a lane; the map is stored or displayed on a display device.

According to the method, the received map is stored so that the received map can be called quickly at any time in the follow-up process, and the map is displayed on the display device, so that a user can visually and clearly know the positioning quality of each map element in the map.

In one embodiment of the eighth aspect, the navigation route planning, the driving decision or the vehicle control is performed according to the positioning quality indication information and the association relation indication information.

By implementing the mode, the positioning quality of each driving area in the map can be quickly known based on the positioning quality indication information and the incidence relation indication information, so that the driving area with poor positioning quality is avoided in time in the driving process, and the driving area with good positioning quality is driven, thereby being beneficial to improving the accuracy of navigation path planning, driving decision or vehicle control.

In one embodiment of the eighth aspect, the positioning quality indication information includes a standard deviation of an error of the positioning value with respect to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values for which positioning accuracy meets requirements, an average number of observable satellites, or an average dilution of precision (DOP) value.

In a ninth aspect, the embodiment of the application provides a map using device, which comprises a receiving unit, a display unit and a display unit, wherein the receiving unit is used for receiving a map, the map comprises positioning quality indication information and association relation indication information, the positioning quality indication information is used for indicating positioning quality in a first driving area, the association relation indication information is used for indicating association relation between the first driving area and at least one map element in the map, and the map element comprises an area, a road or a lane; a storage unit for storing a map, or a display unit for displaying a map.

The map using device may be a vehicle, a component that can be used in the vehicle (such as a navigation device or an automatic driving device in the vehicle), or a chip that can be used in the vehicle.

The map using device may be a portable terminal such as a mobile phone, a portable computer, or a navigator, may be a component usable in the portable terminal, and may be a chip usable in the portable terminal. In an embodiment of the ninth aspect, the apparatus further comprises a processing unit, configured to perform navigation route planning, driving decision making or vehicle control according to the positioning quality indication information and the association relation indication information.

In one embodiment of the ninth aspect, the positioning quality indication information includes a standard deviation of error of the positioning value with respect to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values for which positioning accuracy meets requirements, an average observable satellite number, or an average dilution of precision DOP value.

In a tenth aspect, an embodiment of the present application provides a map generating apparatus, which includes a processor and a memory, and the processor and the memory are connected or coupled together through a bus; wherein the memory is used for storing program instructions; the processor invokes program instructions in the memory to perform the first aspect or the method of any possible implementation of the first aspect. Usually, the map is generated by a server, and the map generating device may be a map server, or may be a component or chip in the map server. In addition, the map may also be generated by a road side device, a vehicle or a mobile terminal, and the map generating device may also be the road side device, the vehicle or the mobile terminal, or a component or a chip of the road side device, the vehicle or the mobile terminal.

In an eleventh aspect, embodiments of the present application provide a map using apparatus, which includes a processor and a memory, and the processor and the memory are connected or coupled together through a bus; wherein the memory is used for storing program instructions; the processor invokes program instructions in the memory to perform the second aspect or the method of any possible implementation of the second aspect. The map using device may be a vehicle, a component that can be used in a vehicle (such as a navigation device or an automatic driving device in a vehicle), or a chip that can be used in a vehicle. The map using device may be a portable terminal such as a mobile phone, a portable computer, or a navigator, may be a component usable in the portable terminal, and may be a chip usable in the portable terminal.

In a twelfth aspect, embodiments of the present application provide a map using apparatus, which includes a processor and a memory, and the processor and the memory are connected or coupled together through a bus; wherein the memory is used for storing program instructions; the processor calls program instructions in the memory to perform the method of the eighth aspect or any possible implementation of the eighth aspect. The map using device may be a vehicle, a component that can be used in a vehicle (such as a navigation device or an automatic driving device in a vehicle), or a chip that can be used in a vehicle. The map using device may be a portable terminal such as a mobile phone, a portable computer, or a navigator, may be a component usable in the portable terminal, and may be a chip usable in the portable terminal.

In a thirteenth aspect, an embodiment of the present application provides a computer-readable storage medium storing program code for execution by an apparatus, the program code including instructions for performing the method of the first aspect or any possible implementation manner of the first aspect.

In a fourteenth aspect, the present application provides a computer-readable storage medium storing program code for execution by an apparatus, the program code including instructions for performing the method of the second aspect or any possible implementation manner of the second aspect.

In a fifteenth aspect, the present application provides a computer-readable storage medium storing program code for execution by an apparatus, the program code including instructions for performing the method of the eighth aspect or any possible implementation manner of the eighth aspect.

In a sixteenth aspect, an embodiment of the present application provides a computer program product, which, when executed by a processor, implements the method in the first aspect or any possible implementation manner of the first aspect. The computer program product may, for example, be a software installation package, which, in case it is required to use the method provided by any of the previous possible designs of the first aspect, may be downloaded and executed on a processor to implement the method of the first aspect or any of the possible embodiments of the first aspect.

In a seventeenth aspect, the present application provides a computer program product, which when executed by a processor, implements the method of the second aspect or any possible implementation manner of the second aspect. The computer program product may, for example, be a software installation package, which, in case the method provided using any of the possible designs of the second aspect described above is required, may be downloaded and executed on a processor to implement the method of the second aspect or any of the possible embodiments of the second aspect.

In an eighteenth aspect, embodiments of the present application provide a computer program product, which when executed by a processor, implements the method in the eighth aspect or any possible implementation manner of the eighth aspect. The computer program product may, for example, be a software installation package, which, in case it is desired to use the method provided by any of the previous possible designs of the eighth aspect, may be downloaded and executed on a processor to implement the method of the eighth aspect or any of the possible embodiments of the eighth aspect.

In a nineteenth aspect, embodiments of the present application provide a vehicle including a map using apparatus according to the fourth, ninth, eleventh, or twelfth aspect described above, or a map using apparatus according to any one of the possible implementations of the fourth, ninth, eleventh, or twelfth aspect described above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a system architecture diagram according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a high-precision map area;

FIG. 3 is a road diagram of a high-precision map;

FIG. 4 is a road-lane diagram of a high-precision map;

fig. 5 is a flowchart of a method for updating positioning quality indication information according to an embodiment of the present application;

FIG. 6 is a flowchart of a method for generating a map according to an embodiment of the present application;

FIG. 7 is a flow chart of a method for use with yet another map provided by an embodiment of the present application;

fig. 8 is a schematic view of an application scenario provided in this embodiment of the present application;

fig. 9 is a schematic structural diagram of a map generating apparatus provided in this embodiment of the present application;

FIG. 10 is a schematic structural diagram of a map using apparatus provided in this embodiment of the present application;

fig. 11 is a schematic functional structure diagram of a map generating apparatus provided in this embodiment of the present application;

fig. 12 is a functional structure diagram of a map using apparatus provided in this embodiment of the present application.

Detailed Description

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "first", "second", and the like in the description and in the claims in the embodiments of the present application are used for distinguishing different objects, and are not used for describing a particular order.

The high-precision map is an assistance map for automatic driving. The high-precision map displays regions, roads and lanes, wherein the lanes may be upstream lanes or downstream lanes, each lane has a unique lane ID, each road segment includes a plurality of lanes, each road segment has a unique road ID, each region includes a plurality of road segments, and each region has a unique region ID. The high-precision map also comprises intersections which can be intersections, and roads and lanes are arranged in the intersections. In addition, the connection relationship between roads and the connection relationship between lanes are also displayed in the high-precision map. It should be noted that each region in the high-precision map has a corresponding region range, for example, the position coordinates (e.g., longitude and latitude coordinates) of four corner points of the region may determine the region range of the region; each road has a corresponding road range, for example, the start coordinate of the road and the end coordinate of the road may determine the road range of the road, and the start coordinate and the end coordinate of the road may also determine the road centerline of the road; each lane has a corresponding lane range, for example, the start point coordinate and the end point coordinate of the lane may determine the lane range of the lane, the start point coordinate and the end point coordinate of the lane may also determine the lane center line of the lane, etc.; each intersection has a corresponding intersection range, for example, the position coordinates (e.g., longitude and latitude coordinates) of a plurality of corner points of the intersection determine the intersection range of the intersection. Besides, the high-precision map also displays the parameters of the road such as the gradient, the curvature, the course and the like.

The generation of high-precision maps depends on the positioning data of the location points, and since the quality of the acquired positioning data is easily affected by the surrounding environment (e.g., tall buildings, trees, etc.), the satellite shielding, etc., for example, the more tall buildings, trees, etc. beside the road are, the more serious the shielding of the satellite signal is, the larger the deviation of the acquired positioning data on the road is, and the lower the quality of the positioning data is. Thus, the quality of positioning data obtained on different map elements (e.g., roads, lanes, etc.) in a high-precision map is variable. If the positioning data with lower quality in the high-precision map is used in the automatic driving process, the deviation of the navigation route is easily caused by inaccurate positioning, and even the driving safety of the vehicle is influenced.

In view of the above problems, an embodiment of the present application provides a map generation method, which can provide prior information with strong reference and high reliability for measuring the positioning quality of each driving area in a map, so that a vehicle or a portable terminal using the map can selectively use the positioning information in a high-precision map, for example, a driving area with good positioning quality is autonomously selected to drive while avoiding the driving area with poor positioning quality, thereby improving the safety of automatic driving.

The technical solution in the present application will be described below with reference to the accompanying drawings.

Referring to fig. 1, fig. 1 is a diagram illustrating an exemplary system architecture. The system is used for generating positioning quality indication information and incidence relation indication information or a map containing the positioning quality indication information and the incidence relation indication information. The positioning quality indication information is used for indicating positioning quality of a travel area in a map, and the association relation indication information is used for indicating a mapping relation between the travel area in the map and an area, a road or a lane in a reference map (e.g., a high-precision map). As shown in fig. 1, the system includes a data acquisition device, a mapping device and a terminal, where the data acquisition device and the mapping device may be connected in a wireless or wired manner, and the mapping device and the terminal may be connected in a wireless manner.

Data acquisition equipment is typically mounted on a data acquisition vehicle and is used to acquire the raw data needed to generate the positioning quality indication information. The data acquisition equipment can be RTK equipment, and the RTK equipment includes any one of GPS and GNSS, obtains the positioning information of track point based on RTK measurement mode. For example, the RTK device may be used to record position information of each position point and quality information of each position point acquired when a data acquisition vehicle in which the RTK device is located travels in each lane.

The mapping device is used for generating positioning quality indication information and incidence relation indication information according to a plurality of position information of a plurality of position points and a plurality of quality information of a plurality of position points, and adding the positioning quality indication information and the incidence relation indication information to a reference map (for example, a high-precision map). The mapping device may be a device with computing functionality, for example: computers, servers, multi-access Edge Computing (MEC), and the like.

The terminal may be a vehicle, such as a general vehicle or an autonomous vehicle, the vehicle may be a car, an automobile, a bus, a bicycle, a tricycle, an electric vehicle, a motorcycle, a truck, etc., and the vehicle may be an electric vehicle, a hybrid vehicle, an extended range electric vehicle, a plug-in hybrid vehicle, etc. In addition, the terminal may also be a Road Side Unit (RSU), an On Board Unit (OBU), a portable mobile device (e.g., a mobile phone, a tablet, etc.), or other sensors or devices that may communicate with the drawing device, such as a component and a chip of the portable mobile device, and the embodiment of the present application is not limited in particular.

It should be noted that fig. 1 is only an exemplary architecture diagram, and does not limit the number of network elements included in the system shown in fig. 1. Although not shown in fig. 1, fig. 1 may also comprise other functional entities than the functional entities shown in fig. 1. In addition, the method provided in the embodiment of the present application may be applied to the communication system shown in fig. 1, and certainly, the method provided in the embodiment of the present application may also be applied to other communication systems, which is not limited in this embodiment of the present application.

It should be noted that the reference map may be a high-precision map, and may also be other types of maps including areas, roads, or lanes, which is not limited in this application. For convenience of description, the reference map is not limited to the high-precision map, but the reference map is not limited to the high-precision map.

First, the lower position point and several indices for describing the quality of positioning of the driving area are introduced.

Before the positioning quality indication information is generated, a plurality of position points are acquired, wherein the position points are acquired when a data acquisition vehicle provided with an RTK device runs on each lane shown by a high-precision map in advance. Each position point has corresponding position information and quality information, wherein the position information (also called positioning information) of the position point is used for indicating the position of the position point in the high-precision map, and the position information of the position point comprises longitude coordinates, latitude coordinates and elevation coordinates; the quality information of a location point (which may also be referred to as positioning quality reference information) includes one or more of the number of observable satellite particles at the location point, a Dilution of Precision (DOP) value of the location point, whether the location information of the location point is a fixed solution, an offset of the location point in the east, north and vertical directions relative to a true value, and the like, and the quality information of the location point can be used for measuring the positioning quality at the location point in the high-Precision map.

It should be noted that the high-precision map includes at least one map element, where the map element is an area, a road, or a lane in the high-precision map, and each map element has a corresponding ID identifier, for example, the area is represented by an area ID, the road is represented by a road ID, and the lane is represented by a lane ID, where the area ID is used to distinguish different areas in the high-precision map, and one area ID corresponds to at least one road ID; the road IDs are used for distinguishing different roads in the high-precision map, and one road ID corresponds to at least one lane ID; the lane ID is used to distinguish different lanes in the high-precision map. The positioning quality indication information comprises at least one driving area, and the driving area is an area, a road or a lane in the positioning quality indication information. And the driving area in the positioning quality indication information and the map element in the high-precision map have an association relationship. For example, the following description of the part of the positioning quality indication information that is represented by the content may be referred to, and is not repeated herein.

Specifically, for any travel area a (e.g., area, road, or lane) in the positioning quality indication information, one or more of the following indices are set in the positioning quality indication information to represent the positioning quality of the travel area, and the following specifically describes 5 indices:

(1) Average positioning accuracy

The mean positioning accuracy is used for representing the standard deviation of errors of a plurality of position points in a driving area relative to a reference true valueThe body, i.e., the standard deviation of the positioning error of a plurality of location points in both the horizontal and vertical directions with respect to the reference true value. The average positioning accuracy can be used to measure the positioning quality of the terminal on the driving area, and specifically, the smaller the average positioning accuracy, i.e. the smaller the average positioning error, the more accurate the positioning of the terminal on the driving area is. The average positioning accuracy can be expressed as (σ) _H ，σ _V ) Wherein σ is _H Indicating the horizontal mean positioning accuracy, σ _V Indicating the vertical average positioning accuracy. It should be noted that the reference true value corresponding to each location point may be provided by a combined navigation device or an RTK monitoring device, and the embodiment of the present application is not particularly limited.

The calculation formula of the average positioning accuracy is expressed as formula (1):

where M denotes the number of position points corresponding to the travel area a in the positioning quality indication information, σ _E Represents the average offset, σ, of the corresponding location point of the travel area A in the east direction with respect to the reference true value _N An average offset e in the north direction of the corresponding location point of the driving range A relative to the reference true value _i An amount of deviation, n, of the i-th position point corresponding to the travel region A in the east direction with respect to the reference true value _i An offset u representing the i-th position point corresponding to the driving range A in the north direction with respect to the reference true value _i Indicates the offset, σ, of the i-th position point corresponding to the driving range A in the vertical direction with respect to the reference true value _V Which represents the average offset in the vertical direction of the corresponding location point of the driving range a with respect to the reference true value.

It should be noted that the above formula (1) indicates an example, the expression formula of the average positioning accuracy may also be in other forms, for example, in some possible embodiments, the parameter M in the above formula (1) may also not need to be processed by the root.

(2) Average number of satellites

The average number of the satellites is used for representing the average number of observable satellites at a plurality of position points in the driving area, and the average number of the satellites is used for measuring the positioning quality of the terminal in the driving area.

The calculation formula of the average satellite number can be expressed as formula (2):

wherein, avg _satnum Represents the average satellite number of the travel area A, M represents the number of position points corresponding to the travel area A in the RTK information layer, s _i Indicating the number of observable satellites at the i-th location point corresponding to the driving area a.

It should be noted that the observable Satellite corresponding to the location point may be a Satellite of at least one of a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), a BeiDou Navigation Satellite System (BDS), a russian GLONASS System, and a european GALILEO Satellite Positioning GALILEO System.

(3) Mean dilution of precision DOP value

The average dilution of precision value DOP represents the average value of DOP values of a plurality of position points within the driving region. The average DOP value can be used to measure the quality of the positioning of the driving area, in particular, the smaller the average DOP value, the more accurate the positioning of the terminal on the driving area.

The calculation formula of the average DOP value can be expressed as formula (3):

wherein, avg _dop An average DOP value of the driving area A, M the number of position points corresponding to the driving area A in the RTK information layer, DOP _i DOP value indicating the i-th position point corresponding to the traveling region A。

It should be noted that the DOP value may also be referred to as a precision value strength, a precision dilution factor, etc., and since the quality of the measurement result is related to the geometry between the measured satellite and the signal receiving device, the DOP value is used to measure the error caused by the geometric position of the satellite relative to the observer (e.g., the data collecting vehicle collecting the position point), and therefore, the smaller the DOP value is, the better the satellite distribution degree in the sky is, and the more accurate the terminal is located on the driving area. In some possible embodiments, the DOP value may be a Position Precision factor (PDOP), which represents the open root number value of the sum of the squared errors of latitude, longitude and elevation of the location point.

(4) Fixed rate of

The fixed rate indicates a ratio of fixed solutions in the bit information of a plurality of position points within the travel area, that is, a ratio of the number of fixed solutions within the travel area to the total number of position points within the travel area. The fixed rate can be used to measure the positioning quality of the driving area, and specifically, the higher the fixed rate is, the more accurate the positioning of the terminal on the driving area is. The fixed solution of the position point is obtained by calculating the corresponding ambiguity as an integer based on the carrier phase solution, and it is known whether or not the position point is the fixed solution.

The calculation formula of the fixed rate can be expressed as formula (4):

wherein eta is _fix Represents the fixed rate of the travel area A, M represents the number of position points corresponding to the travel area A in the RTK information layer, P _fix The number of the position points corresponding to the driving area a is represented as a fixed solution.

(5) Coverage of precision

The accuracy coverage rate indicates a ratio of position points, of which positioning accuracy satisfies a preset accuracy requirement, among a plurality of position points within the travel area. The accuracy coverage can also be used to measure the quality of the location of the driving area, in particular, the higher the accuracy coverage, the more accurate the location of the terminal on the driving area.

The calculation formula of the accuracy coverage can be expressed as formula (5):

wherein phi represents the precision coverage rate of the driving area A, M represents the number of the position points corresponding to the driving area A, and N represents the number of the position points of which the positioning precision meets the preset precision requirement in the driving area A.

For example, assume that the predetermined accuracy requirement is [ ≦ T _h ，≤T _v ]Wherein, T _h Threshold value, T, indicating horizontal positioning error _v A threshold value representing a vertical positioning error. If the position point 1 is any one of the position points corresponding to the driving range a, the offset amounts of the position point 1 with respect to the reference true value in the east direction, the north direction and the vertical direction are e ₁ 、n ₁ And u ₁ Calculating the positioning accuracy of the position point 1 to obtain

Wherein the content of the first and second substances,

indicating the horizontal positioning accuracy, | u, of the location point 1 ₁ L represents the vertical positioning accuracy of the position point 1, and the condition that the position point 1 meets the preset accuracy requirement means that:

and | u ₁ |≤T _v 。

The following will not describe the process of obtaining the positioning quality of the lane in the positioning quality indication information by taking the driving area a as the lane id1 in the positioning quality indication information. Assuming that the lane ID1 in the positioning quality indication information corresponds to the lane ID1 in the high-precision map (i.e. one-to-one), the number of the position points corresponding to the lane ID1 is 20, wherein 16 position points are fixed solutions, and 14 position points meet the preset accuracy requirement, then the vehicle in the positioning quality indication information is positionedThe position point corresponding to the lane ID1 is the track point corresponding to the lane ID1 in the high-precision map, and the average positioning precision of the lane ID1 is known to be

Based on the above formula (2), the average satellite number of the lane id1 is

Based on the above formula (3), it can be seen that the average DOP value of the lane id1 is

Based on the above formula (4), the fixed rate of the lane id1 is

Based on the above formula (5), it can be seen that the accuracy coverage of the lane id1 is

Similarly, the average positioning accuracy, the average satellite number, the average DOP value, the fixed rate and the accuracy coverage rate of any road id or any area id in the first map layer can be respectively obtained according to the above formulas (1) - (5), and for the sake of brevity of the description, details are not repeated here.

The following describes specific contents in the positioning quality indication information, and the content representation of the positioning quality indication information can be divided into the following three parts:

it should be noted that the positioning quality indication information is used to indicate the positioning quality of the driving area, and an association relationship may exist between the driving area in the positioning quality indication information and at least one map element in the high-precision map, where the association relationship is carried in the generated association relationship indication information. The map elements are areas, roads or lanes in the high-precision map. Map elements in a high-precision map have corresponding identifications, e.g., a region in a high-precision map can be represented by a region ID, a road in a high-precision map can be represented by a road ID, and a lane in a high-precision map can be represented by a lane ID.

In one implementation, the identification of the travel area may be an identification of a map element corresponding to the travel area. In another specific implementation, the identifier of the driving area may also be newly established, for example, when the driving area is an area, the driving area may be represented by an area id; when the driving area is a road, the driving area can be represented by a road id; when the travel area is a lane, it can be represented by a lane id.

A first part: content representation at region level

Specifically, an area id is established in the positioning quality indication information, and the area indicated by the area id is a driving area in the positioning quality indication information. The area ID and the lane ID in the high-precision map are in one-to-one mapping relationship. In another implementation, the area ID may be the same as the area ID in the high-precision map. The area indicated by the area ID is the area indicated by the area ID in the high-precision map corresponding to the area ID. The positioning quality indication information also comprises positioning quality information of an area id, wherein the fixed quality information of the area id comprises one or more of average positioning precision, average satellite number, average DOP value, fixed rate and precision coverage rate. The positioning quality information of the area id is a statistical value obtained from the quality information of a plurality of position points within the area id.

Referring to fig. 2, fig. 2 is a schematic diagram of area division in a high-precision map, and it can be seen that the high-precision map obtains four areas through one cross division, and the four areas are numbered in a clockwise manner, so that the area IDs of the four areas are 1-00, 1-01, 1-10 and 1-11, respectively. And determining the track point corresponding to each area ID according to the position information of the position point and the area range of each area in the high-precision map. It should be noted that the area range of each area in the high-precision map can be determined according to the coordinates of a plurality of corner points of the area.

Based on fig. 2, four area ids which are the same as the identifications of the areas in the high-precision map shown in fig. 2 are established in the positioning quality indication information, and are respectively 1-00, 1-01, 1-10 and 1-11. Taking area 1-00 in the positioning quality indication information as an example, the location points in area 1-00 in the positioning quality indication information are the location points of area 1-00 in fig. 2, and according to the quality information sets of the plurality of location points corresponding to area 1-00 in the positioning quality indication information, the above formulas (1) - (5) can respectively obtain the average positioning accuracy, the average number of satellite particles, the average DOP value, the fixed rate and the accuracy coverage rate corresponding to area 1-00 in the positioning quality indication information. The information storage structure of the area level in the positioning quality indication information corresponding to fig. 2 can be represented as shown in table 1, and as shown in table 1, the area id (e.g., 1-00, 1-01, 1-10, and 1-11) is set in table 1, and the average positioning accuracy, the average number of satellite pieces, the average DOP value, the fixed rate, and the accuracy coverage rate corresponding to the area id are set.

TABLE 1

It can be seen that the area IDs shown in table 1 are the same as the area IDs in the high-precision map. In some possible embodiments, the established area ID in the RTK information layer is different from the area ID in the high precision map, in which case the correspondence between the area ID and the area ID in the high precision map may be added in table 1, e.g. area ID "1" corresponds to area ID "1-00" in the high precision map, i.e. it is stated that area ID "1" in the positioning quality indication information indicates area 1-00 in the high precision map.

In some possible embodiments, the number of the location point corresponding to each area id, the location information (e.g., longitude and latitude coordinates) of the track point, and the quality information (e.g., satellite number, DOP value, etc.) of the location point may also be stored in table 1, which is not limited in this embodiment of the present application.

A second part: content representation at road level

In one implementation, a road id is established in the positioning quality indication information, and the road indicated by the road id may be referred to as a driving area in the positioning quality indication information. The road ID in the positioning quality indication information may be associated with the road ID in the high-precision map. The positioning quality indication information also comprises positioning quality information of a road id, wherein the fixed quality information of the road id comprises one or more of average positioning precision, average satellite number, average DOP value, fixed rate and precision coverage rate. The positioning quality information of the road id is a statistical value obtained from the quality information of a plurality of position points within the road id.

When the road ID in the positioning quality indication information corresponds to a plurality of road IDs in the high-precision map, the reference and accuracy of the positioning quality information obtained through statistics are improved, because the lengths of all the roads in the high-precision map are different, and under the condition that the sampling frequency of the position points and the vehicle speed of the data acquisition vehicle are fixed, the shorter the length of the road is, the smaller the number of the position points acquired on the road is. If the corresponding position points of a certain road section are rare, the positioning quality of the road section cannot be well evaluated based on the rare position points, and the road ID in the positioning quality indication information corresponds to a plurality of road IDs in the high-precision map, which is equivalent to indicating a plurality of road sections in the high-precision map, so that the number of the position points participating in the positioning quality evaluation of the road ID can be effectively increased.

It is to be understood that, when a road ID corresponds to a plurality of road IDs in a high-precision map, the localization quality information of the road ID may be localization quality information of any one of the plurality of road IDs corresponding to the road ID.

Referring to fig. 3, fig. 3 is a display diagram of roads in a certain area in a high-precision map, fig. 3 shows 9 roads, and the lengths of the roads are different, and the 9 roads form two road connection lines, wherein the road connection line 1 is composed of a road 1, a road 2, a road 3 and a road 4, specifically, the road 1 is connected with the road 2, the road 2 is connected with the road 3, and the road 3 is connected with the road 4; the road connection line 2 is composed of a road 5, a road 6, a road 7, a road 8 and a road 9, specifically, the road 5 is connected with the road 6, the road 6 is connected with the road 7, the road 7 is connected with the road 8, the road 8 is connected with the road 9, and the road 3 and the road 8 are located in the same intersection plane.

Based on fig. 3, it is assumed that 4 road ids a1, a2, a3, and a4 are established, where the road a1 is used to indicate the road 1 and the road 2 in the high-precision map, the road a2 is used to indicate the road 3 and the road 4 in the high-precision map, the road a3 is used to indicate the road 5, the road 6, and the road 7 in the high-precision map, and the road a4 is used to indicate the road 8 and the road 9 in the high-precision map.

The road ID corresponding to each location point may be determined according to the location information of each location point, and the location point corresponding to each road ID may be determined based on the mapping relationship between the road ID and the road ID in the positioning quality indication information, so that the positioning quality information corresponding to each road ID may be obtained based on the above formulas (1) - (5) and the quality information of the location point corresponding to each road ID, respectively. Therefore, specific contents of the road level in the first map layer corresponding to fig. 3 may refer to table 2, and as shown in table 2, the road ID (e.g., a1, a2, a3, and a 4), the correspondence relationship between the road ID and the road ID in the high-precision map (e.g., a1 corresponds to road 1 and road 2 in the high-precision map), the average positioning accuracy corresponding to the road ID, the average number of satellites, the average DOP value, the fixed rate, and the accuracy coverage are set in table 2. In some possible embodiments, the table 2 may store the location points corresponding to the road ID, and the number of the location points corresponding to the road ID is the sum of the number of the location points corresponding to each road ID corresponding to the road ID.

TABLE 2

In some possible embodiments, the correspondence between the road ID in the positioning quality indication information and the road ID in the high-precision map is many-to-one, that is, a plurality of road IDs in the positioning quality indication information correspond to the same road ID in the high-precision map. For example, assuming that the road a1 and the road a2 in the positioning quality indication information both correspond to the road 2 in the high-precision map, it may be understood that the road a1 includes all of the road 2 and the road a2 includes all of the road 2, or that a part of the road 2 belongs to the road a1 and another part of the road 2 belongs to the road a2.

In some possible embodiments, the road ID in the positioning quality indication information may also be the road ID in the high-precision map, or the road ID in the positioning quality indication information and the road ID in the high-precision map are in a one-to-one mapping relationship, which is not specifically limited in the embodiments of the present application.

In some possible embodiments, the positioning quality indication information may further store a start point coordinate and an end point coordinate corresponding to the road id.

In one embodiment, when the road ID and the road ID are one-to-one, the start point coordinate corresponding to the road ID is the start point coordinate of the road ID corresponding to the road ID in the high-precision map, and the end point coordinate corresponding to the road ID is the end point coordinate of the road ID corresponding to the road ID in the high-precision map. For example, assuming that the road a1 in the positioning quality indication information corresponds to the road 1 in the high-precision map, the start point coordinate corresponding to the stored road a1 is the start point coordinate of the road 1 and the end point coordinate corresponding to the road a1 is the end point coordinate of the road 1.

In another specific implementation, when the road ID corresponds to a plurality of road IDs in the high-precision map, the start point coordinate corresponding to the road ID is the start point coordinate of the first road ID in the plurality of road IDs, and the end point coordinate corresponding to the road ID is the end point coordinate of the last road ID in the plurality of road IDs. For example, referring to table 2, a road a1 corresponds to a road 1 and a road 2 in a high-precision map, where the road 1 and the road 2 are connected and the vehicle passes through the road 1 and the road 2 in sequence, the start point coordinate corresponding to the stored road a1 is the start point coordinate of the road 1 and the end point coordinate corresponding to the stored road a1 is the end point coordinate of the road 2.

In some possible embodiments, the road ID where the lowest quality position point in the high-precision map is located may also be marked in the positioning quality indication information as a characteristic attribute in the positioning quality indication information, so that the terminal may directly obtain the road ID with poor positioning quality in the high-precision map from the positioning quality indication information, thereby effectively avoiding the road indicated by the road ID or avoiding the roads indicated by other road IDs related to the road ID. For example, when it is determined that a low-quality location point is included in the location points corresponding to a certain link ID, a list of "low-quality link ID tags" may be added in table 2 to implement tagging of a link ID of low quality.

Specifically, for each position point, the quality information of each position point is known, the quality information of each position point includes one or more of a DOP value, a satellite number, whether the position information of the position point is a fixed solution, the position information of the position point, and offsets of the position information of the position point relative to the reference true value in the east direction, the north direction, and the vertical direction, and the positioning accuracy of the position point is calculated based on the offsets of the position point relative to the reference true value in the east direction, the north direction, and the vertical direction, and the calculation method may refer to the description of the positioning accuracy of the position point 1 in the description of the accuracy coverage rate, which is not described herein again.

The criterion for judging the position point as the lowest quality position point may be any one of the following:

standard a: at least one condition that the DOP value is greater than a preset threshold value 1, the number of the satellites is less than a preset threshold value 2, and the positioning accuracy of the position point is greater than a preset threshold value 3 is met;

standard B: the quality score of the location point is greater than the preset threshold 4, wherein the quality score of the location point is a weighted sum of the DOP value of the location point, the reciprocal of the number of the satellite particles and the positioning accuracy of the location point, and the calculation of the positioning accuracy of the location point can refer to the above description.

For example, the quality score for a location point may be expressed as formula (6):

wherein, F _i Representing the quality score, dop, of the location point i _i Indicates the DOP value of the ith position point,

indicating the positioning accuracy, s, of the location point i _i Number of satellites, λ, representing position point i ₁ 、λ ₂ And λ ₃ Respectively representing the weight of DOP value of the position point i, the weight of positioning accuracy of the position point i and the weight corresponding to the number of satellite particles of the position point i, lambda ₁ 、λ ₂ And λ ₃ Is preset based on manual experience.

It can be seen that in equation (6)

s _i With these two parameters unchanged, dop _i The larger, F _i The larger; at dop _i 、s _i In the case where these two parameters are not changed,

the larger, F _i The larger; in that

dop _i With these two parameters unchanged, s _i The smaller, F _i The larger. It can be understood that F _i The larger, i.e. the higher the quality score of location point i, the lower the quality of location point i. Therefore, when the quality score of the position point i is greater than the preset threshold value 4, the position point i is determined to be the lowest quality position point.

For example, it is determined whether or not the lowest quality location point exists among the location points corresponding to each road ID in the high-precision map based on any one of the above criteria, and the road 6 in the high-precision map is marked assuming that the lowest quality location point exists among the location points corresponding to the road 6 in fig. 3 is determined. See table 2, i.e. the column "low quality road ID marker" in table 2, that marks the road 6 in the high precision map. In another specific implementation, the marking method of the low-quality road ID for the road 6 may also be to set the value of the road 6 in the high-precision map to be non-null in the column of "low-quality road ID mark" in table 2. The embodiment of the present application does not specifically limit the marking method of the low-quality road ID in table 2.

In some possible embodiments, the number of the location point corresponding to each road ID in the high-precision map, the location information (e.g., longitude and latitude coordinates) of the location point, and the quality information (e.g., satellite number, DOP value, etc.) of the location point may also be stored in table 2, which is not limited in this embodiment.

And a third part: content representation at lane level

Specifically, a lane id is established in the positioning quality indication information, and the lane indicated by the lane id may be referred to as one driving area in the positioning quality indication information. The lane ID in the positioning quality indication information may be associated with the lane ID in the high-precision map. The positioning quality indication information also comprises positioning quality information of a lane id, wherein the fixed quality information of the lane id comprises one or more of average positioning precision, average satellite number, average DOP value, fixed rate and precision coverage rate. The positioning quality information of the lane id is a statistical value obtained from quality information of a plurality of position points within the lane id.

Referring to fig. 4, fig. 4 is a schematic diagram of a road-lane in a high-precision map, and fig. 4 shows four roads in the high-precision map, namely, a road 1, a road 2, a road 3 and a road 4, wherein the road 1 includes a lane 11 and a lane 12, the road 2 includes a lane 21 and a lane 22, the road 3 includes a lane 31 and a lane 32, and the road 4 includes a lane 41 and a lane 42. Lane 11 is connected to lane 21, lane 12 is connected to lane 22, lane 21 is connected to lane 31, lane 22 is connected to lane 32, lane 31 is connected to lane 41, and lane 32 is connected to lane 42.

Based on fig. 4, 4 lane ids, i 1, i 2, i 3, and i 4 are established in the positioning quality indication information, where lane i 1 is used to indicate lane 11 and lane 21 in the high-accuracy map, lane i 2 is used to indicate lane 12 and lane 22 in the high-accuracy map, lane i 3 is used to indicate lane 31 and lane 41 in the high-accuracy map, and lane i 4 is used to indicate lane 32 and lane 42 in the high-accuracy map. Assuming that a lane ID corresponding to each location point is determined according to the location information of each track point, and a location point corresponding to each lane ID is determined based on a mapping relationship between the lane ID and the lane ID in the positioning quality indication information, the positioning quality information corresponding to each lane ID can be respectively obtained based on the above formulas (1) - (5) and the quality information of the location point corresponding to each lane ID. Therefore, specific contents of the lane level corresponding to fig. 4 may refer to table 3, and as shown in table 3, lane IDs (e.g., l1, l2, l3, and l 4), a correspondence relationship of the lane IDs to the lane IDs in the high-precision map (e.g., l1 corresponds to the lane 11 and the lane 21 in the high-precision map), an average positioning accuracy corresponding to the lane IDs, an average number of satellites, an average DOP value, a fixed rate, and a precision coverage rate are set in table 3. In some possible embodiments, the position points corresponding to the lane ID may be stored in table 3, and it is understood that the number of the position points corresponding to the lane ID is the sum of the number of the position points corresponding to each lane ID corresponding to the lane ID.

TABLE 3

In some possible embodiments, the correspondence between the lane ID in the positioning quality indication information and the lane ID in the high-precision map is many-to-one, that is, a plurality of lane IDs in the positioning quality indication information correspond to the same lane ID in the high-precision map. For example, assuming that the lane c1 and the lane c2 in the localization quality indication information both correspond to the lane 21 in the high-precision map, it may be understood that the lane c1 includes the entirety of the lane 21 and the lane c2 includes the entirety of the lane 21, or that a part of the lane 21 belongs to the lane c1 and another part of the lane 21 belongs to the lane c2.

In some possible embodiments, the lane ID in the positioning quality indication information may also be a lane ID in a high-precision map, or a one-to-one mapping relationship between the lane ID in the positioning quality indication information and the lane ID in the high-precision map, which is not specifically limited in this embodiment of the present application.

In some possible embodiments, the positioning quality indication information may further store a start point coordinate and an end point coordinate corresponding to the lane id. In one embodiment, when the lane ID and the lane ID are in one-to-one correspondence, for example, assuming that the lane l1 in the positioning quality indication information corresponds to the lane 11 in the high-precision map, the start point coordinate corresponding to the stored lane l1 is the start point coordinate of the lane 11 and the end point coordinate corresponding to the lane l1 is the end point coordinate of the lane 11. In another embodiment, when the lane ID corresponds to a plurality of lane IDs in the high-precision map, for example, referring to table 2, the lane l1 corresponds to the lane 11 and the lane 21 in the high-precision map, wherein the lane 11 and the lane 22 are connected, and the vehicle passes through the lane 11 and the lane 21 in sequence, the start point coordinate corresponding to the lane l1 is stored as the start point coordinate of the lane 11, and the end point coordinate corresponding to the lane l1 is stored as the end point coordinate of the lane 21.

In some possible embodiments, the lane ID where the lowest quality position point in the high-precision map is located may also be marked as a characteristic attribute in the positioning quality indication information, so that the terminal may directly obtain the lane ID with poor positioning quality in the high-precision map from the positioning quality indication information, thereby effectively avoiding the lane indicated by the lane ID, or the lane indicated by another lane ID related to the lane ID. For example, when it is determined that the track point corresponding to a certain lane ID includes the lowest quality position point, the column of "low quality lane ID mark" may be added in table 3 to mark the low quality lane ID.

It should be noted that, for the determination of whether the location point is the lowest quality location point, reference may be made to the related description in the second section, and for brevity of the description, details are not repeated herein.

For example, it is determined whether there is a low-quality position point among the position points corresponding to each lane ID in the high-precision map based on any one of the above criteria, and the lane 21 in the high-precision map is marked on the assumption that it is determined that there is a low-quality position point among the position points corresponding to the lane 21 in fig. 4. See table 3, i.e. the column "low quality lane ID marker" in table 3 marks the lane 21 in the high precision map. In another embodiment, the lane 21 may be marked with the low-quality lane ID by setting the value of the lane 21 in the high-precision map to non-null in the column "low-quality lane ID mark" in table 3. The embodiment of the present application does not specifically limit the marking method of the low-quality lane ID in table 3.

In some possible embodiments, the corresponding relationship between the lane id and the road id, and the corresponding relationship between the road id and the area id may also be added to the positioning quality indication information. Taking the example of adding the correspondence between the road id and the area id to the positioning quality indication information, if the road a1 in the table 2 has the correspondence with the area 1-00 in the good table 1, it is described that the road in the high-precision map indicated by the road a1 is located in the area of the high-precision map indicated by the area 1-00.

In some possible embodiments, the number of the position point corresponding to each lane ID in the high-precision map, the position information (e.g., longitude and latitude coordinates) of the position point, and the quality information (e.g., satellite number, DOP value, etc.) of the position point may also be stored in table 3, which is not limited in this embodiment.

In a specific implementation, the positioning quality indication information may be sequentially represented as three mapping tables, i.e., table 1, table 2, and table 3, according to the division of the area, the road, and the lane, and in a specific implementation, the three mapping tables may also be merged into one mapping table, which is not limited in this embodiment of the present application. In another specific implementation, any one of the tables 1, 2, and 3 may be divided into a plurality of parts for representation, and may be divided into three tables, taking table 3 as an example, where the first table is used to store lane IDs and positioning qualities corresponding to the lane IDs, the second table is used to store mapping relationships between the lane IDs and the lane IDs in the high-precision map, and the third table is used to store lane IDs marked as low-quality in the high-precision map.

It can be seen that the above-described embodiments define the content representation structure of the driving area (e.g., area, road, or lane) so that the positioning quality of the driving area provided by the positioning quality indication information has a strong reference value and reliability, and in addition, based on the association relationship between the driving area and at least one map element in the high-precision map, the positioning quality of the corresponding area, road, or lane in the high-precision map can be accurately obtained based on the positioning quality indication information; and the arrangement of the low-quality positioning area mark is beneficial to the terminal to quickly know low-quality map elements (such as roads or lanes) in the high-precision map, and prior information is provided for the driving decision, navigation planning and the like of the terminal.

In addition, new quality information needs to be acquired to realize the update of the positioning quality indication information 1 in any case, wherein the positioning quality indication information 1 is generated based on the position points acquired in the history:

(1) Positioning quality indication information 1 established based on the quality information of the historical position points only comprises a part area ID, a road ID or a lane ID in the high-precision map, namely, the incomplete data of the historical position points cause the content of the positioning quality indication information 1 to be missing compared with the high-precision map;

(2) The positioning quality information in the positioning quality indication information 1 is no longer applicable along with seasonal changes, vegetation growth changes and the like, that is, the accuracy of the positioning quality statistically obtained in the positioning quality indication information 1 is reduced.

The new location information may be an updated value of the quality information of the historical location point, or may be quality information of a new location point different from the historical location point, or may include an updated value of the quality information of the historical location point and quality information of a new location point different from the historical location point, which is not specifically limited in the embodiment of the present application.

Therefore, when any of the above-described cases occurs, the content in the positioning quality indication information 1 can be updated in combination with the new quality information and the historical quality information. Referring to fig. 5, fig. 5 is a flowchart of a method for updating positioning quality indication information according to an embodiment of the present application, which is applied to a mapping device, where the method includes, but is not limited to, the following steps:

s101, acquiring positioning quality indication information 1 and a position point group 1.

In the embodiment of the present application, the location point group 1 is newly acquired location point data, the location point group 1 includes a plurality of location points, each location point has corresponding location information and quality information, and the location information and the quality information about the location point may specifically refer to relevant descriptions in the above embodiment, and are not described again here. It should be noted that each position point in the position point group 1 includes one or more of a position point acquired again and a position point acquired for the first time, and the embodiment of the present application is not particularly limited.

The positioning quality indication information 1 comprises an identifier of a map element in a high-precision map and positioning quality information corresponding to the map element, and the positioning quality information corresponding to the map element comprises one or more of average positioning precision, average satellite number, average DOP value, fixed rate and precision coverage rate. The positioning quality indication information 1 is generated in advance from the position point group 2, and the position point group 2 includes a plurality of pieces of position information of a plurality of position points and a plurality of pieces of quality information of the position points. The positioning quality indication information 1 may be represented in a table form shown in tables 1 to 3, or may be represented as a graph, and the embodiment of the present application is not particularly limited.

In one embodiment, the set of location points 1 may be sent to the mapping device by a data collection vehicle or a data collection device. The positioning quality indication information 1 may be pre-stored in a memory of the mapping device, or may be obtained by the mapping device from other devices (e.g., a vehicle, a cloud server, etc.).

And S102, associating the position points 2 in the position point group 1 according to the high-precision map, and obtaining target map element IDs associated with the position points 2 in the high-precision map.

In the embodiment of the present application, the map element is an area, a road, or a lane in the high-precision map, and thus, the target map element ID may be an area ID, a road ID, or a lane ID. It should be noted that each position point in the position point group 1 has a uniquely associated area ID, road ID, and lane ID.

The position point 2 is any position point in the position point group 1, and the association process of each position point in the position point group 1 and the identifier of the map element in the high-precision map is described by taking the position point 2 as an example:

in one specific implementation, for the determination of the associated area ID, the position information of the position point 2 is compared with the area range of each area in the high-precision map, and when the position point 2 is determined to be within the area range of the area ID1, the area ID1 in the high-precision map of the position point 2 is associated.

In one specific implementation, the determination of the associated road ID is performed based on the position information of the position point 2 and the position information of each road in the high-precision map, and when the position point 2 is located within the road range of the road ID1 in the high-precision map, the road ID1 in the high-precision map of the position point 2 is associated.

In one specific implementation, the associated lane ID is determined by determining the position relationship between the position information of the position point 2 and the position information of each lane in the high-precision map, and when the position point 2 is within the lane range of the lane ID1 in the high-precision map, the lane ID1 in the high-precision map of the position point 2 is associated.

And S103, judging whether the target map element ID related to the position point 2 exists in the positioning quality indication information 1 or not.

In the embodiment of the present application, determining whether there is a target map element ID associated with the location point 2 in the positioning quality indication information 1 means: judging whether the map element ID in the positioning quality indication information 1 is the same as the target map element ID corresponding to the position point 2, if so, executing S104; if not, go to step S105.

It is noted that, as is clear from S102, if the target map element ID associated with the position point 2 may be the area ID1, the road ID1, or the lane ID1, and the determination of whether or not the target map element ID associated with the position point 2 exists in the positioning quality indication information 1 means: whether the area ID1 is included in the positioning quality indication information 1 or not is judged, whether the road ID1 is included in the positioning quality indication information 1 or not is judged, or whether the lane ID1 is included in the positioning quality indication information 1 or not is judged.

And S104, adding the target map element ID and the positioning quality information corresponding to the target map element ID into the positioning quality indication information 1.

In the embodiment of the present application, when there is no target map element ID associated with the position point 2 in the positioning quality indication information 1, that is, it is explained that there is no data related to the target map element ID in the positioning quality indication information 1, the target map element ID is added to the positioning quality indication information 1, the positioning quality information corresponding to the target map element ID is obtained from the quality information of the position point associated with the target map element ID, and the positioning quality information corresponding to the target map element ID is added to the positioning quality indication information 1.

In one specific implementation, when the target map element ID is the area ID1, since the area ID1 is not included in the positioning quality indication information 1, the area ID1 is added to the area-level content representation of the positioning quality indication information 1, for example, "area ID1" is added to the column of "area ID (area ID of high-precision map)" in the above table 1, and the positioning quality information corresponding to the area ID1 is obtained according to the above equations (1) to (5), and the positioning quality information corresponding to the area ID1 is added to the positioning quality indication information 1.

In one embodiment, when the target map element ID is the road ID1, since the localization quality indication information 1 does not include the road ID1, the road ID1 is added to the road level content representation of the localization quality indication information 1, for example, the "road ID1" is added to the column of "road ID in high-precision map" in the above table 2. However, since the road ID in table 2 has a mapping relationship with the road ID in the high-precision map, adding "road ID1" to the column of "road ID in high-precision map" in table 2 includes the following modes a and B:

mode A: when the road ID1 and each road ID listed in table 2 have no connection relationship, after "road ID1" is added to the row of "road ID in high-precision map" in table 2, a road ID, for example, road a5 may be newly created for the road ID1 in table 2 and associated with the road ID1. In this case, the positioning quality information corresponding to the road ID1 is obtained from the execution information of the location point associated with the road ID1 and the above-described equations (1) to (5), and the positioning quality corresponding to the road ID1 is added to the corresponding location in table 2.

Mode B: when the road ID1 has a connection relationship with a certain road ID (for example, road 1) in table 2, that is, the road ID1 is connected to the road 1, and further, the road 1 in table 2 corresponds to the road a1, "road ID1" may be added to a position corresponding to "road a1" in the column of "road ID in high-precision map" in table 2, which means that the road a1 in table 2 corresponds to the road a1, road 1 and road 2 in the high-precision map. In this case, adding the positioning quality information corresponding to the road ID1 means recalculating and updating the positioning quality information corresponding to the road a1 based on the quality information of the location point 2 and the quality information of the historical location points with which the road 1 and the road 2 have been associated, respectively.

In one embodiment, when the target map element ID is lane ID1, since no lane ID1 is included in the positioning quality indication information 1, the lane ID1 is added to the lane-level content representation of the positioning quality indication information 1, for example, "lane ID1" is added to the column of "lane ID in high accuracy map" in table 3 above. However, since the lane ID in table 3 has a mapping relationship with the lane ID in the high-precision map, adding "lane ID1" to the column of "lane ID in high-precision map" in table 3 includes the following modes C and D:

mode C: when the lane ID1 and each of the lane IDs listed in table 3 have no connection relationship, after "lane ID1" is added to the column of "lane ID in high-precision map" in table 3, a lane ID, for example, lane l5 may be newly created for the lane ID1 in table 3 and may be associated with the lane ID1. In this case, the positioning quality information corresponding to the lane ID1 is obtained from the quality information of the position point associated with the lane ID1 and the above-described equations (1) to (5), and the positioning quality information corresponding to the lane ID1 is added to the corresponding position in table 3.

Mode D: when the lane ID1 has a connection relationship with a certain lane ID (for example, the lane 11) in table 3, that is, the lane ID1 is connected with the lane 11, and in addition, the lane 11 in table 3 corresponds to the lane l1, the "lane ID1" may be added to the position corresponding to the "lane l1" in the column of the "lane ID in high-precision map" of table 3, which means that the lane l1 in table 3 corresponds to the lane ID1, the lane 11, and the lane 21 in the high-precision map. In this case, adding the positioning quality information corresponding to the lane ID1 means recalculating and updating the positioning quality information corresponding to the lane l1 based on the quality information of the position point 2 and the quality information of the historical position points with which the lane 11 and the lane 21 have been associated, respectively.

In a specific implementation, the positioning quality indication information 1 may not include any two of the area ID1, the road ID1, and the lane ID1, or the positioning quality indication information 1 may not include all three of the area ID1, the road ID1, and the lane ID1, which is not specifically limited in the embodiment of the present application. In this case, any one of the area ID1, the road ID1, and the lane ID1 does not exist in the positioning quality indication information 1, and the correlation processing may be performed according to the above-described corresponding method.

And S105, updating the positioning quality information corresponding to the target map element ID in the positioning quality indication information 1 by combining the quality information of the position point 2.

In the embodiment of the present application, in the case where there is a target map element ID associated with the position point 2 in the positioning quality indication information 1, the positioning quality information corresponding to the target map element ID is updated in combination with the quality information of the position point 2, and specifically, the positioning quality information corresponding to the target map element ID may be recalculated based on the quality information of the position point 2 and the quality information of the past position point with which the target map element ID has been associated.

It should be noted that the presence of the target map element ID associated with the location point 2 in the positioning quality indication information 1 indirectly indicates that: the data acquisition vehicle acquires the position point again on the area, the road or the lane where the position point is acquired, and the vegetation around the data acquisition vehicle or the corresponding season may change compared with the previous data acquisition vehicle when the position point is acquired, that is, the quality information of the track point 2 acquired by the data acquisition vehicle is an updated value. Therefore, the corresponding update of the positioning quality indication information 1 can truly reflect the positioning quality of each map element in the current high-precision map.

Taking the target map element ID as the area ID1 in S101 as an example, assuming that the area ID1 is the area 1-00 in the high-precision map and the area-level content of the positioning quality indication information 1 is shown in table 1, it is easy to know that the area 1-00 exists in table 1, that is, the area ID1 already exists in the positioning quality indication information 1, in this case, the positioning quality information corresponding to the area 1-00 needs to be updated in combination with the quality information of the location point 2 and the quality information of the history location point corresponding to the area I-00, and the above equations (1) - (5) can be referred to in the updating process. In some possible embodiments, if the location points corresponding to the area id are listed in table 1, location point 2 may also be added to the location point set corresponding to areas 1-00.

Taking the target map element ID as the road ID1 in S101 as an example, assuming that the area ID1 is the road 1 in the high-precision map and the road-level content of the positioning quality indication information 1 is shown in table 2, it is easy to know that the road 1 exists in table 2, that is, the road ID1 already exists in the positioning quality indication information 1, in this case, the positioning quality information corresponding to the road 1 needs to be updated, and it can be understood that the positioning quality information corresponding to the road 1 is equal to the positioning quality information corresponding to the road a1 in table 2, and therefore, the positioning quality information corresponding to the updated road 1 may be: the positioning quality information corresponding to the road a1 is recalculated by combining the quality information of the location point 2, the quality information of the historical location point corresponding to the road 1 and the quality information of the historical location point corresponding to the road 2, and the above formulas (1) - (5) can be referred to in the updating process. In some possible embodiments, when the positioning quality information of the road ID is set in table 2, the step of updating the positioning quality information corresponding to the road 1 may also be: and updating the positioning quality information of the road 1 according to the quality information of the position point 2 and the quality information of the historical position point corresponding to the road 1. In some possible embodiments, if the location points corresponding to the link IDs are listed in table 2, the location point 2 may be further added to the location point set corresponding to the link 1.

Taking the target map element ID as the lane ID1 in S101 as an example, assuming that the lane ID1 is the lane 11 in the high-precision map and the contents of the localization quality indication information 1 at the lane level are shown in table 3, it is easy to know that the lane 11 exists in table 3, that is, the lane ID1 already exists in the localization quality indication information 1, and in this case, it is necessary to update the localization quality information corresponding to the lane 11. It is understood that the positioning quality information corresponding to the lane 11 is equal to the positioning quality information corresponding to the lane l1 in table 3, and therefore, the positioning quality information corresponding to the updated lane 11 may be: the positioning quality information corresponding to the lane l1 is recalculated by combining the quality information of the position point 2, the quality information of the historical position point corresponding to the lane 11 and the quality information of the historical position point corresponding to the lane 21, and the above equations (1) - (5) can be referred to in the updating process. In some possible embodiments, when the positioning quality information of the lane ID is set in table 3, the positioning quality information corresponding to the updated lane 11 may also be: and updating the positioning quality information of the lane 11 according to the quality information of the position point 2 and the quality information of the historical position point corresponding to the lane 11. In some possible embodiments, if the position points corresponding to the lane IDs are listed in table 3, the position point 2 may also be added to the position point set corresponding to the lane 11.

In some possible embodiments, any two of the area ID1, the road ID1, and the lane ID1 may also exist in the positioning quality indication information 1, or all three of the area ID1, the road ID1, and the lane ID1 may also exist in the positioning quality indication information 1, and the embodiment of the present application is not particularly limited. In this case, any one of the area ID1, the road ID1, and the lane ID1 already exists in the positioning quality indication information 1, and the correlation processing may be performed according to the above-described corresponding method.

By implementing the embodiment of the application, the positioning quality of the map element in the positioning quality indication information is updated by combining the quality information of the newly acquired position point on the same map element (such as a lane and the like) and the historically acquired quality information, so that the updated positioning quality indication information is better adapted to the influence of vegetation change and seasonal change on the positioning quality information of the map element in the high-precision map, and the positioning quality of the map element in the high-precision map in the current environment can be accurately indicated.

Referring to fig. 6, fig. 6 is a flowchart of yet another map generation method provided in the embodiment of the present application. Fig. 6 may be independent of the embodiment of fig. 5, or may be a supplement to the embodiment of fig. 5. The method includes, but is not limited to, the steps of:

s201, the drawing device obtains a plurality of positioning information of a first plurality of position points and a first plurality of positioning quality reference information of the first plurality of position points.

Specifically, the positioning information and the first positioning quality reference information of the first plurality of location points may be sent to the mapping device by the data acquisition vehicle or the data acquisition device.

The first plurality of location points may be understood as a location point set, where the location point set includes a plurality of location points, and each location point has corresponding positioning information and positioning quality reference information. The positioning information of the track point is used for indicating the position of the position point in the high-precision map, for example, the positioning information of the position point can be represented by longitude, latitude and the like; the positioning quality reference information of the location point can be used for measuring the positioning quality at the location point, and the positioning quality reference information of the location point comprises the positioning accuracy of the location point, the DOP value of the location point, the number of satellites observed at the location point or whether the positioning location information of the location point is a fixed solution. It should be noted that the positioning position information of the track point is the position information of the track point in the above embodiment, and the positioning quality reference information of the track point is the quality information of the track point in the above embodiment.

For example, the positional accuracy of the position points can be obtained from the offsets of the position points with respect to the true value in the east, north, and vertical directions. The DOP value for a location point is used to measure the amount of error caused by the geometric position of the satellite relative to an observer (e.g., a data collection vehicle collecting the location point). The fixed solution is the positioning position information of the position point, which means that the corresponding ambiguity is an integer when the positioning position information of the position point is calculated based on the carrier phase solution, and the positioning quality corresponding to the fixed solution is better than the positioning quality corresponding to the non-fixed solution.

S202, the drawing equipment generates first positioning quality indication information according to the first plurality of positioning quality reference information.

In an embodiment of the application, the mapping device generates first positioning quality indication information according to the first plurality of positioning quality reference information, and the first positioning quality indication information is used for indicating positioning quality in the first driving area. It should be noted that the first positioning quality indication information may be represented in the form of a table, a graph, a text, and the like, and the embodiment of the present application is not particularly limited.

In one implementation, the positioning quality in the first driving area is a statistical value obtained according to the first plurality of positioning quality reference information, so that the reliability and the accuracy of the estimated positioning quality in the first driving area are improved.

In a specific implementation, the first positioning quality indicator includes a standard deviation of errors of the positioning information with respect to a reference true value, a ratio of fixed solutions in the positioning information, a ratio of positioning information with satisfactory positioning accuracy in the positioning information, an average number of observable satellites at the first position point, or an average dilution of precision (DOP) value of the positioning information. It should be noted that the standard deviation of the errors of the positioning information with respect to the reference true value is "average positioning accuracy" in the above embodiment, the ratio of the fixed solutions in the positioning information is "fixed rate" in the above embodiment, the ratio of the positioning information with the positioning accuracy meeting the requirement in the positioning information is "accuracy coverage" in the above embodiment, the number of the observable satellites at the first location point is "average satellite number" in the above embodiment, and the value of the DOP of the average dilution of precision of the positioning information is "DOP value of the average dilution of precision" in the above embodiment.

S203, the drawing equipment generates first incidence relation indication information according to the plurality of positioning information.

In the embodiment of the present application, the mapping apparatus generates, from the plurality of positioning information, first association indicating information for indicating an association between a first travel area and at least one map element in the high-precision map, the map element including an area, a road, or a lane in the high-precision map.

In one specific implementation, the first association relation indication information is an identifier of at least one map element. For example, referring to table 1 above, the first column in table 1 is the area IDs, i.e., the identifications of the areas, in the high-precision map, each area ID corresponding to a driving area.

In one implementation, the first association indication information includes an identification of the first travel area and an identification of the at least one map element. That is, the first association indicating information includes both the identification of the travel area and the identification of the map element. For example, referring to table 2 above, the road ID in the first column in table 2 corresponds to the identifier of the driving area, the road ID in the high-precision map in the second column in table 2 corresponds to the identifier of the map element, and the information composed of the first column and the second column in table 2 is an example of the first association indication information.

In each embodiment of the present application, there is an association relationship between the identifier of the driving area in the positioning quality indication information and the identifier of the map element in the high-precision map, and this association relationship may be a mapping relationship or a non-mapping relationship, and this embodiment of the present application is not particularly limited. The identification of the travel region in the positioning quality indication information may be the region id in the above table 1, the road id in the above table 2, or the lane id in the above table 3. The mapping relationship between the identifier of the driving area and the identifier of the map element is not described by taking a road as an example, and one road ID may correspond to at least one road ID in the high-precision map, or a plurality of road IDs may correspond to one road ID in the high-precision map.

The correspondence of the plurality of road IDs and one road ID in the high-precision map is further explained: assuming that the road 1 is a road ID and both the road a1 and the road a2 are road IDs, if both the road a1 and the road a2 correspond to the road 1, that is, the road in the high-precision map is divided into two driving areas, the road a1 and the road a2 in the positioning quality indication information, it can be understood that the road a1 includes the whole of the road 1 and the road a2 includes the whole of the road 1, and it can also be understood that a part of the road 1 belongs to the road a1 and another part of the road 1 belongs to the road a2.

S204, the drawing equipment adds the first positioning quality indication information and the first incidence relation indication information to the high-precision map.

In the embodiment of the application, after the mapping device generates the first positioning quality indication information and the first association relation indication information, the first positioning quality indication information and the first association relation indication information can be added to the high-precision map, so that the high-precision map intuitively and clearly displays the statistical value of the positioning quality of any area, any road or any lane in the high-precision map.

In some possible embodiments, the mapping device may further generate low-quality positioning region indication information according to the first plurality of positioning quality reference information, the low-quality positioning region indication information being used for indicating a first map element within the first driving region, the first map element being a region, a road or a lane in the high-precision map, and at least one position point having a positioning quality lower than a threshold value being present within the first map element; and adding the low-quality positioning area indication information into a high-precision map. It should be noted that the function of the low-quality positioning area indication information is a map element in the high-precision map for marking the lowest-quality track point in the above embodiment, for example, the low-quality road ID in table 2, or the low-quality lane ID in table 3, which can be referred to in the above embodiment in relation to table 2 or table 3.

In some possible embodiments, in a case where the newly acquired trajectory point is not located within the first travel area, the mapping device may further generate positioning quality indication information and association relation indication information of the travel area corresponding to the newly acquired trajectory point. Specifically, first positioning information of a first position point and first positioning quality reference information of the first position point are obtained, and the first position point is not in a first driving area; generating second positioning quality indication information according to the first positioning quality reference information, wherein the second positioning quality indication information is used for indicating the positioning quality in a second driving area; generating second incidence relation indicating information according to the first positioning information, wherein the second incidence relation indicating information is used for indicating the incidence relation between the second driving area and at least one map element in the high-precision map; and adding the second positioning quality indication information and the second incidence relation indication information into the high-precision map. It should be noted that this embodiment is equivalent to the related description of S104 in the embodiment of fig. 5, and the first position point is the track point 2 in fig. 5.

In some possible embodiments, the mapping device may update the first positioning quality indication information while the newly acquired trajectory points are still within the first travel region. Specifically, a second plurality of positioning quality reference information is obtained, the second plurality of positioning quality reference information comprising updated values of the first plurality of positioning quality reference information, or a plurality of positioning quality reference information of a second plurality of location points, the second plurality of location points being located within the first driving area; generating third positioning quality indication information according to the first plurality of positioning quality reference information and the second plurality of positioning quality reference information; and updating the first positioning quality indication information in the high-precision map by using the third positioning quality indication information. It should be noted that, in this embodiment, reference may be made to the related description of S105 in the embodiment of fig. 5, where the track point 2 in fig. 5 is any one of the second plurality of location points.

In some possible embodiments, the first positioning quality indication information, the first association relation indication information and the high-precision map may also be separately and independently stored, and when the first positioning quality indication information and the first association relation indication information need to be used, in a case where a certain location element (not called a target map element) in the high-precision map where the terminal is located is known, the positioning quality information corresponding to the target map element may be quickly searched based on the first association relation indication information and the first positioning quality indication information.

In general, the positioning quality indication information may be generated by a map server, and the mapping device may be the map server, or may be a component or chip in the map server. In addition, the positioning quality indication information may also be generated by a road side device, a vehicle or a mobile terminal, and the mapping device may also be the road side device, the vehicle or the mobile terminal, or a component or a chip of the road side device, the vehicle or the mobile terminal.

By implementing the embodiment of the application, the positioning quality indication information is added into the high-precision map, and the positioning quality indication information provides more accurate prior information of the positioning quality. In addition, a reliable statistical value of positioning quality with reference significance can be provided for the area, the road or the lane in the high-precision map based on the mapping relation between the driving area and the area, the road or the lane in the positioning quality indication information, so that a vehicle or a portable terminal using the map can selectively use the positioning information in the high-precision map, and the safety of automatic driving is improved.

Referring to fig. 7, fig. 7 is a flowchart of another map using method provided in the embodiment of the present application, and fig. 7 may be independent of the embodiments of fig. 5 and 6, or may be a supplement to the embodiments of fig. 5 and 6. In fig. 7, the drawing device does not take a server as an example, and the terminal does not take a vehicle as an example for description, but the drawing device in the embodiment of the present application is not limited to be the server only, and the terminal is not limited to be the vehicle only. The method includes, but is not limited to, the steps of:

s301, the server sends a map to the vehicle.

In the embodiment of the application, the server sends the map to the vehicle, the map comprises positioning quality indication information and association relation indication information, the positioning quality indication information is used for indicating positioning quality in the first driving area, the association relation indication information is used for indicating association relation between the first driving area and at least one map element in the map, and the map element comprises an area, a road or a lane. The localization quality in the first travel area is a statistical localization quality value of a plurality of location points in the travel area.

The positioning quality indication information comprises an error standard deviation of a positioning value relative to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of the positioning value with the positioning accuracy meeting requirements, an average observable satellite number or an average precision factor DOP value.

In one implementation, the map may be sent to the vehicle by the server in any one of broadcast, multicast, or unicast.

In another implementation, the server may send a map containing the positioning quality indication information and the association relation indication information to the road side unit, and the road side unit sends the map to the vehicle.

It should be noted that the map may be generated by the server according to the embodiment of fig. 6, or the map generated by other devices according to the embodiment of fig. 6 may be sent to the server, which is not specifically limited in the embodiment of the present application.

S302, the vehicle receives the map and obtains the positioning quality indication information and the incidence relation indication information in the map.

Accordingly, the vehicle receives the map, and acquires the positioning quality indication information and the association relation indication information in the map. It should be noted that the map received by the vehicle may be sent by the server, or may be sent by the server through the road side unit, and the embodiment of the present application is not particularly limited.

In one specific implementation, the positioning quality indication information includes a mapping relationship between the identifier of the driving area and the positioning quality, and the association relation indication information includes a mapping relationship between the identifier of the driving area and the identifier of a map element, where the map element is an area, a road or a lane in a map.

In one specific implementation, the association relation indication information is an identifier of at least one map element.

In one implementation, the association-indicating information includes an identification of the first travel area and an identification of the at least one map element. The mapping relationship between the identifier of the first driving area and the identifier of the at least one map element may specifically refer to the related description of S203 in fig. 6, and is not described herein again.

For example, the positioning quality indication information may be represented as table 4, and the association relation indication information may be represented as table 5, for example, in table 4, the positioning quality of the area id1 is: the number of average observable satellites is 6, and it can be known from table 5 that the area id1 is the area 1 in the map, and then the positioning quality of the area 1 in the map can be known by combining table 4 and table 5 as follows: the number of satellites can be observed on average is 6.

TABLE 4

Identification of a driving area	Positioning quality
		Area id1	The number of average observable satellites is 6
Area id2	Average number of observable satellites is 4
		…	…

TABLE 5

Identification of a driving area	Identification of map elements
		Area id1	Region 1
Region id2	Road			2
		…	…

In one specific implementation, the map further includes low-quality positioning area indication information, where the low-quality positioning area indication information is used to indicate a first map element in the first travel area, the first map element is an area, a road, or a lane in the map, and at least one location point with a positioning quality lower than a threshold exists in the first map element. It should be noted that, for the description of the low quality positioning region indication information, reference may be made to the related description of the above S204, and the description thereof is not repeated herein.

And S303, the vehicle carries out path planning, driving decision or vehicle control according to the positioning quality indication information and the incidence relation indication information.

In the embodiment of the application, the vehicle can know the positioning quality of each driving area in the map in advance according to the positioning quality indication information and the incidence relation indication information, and then assists the vehicle to carry out route planning, driving decision or vehicle control, so that areas, roads or lanes with poor positioning quality can be effectively avoided, and the travel safety rate of the vehicle is improved.

Referring to fig. 8, fig. 8 is a schematic view of an application scenario provided in the embodiment of the present application, assuming that a vehicle intends to reach a destination point F from a point a, and the vehicle knows that the positioning quality of each road is better except that the positioning quality of the BC road is worse according to the positioning quality indication information and the association relation indication information, a navigation route determined after the vehicle performs path planning is: A-B-E-F-C-D, it can be seen that BC roads with poor positioning quality are avoided, the positioning of the vehicle on each road on the navigation route is accurate, and the travel safety rate of the vehicle is improved.

For another example, referring to fig. 8, assuming that the vehicle intends to reach the destination point F from point a, and the vehicle knows that the positioning quality of the BC lane in fig. 8 is the worst according to the positioning quality indication information and the association relation indication information, when the vehicle travels to point B, the vehicle makes a driving decision to turn left to enter the BE lane to avoid the BC lane with the worst positioning quality, and to select a lane with the best positioning quality as possible for traveling.

In some possible embodiments, the map further includes low-quality positioning region indication information, and a region with the worst positioning quality, a road with the worst positioning quality, or a lane with the worst positioning quality in the map can be directly acquired from the low-quality positioning region indication information, so that path planning, driving decision, or vehicle control can be performed according to the low-quality positioning region indication information, and thus, the regions, roads, or lanes marked by low quality can be avoided in navigation route planning, and the positioning quality and travel safety rate of the vehicle can be effectively improved.

In some possible embodiments, the vehicle may store the received map for later recall as needed. Or the vehicle can display the received map on a display screen, so that a user can intuitively and clearly know the positioning quality of each driving area in the map.

The map using device in this embodiment may be a vehicle, a component in the vehicle (such as a navigation device or an automatic driving device in the vehicle), or a chip that can be used in the vehicle.

It can be seen that, by implementing the embodiments of the present application, a map including positioning quality indication information and association relation indication information is provided, so that a vehicle can timely avoid a driving area with poor positioning quality based on the map, or selectively set a lower confidence for the positioning information with poor positioning quality, so as to drive in the driving area (e.g., a road, a lane, etc.) with good positioning quality, that is, accurate positioning position information can be obtained, which is beneficial to improving accuracy of route planning, driving decision, etc., and a trip safety rate.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a map generating apparatus provided in an embodiment of the present application, and the apparatus 30 at least includes a processor 110, a memory 111, and a receiver 112. In some possible embodiments, the apparatus 30 further comprises a transmitter 113. The receiver 112 and transmitter 113 may alternatively be a communication interface for providing information input and/or output to the processor 110. Optionally, the memory 111, the receiver 112, the transmitter 113 and the processor 110 are connected or coupled by a bus. Apparatus 30 may be a drawing device in the embodiment of fig. 1, a drawing device in fig. 6, or a server in fig. 7.

In the embodiment of the present application, the apparatus 30 is used to implement the methods described in the above embodiments of fig. 5 and fig. 6, and also can be used to implement the server-side method described in the embodiment of fig. 7.

The receiver 112 may be configured to obtain a plurality of positioning information for the first plurality of location points and a defined plurality of positioning quality reference information for the first plurality of location points. In some possible embodiments, the receiver 112 may also be configured to obtain first positioning information and first positioning quality reference information for the first location point. In some possible embodiments, the transmitter 113 is configured to transmit a map, which includes the first positioning quality indication information and the first association indication information. The receiver 112 and transmitter 113 may include an antenna and chipset for communicating with in-vehicle devices, sensors, or other physical devices, either directly or over an air interface. The receiver 112 and the transmitter 113 may be a wired interface or a wireless interface. The wired interface may be an ethernet interface, a Local Interconnect Network (LIN), etc., and the wireless interface may be a cellular Network interface or a wireless lan interface, etc.

The processor 110 is operable to generate first positioning quality indication information and first association indication information. In some possible embodiments, the processor 110 is further configured to generate low quality positioning region indication information and to update the first positioning quality indication information. For example, the processor 110 may be configured to perform the steps shown in S102-S105 of FIG. 5. Processor 110 may be comprised of one or more general-purpose processors, such as a Central Processing Unit (CPU), or a combination of a CPU and hardware chips. The hardware chip may be an Application-Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field-Programmable Gate Array (FPGA), general Array Logic (GAL), or any combination thereof.

The Memory 111 may include a Volatile Memory (Volatile Memory), such as a Random Access Memory (RAM); the Memory 111 may also include a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, HDD), or a Solid-State Drive (SSD); the memory 111 may also comprise a combination of the above categories. The memory 111 may store programs and data, wherein the stored programs include: map generation algorithm, map update algorithm, etc., the stored data includes: positioning information of the location point, a first plurality of positioning quality reference information, a second plurality of positioning quality reference information, a high-precision map, and the like. The memory 111 may be separate or integrated within the processor 110.

Moreover, FIG. 9 is merely an example of one device 30, and computing device 30 may include more or fewer components than shown in FIG. 9, or have a different arrangement of components. Also, the various components illustrated in FIG. 9 may be implemented in hardware, software, or a combination of hardware and software.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a map using apparatus provided in an embodiment of the present application, the apparatus 40 at least includes a processor 210, a memory 211, a receiver 212, and a display 213, and the receiver 212 can provide information input for the processor 210. Optionally, the memory 211, receiver 212, display 213 and processor 210 are connected or coupled by a bus. The device 40 may be the terminal of fig. 1, or may be a vehicle in the embodiment of fig. 7. In the embodiment of the present application, the apparatus 40 is used to implement the method of the vehicle side described in the embodiment of fig. 7.

The receiver 212 is configured to receive the positioning quality indication information and the association indication information in the map, for example, the receiver 212 may be configured to perform S302 in fig. 7. In some possible embodiments, the receiver 212 is also configured to receive low quality positioning area indication information of the map. The receiver 112 may include an antenna and chipset for communicating with a server, roadside unit, sensor, or other physical device, either directly or over an air interface. The receiver 212 may be a wireless interface, such as a cellular network interface or a wireless local area network interface, etc.

The processor 210 is configured to perform path planning, driving decision or vehicle control according to the positioning quality indication information and the association relation indication information, for example, the processor 210 may be configured to execute S303 in fig. 7. Processor 210 may be comprised of one or more general-purpose processors, such as a Central Processing Unit (CPU), or a combination of a CPU and hardware chips. The hardware chip may be an Application-Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field-Programmable Gate Array (FPGA), general Array Logic (GAL), or any combination thereof.

The Memory 211 may include a Volatile Memory (Volatile Memory), such as a Random Access Memory (RAM); the Memory 211 may also include a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, HDD), or a Solid-State Drive (SSD); the memory 211 may also comprise a combination of the above categories. The memory 211 may store programs and data, wherein the stored programs include: vehicle control programs, navigation planning programs, and the like, the stored data including: positioning quality indication information, association relation indication information, low-quality positioning area indication information, and the like. The memory 211 may be separate or integrated within the processor 110.

The Display 213 is used for displaying the map, the Display 213 may be a Display screen, and the Display screen may be a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), an Active Matrix Organic Light-Emitting Diode (AMOLED), or the like.

Moreover, fig. 10 is merely an example of an apparatus 40, and apparatus 40 may include more or fewer components than shown in fig. 10, or have a different arrangement of components. Also, the various components illustrated in FIG. 10 may be implemented in hardware, software, or a combination of hardware and software.

Referring to fig. 11, fig. 11 is a functional structure schematic diagram of a map generating apparatus provided in an embodiment of the present application, and the apparatus 31 includes an obtaining unit 310, an associating unit 311, a counting unit 312, and a processing unit 313. The means 31 may be implemented by means of hardware, software or a combination of hardware and software.

The acquiring unit 310 is configured to acquire a plurality of positioning information of a first plurality of location points and a first plurality of positioning quality reference information of the first plurality of location points; a statistical unit 312, configured to generate first positioning quality indication information according to the first plurality of positioning quality reference information, where the first positioning quality indication information is used to indicate positioning quality in the first travel area; an association unit 311, configured to generate first association indication information according to the plurality of positioning information, where the first association indication information is used to indicate an association between a first driving area and at least one map element in a map, where the map element includes an area, a road, or a lane; a processing unit 313, configured to add the first positioning quality indication information and the first association relation indication information to the map.

The functional modules of the apparatus 31 may be used to implement the method described in the embodiment of fig. 6. In the embodiment of fig. 6, the obtaining unit 310 may be configured to perform S201, the counting unit 312 may be configured to perform S202, the associating unit 311 may be configured to perform S203, and the processing unit 313 may be configured to perform S204.

In some possible embodiments, the apparatus 31 further includes a sending unit (not shown in fig. 11) configured to send the map to which the first positioning quality indication information and the first association relation indication information are added, and the sending unit is configured to execute S301 in fig. 7.

The functional modules of the apparatus 31 can be used to implement the method described in the embodiment of fig. 5, and are not described herein again for brevity of the description.

Referring to fig. 12, fig. 12 is a functional structure diagram of a map using apparatus provided in an embodiment of the present application, and the apparatus 41 includes a receiving unit 410 and a processing unit 411. In some possible embodiments, the device 41 further comprises a display unit 412. The means 41 may be implemented by means of hardware, software or a combination of hardware and software.

The receiving unit 410 is configured to receive positioning quality indication information and association relation indication information in a map, where the positioning quality indication information is used to indicate positioning quality in a first driving area, and the association relation indication information is used to indicate an association relation between the first driving area and at least one map element in the map, where the map element includes an area, a road, or a lane; and the processing unit 411 is configured to perform path planning, driving decision or vehicle control according to the positioning quality indication information and the association relation indication information. The display unit 412 is used to display a map.

The functional modules of the apparatus 41 may be used to implement the method described in the embodiment of fig. 7. In the embodiment of fig. 7, the receiving unit 410 may be configured to perform S302, and the processing unit 411 may be configured to perform S303.

In the embodiments described above, the descriptions of the respective embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

It should be noted that all or part of the steps in the methods of the above embodiments may be implemented by hardware instructions of a program, which may be stored in a computer-readable storage medium, where the storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an optical Disc-Read-Only Memory (EEPROM), a Compact Disc-Read-Only Memory (CD-Only Memory), or any other computer-readable medium capable of storing data.

The technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be implemented in the form of a software product, where the computer software product is stored in a storage medium and includes several instructions to enable a device (which may be a personal computer, a server, or a network device, a robot, a single chip, a robot, etc.) to execute all or part of the steps of the method according to the embodiments of the present application.

Claims

1. A map generation method, characterized in that the method comprises:

obtaining a plurality of positioning information for a first plurality of location points and a first plurality of positioning quality reference information for the first plurality of location points;

generating first positioning quality indication information according to the first plurality of positioning quality reference information, wherein the first positioning quality indication information is used for indicating positioning quality in a first driving area;

generating first incidence relation indicating information according to the plurality of positioning information, wherein the first incidence relation indicating information is used for indicating incidence relation between the first driving area and at least one map element in a map, and the map element comprises an area, a road or a lane;

and adding the first positioning quality indication information and the first incidence relation indication information into the map.

2. The method as claimed in claim 1, wherein the first positioning quality indication information comprises a standard deviation of errors of the positioning information with respect to a reference true value, a ratio of fixed solutions in the positioning information, a ratio of positioning information with satisfactory positioning accuracy in the positioning information, an average number of observable satellites at the first position point, or an average dilution of precision (DOP) value of the positioning information.

3. The method according to claim 1 or 2, wherein the first association relation indication information is an identification of the at least one map element.

4. The method according to claim 1 or 2, characterized in that the first association indication information comprises an identification of the first travel area and an identification of the at least one map element.

5. The method according to any one of claims 1-4, further comprising:

generating low-quality positioning area indication information according to the first plurality of positioning quality reference information, wherein the low-quality positioning area indication information is used for indicating a first map element in the first driving area, the first map element is one of the at least one map element, the first map element is an area, a road or a lane, and at least one position point with positioning quality lower than a threshold value exists in the first map element;

adding the low quality positioning area indication information into the map.

6. The method according to any one of claims 1-5, further comprising:

obtaining first positioning information of a first position point and first positioning quality reference information of the first position point, wherein the first position point is not in the first driving area;

generating second positioning quality indication information according to the first positioning quality reference information, wherein the second positioning quality indication information is used for indicating positioning quality in a second driving area;

generating second incidence relation indicating information according to the first positioning information, wherein the second incidence relation indicating information is used for indicating the incidence relation between the second driving area and at least one map element in a map;

and adding the second positioning quality indication information and the second incidence relation indication information into the map.

7. The method according to any one of claims 1-5, further comprising:

obtaining a second plurality of positioning quality reference information comprising updated values of the first plurality of positioning quality reference information or a plurality of positioning quality reference information for a second plurality of location points, the second plurality of location points being located within the first travel region;

generating third positioning quality indication information according to the first plurality of positioning quality reference information and the second plurality of positioning quality reference information;

updating the first positioning quality indication information in the map using the third positioning quality indication information.

8. A method for using a map, the method comprising:

receiving positioning quality indication information and incidence relation indication information in a map, wherein the positioning quality indication information is used for indicating positioning quality in a first driving area, and the incidence relation indication information is used for indicating incidence relation between the first driving area and at least one map element in the map, and the map element comprises an area, a road or a lane;

and performing path planning, driving decision or vehicle control according to the positioning quality indication information and the incidence relation indication information.

9. The method according to claim 8, wherein the positioning quality indication information comprises an error standard deviation of the positioning value relative to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values satisfying a positioning accuracy requirement, an average observable satellite number, or an average dilution of precision (DOP) value.

10. The method according to claim 8 or 9, wherein the association relation indication information is an identification of the at least one map element.

11. The method according to claim 8 or 9, characterized in that the association indication information comprises an identification of the first travel area and an identification of the at least one map element.

12. The method according to any one of claims 8-11, further comprising:

receiving low-quality positioning area indication information, wherein the low-quality positioning area indication information is used for indicating a first map element in the first driving area, the first map element is one of the at least one map element, the first map element is an area, a road or a lane, and at least one position point with positioning quality lower than a threshold value exists in the first map element;

and performing path planning, driving decision or vehicle control according to the low-quality positioning area indication information.

13. The method according to any one of claims 8 to 12, wherein the localization quality within the first travel region is a statistical value derived from a plurality of localization quality reference information of a plurality of localization points within the first travel region.

14. A map generation apparatus, characterized in that the apparatus comprises:

an acquisition unit configured to acquire a plurality of positioning information of a first plurality of location points and a first plurality of positioning quality reference information of the first plurality of location points;

a statistical unit, configured to generate first positioning quality indication information according to the first plurality of positioning quality reference information, where the first positioning quality indication information is used to indicate positioning quality in a first driving region;

an association unit, configured to generate first association indication information according to the plurality of positioning information, where the first association indication information is used to indicate an association between the first driving area and at least one map element in a map, where the map element includes an area, a road, or a lane;

and the processing unit is used for adding the first positioning quality indication information and the first incidence relation indication information into the map.

15. The apparatus as recited in claim 14, wherein said first positioning quality indicator information comprises a standard deviation of errors of said plurality of positioning information with respect to a reference true value, a ratio of fixed solutions in said plurality of positioning information, a ratio of positioning information with satisfactory positioning accuracy in said plurality of positioning information, an average number of observable satellites at said first plurality of location points, or an average dilution of precision (DOP) value of said plurality of positioning information.

16. The apparatus according to claim 14 or 15, wherein the first association indication information is an identification of the at least one map element.

17. The apparatus according to claim 14 or 15, characterized in that the first association indication information includes an identification of the first travel area and an identification of the at least one map element.

18. The apparatus according to any one of claims 14 to 17,

the statistical unit is further configured to generate low-quality positioning area indication information according to the first plurality of positioning quality reference information, where the low-quality positioning area indication information is used to indicate a first map element in the first driving area, the first map element is one of the at least one map element, the first map element is an area, a road, or a lane, and at least one location point with positioning quality lower than a threshold exists in the first map element;

the processing unit is further configured to add the low quality positioning area indication information into the map.

19. The apparatus according to any one of claims 14 to 18,

the acquisition unit is further configured to acquire first positioning information of a first position point and first positioning quality reference information of the first position point, where the first position point is not in the first driving area;

the statistical unit is further configured to generate second positioning quality indication information according to the first positioning quality reference information, where the second positioning quality indication information is used to indicate positioning quality in a second driving area;

the association unit is further configured to generate second association relation indication information according to the first positioning information, where the second association relation indication information is used to indicate an association relation between the second driving area and at least one map element in a map;

the processing unit is further configured to add the second positioning quality indication information and the second association relation indication information into the map.

20. The apparatus according to any one of claims 14 to 18,

the obtaining unit is further configured to obtain a second plurality of positioning quality reference information, where the second plurality of positioning quality reference information includes updated values of the first plurality of positioning quality reference information or a plurality of positioning quality reference information of a second plurality of location points, and the second plurality of location points are located in the first driving area;

the statistical unit is further configured to generate third positioning quality indication information according to the first plurality of positioning quality reference information and the second plurality of positioning quality reference information;

the processing unit is further configured to update the first positioning quality indication information in the map using the third positioning quality indication information.

21. A map using apparatus, the apparatus comprising:

a receiving unit, configured to receive positioning quality indication information and association relation indication information in a map, where the positioning quality indication information is used to indicate positioning quality in a first driving area, and the association relation indication information is used to indicate an association relation between the first driving area and at least one map element in the map, where the map element includes an area, a road, or a lane;

and the processing unit is used for carrying out path planning, driving decision or vehicle control according to the positioning quality indication information and the incidence relation indication information.

22. The apparatus according to claim 21, wherein the positioning quality indication information comprises a standard deviation of error of the positioning value relative to a reference true value, a ratio of fixed solutions of the positioning value, a ratio of positioning values satisfying a positioning accuracy requirement, an average observable satellite number, or an average dilution of precision (DOP) value.

23. The apparatus according to claim 21 or 22, wherein the association indication information is an identification of the at least one map element.

24. The apparatus according to claim 21 or 22, characterized in that the association indication information comprises an identification of the first travel area and an identification of the at least one map element.

25. The apparatus of any one of claims 21-24,

the receiving unit is further configured to receive low-quality positioning area indication information, where the low-quality positioning area indication information is used to indicate a first map element in the first travel area, the first map element is one of the at least one map element, the first map element is an area, a road, or a lane, and at least one location point with a positioning quality lower than a threshold exists in the first map element;

and the processing unit is also used for carrying out path planning, driving decision or vehicle control according to the low-quality positioning area indication information.

26. The apparatus according to any of claims 21-25, wherein the localization quality within the first travel area is a statistical value derived from a plurality of localization quality reference information of a plurality of localization points within the first travel area.

27. A map, characterized in that the map comprises positioning quality indication information and association relation indication information, the positioning quality indication information is used for indicating positioning quality in a first driving area, the association relation indication information is used for indicating association relation between the first driving area and at least one map element in the map, and the map element comprises an area, a road or a lane.

28. A map generation apparatus, comprising the apparatus including a memory storing computer program instructions and a processor executing the computer program instructions to cause the apparatus to perform the method of any of claims 1-7.

29. A map-using apparatus, the apparatus comprising a memory and a processor, the memory storing computer program instructions, the processor executing the computer program instructions to cause the apparatus to perform the method of any of claims 8-13.

30. A vehicle, characterized in that it comprises a map using apparatus according to any one of claims 21-26 or 29.

31. A computer-readable storage medium comprising computer instructions which, when executed by a processor, implement the method of any one of claims 1-7.

32. A computer-readable storage medium comprising computer instructions which, when executed by a processor, implement the method of any one of claims 8-13.

33. A computer-readable storage medium having the map of claim 27 stored therein.