CN108120443A - A kind of method, apparatus and equipment for updating map datum - Google Patents
A kind of method, apparatus and equipment for updating map datum Download PDFInfo
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- CN108120443A CN108120443A CN201611067171.1A CN201611067171A CN108120443A CN 108120443 A CN108120443 A CN 108120443A CN 201611067171 A CN201611067171 A CN 201611067171A CN 108120443 A CN108120443 A CN 108120443A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
A kind of method, apparatus and equipment for updating map datum is provided in the embodiment of the present invention; when vehicle is travelled to the region of no map datum; it can be by harvester come the wheelpath of collection vehicle; the coordinate of multiple continuous tracing points is obtained according to the wheelpath of reception; and at least one newly added road sections of Coordinate generation based on tracing point; the finally connection relation between the structure newly added road sections and existing section of newly added road sections and existing map datum; newly added road sections data have been added in existing map datum, has realized and upgrades in time to map datum.Planning of the newly added road sections data for guidance path can be loaded according to the connection relation between the newly added road sections and existing section of newly added road sections and existing map datum automatically.
Description
Technical field
The present invention relates to field of navigation technology, and in particular to a kind of method, apparatus and equipment for updating map datum.
Background technology
Navigation system is mounted on vehicle, and positioning, destination retrieval, path planning, picture in real time can be provided to driver
The services such as face and voice guide help driver accurately and quickly to arrive at.Its operation principle is：With compiled in advance
On the basis of map datum, navigation related algorithm realizes navigation feature.It can be seen that map datum is the basis of navigation system.
But the update of the map datum of existing navigation system needs certain cycle, few then one month, at most half a year, one
Year, and China is currently in the high-speed developing period of infrastructure construction, is often newly repaired within the map data update cycle
Many roads often cannot get the help of navigation system when driver being caused to travel to above-mentioned region without map datum.
The content of the invention
Therefore, technical problems to be solved of the embodiment of the present invention are to overcome the map datum of navigation system in the prior art
The defects of updating not in time.
For this purpose, an embodiment of the present invention provides following technical solutions：
An embodiment of the present invention provides it is a kind of update map datum method, including：
The coordinate of multiple continuous tracing points is obtained according to the wheelpath of reception, the coordinate of the tracing point includes track
Longitude, latitude and the course angle of point；According at least one newly added road sections of Coordinate generation of the tracing point；Build the newly-increased road
Connection relation between the existing section of intersegmental and described newly added road sections and existing map datum.
Optionally, the method described in the embodiment of the present invention, the Coordinate generation at least one according to the tracing point are new
Increasing section includes：
Using positioned at the tracing point of the initial point position of the wheelpath as the starting point in the newly added road sections and/or
Using positioned at the tracing point of the end point position of the wheelpath as the end point in the newly added road sections；Judge current track
Whether the differential seat angle between the course angle of point and the course angle of previous tracing point is beyond the first predetermined angle difference or current track
Point with previous tracing point whether in same grid or current trace points and its before tracing point accumulation distance whether
Beyond the first default accumulation distance；When the differential seat angle is beyond first predetermined angle difference or current trace points and previous rail
Mark point generates a newly-increased road not in same grid or when the accumulation distance is beyond the described first default accumulation distance
Section.
Optionally, the method described in the embodiment of the present invention further includes after a newly added road sections are generated：
Judge whether the differential seat angle between the course angle of current trace points and the course angle of previous tracing point is pre- beyond first
If differential seat angle either current trace points and previous tracing point whether in same grid or generated newest one is newly-increased
Whether the accumulation distance of tracing point to current trace points after section exceeds the first default accumulation distance；When the differential seat angle surpasses
Go out first predetermined angle difference either current trace points with previous tracing point not in same grid or it is described it is cumulative away from
During from beyond the described first default accumulation distance, another newly added road sections are generated；Repeat the course for judging current trace points
Differential seat angle between the course angle of angle and previous tracing point whether beyond the first predetermined angle difference or current trace points with it is previous
Whether the tracing point in same grid or after the newest newly added road sections that are generated is to current trace points for tracing point
Accumulation distance whether beyond the first default accumulation distance the step of until having handled all tracing points.
Optionally, the method described in the embodiment of the present invention, it is described will be positioned at the initial point position of the wheelpath
Tracing point is as the starting point in the newly added road sections and/or will make positioned at the tracing point of the end point position of the wheelpath
To be further included before the end point in the newly added road sections：
It will be carried out positioned at the tracing point of the initial point position of the wheelpath and end point position and the existing section
Matching；If the tracing point positioned at initial point position and/or the tracing point positioned at end point position are matched into the existing section
Work(, into it is described using positioned at the tracing point of the initial point position of the wheelpath as the starting point in the newly added road sections
And/or using positioned at the tracing point of the end point position of the wheelpath as the step of the end point in the newly added road sections.
Optionally, the method described in the embodiment of the present invention, it is described will be positioned at the initial point position and knot of the wheelpath
The tracing point of spot position and the existing section match including：
It is obtained respectively positioned at the initial point position of the wheelpath and the tracing point of end point position and the existing road
Intersegmental beeline；If the beeline is less than pre-determined distance, successful match is judged.
Optionally, the method described in the embodiment of the present invention, between the structure newly added road sections and the newly added road sections
Connection relation between the existing section of existing map datum includes：
Using the existing section of the existing map datum to match with the starting point of the wheelpath as the starting point
Place newly added road sections enter section；By the existing section of the existing map datum to match with the end point of the wheelpath
Abjection section as newly added road sections where the end point；Using every newly added road sections as the abjection of its previous newly added road sections
Section, while enter section using previous newly added road sections of every newly added road sections as it.
Optionally, the method described in the embodiment of the present invention, the Coordinate generation at least one according to the tracing point are new
It is further included before increasing section：Reject negligible tracing point in the tracing point.
Optionally, the method described in the embodiment of the present invention, it is described to reject negligible tracing point bag in the tracing point
It includes：
Judge the differential seat angle between the course angle of some tracing point and the course angle of its previous tracing point whether less than second
Predetermined angle is poor, and whether the accumulation distance of the tracing point and its tracing point before is less than the second default accumulation distance；It if should
Differential seat angle between the course angle of tracing point and the course angle of its previous tracing point is less than the second predetermined angle difference and the tracing point
Accumulation distance with the tracing point before it is less than the second default accumulation distance, using the tracing point as negligible tracing point
It is rejected.
The embodiment of the present invention additionally provides a kind of device for updating map datum, including：
Coordinate acquiring unit, for obtaining the coordinate of multiple continuous tracing points, the rail according to the wheelpath of reception
The coordinate of mark point includes longitude, latitude and the course angle of tracing point；Section generation unit, for the coordinate according to the tracing point
Generate at least one newly added road sections；Relation construction unit, for build between the newly added road sections and the newly added road sections with
There is the connection relation between the existing section of map datum.
The embodiment of the present invention additionally provides a kind of equipment for updating map datum, including：
At least one processor and the memory being connected at least one processor communication；Wherein,
The memory storage has the instruction that can be performed by one processor, and described instruction is by least one place
It manages device to perform, so that at least one processor is able to carry out claim 1-8 any one of them update map datum
Method.
Technical solution of the embodiment of the present invention, has the following advantages that：
A kind of method, apparatus and equipment for updating map datum is provided in the embodiment of the present invention, when vehicle is travelled to not having
When having the region of map datum, it can be obtained by harvester come the wheelpath of collection vehicle according to the wheelpath of reception
The coordinate of multiple continuous tracing points, and at least one newly added road sections of Coordinate generation based on tracing point are taken, finally structure is newly-increased
Connection relation between the section and existing section of newly added road sections and existing map datum, newly added road sections data are added to
In existing map datum, realize and upgrade in time to map datum.According between newly added road sections and newly added road sections with have
Connection relation between the existing section of map datum can load planning of the newly added road sections data for guidance path automatically.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the flow chart of a specific example of the method that map datum is updated in the embodiment of the present invention；
Fig. 2 is to be increased newly in the method for update map datum of the embodiment of the present invention according to the Coordinate generation at least one of tracing point
The flow chart of one specific example in section；
Fig. 3 is the flow chart of another specific example of the method that map datum is updated in the embodiment of the present invention；
Fig. 4 is the structure diagram of a specific example of the device that map datum is updated in the embodiment of the present invention；
Fig. 5 is the structure diagram of another specific example of the device that map datum is updated in the embodiment of the present invention.
Specific embodiment
The technical solution of the embodiment of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment be part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiments obtained without making creative work belong to what the present invention protected
Scope.
, it is necessary to explanation in the description of the embodiment of the present invention, term " " center ", " on ", " under ", "left", "right",
The orientation or position relationship of the instructions such as " vertical ", " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship,
It is for only for ease of the description embodiment of the present invention and simplifies description rather than instruction or imply that signified device or element must have
There is specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " the
One ", " second ", " the 3rd " are only used for description purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in the description of the embodiment of the present invention
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally
Connection；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary,
It can also be the connection inside two elements, can be wireless connection or wired connection.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can be combined with each other into conflict.
An embodiment of the present invention provides a kind of method for updating map datum, the method for the update map datum can be applied
The method of update map datum in vehicle mounted guidance, certain embodiment of the present invention is not limited to that.By taking vehicle mounted guidance as an example,
Mainly on the basis of compiled map datum in advance, navigation related algorithm realizes navigation feature for it.But existing navigation
The update of the map datum of system needs certain cycle, few then one month, at most half a year, 1 year, cause driver travel to
It often cannot get the help of navigation system during above-mentioned region without map datum.
In order to solve the above-mentioned technical problem, as shown in Figure 1, the method bag of the update map datum in the embodiment of the present invention
It includes：
S11. the coordinate of multiple continuous tracing points is obtained according to the wheelpath of reception, the coordinate of tracing point includes track
Longitude, latitude and the course angle of point.Specifically, it can gather wheelpath by vehicle-mounted position sensor and export.Acquisition
The initial time of wheelpath and deadline can as the case may be confirmed by driver.The wheelpath of acquisition is by more
A continuous tracing point is formed, and the specific location that vehicle is travelled to each tracing point can be by the coordinate namely rail of tracing point
Longitude, latitude and the course angle of mark point represents.
S12. according at least one newly added road sections of Coordinate generation of tracing point.
S13. the connection relation between the structure newly added road sections and existing section of newly added road sections and existing map datum.
The method of update map datum in the embodiment of the present invention, when vehicle is travelled to the region of no map datum,
Multiple continuous tracing points can be obtained according to the wheelpath of reception by harvester come the wheelpath of collection vehicle
Coordinate, and at least one newly added road sections of Coordinate generation based on tracing point, finally build newly added road sections between and newly added road sections
Connection relation between the existing section of existing map datum, newly added road sections data have been added in existing map datum, real
Show and upgraded in time to map datum.According between the newly added road sections and existing section of newly added road sections and existing map datum
Connection relation can load automatically newly added road sections data for guidance path planning.
As an alternative embodiment, the method for the update map datum in the embodiment of the present invention, as shown in Fig. 2,
Step S12 further comprises：
S121. as the starting point in newly added road sections and/or incited somebody to action positioned at the tracing point of the initial point position of wheelpath
Tracing point positioned at the end point position of wheelpath is as the end point in newly added road sections；
S122. newly added road sections are generated.It further comprises：
S1221. judge whether the differential seat angle between the course angle of current trace points and the course angle of previous tracing point exceeds
First predetermined angle is poor.If exceeding, S1224 is entered step；If without departing from entering step S1222.Specifically, the first preset angle
Degree difference can be chosen for 45 degree of angles, if the differential seat angle between the course angle of current trace points and the course angle of previous tracing point exceeds
45 degree of angles then illustrate in corner, are conducive to later stage planning guidance path in current trace points punishment section.
S1222. whether current trace points and previous tracing point are in same grid.If not in same grid, into
Enter step S1224；If in same grid, S1223 is entered step.Specifically, in map datum, it will usually pass through grid
Each region is divided, if not in same grid, later stage navigation is more advantageous in current trace points punishment section
The planning in path.
S1223. whether the accumulation distance of current trace points and its tracing point before is beyond the first default accumulation distance.If
Exceed, enter step S1224；If without departing from return to step S1221.Specifically, accumulation distance can obtain in the following way
It takes：(1) by two adjacent tracing point latitude and longitude coordinates by gauss projection into cartesian coordinate；(2) cartesian coordinate is passed through
Obtain the air line distance between two adjacent tracing points；(3) air line distance between cumulative all adjacent two tracing points obtains
Take accumulation distance.In, the first default accumulation distance can be 5000m, if beyond the first default accumulation distance, illustrate
Current trace points have only had long distance, and the rule for contributing to later stage guidance path are compared in current trace points punishment section
It draws；If differential seat angle without departing from the first default accumulation distance and works as front rail without departing from the first predetermined angle, the first default accumulation distance
Mark point and previous tracing point also in same grid, then illustrate current trace points and previous tracing point apart from it is closer also without point
In corner, can not be segmented first.
S1224. a newly added road sections are generated.
As an alternative embodiment, the method for the update map datum in the embodiment of the present invention, in generation one
It is further included after newly added road sections：
S123. another newly added road sections are generated.It specifically,, can be with by step S123 after a newly added road sections are generated
Remaining tracing point is continued to be segmented.It further comprises：
S1231. judge whether the differential seat angle between the course angle of current trace points and the course angle of previous tracing point exceeds
First predetermined angle is poor.If exceeding, S1234 is entered step；If without departing from entering step S1232.
S1232. whether current trace points and previous tracing point are in same grid.If not in same grid, into
Enter step S1234；If in same grid, S1233 is entered step.
S1233. tracing point after the newest newly added road sections generated to current trace points accumulation distance whether
Beyond the first default accumulation distance.If exceeding, S1234 is entered step；If without departing from return to step S1231.Specifically, it is if raw
Into a newest newly added road sections after tracing point to current trace points accumulation distance beyond the first default accumulation distance, then
Illustrate to be accumulated very long a distance again after a newest newly added road sections, the later stage is beneficial in current trace points punishment section
The planning of guidance path.
S1234. another newly added road sections are generated；
S1235. processed all tracing points are judged whether.If untreated complete, return to step S1231；It is if processed
It is complete, illustrate no untreated tracing point, all generation finishes newly added road sections, can terminate to generate the operation of newly added road sections
.
As an alternative embodiment, the method for the update map datum in the embodiment of the present invention, in step S121
It further includes before：
It S120. will be positioned at the tracing point of the initial point position of wheelpath and end point position and the progress of existing section
Match somebody with somebody.If at least one tracing point positioned at the tracing point of initial point position or in the tracing point of end point position is with having
Section successful match, enters step S121.Specifically, if matching it is unsuccessful, illustrate this wheelpath be it is isolated,
It can not be merged with existing map datum, also with regard to not carrying out subsequent processing to this wheelpath, obtain a plurality of newly added road sections
It is necessary, avoid the waste in program；Only when the tracing point positioned at initial point position or the rail positioned at end point position
At least one tracing point and existing section successful match in mark point just illustrate that this wheelpath and existing map can be established
Connection between the existing section of data, subsequent processing at this time are just meaningful.
As an alternative embodiment, the method for the update map datum in the embodiment of the present invention, step S120
Further comprise：
S1201. obtain respectively positioned at the initial point position of wheelpath and the tracing point of end point position and existing section
Between beeline.Specifically, the beeline between tracing point and existing section, can be by traveling through tracing point and existing section
Initial point position and end point position tracing point between distance obtain.And the distance obtained between two tracing points can be with
With reference to the related introduction of above-mentioned acquisition accumulation distance.
If S1202. beeline is less than pre-determined distance, successful match is judged.Specifically, only when beeline is less than pre-
If apart from when, just illustrate that this wheelpath is substantially equal in existing map datum at least one has section, can just build
Erect the connection relation between the existing section with existing map datum.
As an alternative embodiment, in the embodiment of the present invention update map datum method, step S13 into
One step includes：
S131. the existing section of the existing map datum starting point with wheelpath to be matched is as where starting point
Newly added road sections enter section.
S132. the existing section of the existing map datum end point with wheelpath to be matched is as where end point
The abjection section of newly added road sections.
S133. using every newly added road sections as the abjection section of its previous newly added road sections, while by every newly added road sections
Previous newly added road sections as its enter section.Specifically, it is existing by the way that the starting point with wheelpath is matched
The existing section of diagram data is as newly added road sections where starting point into section and by the end point phase with wheelpath
Abjection section of the existing section for the existing map datum matched somebody with somebody as newly added road sections where end point, it is possible to construct newly-increased road
Connection relation between the existing section of section and existing map datum；By regarding every newly added road sections as its previous newly added road sections
Abjection section, while using previous newly added road sections of every newly added road sections as its enter section, it is possible to construct newly-increased
Connection relation between section.And between building newly added road sections and the connection relation between newly added road sections and existing section, then
Favourable data support is provided for the planning of later stage guidance path.
The method that the embodiment of the present invention additionally provides another update map datum, as shown in figure 3, including：
S21. the coordinate of multiple continuous tracing points is obtained according to the wheelpath of reception, the coordinate of tracing point includes track
Longitude, latitude and the course angle of point.
S22. negligible tracing point in tracing point is rejected.
S23. according at least one newly added road sections of Coordinate generation of tracing point.
S24. the connection relation between the structure newly added road sections and existing section of newly added road sections and existing map datum.
The method of update map datum in the embodiment of the present invention, newly-increased according to the Coordinate generation at least one of tracing point
Before section, by rejecting negligible tracing point in tracing point, further reduce needed for during generation newly added road sections
The data of processing improve the efficiency of update map datum.
As an alternative embodiment, in the embodiment of the present invention update map datum method, step S22 into
One beans-and bullets shooter includes：
S221. judge whether the differential seat angle between the course angle of some tracing point and the course angle of its previous tracing point is less than
Second predetermined angle is poor, and whether the accumulation distance of the tracing point and its tracing point before is less than the second default accumulation distance.
Specifically, the second predetermined angle difference can be 5 degree of angles；Second default accumulation distance can be 400m.
If S222. the differential seat angle between the course angle of the tracing point and the course angle of its previous tracing point is default less than second
The accumulation distance of differential seat angle and the tracing point and the tracing point before it less than the second default accumulation distance, using the tracing point as
Negligible tracing point is rejected.Specifically, if differential seat angle is less than 5 degree of angles and the tracing point and the tracing point before it
Accumulation distance less than 400m, illustrate the tracing point and its previous tracing point apart from close and be not in corner, at this time without
Need to be segmented will not influence the planning of later stage guidance path, avoid and be segmented excessively intensive, the excessive situation of processing data amount.
The embodiment of the present invention additionally provides a kind of device for updating map datum, as shown in figure 4, including：
Coordinate acquiring unit 11, for obtaining the coordinate of multiple continuous tracing points, track according to the wheelpath of reception
The coordinate of point includes longitude, latitude and the course angle of tracing point.
Section generation unit 12, at least one newly added road sections of Coordinate generation according to tracing point.
Relation construction unit 13, for building between newly added road sections and the existing section of newly added road sections and existing map datum
Between connection relation.
The device of update map datum in the embodiment of the present invention, when vehicle is travelled to the region of no map datum,
Multiple continuous tracing points can be obtained according to the wheelpath of reception by harvester come the wheelpath of collection vehicle
Coordinate, and at least one newly added road sections of Coordinate generation based on tracing point, finally build newly added road sections between and newly added road sections
Connection relation between the existing section of existing map datum, newly added road sections data have been added in existing map datum, real
Show and upgraded in time to map datum.According between the newly added road sections and existing section of newly added road sections and existing map datum
Connection relation can load automatically newly added road sections data for guidance path planning.
As an alternative embodiment, the device of the update map datum in the embodiment of the present invention, section generation are single
Member 12 includes：
Starting point determination subelement 121, for the tracing point of the initial point position of wheelpath will to be located at as newly-increased road
Section in starting point and/or using positioned at the tracing point of the end point position of wheelpath as the end point in newly added road sections.
First judgment sub-unit 122, for judging between the course angle of current trace points and the course angle of previous tracing point
Differential seat angle whether beyond the first predetermined angle difference or current trace points and previous tracing point whether in same grid or
Whether the accumulation distance of person's current trace points and its tracing point before is beyond the first default accumulation distance.
Subelement 123 is generated, for working as differential seat angle beyond the first predetermined angle difference or current trace points and previous track
Point generates a newly added road sections not in same grid or when accumulation distance is beyond the first default accumulation distance.
As an alternative embodiment, the device of the update map datum in the embodiment of the present invention, first judges son
Whether unit 122 is additionally operable to judge differential seat angle between the course angle of current trace points and the course angle of previous tracing point beyond the
One predetermined angle difference either current trace points and previous tracing point whether in same grid or generated newest one
Whether the accumulation distance of tracing point to current trace points after newly added road sections exceeds the first default accumulation distance.
Generation subelement 123 is additionally operable to when differential seat angle is beyond the first predetermined angle difference or current trace points and previous track
Point generates another newly added road sections and restarts not in same grid or when accumulation distance is beyond the first default accumulation distance
First judgment sub-unit, until having handled all tracing points.
As an alternative embodiment, the device of the update map datum in the embodiment of the present invention, section generation are single
Member 12 further includes：
Coupling subelement 120, for will be located at the tracing point of the initial point position of wheelpath and end point position with
There is section to be matched, and start starting point determination subelement after successful match.Specifically, if matching is unsuccessful,
It is isolated to illustrate this wheelpath, can not be merged with existing map datum, also with regard to not to this wheelpath carry out after
Continuous processing obtains the necessary of a plurality of newly added road sections, avoids the waste in program；Only when positioned at the track of initial point position
Point or at least one tracing point in the tracing point of end point position and existing section successful match just illustrate to build
Connection between the existing section of vertical this wheelpath and existing map datum, subsequent processing at this time are just meaningful.
As an alternative embodiment, the device of the update map datum in the embodiment of the present invention, it is single to match son
Member 120 obtains most short between the initial point position of wheelpath and the tracing point of end point position and existing section respectively
Distance；If beeline is less than pre-determined distance, successful match is judged.
As an alternative embodiment, the device of the update map datum in the embodiment of the present invention, relation structure
Unit 13 further comprises：
Has section connection subelement 131, for existing map datum that the starting point with wheelpath matches
Have section and enter section as newly added road sections where starting point；And have what the end point with wheelpath matched
Abjection section of the existing section of map datum as newly added road sections where end point.
Newly added road sections connect subelement 132, for the abjection road using every newly added road sections as its previous newly added road sections
Section, while enter section using previous newly added road sections of every newly added road sections as it.
The embodiment of the present invention additionally provides the device of another update map datum, as shown in figure 5, including：
Coordinate acquiring unit 21, for obtaining the coordinate of multiple continuous tracing points, track according to the wheelpath of reception
The coordinate of point includes longitude, latitude and the course angle of tracing point.
Screening unit 22, for rejecting negligible tracing point in tracing point.
Section generation unit 23, at least one newly added road sections of Coordinate generation according to tracing point.
Relation construction unit 24, for building between newly added road sections and the existing section of newly added road sections and existing map datum
Between connection relation.
The device of update map datum in the embodiment of the present invention, newly-increased according to the Coordinate generation at least one of tracing point
Before section, by rejecting negligible tracing point in tracing point, further reduce needed for during generation newly added road sections
The data of processing improve the efficiency of update map datum.
As an alternative embodiment, the device of the update map datum in the embodiment of the present invention, screening unit
22 further comprise：
Second judgment sub-unit 221, for judge the course angle of the course angle of some tracing point and its previous tracing point it
Between differential seat angle it is whether poor less than the second predetermined angle, and whether the accumulation distance of the tracing point and its tracing point before is less than
Second default accumulation distance.
Subelement 222 is rejected, for the angle between the course angle of the tracing point and the course angle of its previous tracing point
Difference is less than the second default accumulation distance less than the accumulation distance of the second predetermined angle difference and the tracing point and the tracing point before it
When, it is rejected the tracing point as negligible tracing point.
The embodiment of the present invention additionally provides a kind of equipment for updating map datum, including：
At least one processor and the memory being connected at least one processor communication；Wherein,
Memory storage has the instruction that can be performed by a processor, instructs and is performed by least one processor, so that extremely
The method that a few processor is able to carry out above-mentioned update map datum.
The equipment of update map datum in the embodiment of the present invention, when vehicle is travelled to the region of no map datum,
Multiple continuous tracing points can be obtained according to the wheelpath of reception by harvester come the wheelpath of collection vehicle
Coordinate, and at least one newly added road sections of Coordinate generation based on tracing point, finally build newly added road sections between and newly added road sections
Connection relation between the existing section of existing map datum, newly added road sections data have been added in existing map datum, real
Show and upgraded in time to map datum.According between the newly added road sections and existing section of newly added road sections and existing map datum
Connection relation can load automatically newly added road sections data for guidance path planning.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Claims (10)
- A kind of 1. method for updating map datum, which is characterized in that including：The coordinate of multiple continuous tracing points is obtained according to the wheelpath of reception, the coordinate of the tracing point includes tracing point Longitude, latitude and course angle；According at least one newly added road sections of Coordinate generation of the tracing point；Build the connection relation between the newly added road sections and existing section of the newly added road sections and existing map datum.
- 2. the according to the method described in claim 1, it is characterized in that, Coordinate generation at least one according to the tracing point Newly added road sections include：Using positioned at the tracing point of the initial point position of the wheelpath as the starting point in the newly added road sections and/or by position In the end point position of the wheelpath tracing point as the end point in the newly added road sections；Judge the differential seat angle between the course angle of current trace points and the course angle of previous tracing point whether beyond the first preset angle Degree difference either current trace points and previous tracing point whether in same grid or current trace points and its before track Whether the accumulation distance of point is beyond the first default accumulation distance；When the differential seat angle beyond first predetermined angle difference or current trace points and previous tracing point not in same lattice In net or when the accumulation distance is beyond the described first default accumulation distance, a newly added road sections are generated.
- 3. it according to the method described in claim 2, it is characterized in that, is further included after a newly added road sections are generated：Judge the differential seat angle between the course angle of current trace points and the course angle of previous tracing point whether beyond the first preset angle Degree difference either current trace points and previous tracing point whether in same grid or the newest newly added road sections that are generated Whether the accumulation distance of tracing point afterwards to current trace points exceeds the first default accumulation distance；When the differential seat angle beyond first predetermined angle difference or current trace points and previous tracing point not in same lattice In net or when the accumulation distance is beyond the described first default accumulation distance, another newly added road sections are generated；Repeat whether the differential seat angle between the course angle of the course angle for judging current trace points and previous tracing point exceeds the One predetermined angle difference either current trace points and previous tracing point whether in same grid or generated newest one Tracing point after newly added road sections to current trace points accumulation distance whether beyond the first default accumulation distance the step of until All tracing points are handled.
- 4. according to the method described in claim 2, it is characterized in that, it is described will be positioned at the initial point position of the wheelpath Tracing point as the starting point in the newly added road sections and/or will be positioned at the tracing point of the end point position of the wheelpath It is further included before as the end point in the newly added road sections：It will be matched positioned at the tracing point of the initial point position of the wheelpath and end point position with the existing section；If the tracing point positioned at initial point position and/or the tracing point positioned at end point position are matched into the existing section Work(, into it is described using positioned at the tracing point of the initial point position of the wheelpath as the starting point in the newly added road sections And/or using positioned at the tracing point of the end point position of the wheelpath as the step of the end point in the newly added road sections.
- 5. according to the method described in claim 4, it is characterized in that, it is described by positioned at the initial point position of the wheelpath and The tracing point of end point position and the existing section match including：It obtains respectively between the initial point position of the wheelpath and the tracing point of end point position and the existing section Beeline；If the beeline is less than pre-determined distance, successful match is judged.
- 6. according to claim 1-5 any one of them methods, which is characterized in that between the structure newly added road sections and institute The connection relation stated between the existing section of newly added road sections and existing map datum includes：Using the existing section of the existing map datum to match with the starting point of the wheelpath as where the starting point Newly added road sections enter section；Using the existing section of the existing map datum to match with the end point of the wheelpath as where the end point The abjection section of newly added road sections；Using every newly added road sections as the abjection section of its previous newly added road sections, at the same the previous item of every newly added road sections is new Increase section and enter section as it.
- 7. the according to the method described in claim 1, it is characterized in that, Coordinate generation at least one according to the tracing point It is further included before newly added road sections：Reject negligible tracing point in the tracing point.
- 8. the method according to the description of claim 7 is characterized in that described reject negligible tracing point in the tracing point Including：Judge whether the differential seat angle between the course angle of some tracing point and the course angle of its previous tracing point is default less than second Differential seat angle, and whether the accumulation distance of the tracing point and its tracing point before is less than the second default accumulation distance；If differential seat angle between the course angle of the tracing point and the course angle of its previous tracing point less than the second predetermined angle difference and The accumulation distance of the tracing point and the tracing point before it is less than the second default accumulation distance, using the tracing point as can ignore Tracing point rejected.
- 9. a kind of device for updating map datum, which is characterized in that including：Coordinate acquiring unit, for obtaining the coordinate of multiple continuous tracing points, the tracing point according to the wheelpath of reception Coordinate include longitude, latitude and the course angle of tracing point；Section generation unit, at least one newly added road sections of Coordinate generation according to the tracing point；Relation construction unit, for building between the newly added road sections and the existing road of the newly added road sections and existing map datum Intersegmental connection relation.
- 10. a kind of equipment for updating map datum, which is characterized in that including：At least one processor and the memory being connected at least one processor communication；Wherein,The memory storage has the instruction that can be performed by one processor, and described instruction is by least one processor It performs, so that the method that at least one processor is able to carry out claim 1-8 any one of them update map datum.
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