CN108241712B - Map data processing method and device - Google Patents
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Abstract
The invention provides a map data processing method and a map data processing device, wherein the method comprises the following steps: acquiring road information and grid information where the road is located; judging whether the road belongs to different grids according to the road information and the grid information; if the road belongs to different grids, acquiring a first intersection point of boundary lines between the road and the different grids; calculating a target straight line which passes through the first intersection point and is vertical to the road; and dividing the road by adopting the target straight line. According to the scheme, the road auxiliary objects belonging to different grids are divided by the vertical lines to obtain the independent identification data with the end points as the road lines and the auxiliary object lines, so that the coupling with other data in the map is reduced, the redundancy of the map data is reduced, the reading and writing efficiency of the map data is improved, and the road lines and the auxiliary object lines divided by the scheme have the same length, so that the phenomenon of data errors is avoided.
Description
Technical Field
The invention relates to the field of electronic maps, in particular to a map data processing method and device.
Background
With the development of science and technology, electronic maps gradually become indispensable travel aids in people's lives. Electronic maps, i.e., digital maps, are maps that are stored and referred to digitally using computer technology. The data formats of the traditional electronic map, such as KIWI and NDS, are navigation electronic map formats, all belong to traditional navigation data formats established by the relevant meetings, the traditional navigation data formats are all layered and gridded, the KIWI format adopts a Bit form to carry out high-compression storage on data, a file offset address mechanism is adopted to carry out information indexing, and the NDS adopts an efficient database mode to store and access.
With the increasing requirements of people on electronic maps, high-precision maps are rapidly developed and are finer, the minimum road unit is a lane, and the high-precision map source data provided by general map providers are stored by adopting exchange formats (such as Mif, Shape and the like), compared with the traditional map, in a high-precision map, lanes and lane sidelines are added to a road, even road traffic facades such as highlines are added, at the moment, the traditional map grid division method still can not keep the physical and logical consistency of the split road, the lanes and the lane sidelines, the most obvious expression is that the split lane and the lane sidelines are different in length, as shown in figure 1, the horizontal straight line is a map grid Boundary Parcel Boundary, the dotted line is Lane Lane, the left and right solid lines of Lane are Lane Boundary Lane Marking, and the curve passing through the node is a road Link. Lane and Lane Marking associated with a Link have 7 intersection points with a map grid Boundary Parcel Boundary in FIG. 1, if Boundary line segmentation is directly adopted, the road Link is different in length from Lane Lane and Lane Marking thereof, the additional attribute is not beneficial to splitting, and the display effect is as shown in FIG. 2. The situation brings inconvenience and even errors to the map application program; in addition, in practical application, the attention points of different fields to the map data are different, so that redundancy in data is inevitable; the existing high-precision map source data is composed of a plurality of relation tables, the relation structure is complex, the coupling is high, the quick acquisition is not facilitated, and the existing high-precision map is a 'full map', so that the map data loading efficiency is low, and the memory consumption is large.
Therefore, how to reduce the redundancy of the map data and improve the reading and writing efficiency of the map data becomes a technical problem to be solved urgently.
Disclosure of Invention
Therefore, the technical problems to be solved by the present invention are that the redundancy of the map data is high and the reading and writing efficiency of the map data is low in the prior art. Thereby providing a map data processing method and device.
In view of this, a first aspect of an embodiment of the present invention provides a map data processing method, including: acquiring road information and grid information where the road is located; judging whether the road belongs to different grids according to the road information and the grid information; if the road belongs to different grids, acquiring a first intersection point of boundary lines between the road and the different grids; calculating a target straight line which passes through the first intersection point and is vertical to the road; and dividing the road by adopting the target straight line.
Preferably, the determining whether the road belongs to a different mesh according to the road information and the mesh information includes: acquiring a shape point set of the road; traversing the shape point set, and sequentially judging whether each two adjacent shape points belong to two different grids; and if the two adjacent shape points belong to two different grids, determining that the road belongs to the different grids, otherwise, determining that the road belongs to the same grid.
Preferably, the road includes a road route, and the dividing the road with the target straight line includes: breaking the road line at the first intersection point, and taking the first intersection point as a first endpoint of a first road line and a second endpoint of a second road line, wherein the first road line and the second road line belong to different grids; and establishing an incidence relation between the first endpoint and the second endpoint.
Preferably, the road includes an attached object line, and the segmenting the road with the target straight line includes: acquiring a second intersection point of the auxiliary object line and the target straight line, wherein the auxiliary object line comprises: lane lines and lane sidelines; and breaking the auxiliary object line at the second intersection point, and taking the second intersection point as a third endpoint of the first auxiliary object line and a fourth endpoint of the second auxiliary object line.
Preferably, the method further comprises the following steps: and storing the road according to the end point of the road after segmentation.
A second aspect of an embodiment of the present invention provides a map data processing apparatus, including: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring road information and grid information where the road is located; the judging module is used for judging whether the road belongs to different grids according to the road information and the grid information; the second acquisition module is used for acquiring a first intersection point of a boundary line between the road and different grids if the road belongs to different grids; the calculation module is used for calculating a target straight line which passes through the first intersection and is vertical to the road; and the segmentation module is used for segmenting the road by adopting the target straight line.
Preferably, the judging module includes:
a first acquisition unit configured to acquire a shape point set of the road; the judging unit is used for traversing the shape point set and sequentially judging whether each two adjacent shape points belong to two different grids; and the determining unit is used for determining that the road belongs to different grids if the two adjacent shape points belong to two different grids respectively, and otherwise, determining that the road belongs to the same grid.
Preferably, the road comprises a road route, and the segmentation module comprises:
a first breaking unit, configured to break the road line at the first intersection point, and use the first intersection point as a first end point of a first road line and a second end point of a second road line, where the first road line and the second road line belong to different meshes; and the establishing unit is used for establishing the association relationship between the first endpoint and the second endpoint.
Preferably, the road comprises an attached object line, and the segmentation module comprises: a second acquisition unit configured to acquire a second intersection of the auxiliary object line and the target straight line, the auxiliary object line including: lane lines and lane sidelines; and a second breaking unit configured to break the subordinate object line at the second intersection point, where the second intersection point is used as a third end point of the first subordinate object line and a fourth end point of the second subordinate object line.
Preferably, the method further comprises the following steps: and the storage module is used for storing the road according to the end points of the divided road.
The technical scheme of the invention has the following advantages:
the map data processing method and the map data processing device provided by the embodiment of the invention have the advantages that roads crossing boundary lines between different grids are divided by taking the first intersection point of the road and the grid boundary as a division reference, using the first intersection point and a target straight line which is perpendicular to the road to divide the road, and then taking the end points of the divided road as the unique identification of the corresponding road to store data.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a prior art grid segmentation method;
fig. 2 is a schematic diagram showing a mesh slicing method in the prior art after slicing.
Fig. 3 is a flowchart of a map data processing method according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a map in which a certain area is gridded according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a road division by using a map data processing method according to embodiment 1 of the present invention;
fig. 6 is a schematic diagram of the first intersection processed by the map data processing method according to embodiment 1 of the present invention;
fig. 7 is a schematic diagram of a map data storage structure according to embodiment 1 of the present invention;
fig. 8 is a schematic view of a data storage structure of a lane and a lane boundary in embodiment 1 of the present invention;
fig. 9 is a block diagram of a map data processing apparatus according to embodiment 2 of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The present embodiment provides a map data processing method, which is suitable for processing high-precision map data with a minimum road unit as a lane, and for convenience of description, the names appearing in the present embodiment are explained as follows:
link represents one road (i.e., a road route) in an actual road network;
the Link ID represents the absolute number of the Link in a certain grid of the electronic map;
lane represents a Lane (i.e., a Lane line) in one road in an actual road network;
lane Marking represents a Lane boundary;
node represents an end point of a Link or Lane in the electronic map;
parcel represents a grid of the electronic map after segmentation;
the Region represents a grid in the segmented topological relation data of the electronic map;
PID represents the number of the unique identifier Parcel;
(x, y) represents geographical coordinates.
As shown in fig. 3, a map data processing method provided in an embodiment of the present invention includes the following steps:
s31: acquiring road information and grid information where the road is located; here, the road information and the mesh information may be from high-precision map source data, the minimum road unit of which is a lane, and specifically, the map object in the map source data may be primarily divided by using a conventional mesh division method, as follows: firstly, the side length of a grid Parcel is 51200(1/1024 seconds), and a map is cut by taking (0, 0) as an origin, so that the grid position covered by one Parcel can be obtained through the side length of the Parcel and the row and column number of the Parcel. In order to save memory overhead, the PID uniquely identifying the Parcel number adopts a mode of storing the Parcel line number by 16 bits at the high position and storing the Parcel column number by 16 bits at the low position. As shown in fig. 4, in order to distribute the parcels after a certain area in the map is segmented, PID of the parcels in which Node (representing an end point of one Link or Lane in the electronic map) is more concentrated is 540280983. The mesh information of the road here is the distribution information of the road in the mesh.
S32: judging whether the road belongs to different grids according to the road information and the grid information, wherein whether the road belongs to different grids can be judged according to the road information and the grid information acquired from the map source data in the step S31, so as to further process the road crossing the grid boundary according to the judgment result, if yes, the step S33 is entered, otherwise, the road does not need to be split again. As a preferable scheme, the step S32 may include: acquiring a shape point set of a road; traversing the shape point set, and sequentially judging whether each two adjacent shape points belong to two different grids; and if two adjacent shape points belong to two different grids, determining that the road belongs to the different grids, otherwise, determining that the road belongs to the same grid. Specifically, for example, a shape point set of a Link is traversed from a head point to a tail point of the Link, a PID of a Parcel where the Link is located is calculated for every two adjacent shape points in sequence, whether the two shape points belong to two different parcels is judged, and then if the two shape points belong to two different parcels, it is determined that the Link belongs to the different parcels, otherwise, the Link is in the same Parcel.
S33: if the road belongs to different grids, acquiring a first intersection point of the boundary line between the road and the different grids, which is to be used as a reference point for dividing the road, specifically, as shown in fig. 5, when determining that one Link belongs to different grids, determining a linear equation L1 of the boundary line between the different grids: ax + By + C is 0(a, B, C are constants that are not zero at the same time), and the linear equation L2 of the two shape points belonging to different grids in step S32 is determined: qx + Py + R is 0(Q, P, R are constants that are not zero at the same time), and the intersection of the two straight lines L1 and L2 is calculated as the first intersection H (i.e., the dot shown in fig. 5).
S34: and calculating a target straight line which is perpendicular to the road and passes through the first intersection point. Here, the target straight line (i.e., the perpendicular line as shown in fig. 5) may be used to divide roads belonging to different meshes, and specifically, the equation L3 of the target straight line passing through the first intersection point H and perpendicular to the straight line L2 may be calculated: mx + Ny + K is 0(M, N, K are constants that are not all zero at the same time).
S35: and dividing the road by adopting the target straight line. Here, for a road crossing a mesh boundary, if the road is different in length from the attached lanes and lane boundaries after being divided by a conventional mesh division method, the road needs to be re-divided to avoid data errors.
As a preferable scheme, the road includes, but is not limited to, a road route, and the step S35 may include: breaking the road line at the first intersection point, and taking the first intersection point as a first endpoint of a first road line and a second endpoint of a second road line, wherein the first road line and the second road line belong to different grids; and establishing an incidence relation between the first endpoint and the second endpoint. Specifically, in step S33, the first intersection H of the two straight lines L1 and L2 is calculated to be the breaking node for splitting the Link (lane route), the Link is broken at the first intersection H to obtain two Link sections (i.e., the first lane route and the second lane route), and the first intersection H is also used as the corresponding first endpoint and the second endpoint of the two split Link sections. In this way, the Link is geometrically divided, in order to ensure the connection between the topological structure of the map and the Parcel, an association relationship between a first endpoint and a second endpoint needs to be established, in this embodiment, the first intersection point is designed as two nodes N1 (i.e., a first endpoint) and N2 (i.e., a second endpoint), which belong to two different parcels, as shown in fig. 6, at this time, coordinates of N1 and N2 are consistent, an adjacent Node of Ni is N1, and an adjacent Node of Nii is N2, since the adjacent relationship between the links is broken, path calculation based on the map cannot be performed, in this embodiment, a marking method is adopted, grid numbers of N1 and N2 are exchanged, that is, a PID of N1 is given for Node N2, and a PID of N2 is given for Node N1, so as to form an association relationship between N1 and N2. In this way, in the path calculation process, when the adjacent Node of N1 or N2 is analyzed, the transition between two adjacent grids can be smoothly completed.
As a preferred solution, the road includes but is not limited to an attached object line, and step S35 may include: acquiring a second intersection point of an auxiliary object line and a target straight line, wherein the auxiliary object line comprises but is not limited to a lane line and a lane sideline; the dependent object line is broken at a second intersection point, which is taken as the third end point of the first dependent object line and the fourth end point of the second dependent object line. Specifically, as shown in fig. 5, Lane (Lane line) and Lane marking (Lane edge) added to the Link are divided by using the target straight line L3, the shape point set of Lane or Lane marking is traversed from the starting point to the ending point, each two adjacent shape points T1(x1, y1) and T2(x2, y2) are substituted for the human target straight line L3, the substitution result Ret1 is Mx1+ Ny1+ K, Ret2 is Mx2+ Ny2+ K, whether Ret1 and Ret2 have opposite signs, and if yes, the straight line equation L4 determining the two shape points T1 and T2 is calculated: and calculating a second intersection point of the target straight line L3 and the straight line L4, wherein the second intersection point is a node for breaking Lane or LaneMarking and is a corresponding endpoint of the two divided Lane segments or two LaneMarking segments, and Ex + Fy + G is 0.
The same segmentation method as that for Lane segmentation can be used for the additional curvature information of the road, but the segmentation nodes cannot be added to the point set of the additional curvature information, and the additional curvature information is calculated by using other related information through a certain algorithm, so that the curvature information of the segmentation nodes cannot be restored at this time, and therefore, the segmentation nodes are not inserted.
As a preferable scheme, the method further comprises the step of S36: and storing the road according to the end point of the divided road. Specifically, the method comprises the following steps:
firstly, the method comprises the following steps: and rearranging the road number, the lane edge line number and the Node (including the end points of the road line and the accessory object line) number in each grid according to the map source data, wherein the numbers of Link, LaneMarking and Node have grid uniqueness. In the Region data, the topological relationships are stored in a Node manner, and the Node must be unique in the corresponding grid.
Secondly, the method comprises the following steps: and extracting Link attributes and node information to construct road calculation data. In the road calculation of the high-precision data area, Lane information, Lane marking information and the like are not needed, and only the related attributes of Link, such as length, road grade, road Lane number, tunnel bridge and the like and the topological relation are used, so that the data storage mode in the prior art makes redundant data very much, while the related attribute data of the road is stored in the embodiment in a mode of nodes of the road plus adjacent nodes, the stored data can be independently used in the calculation, the data redundancy is greatly reduced, and the data access efficiency is improved.
Thirdly, the method comprises the following steps: map data for different purposes is stored in blocks in each mesh data. As shown in fig. 7, in order to improve the road calculation efficiency, the mesh data is stored as Parcel data (for displaying, guiding and positioning) with complete information and Region data (for route calculation) with only topology information and Link attributes, and the two data are stored in different tables. The Parcel data is subdivided into: the data includes road data, road connection relation data, lane connection data, lane boundary connection data, road curvature data, shape point data, traffic inside object data and the like. As shown in fig. 8, lane data and lane boundary data are stored in a Group manner, where the Group is a set formed by arranging lanes or lane boundaries of a road from left to right, which is beneficial to extracting related lanes or lane boundaries of the road at one time, and thus, the lane data and the lane boundary data are stored in the Parcel data in blocks according to the categories.
And fourthly, an index mechanism of the offset is constructed, and the requirement of real-time and efficient access is met. Specifically, if an offset indexing mechanism is not adopted for the data after the block storage, all the Parcel data or Region data can only be analyzed during access, and then corresponding processing is performed, so that random access of the data is not facilitated, the map data can be quickly retrieved by adopting an offset indexing mode to store the corresponding map data to the relative position in the corresponding data block, and combining the initial position of the data block. As shown in table 1, the file header of the constructed offset index;
table 1 constructed file header of offset index
Then, the relative position of the corresponding map data in the corresponding data block is stored by using an index of the offset, for example, the offset storing the shape point in the road, and then the start address + offset of the shape point sequence is the start position of storing the shape point data of the road, as shown in table 2, the shape point sequence of the road in the constructed offset index.
Table 2-constructed sequence of shape points of roads in offset index
And the shape point data of the road can be quickly obtained according to the protocol of the point number + the point row. The offset construction is carried out on other relevant map data of the road according to the scheme, so that the data redundancy is greatly reduced, and the data access efficiency is improved.
Fifthly, the map data are finally stored into a database by taking Bit as a unit. Specifically, the key values are stored in the database according to the requirement and according to Parcel and Region. The storage can be carried out in a binary mode, so that the data volume is reduced, and the physical storage capacity is also reduced.
In the map data processing method provided by the embodiment, for roads belonging to different grids, a road line and an auxiliary object line of the road are divided by using a first intersection point of the road and a grid boundary as a reference point and using a target straight line which is perpendicular to the first intersection point and is perpendicular to the road, and then end points of the divided road line and the auxiliary object line are used as unique identifications of a corresponding road line and an auxiliary object line for data storage.
Example 2
The present embodiment provides a map data processing apparatus adapted to processing of high-precision map data with a minimum road unit of lanes, as shown in fig. 9, the apparatus including: the system comprises a first obtaining module 91, a judging module 92, a second obtaining module 93, a calculating module 94 and a dividing module 95, wherein the main functions of the modules are as follows:
the first obtaining module 91 is configured to obtain the road information and the mesh information where the road is located, which is specifically described in embodiment 1 for the detailed description of step S31.
A judging module 92, configured to judge whether the road belongs to a different mesh according to the road information and the mesh information, specifically refer to the detailed description of step S32 in embodiment 1.
A second obtaining module 93, configured to obtain a first intersection of the boundary line between the road and the different grids if the road belongs to the different grids, specifically referring to the detailed description of step S33 in embodiment 1.
A calculating module 94, configured to calculate a target straight line perpendicular to the road and passing through the first intersection, specifically referring to the detailed description of step S34 in embodiment 1.
A dividing module 95, configured to divide the road by using the target straight line, see the detailed description of step S35 in embodiment 1.
As a preferable scheme, the judging module 92 includes: a first obtaining unit 921 for obtaining a shape point set of a road; a judging unit 922, configured to traverse the shape point set, and sequentially judge whether each two adjacent shape points belong to two different grids; the determining unit 923 is configured to determine that the road belongs to different grids if two adjacent shape points belong to two different grids, and otherwise, determine that the road belongs to the same grid. See in particular the relevant detailed description in example 1.
Preferably, the road includes a road route, and the segmentation module 95 includes: a first breaking unit 951, configured to break a road line at a first intersection point, and use the first intersection point as a first end point of a first road line and a second end point of a second road line, where the first road line and the second road line belong to different meshes; an establishing unit 952 is configured to establish an association relationship between the first endpoint and the second endpoint. See in particular the relevant detailed description in example 1.
Preferably, the road includes an attached object line, and the segmentation module 95 includes: a second acquiring unit 953 configured to acquire a second intersection of the attached object line and the target straight line, the attached object line including: lane lines and lane sidelines; a second breaking unit 954 for breaking the dependent object line at a second intersection point, the second intersection point being a third endpoint of the first dependent object line and a fourth endpoint of the second dependent object line. See in particular the relevant detailed description in example 1.
As a preferable scheme, the method further comprises the following steps: and the storage module 96 is used for storing the road according to the end point of the divided road. See in particular the detailed description of step S36 in example 1.
Compared with the prior art, the map data processing device provided by the embodiment takes the end points as the identification data of the roads, has independence, reduces the coupling with other data in a map, reduces the redundancy of map data and improves the reading and writing efficiency of the map data under the condition of not influencing the original road data, and avoids the phenomenon of data errors because the divided road lines and the auxiliary object lines have the same length.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. A map data processing method, comprising:
acquiring road information and grid information where the road is located;
judging whether the road belongs to different grids according to the road information and the grid information;
if the road belongs to different grids, acquiring a first intersection point of boundary lines between the road and the different grids;
calculating a target straight line which passes through the first intersection point and is vertical to the road;
and dividing the road by adopting the target straight line.
2. The map data processing method according to claim 1, wherein the determining whether the road belongs to a different mesh from the road information and the mesh information includes:
acquiring a shape point set of the road;
traversing the shape point set, and sequentially judging whether each two adjacent shape points belong to two different grids;
and if the two adjacent shape points belong to two different grids, determining that the road belongs to the different grids, otherwise, determining that the road belongs to the same grid.
3. The map data processing method according to claim 1, wherein the road includes a road route, and the dividing the road with the target straight line includes:
breaking the road line at the first intersection point, and taking the first intersection point as a first endpoint of a first road line and a second endpoint of a second road line, wherein the first road line and the second road line belong to different grids;
and establishing an incidence relation between the first endpoint and the second endpoint.
4. The map data processing method according to claim 1, wherein the road includes an attached object line, and the dividing the road with the target straight line includes:
acquiring a second intersection point of the auxiliary object line and the target straight line, wherein the auxiliary object line comprises: lane lines and lane sidelines;
and breaking the auxiliary object line at the second intersection point, and taking the second intersection point as a third endpoint of the first auxiliary object line and a fourth endpoint of the second auxiliary object line.
5. The map data processing method according to any one of claims 1 to 4, characterized by further comprising:
and storing the road according to the end point of the road after segmentation.
6. A map data processing apparatus, characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring road information and grid information where the road is located;
the judging module is used for judging whether the road belongs to different grids according to the road information and the grid information;
the second acquisition module is used for acquiring a first intersection point of a boundary line between the road and different grids if the road belongs to different grids;
the calculation module is used for calculating a target straight line which passes through the first intersection and is vertical to the road;
and the segmentation module is used for segmenting the road by adopting the target straight line.
7. The map data processing apparatus according to claim 6, wherein the determination module includes:
a first acquisition unit configured to acquire a shape point set of the road;
the judging unit is used for traversing the shape point set and sequentially judging whether each two adjacent shape points belong to two different grids;
and the determining unit is used for determining that the road belongs to different grids if the two adjacent shape points belong to two different grids respectively, and otherwise, determining that the road belongs to the same grid.
8. The map data processing apparatus of claim 6, wherein the road comprises a road route, the segmentation module comprising:
a first breaking unit, configured to break the road line at the first intersection point, and use the first intersection point as a first end point of a first road line and a second end point of a second road line, where the first road line and the second road line belong to different meshes;
and the establishing unit is used for establishing the association relationship between the first endpoint and the second endpoint.
9. The map data processing apparatus of claim 6, wherein the road includes an attached object line, and the segmentation module comprises:
a second acquisition unit configured to acquire a second intersection of the auxiliary object line and the target straight line, the auxiliary object line including: lane lines and lane sidelines;
and a second breaking unit configured to break the subordinate object line at the second intersection point, where the second intersection point is used as a third end point of the first subordinate object line and a fourth end point of the second subordinate object line.
10. The map data processing apparatus according to any one of claims 6 to 9, characterized by further comprising:
and the storage module is used for storing the road according to the end points of the divided road.
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| CN109163730B (en) * | 2018-08-02 | 2020-10-27 | 武汉中海庭数据技术有限公司 | High-precision map data gridding management method and device for automatic driving |
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