CN110118564A - A kind of data management system, management method, terminal and the storage medium of high-precision map - Google Patents
A kind of data management system, management method, terminal and the storage medium of high-precision map Download PDFInfo
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- CN110118564A CN110118564A CN201910220177.5A CN201910220177A CN110118564A CN 110118564 A CN110118564 A CN 110118564A CN 201910220177 A CN201910220177 A CN 201910220177A CN 110118564 A CN110118564 A CN 110118564A
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- 238000003860 storage Methods 0.000 title claims abstract description 21
- 238000007726 management method Methods 0.000 title claims abstract description 19
- 238000013523 data management Methods 0.000 title claims abstract description 18
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- 238000013439 planning Methods 0.000 claims abstract description 109
- 238000006243 chemical reaction Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 23
- 230000008859 change Effects 0.000 claims description 11
- 230000003068 static effect Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 5
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Classifications
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
The present invention provides a kind of data management system of high-precision map, management method, terminal and storage medium, to the atural object element in high-precision map according to its semantic classification, it collects as atural object element set, and record atural object element position, geometric attribute, physical attribute and/or semantic attribute, when application layer invocation map, engine integrates the atural object element that description is needed around trajectory coordinates, relative space relation between planning module planning path and roadway element is described, in vehicle closely matter-element element, the coordinate position of base area matter-element element and the semantic aid decision control module of atural object element make corresponding decision control reaction.In addition, to the atural object element in high-precision map according to its semantic classification, collect as atural object element set, be conducive to the accurately classifying, updating of chart database and management, i.e. the classification of certain semantic can preferentially update or high-frequency iteration.
Description
Technical field
The present invention relates to technical field of automotive electronics, data management system, pipe more particularly to a kind of high-precision map
Reason method, terminal and storage medium.
Background technique
For fine map as a kind of electronic map, including space vector data and attribute information, space vector data is electricity
The carrier of sub- map property information.The production method of conditional electronic map is using based on the abstract extraction space vector of raster data
The method of data records the spatial position acquired through region and field of view information using GPS, robot localization tracking device, adds
Work production space vector data.And this fine map can not meet the needs of L4 or even L5 grade automatic Pilot.
High-precision map not only includes that space vector data further includes many semantic informations, and map may report predicted traffic lamp
The meaning of upper different colours, it is also possible to indicate the speed limit of road and the position of left turn lane, high-precision map does important
Feature first is that, precision, the navigation on mobile phone can only achieve meter accuracy, and high-precision map can achieve a centimetre class precision,
This is most important to automatic driving car.The update for keeping these maps is a significant task, and it is constantly right that investigation fleet needs
High-precision map is verified and is updated.In addition, these accuracies of map can achieve several centimetres, this is the highest drawing essence of level
Degree.High-precision map aims at automatic driving car design, comprising road definition, intersection, traffic signals, lane rule and uses
In the other elements of auto navigation.
Current high-precision map has the following deficiencies: in scene with more anticollision strips, barrier, warehouse compartment and warehouse compartment line, taboo
Stop area, crossing, deceleration strip, deceleration, stops, allows all traffic marks such as vehicle and roadmarking, road surface road indicator, electricity
The near-earths objects such as line bar, roadside edge, tree, shrub, isolation strip and guardrail can be removed as time goes by, modify, be added, and be unfavorable for
High-precision map rejuvenation by the classification of atural object element set, collects convenient for updating and managing, conducive to the atural object element of middle certain semantic
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the present invention provides a kind of data of high-precision map
Management system, management method, terminal and storage medium, to the atural object element in high-precision map according to its semantic classification, collect
For atural object element set, and atural object element position, geometric attribute, physical attribute and/or semantic attribute are recorded, application layer invocation map
When, engine integrates the atural object element that description is needed around trajectory coordinates, description planning module planning path and the phase between roadway element
To spatial relationship, in vehicle closely matter-element element, the coordinate position of base area matter-element element and the semantic auxiliary of atural object element
Decision Control module make corresponding decision control reaction.In addition, to the atural object element in high-precision map according to its semanteme point
Class collects as atural object element set, is conducive to the accurately classifying, updating of chart database and management, i.e. the classification of certain semantic can
Preferentially to update or high-frequency iteration.
A kind of data management system of high-precision map, comprising:
Roadway element, the road module include one of lane unit, road boundary unit, road semantic primitive or
It is several；
Planning module, the planning module is for exporting current vehicle planning path；
Atural object element set, the atural object element set include but is not limited to sensing module, locating module and planning module pair
Geometric attribute, physical attribute and/or the semantic attribute of static object element and the demand of position coordinates；
Capping unit, the capping unit describe atural object element, planning module planning path and road by trajectory coordinates
Relative space relation between unit；
Management services module, the management services module are obtained for obtaining planning module output current vehicle planning path
The atural object element being related in current vehicle planning path is taken, atural object element, current vehicle planning path are exported and give planning mould
Block.
It further, further include local map unit, the local map module includes image data string, local map column
Table, connectivity of graph list, local map coordinate translation lists.
Further, local map table data is a local map [localmap] in the local map unit
Catalogue describes some metadata informations of each local map in this data set；LocalMapID is local map in map
Unique ID in library.AreaCode and SubAreaCode is the title of map scene and local map (local sub-scene), usually
It is identified with english abbreviation.Path is the relative path of local map data, such as faw/a5.ZLevel is floor information, is band
The integer of sign.IsRamp is channel attributes and ID, and when IsRamp is -1, local map is non-channel, when it is positive integer
When, it is channel number ID.IsRamp when the same channel is cut into two local maps, in the two local maps
The ramp number of expression should be same.
Further, the connection relation list between the local map and local map [MapJunction.dbf] describes
Two interconnected relationships having between the local map of interconnected relationship.No matter the direction of local map connection here, two
There is connection relationship connected two-by-two in local map.Every two local map is connected with a unique number.LocalMap1/2 is
The ID of two local maps.Map connects mutual space transformational relation to TransID thus, this space transformational relation is
LocalMap1 is converted to LocalMap2, and in calculating, the conversion that be LocalMap2 to LocalMap1 is to need to do matrix
The inverse operation of conversion.
It further, further include roadway element, the road information of the roadway element description description road network grade, including road
One or more of rank, road type, road speed-limiting messages, road limit for height information and road boundary.
It further, further include roadway element, the roadway element describes the road information of road network grade, including road grade
Not, road type, road speed-limiting messages and road limit for height information.Preferably, the roadway element further includes lane boundary line, spy
Determine the semantic information of regional edge boundary line exterior domain.For example, being the boundary line of tunnel, a certain section of road outside a certain section of lane boundary line
It is steep cliff etc. outside.For example, national highway, the provincial highway that so-and-so numbers, the county road that so-and-so numbers that road grade is numbered for so-and-so.Example
Such as, road speed-limiting messages for so-and-so national highway 120 kilometer per hours of Shanghai section speed limit.For example, so-and-so county road is planning distance
In restricted height prompt, such as the height that passes through of limitation car.
Further, the lane unit, the lane unit describe the lane information of scene grade, including lane grade sky
Between, the semantic information including lane topology and physical message, Road property and one or more of traffic information.
Further, the lane unit describes the lane information of scene grade, including lane grade space, lane topology and object
Semantic information and traffic information including reason information, Road property, wherein grade space in lane includes the lane center in lane
The expression of geometrization coordinate line, the limitation in lane line edge geometric representation, lane elevation dimension；Wherein including Road property
Semanteme system information and traffic information to include lane closing on closing on traveling rule, lane as defined in the lane at intersection
The specified distance of intersection forbids the traveling rule of lane change.For example, having intersection, the road tool of vehicle driving in front
There are 4 lanes, is becoming white side solid line, Road property apart from each lane white side dotted line at 50 meters of intersection
Semanteme be forbid vehicle lane change in lane, this is forbidden the semanteme of lane change and the position of lane change is forbidden to be recorded in lane unit
In.For example, having intersection in front, the road of vehicle driving has 4 lanes, and leftmost side lane has straight trip and turns left
Curved mark, second lane has straight trip mark from left to right, and third lane has straight trip and the mark that bends to right from left to right, from
From left to right Four-Lane Road has the mark that bends to right, then the semanteme of each column lane turn marking and position can be recorded in lane
In unit.For example, there is 4 lanes on road, the lane of the rightmost side is dedicated bus lanes, then dedicated bus lanes it is semantic with
And position can be recorded in the unit of lane.
It further, further include parking stall unit when in the garage parking scene that vehicle is under autonomous parking mode, it is described
Parking stall unit includes that the park geometric representation of access point, parking stall of the spatial information of parking stall, the background information of parking stall, parking stall is parked and connect
Enter one or more of the geometric representation of line.
Further, when in the garage parking scene that vehicle is under autonomous parking mode, parking stall in the parking stall unit
Spatial information, the background information of parking stall, parking stall park the geometric representation of access point, parking stall park tie-in line geometric representation in
One or more；The spatial information of the parking stall includes number in garage of the floor information, parking stall in garage where parking stall, vehicle
The length and width dimensions information of position and depth information in short transverse；The park geometric representation of access point of the parking stall includes parking stall
It parks the coordinate representation of access point；Parking stall tie-in line of parking is that the parking stall is parked Road, the vehicle of access point and surrounding
Position is parked the regular geometric representation of parking formed between access point and the driving terrestrial reference of surrounding.
It further, further include cross unit when in the garage parking scene that vehicle is under autonomous parking mode, it is described
Cross unit includes that connection list, intersection and the lane of map intersection, crosspoint, intersection and local map connect
Connect list.Preferably, wherein crosspoint indicates for the geometrization coordinate points at the junction of road.Preferably, the map intersects
Crossing is the scene grade information for describing intersection physical environment, traffic environment.For example, physical environment includes the ruler of intersection
Very little information, intersection center whether have commander's pavilion, command the dimension information of pavilion, whether have in the scene of intersection isolation strip or
Whether the geographical location information of greenbelt, intersection have the geographical location information of Landscape Architecture and Landscape Architecture.Preferably,
The connection list of the intersection and local map describe intersection local map with and its connect roadway element part
The connection relationship of map.Preferably, the intersection connect each road that list describes intersection connection with lane
Connection relation list between its lane for being included of unit and the intersection the included lane of other roadway elements.It is preferred that
Ground, the intersection connect list with lane also and includes its lane for being included of each roadway element and this roadway element is anti-
To the connection relationship between lane.
Further, when in the garage parking scene that vehicle is under autonomous parking mode, the interest of the planning module
Point further include garage port dock point in map geometric coordinate indicate, garage exit plug into a little geometric coordinate expression, elevator
Mouthful geometric coordinate indicate, the geometric coordinate of stairs port one or more of indicates.
Further, the atural object element set includes but is not limited to sensing module, locating module and planning module to quiet
Geometric attribute, physical attribute and/or the semantic attribute of state object element and the demand of position coordinates, specifically object element term
Semanteme, earth object three-dimensional space geometric attribute, physics and attribute information (color, classification etc.) etc..Preferably, atural object element
In by big classification be divided into different element layers.E.g., including traffic lights, library column, wall, tollbooth and barrier gate device, anticollision strip, barrier
Hinder object, warehouse compartment and warehouse compartment line, prohibition parking area, crossing, deceleration strip, deceleration, stop, allow line, allow all traffic marks such as vehicle
With roadmarking, road surface road indicator, electric pole, roadside edge, tree, shrub, isolation strip and guardrail etc..Under each classification
It is (or a that the corresponding a body position of individual amount under each big classification, individual number, each number is listed by sublist again
Reference coordinate of the body with respect to other specific objects of reference), each number corresponding individual geometric attribute, each number correspond to
The physical attribute of individual, the corresponding individual color of each number, the corresponding classification of each number etc. information.
Preferably for atural object element, according to the difference of the difference of classification and representative and description traffic information, Ying Xiang
Its spatial information of most description and traffic meaning.For example, atural object element traffic lights, should describe its three-dimensional space position.For another example,
Atural object element parking lot column, electric wire electric light bar, guardrail, guideboard etc. can assist multisensor to position on wall, anticollision strip and ground
Atural object, its spatial information should be described.
Further, the more new sources of the atural object element set include but is not limited to that ground mapping imports data, laser
Data, the vehicle-mounted visual perception equipment of crowdsourcing imported after radar scanning, artificial treatment perceives new atural object element in the position.
Further, the capping unit obtains this when obtaining current path planning of the planning module to vehicle
Path planning, management services module transfers the road that roadway element is passed through in the path planning, and adjusts from atural object element set
The atural object element element and its corresponding coordinate position on the road of the process are taken, by the coordinate position of these atural object elements
The relative position of atural object element characterizes the atural object element when with vehicle driving to the path position point nearest with the atural object element
The semanteme of position and atural object element on the unit of lane, so as to vehicle control decision module close to the atural object element
When, make corresponding reaction.
Further, further include meta-data unit, the meta data block include the data resolution of each point in a cloud,
The coordinate origin of each point, the horizontal pixel of each point, each point vertical pixel.
Further, the planning module is Global motion planning path or sector planning for exporting current vehicle planning path
Path.When planning module exports current vehicle sector planning path, capping unit screens the sector planning in atural object element set
The corresponding atural object element covering in path；When planning module exports global path planning, in capping unit spiral cover atural object element set
The corresponding atural object element covering in the Global motion planning path.
A kind of database of high-precision map, comprising:
Roadway element, the road module include one of lane unit, road boundary unit, road semantic primitive or
It is several；
Planning module, the planning module is for exporting current vehicle planning path；
Atural object element set, the atural object element set include but is not limited to sensing module, locating module and planning module pair
Geometric attribute, physical attribute and/or the semantic attribute of static object element and the demand of position coordinates；
Capping unit, the capping unit describe atural object element, planning module planning path and road by trajectory coordinates
Relative space relation between unit.
It further, further include local map unit, the local map module includes image data string, local map column
Table, connectivity of graph list, local map coordinate translation lists.
It further, further include roadway element, the road information of the roadway element description description road network grade, including road
One or more of rank, road type, road speed-limiting messages, road limit for height information and road boundary.
Further, the lane unit, the lane unit describe the lane information of scene grade, including lane grade sky
Between, the semantic information including lane topology and physical message, Road property and one or more of traffic information.
Further, the atural object element set includes but is not limited to sensing module, locating module and planning module to quiet
Geometric attribute, physical attribute and/or the semantic attribute of state object element and the demand of position coordinates, specifically object element term
Semanteme, earth object three-dimensional space geometric attribute, physics and attribute information (color, classification etc.) etc..
A kind of data managing method of high-precision map, comprising:
Self planning module obtains current vehicle planning path, obtains corresponding atural object element according to vehicle planning path；
It is described from capping unit by trajectory coordinates opposite between atural object element, planning module planning path and roadway element
Spatial relationship, management services module pass the relative space relation of the element for describing atural object element and atural object element and roadway element
Pass Vehicle Decision Method control module.
Further, the Decision Control module of the vehicle is when close to the atural object element, the coordinate of base area matter-element element
The semanteme of position and atural object element make corresponding decision control reaction.
A kind of terminal device can such as execute the smart phone of the data managing method of above-mentioned high-precision map or can hold
The car-mounted terminal of the data managing method program of the above-mentioned high-precision map of row controls equipment.
A kind of server, the server include for realizing the data managing method and/or height of above-mentioned high-precision map
The data management system of precision map.
A kind of computer storage medium, the computer storage medium are used to store the data management of above-mentioned high-precision map
The data management system of software program corresponding to method and/or high-precision map.
As described above, of the invention has the advantages that
To the atural object element in high-precision map according to its semantic classification, collect as atural object element set, and record ground matter-element
Plain position, geometric attribute, physical attribute and/or semantic attribute are planned route with vehicle current path, are described by trajectory coordinates
Relative space relation between atural object element, planning module planning path and roadway element, in vehicle closely matter-element element, according to
The coordinate position of atural object element and the semantic aid decision control module of atural object element make corresponding decision control reaction.
In addition, to the atural object element in high-precision map according to its semantic classification, collect as atural object element set, be conducive to high-precision map
The classifying, updating of database and management, the i.e. classification of certain semantic can preferentially update or high-frequency iteration.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as the schematic diagram of atural object element at map intersection of the present invention.
Fig. 2 is shown as the schematic diagram of roadway element Road and lane unit of the present invention.
Fig. 3 is shown as the present invention accurately graph structure and interactive schematic diagram.
Fig. 4 is shown as the schematic diagram of high-precision map atural object element set of the present invention.
Fig. 5 is shown as the signal of point of interest of the present invention Yu roadway element, intersection feature, display unit and meta-data unit
Figure.
Fig. 6 is shown as the diagram of grating map of the present invention.
Fig. 7 is shown as the diagram of cross-layer parking lot map in another embodiment of the present invention.
Fig. 8 is shown as the schematic diagram that application layer extracts matter-element element needed to road in atural object element set.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
Referring to FIG. 1 to FIG. 8,
A kind of data management system of high-precision map, comprising:
Roadway element, the road module include one of lane unit, road boundary unit, road semantic primitive or
It is several；
Planning module, the planning module is for exporting current vehicle planning path；
Atural object element set, the atural object element set include but is not limited to sensing module, locating module and planning module pair
Geometric attribute, physical attribute and/or the semantic attribute of static object element and the demand of position coordinates；
Capping unit, the capping unit describe atural object element, planning module planning path and road by trajectory coordinates
Relative space relation between unit；
Management services module, the management services module are obtained for obtaining planning module output current vehicle planning path
The atural object element being related in current vehicle planning path is taken, atural object element, current vehicle planning path are exported and give planning mould
Block.
It further, further include local map unit, the local map module includes image data string, local map column
Table, connectivity of graph list, local map coordinate translation lists.
Further, local map table data is a local map [localmap] in the local map unit
Catalogue describes some metadata informations of each local map in this data set；LocalMapID is local map in map
Unique ID in library.AreaCode and SubAreaCode is the title of map scene and local map (local sub-scene), usually
It is identified with english abbreviation.Path is the relative path of local map data, such as faw/a5.ZLevel is floor information, is band
The integer of sign.IsRamp is channel attributes and ID, and when IsRamp is -1, local map is non-channel, when it is positive integer
When, it is channel number ID.IsRamp when the same channel is cut into two local maps, in the two local maps
The ramp number of expression should be same.
Further, the connection relation list between the local map and local map [MapJunction.dbf] describes
Two interconnected relationships having between the local map of interconnected relationship.No matter the direction of local map connection here, two
There is connection relationship connected two-by-two in local map.Every two local map is connected with a unique number.LocalMap1/2 is
The ID of two local maps.Map connects mutual space transformational relation to TransID thus, this space transformational relation is
LocalMap1 is converted to LocalMap2, and in calculating, the conversion that be LocalMap2 to LocalMap1 is to need to do matrix
The inverse operation of conversion.
It further, further include roadway element, the road information of the roadway element description description road network grade, including road
One or more of rank, road type, road speed-limiting messages, road limit for height information and road boundary.
It further, further include roadway element, the roadway element describes the road information of road network grade, including road grade
Not, road type, road speed-limiting messages and road limit for height information.Preferably, the roadway element further includes lane boundary line, spy
Determine the semantic information of regional edge boundary line exterior domain.For example, being the boundary line of tunnel, a certain section of road outside a certain section of lane boundary line
It is steep cliff etc. outside.For example, national highway, the provincial highway that so-and-so numbers, the county road that so-and-so numbers that road grade is numbered for so-and-so.Example
Such as, road speed-limiting messages for so-and-so national highway 120 kilometer per hours of Shanghai section speed limit.For example, so-and-so county road is planning distance
In restricted height prompt, such as the height that passes through of limitation car.
Further, the lane unit, the lane unit describe the lane information of scene grade, including lane grade sky
Between, the semantic information including lane topology and physical message, Road property and one or more of traffic information.
Further, the lane unit describes the lane information of scene grade, including lane grade space, lane topology and object
Semantic information and traffic information including reason information, Road property, wherein grade space in lane includes the lane center in lane
The expression of geometrization coordinate line, the limitation in lane line edge geometric representation, lane elevation dimension；Wherein including Road property
Semanteme system information and traffic information to include lane closing on closing on traveling rule, lane as defined in the lane at intersection
The specified distance of intersection forbids the traveling rule of lane change.For example, having intersection, the road tool of vehicle driving in front
There are 4 lanes, is becoming white side solid line, Road property apart from each lane white side dotted line at 50 meters of intersection
Semanteme be forbid vehicle lane change in lane, this is forbidden the semanteme of lane change and the position of lane change is forbidden to be recorded in lane unit
In.For example, having intersection in front, the road of vehicle driving has 4 lanes, and leftmost side lane has straight trip and turns left
Curved mark, second lane has straight trip mark from left to right, and third lane has straight trip and the mark that bends to right from left to right, from
From left to right Four-Lane Road has the mark that bends to right, then the semanteme of each column lane turn marking and position can be recorded in lane
In unit.For example, there is 4 lanes on road, the lane of the rightmost side is dedicated bus lanes, then dedicated bus lanes it is semantic with
And position can be recorded in the unit of lane.
It further, further include parking stall unit when in the garage parking scene that vehicle is under autonomous parking mode, it is described
Parking stall unit includes that the park geometric representation of access point, parking stall of the spatial information of parking stall, the background information of parking stall, parking stall is parked and connect
Enter one or more of the geometric representation of line.
Further, when in the garage parking scene that vehicle is under autonomous parking mode, parking stall in the parking stall unit
Spatial information, the background information of parking stall, parking stall park the geometric representation of access point, parking stall park tie-in line geometric representation in
One or more；The spatial information of the parking stall includes number in garage of the floor information, parking stall in garage where parking stall, vehicle
The length and width dimensions information of position and depth information in short transverse；The park geometric representation of access point of the parking stall includes parking stall
It parks the coordinate representation of access point；Parking stall tie-in line of parking is that the parking stall is parked Road, the vehicle of access point and surrounding
Position is parked the regular geometric representation of parking formed between access point and the driving terrestrial reference of surrounding.
It further, further include cross unit when in the garage parking scene that vehicle is under autonomous parking mode, it is described
Cross unit includes that connection list, intersection and the lane of map intersection, crosspoint, intersection and local map connect
Connect list.Preferably, wherein crosspoint indicates for the geometrization coordinate points at the junction of road.Preferably, the map intersects
Crossing is the scene grade information for describing intersection physical environment, traffic environment.For example, physical environment includes the ruler of intersection
Very little information, intersection center whether have commander's pavilion, command the dimension information of pavilion, whether have in the scene of intersection isolation strip or
Whether the geographical location information of greenbelt, intersection have the geographical location information of Landscape Architecture and Landscape Architecture.Preferably,
The connection list of the intersection and local map describe intersection local map with and its connect roadway element part
The connection relationship of map.Preferably, the intersection connect each road that list describes intersection connection with lane
Connection relation list between its lane for being included of unit and the intersection the included lane of other roadway elements.It is preferred that
Ground, the intersection connect list with lane also and includes its lane for being included of each roadway element and this roadway element is anti-
To the connection relationship between lane.
Further, when in the garage parking scene that vehicle is under autonomous parking mode, the interest of the planning module
Point further include garage port dock point in map geometric coordinate indicate, garage exit plug into a little geometric coordinate expression, elevator
Mouthful geometric coordinate indicate, the geometric coordinate of stairs port one or more of indicates.
Further, the atural object element set includes but is not limited to sensing module, locating module and planning module to quiet
Geometric attribute, physical attribute and/or the semantic attribute of state object element and the demand of position coordinates, specifically object element term
Semanteme, earth object three-dimensional space geometric attribute, physics and attribute information (color, classification etc.) etc..Preferably, atural object element
In by big classification be divided into different element layers.E.g., including traffic lights, library column, wall, tollbooth and barrier gate device, anticollision strip, barrier
Hinder object, warehouse compartment and warehouse compartment line, prohibition parking area, crossing, deceleration strip, deceleration, stop, allow line, allow all traffic marks such as vehicle
With roadmarking, road surface road indicator, electric pole, roadside edge, tree, shrub, isolation strip and guardrail etc..Under each classification
It is (or a that the corresponding a body position of individual amount under each big classification, individual number, each number is listed by sublist again
Reference coordinate of the body with respect to other specific objects of reference), each number corresponding individual geometric attribute, each number correspond to
The physical attribute of individual, the corresponding individual color of each number, the corresponding classification of each number etc. information.
Preferably for atural object element, according to the difference of the difference of classification and representative and description traffic information, Ying Xiang
Its spatial information of most description and traffic meaning.For example, atural object element traffic lights, should describe its three-dimensional space position.For another example,
Atural object element parking lot column, electric wire electric light bar, guardrail, guideboard etc. can assist multisensor to position on wall, anticollision strip and ground
Atural object, its spatial information should be described.
Further, the more new sources of the atural object element set include but is not limited to that ground mapping imports data, laser
Data, the vehicle-mounted visual perception equipment of crowdsourcing imported after radar scanning, artificial treatment perceives new atural object element in the position.
Further, the capping unit obtains this when obtaining current path planning of the planning module to vehicle
Path planning, management services module transfers the road that roadway element is passed through in the path planning, and adjusts from atural object element set
The atural object element element and its corresponding coordinate position on the road of the process are taken, by the coordinate position of these atural object elements
The relative position of atural object element characterizes the atural object element when with vehicle driving to the path position point nearest with the atural object element
The semanteme of position and atural object element on the unit of lane, so as to vehicle control decision module close to the atural object element
When, make corresponding reaction.
Further, further include meta-data unit, the meta data block include the data resolution of each point in a cloud,
The coordinate origin of each point, the horizontal pixel of each point, each point vertical pixel.
Further, the planning module is Global motion planning path or sector planning for exporting current vehicle planning path
Path.When planning module exports current vehicle sector planning path, capping unit screens the sector planning in atural object element set
The corresponding atural object element covering in path；When planning module exports global path planning, in capping unit spiral cover atural object element set
The corresponding atural object element covering in the Global motion planning path.
A kind of database of high-precision map, comprising:
Roadway element, the road module include one of lane unit, road boundary unit, road semantic primitive or
It is several；
Planning module, the planning module is for exporting current vehicle planning path；
Atural object element set, the atural object element set include but is not limited to sensing module, locating module and planning module pair
Geometric attribute, physical attribute and/or the semantic attribute of static object element and the demand of position coordinates；
Capping unit, the capping unit describe atural object element, planning module planning path and road by trajectory coordinates
Relative space relation between unit.
It further, further include local map unit, the local map module includes image data string, local map column
Table, connectivity of graph list, local map coordinate translation lists.
It further, further include roadway element, the road information of the roadway element description description road network grade, including road
One or more of rank, road type, road speed-limiting messages, road limit for height information and road boundary.
Further, the lane unit, the lane unit describe the lane information of scene grade, including lane grade sky
Between, the semantic information including lane topology and physical message, Road property and one or more of traffic information.
Further, the atural object element set includes but is not limited to sensing module, locating module and planning module to quiet
Geometric attribute, physical attribute and/or the semantic attribute of state object element and the demand of position coordinates, specifically object element term
Semanteme, earth object three-dimensional space geometric attribute, physics and attribute information (color, classification etc.) etc..
A kind of data managing method of high-precision map, comprising:
Self planning module obtains current vehicle planning path, obtains corresponding atural object element according to vehicle planning path；
It is described from capping unit by trajectory coordinates opposite between atural object element, planning module planning path and roadway element
Spatial relationship, management services module pass the relative space relation of the element for describing atural object element and atural object element and roadway element
Pass Vehicle Decision Method control module.
Further, the Decision Control module of the vehicle is when close to the atural object element, the coordinate of base area matter-element element
The semanteme of position and atural object element make corresponding decision control reaction.
A kind of terminal device can such as execute the smart phone of the data managing method of above-mentioned high-precision map or can hold
The car-mounted terminal of the data managing method program of the above-mentioned high-precision map of row controls equipment.
As a preferred embodiment, the present embodiment also provides a kind of terminal device, can such as execute the smart phone of program, put down
Plate computer, laptop, desktop computer, rack-mount server, blade server, tower server or cabinet-type service
Device (including server cluster composed by independent server or multiple servers) etc..The terminal device of the present embodiment is extremely
It is few to include but is not limited to: memory, the processor of connection can be in communication with each other by system bus.It should be pointed out that having group
The terminal device of part memory, processor can substitute it should be understood that being not required for implementing all components shown
The data managing method of high-precision map implement more or less component.
A kind of server, the server include for realizing the data managing method and/or height of above-mentioned high-precision map
The data management system of precision map.
As a preferred embodiment, memory (i.e. readable storage medium storing program for executing) includes flash memory, hard disk, multimedia card, card-type storage
Device (for example, SD or DX memory etc.), random access storage device (RAM), static random-access memory (SRAM), read-only storage
Device (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read only memory (PROM), magnetic storage, magnetic
Disk, CD etc..In some embodiments, memory can be the internal storage unit of computer equipment, such as the computer is set
Standby hard disk or memory.In further embodiments, memory is also possible to the External memory equipment of computer equipment, such as should
The plug-in type hard disk being equipped in computer equipment, intelligent memory card (Smart Media Card, SMC), secure digital (Secure
Digital, SD) card, flash card (Flash Card) etc..Certainly, memory can also have been deposited both the inside including computer equipment
Storage unit also includes its External memory equipment.In the present embodiment, memory is installed on the behaviour of computer equipment commonly used in storage
Make system and types of applications software, such as data managing method program code of high-precision map in embodiment etc..In addition, depositing
Reservoir can be also used for temporarily storing the Various types of data that has exported or will export.
A kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the data managing method of above-mentioned high-precision map is realized when execution.
The present embodiment also provides a kind of computer readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory
(for example, SD or DX memory etc.), random access storage device (RAM), static random-access memory (SRAM), read-only memory
(ROM), electrically erasable programmable read-only memory (EEPROM), programmable read only memory (PROM), magnetic storage, magnetic
Disk, CD, server, App are stored thereon with computer program, phase are realized when program is executed by processor using store etc.
Answer function.The computer readable storage medium of the present embodiment is used to store the data managing method program based on high-precision map,
The data managing method of the high-precision map in the data managing method embodiment of high-precision map is realized when being executed by processor.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (13)
1. a kind of data management system of high-precision map characterized by comprising
Roadway element, the road module include one of lane unit, road boundary unit, road semantic primitive or several
Kind；
Planning module, the planning module is for exporting current vehicle planning path；
Atural object element set, the atural object element set include but is not limited to sensing module, locating module and planning module to static state
Geometric attribute, physical attribute and/or the semantic attribute of object element and the demand of position coordinates；
Capping unit, the capping unit describe atural object element, planning module planning path and roadway element by trajectory coordinates
Between relative space relation；
Management services module, the management services module are worked as obtaining planning module output current vehicle planning path, acquisition
The atural object element being related in vehicle in front planning path exports atural object element, current vehicle planning path to planning module.
2. the data management system of high-precision map according to claim 1, which is characterized in that further include local map list
Member, the local map module include image data string, local map list, connectivity of graph list, local map coordinate turn
Change list.
3. the data management system of high-precision map according to claim 1, which is characterized in that it further include roadway element,
The road information of the roadway element description description road network grade, including road grade, road type, road speed-limiting messages, road
One or more of limit for height information and road boundary.
4. the data management system of high-precision map according to claim 1, which is characterized in that the lane unit, institute
The lane information that lane unit describes scene grade is stated, including lane grade space, lane topology and physical message, Road property exist
One or more of interior semantic information and traffic information.
5. the data management system of high-precision map according to claim 1, which is characterized in that when vehicle is in autonomous pool
It further include parking stall unit when in the garage parking scene under vehicle mode, the parking stall unit includes the spatial information of parking stall, parking stall
It parks one or more of the geometric representation of tie-in line the park geometric representation of access point, parking stall of background information, parking stall.
6. the data management system of high-precision map according to claim 1, which is characterized in that the atural object element set packet
Include but be not limited to sensing module, locating module and planning module to the geometric attribute of static object element, physical attribute and/or
The element of semantic attribute and position coordinates, the atural object element set extract traffic information according to element semantic and individually classify.
7. a kind of database of high-precision map characterized by comprising
Roadway element, the road module include one of lane unit, road boundary unit, road semantic primitive or several
Kind；
Planning module, the planning module is for exporting current vehicle planning path；
Atural object element set, the atural object element set include but is not limited to sensing module, locating module and planning module to static state
Geometric attribute, physical attribute and/or the semantic attribute of object element and the demand of position coordinates；
Capping unit, the capping unit describe atural object element, planning module planning path and roadway element by trajectory coordinates
Between relative space relation.
8. the database of high-precision map according to claim 7, which is characterized in that further include local map unit, institute
State local map module include image data string, local map list, connectivity of graph list, local map coordinate conversion column
Table；Further include roadway element, the road information of roadway element description description road network grade, including road grade, road type,
One or more of road speed-limiting messages, road limit for height information and road boundary；The lane unit, the lane unit
The lane information for describing scene grade, the semantic letter including lane grade space, lane topology and physical message, Road property
One or more of breath and traffic information.
9. a kind of data managing method of high-precision map, comprising:
Self planning module obtains current vehicle planning path, obtains corresponding atural object element according to vehicle planning path；
Space between atural object element, planning module planning path and roadway element is described from capping unit by trajectory coordinates
Relationship, management services module pass to the relative space relation of the element for describing atural object element and atural object element and roadway element
Vehicle Decision Method control module.
10. the data managing method of high-precision map according to claim 9, which is characterized in that the decision of the vehicle
Control module when close to the atural object element, make accordingly by the coordinate position of base area matter-element element and the semanteme of atural object element
Decision control reaction.
11. a kind of server, the server includes described in any item accurately for realizing the claims 9-10
The service of database described in the data managing method of figure and/or the data management system of high-precision map or carrying claim 7
Device.
12. a kind of terminal device, it is characterised in that: the terminal device is any one of the scheduling the claims 1-6 height
The car-mounted terminal of the data management system of precision map controls equipment.
13. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the method as described in claim 9 to 10 any claim is realized when execution.
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