CN110763242A - High-precision map and two-dimensional map matching method and device and electronic equipment - Google Patents
High-precision map and two-dimensional map matching method and device and electronic equipment Download PDFInfo
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- CN110763242A CN110763242A CN201810829490.4A CN201810829490A CN110763242A CN 110763242 A CN110763242 A CN 110763242A CN 201810829490 A CN201810829490 A CN 201810829490A CN 110763242 A CN110763242 A CN 110763242A
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- 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
Abstract
The invention discloses a method and a device for matching a high-precision map and a two-dimensional map and electronic equipment, wherein the matching method comprises the following steps: determining a road reference line according to a lane central line in a high-precision map; the road datum line is a vector line segment used for describing the road driving direction; determining a lane central line corresponding to each road datum line; determining a road section corresponding to each road datum line according to the coordinates of the lane center line, the coordinates of the road sections in the two-dimensional map, the geometric forms of the road datum lines and the geometric forms of the road sections; determining the lane central line corresponding to each road section according to the corresponding relation between the lane central line and the road reference line and the corresponding relation between the road reference line and the road section; and matching the high-precision map with the two-dimensional map according to the corresponding relation between the road section and the lane center line.
Description
Technical Field
The invention relates to the technical field of map matching, in particular to a method and a device for matching a high-precision map and a two-dimensional map and electronic equipment.
Background
Accurate position information in the high-precision map can assist the sensor to recognize objects, obtain rich road experience information in advance, and the sub-meter-level lane positioning provided by the sensor can better improve vehicle safety, so that the sensor is an indispensable important reference frame for realizing automatic driving.
However, the technology for acquiring and manufacturing the high-precision map in China is not mature at present, and the high-precision map is not covered comprehensively, so that the traditional two-dimensional navigation electronic map is still required to be used for long-distance path planning in the navigation process.
In the actual navigation process, a high-precision map and a two-dimensional map may be used alternately. However, since the accuracy of the high-accuracy map is different from that of the two-dimensional map, an error is likely to occur when the high-accuracy map and the two-dimensional map are matched.
Disclosure of Invention
It is an object of embodiments of the present invention to provide a new solution to at least one of the above problems.
According to a first aspect of the present invention, there is provided a matching method of a high-precision map and a two-dimensional map, comprising:
determining a road reference line according to a lane central line in a high-precision map; the road datum line is a vector line segment used for describing the road driving direction;
determining a lane central line corresponding to each road datum line;
determining a road section corresponding to each road datum line according to the coordinates of the lane center line, the coordinates of the road sections in the two-dimensional map, the geometric forms of the road datum lines and the geometric forms of the road sections;
determining a lane central line corresponding to each road section according to the corresponding relation between the lane central line and the road reference line and the corresponding relation between the road reference line and the road section;
and matching the high-precision map with the two-dimensional map according to the corresponding relation between the road section and the lane central line.
Optionally, the step of determining the road reference line according to the lane center line in the high-precision map includes:
determining a road reference line in a straight road according to the center line of the innermost lane in the straight road;
determining a connection point of a road reference line at a crossing according to the connection point of the lane center line at the crossing;
determining another connection point of the road reference line at the intersection according to one connection point of the road reference line at the intersection, the connection point of the road reference line in the straight road and the direction of the lane center line at the intersection;
obtaining a road reference line at the intersection according to the two connection points of the road reference line at the intersection;
and when an included angle between the direction of the road reference line at the intersection and the direction of the road reference line in the straight road is smaller than a preset first angle threshold, the distance between two connection points of the road reference line at the intersection is the minimum.
Optionally, the step of determining the lane center line corresponding to each of the road reference lines includes:
and corresponding each lane center line to a road reference line which has the smallest distance and the smallest included angle.
Optionally, the step of determining the road segment corresponding to each road reference line according to the coordinates of the lane center line, the coordinates of the road segment in the two-dimensional map, the geometric form of the road reference line, and the geometric form of the road segment includes:
determining the coordinates of the corresponding road datum line according to the coordinates of the lane center line;
and determining the road section corresponding to each road datum line according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections.
Optionally, the step of determining the road segment corresponding to each road reference line according to the coordinates of the road reference line, the coordinates of the road segment, the geometric form of the road reference line, and the geometric form of the road segment includes:
and according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections, corresponding each road datum line to the road section which is closest to the road datum line and has an included angle smaller than a preset second angle threshold value.
According to a second aspect of the present invention, there is provided a matching apparatus of a high-precision map and a two-dimensional map, comprising:
the datum line determining module is used for determining a road datum line according to a lane central line in the high-precision map; the road datum line is a vector line segment used for describing the road driving direction;
the first corresponding module is used for determining a lane central line corresponding to each road datum line;
the second corresponding module is used for determining the road section corresponding to each road datum line according to the coordinates of the lane center line, the coordinates of the road sections in the two-dimensional map, the geometric forms of the road datum lines and the geometric forms of the road sections;
the third corresponding module is used for determining the lane central line corresponding to each road section according to the corresponding relation between the lane central line and the road reference line and the corresponding relation between the road reference line and the road section; and the number of the first and second groups,
and the map matching module is used for matching the high-precision map with the two-dimensional map according to the corresponding relation between the road section and the lane central line.
Optionally, the reference line determining module is further configured to:
determining a road reference line in a straight road according to the center line of the innermost lane in the straight road;
determining a connection point of a road reference line at a crossing according to the connection point of the lane center line at the crossing;
determining another connection point of the road reference line at the intersection according to one connection point of the road reference line at the intersection, the connection point of the road reference line in the straight road and the direction of the lane center line at the intersection;
obtaining a road reference line at the intersection according to the two connection points of the road reference line at the intersection;
and when an included angle between the direction of the road reference line at the intersection and the direction of the road reference line in the straight road is smaller than a preset first angle threshold, the distance between two connection points of the road reference line at the intersection is the minimum.
Optionally, the first determining module is further configured to: and corresponding each lane center line to a road reference line which has the smallest distance and the smallest included angle.
Optionally, the second corresponding module further includes:
the coordinate calculation unit is used for determining the coordinate of the corresponding road datum line according to the coordinate of the lane center line;
and the corresponding unit is used for determining the road section corresponding to each road datum line according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections.
Optionally, the corresponding unit is further configured to, according to the coordinates of the road reference line, the coordinates of the road segments, the geometric form of the road reference line, and the geometric form of the road segments, correspond each road reference line to a road segment that is closest to the road reference line and has an included angle smaller than a preset second angle threshold.
According to a third aspect of the present invention, there is provided an electronic device comprising the matching apparatus according to the second aspect of the present invention.
According to a fourth aspect of the present invention, there is provided an electronic device comprising a memory and a processor, the memory storing instructions for controlling the processor to perform the matching method according to the first aspect of the present invention.
The matching method has the advantages that the road reference line is added to correspond to the lane center line in the high-precision map, the road reference line corresponds to the road section in the two-dimensional map through the geometric form, the lane center line in the high-precision map corresponds to the road section in the two-dimensional map, and therefore the high-precision map and the two-dimensional map are matched. Therefore, the matching difficulty of the high-precision map and the two-dimensional map can be reduced, the matching efficiency is improved, and the matching error rate is reduced. In addition, the method has important significance for updating and maintaining the high-precision map or the two-dimensional map in the later period.
In addition, with the mass production of high-precision maps, the position precision of the two-dimensional map can be improved simultaneously by updating and maintaining the two-dimensional map by adding the road reference line.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of an embodiment of a method for matching a high-precision map with a two-dimensional map according to the present invention;
FIG. 2 is a schematic view of a lane centerline and a road reference line;
FIG. 3 is a schematic view of a road reference line at an intersection;
FIG. 4 is a schematic view of a road segment and a road reference line;
FIG. 5 is a block diagram of an implementation structure of the matching device for a high-precision map and a two-dimensional map provided by the invention;
fig. 6 is a block schematic diagram of an implementation structure of the electronic device provided by the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a flowchart of an embodiment of a method for matching a high-precision map and a two-dimensional map according to the present invention.
According to fig. 1, the matching method comprises the following steps:
step S1100, a road datum line is determined according to a lane central line in the high-precision map.
Wherein the road reference line is a vector line segment for describing a road direction in the high-precision map. The road comprises a straight road, an incoming branch or an outgoing branch of the intersection.
The center line of the lane in the existing high-precision map is a parallel center line positioned between the marked lines on two sides of the lane. The method is used as a track line for the running of the automatic driving vehicle, and is used for functions of path planning, vehicle relative positioning assistance and the like. The lane central line is a vector line segment, and the direction of the vector line segment is the same as the lane direction.
The same lane is provided with a plurality of sections of lane center lines connected through connecting points, each lane center line is provided with a corresponding coordinate, and each lane center line is provided with a unique number. As shown in FIG. 2, the lane center lines are numbered 1001-1008.
Therefore, the road reference lines determined according to the lane center lines have corresponding coordinates, and each road reference line also has a unique number, as shown in fig. 2, the numbers of the road reference lines are 2001-1005.
Further, the coordinates of the lane center line and the coordinates of the road reference line may be both corresponding latitude and longitude information.
The road comprises at least one lane, and the driving directions of the lanes are the same or the included angle of the driving directions of the lanes is an acute angle.
In one example of the present invention, step S1100 may further include the following steps S1110 to S1140.
In step S1110, a road reference line in the straight road is determined according to the innermost lane center line in the straight road.
When a lane is included in the road, all lane center lines in the lane are the innermost lane center lines.
When the road includes at least two lanes, the center line of the innermost lane in the straight road is the first lane center line from the left in the driving direction of the straight road.
In the example shown in fig. 2, the straight road traveling direction is the arrow direction in the figure, and the center lines of the innermost lanes in the figure are 1001, 1002, and 1003.
Specifically, a section of the road reference line can be determined according to the center line of the innermost lane of each section. For example, a section of the road reference line 2001 may be determined based on a section of the lane center line 1001, a section of the road reference line 2002 may be determined based on a section of the lane center line 1002, and a section of the road reference line 2003 may be determined based on a section of the lane center line 1003.
The lane center line 1001 and the road reference line 2001 may be completely coincident and in the same direction; the lane centerline 1002 and the road reference line 2002 may be completely coincident and in the same direction; the lane center line 1003 and the road reference line 2003 may be completely coincident and in the same direction. Then, the coordinates of the lane center line 1001 are the same as those of the road reference line 2001; the coordinates of the lane center line 1002 are the same as the coordinates of the road reference line 2002; the coordinates of the lane center line 1003 are the same as those of the road reference line 2003.
The road reference line in the straight road may be determined by the above-described step S1110, but the road usually has an entrance or exit intersection, and thus the road reference line at the intersection may be determined by the following steps S1120 to S1140.
In step S1120, a connection point of the road reference line at the intersection is determined according to the connection point of the lane center line at the intersection.
The connection point of the lane central line at the intersection is positioned in the driving-in branch or the driving-out branch and is closest to the intersection point of the branch and the straight road.
For an entry intersection, it may be that the starting point of the lane center line at the intersection is located in the entry leg, and the ending point is located in the straight road, and the connection point of the lane center line at the intersection may be the starting point of the lane center line. For an outgoing intersection, the starting point of the lane center line at the intersection may be located in the straight road, and the end point may be located in the outgoing branch, and the connection point of the lane center line at the intersection may be the end point of the road reference line at the intersection.
As shown in fig. 2, when exiting the intersection, the start point of the lane center line at the intersection is P22, and the end point is P21. Then, it can be determined that one connection point P31 of the road reference point at the intersection coincides with P21.
In step S1130, another connection point of the road reference line at the intersection is determined based on the connection point of the road reference line in the straight road and the direction of the lane center line at the intersection.
In step S1140, a road reference line at the intersection is obtained according to the two connection points of the road reference line.
The distance between the two connection points of the road reference line at the intersection is the smallest under the condition that the included angle between the direction of the road reference line at the intersection and the direction of the road reference line in the execution road is smaller than a preset first angle threshold value, and the direction of the road reference line at the intersection relative to the road reference line of the straight road is the same as the direction of the lane center line at the intersection relative to the lane center line of the straight road.
For example, if the direction of the lane center line at the intersection with respect to the lane center line of the straight road is the entering direction, then the direction of the road reference line at the intersection with respect to the road reference line of the straight road is also the entering direction. If the direction of the lane center line at the intersection with respect to the lane center line of the straight road is the exit direction, then the direction of the road reference line at the intersection with respect to the road reference line of the straight road is also the exit direction.
Specifically, within a set distance range from the intersection, an angle between the direction of the road reference line at the intersection and the direction of the road reference line in the straight road, which is formed by selecting one connection point of the road reference line at the intersection, is smaller than a first angle threshold, and the direction of the road reference line at the intersection relative to the road reference line of the straight road and the connection points of the road reference lines in the plurality of straight roads, which are the same as the direction of the lane center line at the intersection relative to the lane center line of the straight road, are selected, and then one connection point, which is closest to the one connection point of the road reference line at the intersection, is selected from the connection points of the road reference lines in the plurality of straight roads and is used as another connection point of the road reference line at the intersection.
In the embodiment shown in fig. 3, P31 is one connection point of the lane reference line at the intersection determined according to step S1120. In a set distance range from an intersection, connecting points of lane reference lines at the intersection at least comprise P32-P38, and connecting points, namely P32, P33, P36, P37 and P38, are selected, wherein an included angle between the direction of the road reference line at the intersection and the direction of the road reference line in the straight road, which is formed by the connecting points P1, is smaller than a first angle threshold value. Then, the direction of the road reference line at the intersection relative to the road reference line of the straight road and the connection points of the road reference lines in the plurality of straight roads in the same direction of the lane center line at the intersection relative to the lane center line of the straight road are selected, wherein the direction of the road reference line and the connection points P1 are formed.
In the case where the direction of the lane center line at the intersection with respect to the lane center line of the straight road is the exit direction, P32 and P33 are obtained. And selecting the connecting point which is closest to the connecting point P31, namely obtaining another connecting point P33 of the lane center line at the intersection. Then, connecting P33 and P31 in the direction of the lane center line at the intersection makes it possible to obtain the lane reference line at the intersection.
In the case where the direction of the lane center line at the intersection with respect to the lane center line of the straight road is the entering direction, P36, P37, and P38 are obtained. And selecting the connecting point which is closest to the connecting point P31, namely obtaining another connecting point P36 of the lane center line at the intersection. Then, connecting P36 and P31 in the direction of the lane center line at the intersection makes it possible to obtain the lane reference line at the intersection.
In step S1200, lane center lines corresponding to each road reference line are determined.
Specifically, each road reference line may have at least one corresponding lane center line.
In an example of the present invention, step S1200 may further be: and corresponding the central line of each lane to the road reference line which has the minimum distance and the minimum included angle.
As shown in fig. 2, for the lane center line 1002, the road reference lines 2002 and 2004 having the smallest distance therefrom, and the angle between the lane center line 1002 and the road reference line 2002 is the smallest, it may be determined that the lane center line 1002 corresponds to the road reference line 2002. As for the lane center line 1005, the road reference lines whose distance is the smallest are 2002 and 2004, and the angle between the lane center line 1005 and the road reference line 2002 is the smallest, and therefore, it may be determined that the lane center line 1005 corresponds to the road reference line 2002. As for the lane center line 1007, the road reference lines whose distance from it is the smallest are 2002 and 2004, and the angle between the lane center line 1007 and the road reference line 2004 is the smallest, and therefore, it may be determined that the lane center line 1007 corresponds to the road reference line 2004.
Further, the correspondence between the road reference line and the lane center line may be stored into the first lookup table, as shown in table 1 below.
Table 1: first comparison table reflecting corresponding relation between road bed alignment line and lane center line
| Road reference line numbering | 2001 | 2002 | 2003 | 2004 | 2005 |
| Lane centerline numbering | 1001、1004 | 1002、1005 | 1003、1006 | 1007 | 1008 |
In table 1, the road reference lines in the same row correspond to the lane center lines. As can be seen from the first lookup table shown in table 1, the road reference line 2001 corresponds to the lane center lines 1001, 1004; the road reference line 2002 corresponds to the lane centerlines 1002, 1005; the road reference line 2003 corresponds to the lane center lines 1003, 1006; the road reference line 2004 corresponds to the lane centerline 1007; the road reference line 2005 corresponds to the lane center line 1008.
Step S1300, determining a road segment corresponding to each road reference line according to the coordinates of the lane center line, the coordinates of the road segment in the two-dimensional map, the geometric form of the road reference line, and the geometric form of the road segment.
The high-precision map has high precision, which can be about 10-20 cm. The accuracy of the two-dimensional map is low, and may be about 10 m. The link in the two-dimensional map is a vector line segment for describing the direction of a road in the two-dimensional map. The road comprises a straight road, an incoming branch or an outgoing branch of the intersection. The links in the two-dimensional map are also vector line segments, and the direction of the links is the same as the direction of the corresponding roads.
Also, the same road has a plurality of sections connected by connection points, each section having corresponding coordinates, and each section having a unique number. As shown in FIG. 4, the link numbers 3001 to 3003.
In one example of the present invention, the step S1300 may further include the following steps S1310 to S1320.
In step S1310, the coordinates of the corresponding road reference line are determined according to the coordinates of the lane center line.
Since the road reference line in the straight road is determined by the center line of the innermost lane in the straight road, the coordinates of the corresponding lane reference line and the center line of the innermost lane may be the same.
The road reference line at the intersection is determined according to the lane center line at the intersection, and then the coordinates of the road reference line at the intersection and the lane center line at the intersection may be the same.
In the embodiment shown in fig. 2, the road reference line 2001 may be the same as the coordinates of the lane center line 1001; the road reference line 2002 may be the same as the coordinates of the lane center line 1002; the road-reference line 2003 may be the same as the coordinates of the lane center line 1003; the road reference line 2004 may be the same as the coordinates of the lane center line 1007; the road reference line 2005 may be the same coordinate as the lane center line 1008.
In step S1320, a link corresponding to each road reference line is determined according to the coordinates of the road reference line, the coordinates of the link, the geometric form of the road reference line, and the geometric form of the link.
In an example of the present invention, step S1320 may further be: and according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections, corresponding each road datum line to the road section which is closest to the road datum line and has an included angle smaller than a preset second angle threshold value.
Wherein the second angle threshold may be determined in accordance with the first angle threshold. In one example, the second angle threshold may be half of the first angle threshold. For example, in the case where the first angle threshold is 15 °, the second angle threshold may be 8 °.
Specifically, the position matching may be performed on the road reference line and the road segment according to the coordinates of the road reference line, the coordinates of the road segment, the geometric form of the road reference line, and the geometric form of the road segment.
Because the precision of the high-precision map is different from that of the two-dimensional map, a large error exists in the position matching result of the road reference line and the road section only according to the coordinate of the road reference line and the coordinate of the road section. In the embodiment, on the basis of matching the positions of the road reference line and the road section according to the coordinates of the road reference line and the coordinates of the road section, the position matching result of the road reference line and the road section is more accurate according to the geometric form of the road reference line and the geometric form of the road section.
For example, from the coordinates of the road reference line and the coordinates of the links, it can be determined that the road reference lines 2002-2005 match the positions of the links 3001, 3002, 3003 and other links (not shown in the figure) within the peripheral error range. And then according to the geometric forms of the road datum lines and the geometric forms of the road sections, the road datum lines 2002-2005 can be determined to be matched with the geometric forms of the road sections 3002 and 3003, so that the road datum lines 2002-2005 can be determined to be matched with the positions of the road sections 3002 and 3003. The geometric form of the road reference line in the present embodiment may be an integral geometric form of all the road reference lines. The geometry of the road segment may be the geometry of the whole of all road segments.
On the basis, each road datum line can be corresponding to the road segment which is closest to the road datum line and has an included angle smaller than a preset second angle threshold according to the position matching relation of the road datum line and the road segment.
For example, the road reference line 2001 matches the position of the link 3001, and the road reference lines 2002-2005 match the positions of the links 3002 and 3003. Then, the road reference line 2001 may be corresponded to the link 3001. The road reference line 2002 is closest to the road segments 3002, 3003, and the angle between the road reference line 2002 and the road segment 3002 is smaller than a second angle threshold, and the angle between the road reference line 2002 and the road segment 3003 is larger than the second angle threshold. Accordingly, the road reference line 2002 may be corresponded to the link 3002. The road reference line 2003 is closest to the road segments 3002, 3003, and the angle between the road reference line 2003 and the road segment 3002 is less than a second angle threshold, while the angle between the road reference line 2003 and the road segment 3003 is greater than the second angle threshold. Therefore, the road reference line 2003 may be corresponded to the link 3002. The road reference line 2004 is closest to the road segments 3002, 3003, and the angle between the road reference line 2004 and the road segment 3003 is less than a second angle threshold, and the angle between the road reference line 2004 and the road segment 3002 is greater than a second angle threshold. Accordingly, the road reference line 2004 may be corresponded to the link 3003. The road reference line 2005 is closest to the road segments 3002, 3003, and an angle between the road reference line 2005 and the road segment 3003 is smaller than a second angle threshold, and an angle between the road reference line 2005 and the road segment 3002 is larger than the second angle threshold. Accordingly, the road reference line 2005 may be corresponded to the link 3003.
Further, the correspondence between the road reference line and the section of road may be stored into a second lookup table, as shown in table 2 below.
Table 2: second contrast table reflecting corresponding relation between road alignment line and road section
| Road segment numbering | 3001 | 3002 | 3003 |
| Road reference line numbering | 2001 | 2002、2003 | 2004、2005 |
Step S1400, determining lane central lines corresponding to each road section according to the corresponding relation between the lane central lines and the road reference lines and the corresponding relation between the road reference lines and the road sections.
Specifically, the lane center line and the link corresponding to the same road reference line may be associated with each other.
For example, since both the lane center lines 1001 and 1004 correspond to the road reference line 2001 and the link 3001 also corresponds to the road reference line 2001, the lane center lines 1001 and 1004 may correspond to the link 3001. Since both the lane center lines 1002, 1005 correspond to the road reference line 2002 and the link 3002 also corresponds to the road reference line 2002, the lane center lines 1002, 1005 may correspond to the link 3002. Since both the lane center lines 1003 and 1006 correspond to the road reference line 2003 and the link 3002 also corresponds to the road reference line 2003, the lane center lines 1003 and 1006 may correspond to the link 3002. Since the lane center line 1007 corresponds to the road reference line 2004 and the link 3003 also corresponds to the road reference line 2004, the lane center line 1007 may correspond to the link 3003. Since the lane center line 1008 corresponds to the road reference line 2005 and the link 3003 also corresponds to the road reference line 2005, the lane center line 1008 may correspond to the link 3003.
Further, a third comparison table for obtaining the corresponding relationship between the lane center line and the road section may be obtained according to the first comparison table and the second comparison table. From the first comparison table shown in table 1 and the second comparison table shown in table 2, a third comparison table shown in table 3 below can be obtained.
Table 3: third comparison table reflecting corresponding relation between lane central line and road section
| Road segment numbering | 3001 | 3002 | 3003 |
| Lane centerline numbering | 1001、1004 | 1002、1003、1005、1006 | 1007、1008 |
And S1500, matching the high-precision map with the two-dimensional map according to the corresponding relation between the road section and the lane center line.
And switching the high-precision map and the two-dimensional map in practical application according to the determined corresponding relation between the road section and the lane center line.
According to the matching method provided by the embodiment of the invention, the road reference line is added to correspond to the lane central line in the high-precision map, and the road reference line corresponds to the road section in the two-dimensional map through the geometrical form, so that the lane central line in the high-precision map corresponds to the road section in the two-dimensional map, and further the matching of the high-precision map and the two-dimensional map is realized. Therefore, the matching difficulty of the high-precision map and the two-dimensional map can be reduced, the matching efficiency is improved, and the matching error rate is reduced. In addition, the method has important significance for updating and maintaining the high-precision map or the two-dimensional map in the later period.
In addition, with the mass production of high-precision maps, the position precision of the two-dimensional map can be improved simultaneously by updating and maintaining the two-dimensional map by adding the road reference line.
Corresponding to the method, the invention also provides a matching device of the high-precision map and the two-dimensional map. Fig. 5 is a block schematic diagram of an implementation structure of the matching device for a high-precision map and a two-dimensional map provided by the invention.
As shown in fig. 5, the matching device includes a reference line determining module 5100, a first corresponding module 5200, a second corresponding module 5300, a third corresponding module 5400 and a map matching module 5500.
The reference line determining module 5100 is configured to determine a road reference line according to a lane center line in a high-precision map. The road reference line is a vector line segment for describing the driving direction of the road.
The first correspondence module 5200 is configured to determine lane center lines corresponding to each road reference line.
The second corresponding module 5300 is configured to determine a road segment corresponding to each road reference line according to the coordinates of the lane center line, the coordinates of the road segment in the two-dimensional map, the geometric form of the road reference line, and the geometric form of the road segment.
The third corresponding module 5400 is configured to determine a lane centerline corresponding to each road segment according to a correspondence between the lane centerline and the road reference line and a correspondence between the road reference line and the road segment.
The map matching module 5500 is configured to match a high-precision map with a two-dimensional map according to a correspondence between a road section and a lane center line.
In one example, the baseline determination module 5100 is further configured to:
determining a road reference line in the straight road according to the center line of the innermost lane in the straight road;
determining a connection point of a road reference line at the intersection according to the connection point of the lane center line at the intersection;
determining another connection point of the road reference line at the intersection according to one connection point of the road reference line at the intersection, the connection point of the road reference line in the straight road and the direction of the lane center line at the intersection;
obtaining a road reference line at the intersection according to the two connection points of the road reference line at the intersection;
the distance between the two connection points of the road reference line at the intersection is the minimum under the condition that the included angle between the direction of the road reference line at the intersection and the direction of the road reference line in the straight road is smaller than a preset first angle threshold value.
In one example, the first determining module 5200 is further configured to: and corresponding the central line of each lane to the road reference line which has the minimum distance and the minimum included angle.
In one example, the second corresponding module 5300 further includes a coordinate calculation unit and a corresponding unit (not shown in the figure). The coordinate calculation unit is used for determining the coordinate of the corresponding road datum line according to the coordinate of the lane center line; the corresponding unit is used for determining the road section corresponding to each road datum line according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections.
In one example, the corresponding unit is further configured to correspond each road datum to a link which is closest to the road datum and has an included angle smaller than a preset second angle threshold according to the coordinates of the road datum, the coordinates of the link, the geometric form of the road datum and the geometric form of the link.
The invention also provides an electronic device, which comprises the matching device in one aspect.
Fig. 6 is a block schematic diagram of an implementation structure of an electronic device according to another aspect of the present invention.
As shown in fig. 6, the electronic device 600 comprises a memory 601 and a processor 602, wherein the memory 601 is used for storing instructions for controlling the processor 602 to operate so as to execute the matching method.
The processor 602 may be, for example, a central processing unit CPU, a microprocessor MCU, or the like. The memory 601 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like.
In addition to that, the electronic device 600 comprises, according to fig. 6, interface means 603, input means 604, display means 605, communication means 606, speaker 607, microphone 608, etc. Although a plurality of devices are shown in fig. 6, the electronic apparatus of the present invention may only relate to some of the devices, such as the processor 601, the memory 602, the microphone 608, and the like.
The communication device 606 can perform wired or wireless communication, for example.
The interface device 603 includes, for example, a headphone jack, a USB interface, and the like.
The input device 604 may include a touch screen, a key, and the like.
The display device 605 is, for example, a liquid crystal display panel, a touch panel, or the like.
The above embodiments mainly focus on differences from other embodiments, but it should be clear to those skilled in the art that the above embodiments can be used alone or in combination with each other as needed.
The embodiments in the present disclosure are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments, but it should be clear to those skilled in the art that the embodiments described above can be used alone or in combination with each other as needed. In addition, for the device embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for relevant points, refer to the description of the corresponding parts of the method embodiment. The system embodiments described above are merely illustrative, in that modules illustrated as separate components may or may not be physically separate.
The present invention may be an apparatus, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (10)
1. A method for matching a high-precision map with a two-dimensional map is characterized by comprising the following steps:
determining a road reference line according to a lane central line in a high-precision map; the road datum line is a vector line segment used for describing the road driving direction;
determining a lane central line corresponding to each road datum line;
determining a road section corresponding to each road datum line according to the coordinates of the lane center line, the coordinates of the road sections in the two-dimensional map, the geometric forms of the road datum lines and the geometric forms of the road sections;
determining a lane central line corresponding to each road section according to the corresponding relation between the lane central line and the road reference line and the corresponding relation between the road reference line and the road section;
and matching the high-precision map with the two-dimensional map according to the corresponding relation between the road section and the lane central line.
2. The matching method according to claim 1, wherein the step of determining the road reference line based on the lane center line in the high-precision map includes:
determining a road reference line in a straight road according to the center line of the innermost lane in the straight road;
determining a connection point of a road reference line at a crossing according to the connection point of the lane center line at the crossing;
determining another connection point of the road reference line at the intersection according to one connection point of the road reference line at the intersection, the connection point of the road reference line in the straight road and the direction of the lane center line at the intersection;
obtaining a road reference line at the intersection according to the two connection points of the road reference line at the intersection;
and when an included angle between the direction of the road reference line at the intersection and the direction of the road reference line in the straight road is smaller than a preset first angle threshold, the distance between two connection points of the road reference line at the intersection is the minimum.
3. The matching method according to claim 1, wherein the step of determining a lane center line corresponding to each of the road reference lines includes:
and corresponding each lane center line to a road reference line which has the smallest distance and the smallest included angle.
4. The matching method according to claim 1, wherein the step of determining the link corresponding to each of the road reference lines based on the coordinates of the lane center line, the coordinates of the link in the two-dimensional map, the geometry of the road reference line, and the geometry of the link comprises:
determining the coordinates of the corresponding road datum line according to the coordinates of the lane center line;
and determining the road section corresponding to each road datum line according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections.
5. The matching method according to claim 4, wherein the step of determining the link corresponding to each of the road reference lines based on the coordinates of the road reference lines, the coordinates of the link, the geometry of the road reference lines, and the geometry of the link includes:
and according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections, corresponding each road datum line to the road section which is closest to the road datum line and has an included angle smaller than a preset second angle threshold value.
6. A matching device of a high-precision map and a two-dimensional map is characterized by comprising:
the datum line determining module is used for determining a road datum line according to a lane central line in the high-precision map; the road datum line is a vector line segment used for describing the road driving direction;
the first corresponding module is used for determining a lane central line corresponding to each road datum line;
the second corresponding module is used for determining the road section corresponding to each road datum line according to the coordinates of the lane center line, the coordinates of the road sections in the two-dimensional map, the geometric forms of the road datum lines and the geometric forms of the road sections;
the third corresponding module is used for determining the lane central line corresponding to each road section according to the corresponding relation between the lane central line and the road reference line and the corresponding relation between the road reference line and the road section; and the number of the first and second groups,
and the map matching module is used for matching the high-precision map with the two-dimensional map according to the corresponding relation between the road section and the lane central line.
7. The matching device of claim 6, wherein the baseline determination module is further configured to:
determining a road reference line in a straight road according to the center line of the innermost lane in the straight road;
determining a connection point of a road reference line at a crossing according to the connection point of the lane center line at the crossing;
determining another connection point of the road reference line at the intersection according to one connection point of the road reference line at the intersection, the connection point of the road reference line in the straight road and the direction of the lane center line at the intersection;
obtaining a road reference line at the intersection according to the two connection points of the road reference line at the intersection;
and when an included angle between the direction of the road reference line at the intersection and the direction of the road reference line in the straight road is smaller than a preset first angle threshold, the distance between two connection points of the road reference line at the intersection is the minimum.
8. The matching device of claim 6, wherein the second corresponding module further comprises:
the coordinate calculation unit is used for determining the coordinate of the corresponding road datum line according to the coordinate of the lane center line;
and the corresponding unit is used for determining the road section corresponding to each road datum line according to the coordinates of the road datum lines, the coordinates of the road sections, the geometric forms of the road datum lines and the geometric forms of the road sections.
9. An electronic device, characterized in that it comprises a matching device according to any one of claims 6-8.
10. An electronic device comprising a memory and a processor, the memory for storing instructions for controlling the processor to perform the matching method of any of claims 1-5.
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