CN111488421A - Data fusion method of traditional map and high-precision map - Google Patents
Data fusion method of traditional map and high-precision map Download PDFInfo
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- CN111488421A CN111488421A CN202010342652.9A CN202010342652A CN111488421A CN 111488421 A CN111488421 A CN 111488421A CN 202010342652 A CN202010342652 A CN 202010342652A CN 111488421 A CN111488421 A CN 111488421A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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Abstract
The invention provides a data fusion method of a traditional map and a high-precision map, which comprises the following steps: a map information acquisition step: acquiring data information corresponding to a traditional map and a high-precision map in a preset area range; and data matching processing: organizing the data through the similarity of the related attributes of the data, and further matching the data of different dimensions in the traditional map and the high-precision map; a step of hierarchical fusion treatment: fusing and storing the data of each dimension according to the matching result of the data matching processing step; the map data are hierarchically associated by projecting the traditional map and the high-precision map under the same coordinate system through the same projection algorithm and then are matched, and the mapping relation between the traditional road and the high-precision lane is realized by data fusion.
Description
Technical Field
The invention belongs to the technical field of electronic map data processing, and particularly relates to a data fusion method of a traditional map and a high-precision map, which can perform data fusion processing on the traditional map and the high-precision map so as to obtain the electronic map more suitable for the fields of automatic driving, intelligent transportation and the like.
Background
With the rapid development of science and technology, electronic maps have completely entered the lives of common people and become necessary products for people to go out daily nowadays.
The traditional map, namely the traditional electronic map, is based on roads, abstracts the roads into a road line and records road information; intersections are represented by nodes, and the nodes record road traffic relations; elevation is not provided by data, road additional facilities are represented in a form of associated attributes, and road level navigation can be realized by matching roads before navigation. At present, the technology of the traditional map is mature and widely applied.
With the rapid development of information technology, high-precision maps have gradually appeared. The high-precision map, namely the high-precision map, is a map defined in a high-precision and fine manner, and the precision of the high-precision map needs to be capable of distinguishing each lane. With the development of positioning technology, high-precision positioning has become possible. The fine definition needs to store various traffic elements in the traffic scene in a standardized manner, including road network data, lane lines, traffic signs and other data of the conventional map. Based on the road lane line, the intersection is represented by lane connection, data provides lane gradient, and road additional facilities are stored in a map layer mode, so that lane-level navigation can be realized, and the accuracy error is 0.1M.
Although the high-precision map can associate various road information on roads so as to realize rapid path planning, navigation, retrieval and the like, the high-precision map is not comprehensively applied at present, so that various geodess have a set of mature data storage specifications.
With the autonomous Beidou positioning system developed in China, the high-precision positioning application is more and more popular. With the popularization of the 5G communication technology, the requirement on the accuracy of the map data is higher. High-precision maps based on automatic driving are generated, but how to fuse with traditional electronic maps and how to realize quick retrieval, path planning, accurate matching and quick updating still remains a problem to be solved in the field.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a data fusion method for a conventional map and a high-precision map, which can perform data fusion processing on the conventional map and the high-precision map to obtain an electronic map more suitable for the fields of automatic driving, intelligent transportation, and the like.
The invention provides a data fusion method of a traditional map and a high-precision map, which is characterized by comprising the following steps of:
a map information acquisition step: acquiring data information corresponding to a traditional map and a high-precision map in a preset area range;
and data matching processing: organizing the data through the similarity of the data association attributes under the same coordinate system, and further matching the data of different dimensions in the traditional map and the high-precision map;
a step of hierarchical fusion treatment: and fusing and storing the data of each dimension according to the matching result of the data matching processing step.
The data fusion method of the traditional map and the high-precision map provided by the invention can also have the characteristics that the data matching processing step comprises the following steps:
and (3) road information matching: matching a corresponding traditional road according to the road name, the road passing direction and the road shape corresponding to the high-precision map; associating all lane information of the corresponding high-precision road to the road of the traditional map, and simultaneously recording the information of the relevant lanes in the traditional road information; the shape and the nodes of the traditional map road are corrected through the high-precision map road range, and other additional connection attributes of the traditional map data are kept unchanged.
The data fusion method of the traditional map and the high-precision map provided by the invention can also have the characteristic that the hierarchical fusion processing step further comprises the following steps:
further matching other map-layer information based on the road information matching result, wherein the specific process is as follows:
for the map layers of both the traditional map and the high-precision map, firstly acquiring roads of traditional map data according to the acquired association relation of lanes associated with the high-precision map layer, then acquiring specified attribute data associated with the traditional roads, performing comparative analysis through information and attribute contents recorded by the map layers, converting and updating position coordinate precision and converting and classifying attributes according to a data storage mode, and updating the position coordinate precision and the converting and classifying attributes into the traditional map;
and directly increasing the road attributes corresponding to the traditional map data according to the data specification for the data attributes of other map layers of the high-precision map which are not provided in the traditional map.
In the data fusion method of the traditional map and the high-precision map provided by the invention, the hierarchical storage is to update the associated map data based on a two-level quadtree formula, the data is divided into a road level and a lane level, the lowest layer in the data model is three-dimensional high-precision data based on the lane level, and whether the data storage is determined by the attribute corresponding to the road attribute of the previous layer or not can be further characterized.
In the data fusion method of the conventional map and the high-precision map provided by the present invention, there may be a feature that, in the map information acquisition step, if there is no corresponding conventional map data within the data range of the current high-precision map, a conventional road extraction process based on a predetermined rule is performed, where the extraction process is:
converting the specified lane into a traditional road according to the road of the high-precision map, and extracting nodes;
further, road extension is carried out at the intersection of the traditional road until the intersection is crossed, and the node is converted into an intersection point; and converting other layers associated with the high-precision map lane according to the relationship of the road and the storage specification types, and storing the converted layers into the related attributes of the traditional road. Namely, the road is extracted first, and then the map layer for association is converted.
Action and Effect of the invention
According to the data fusion method of the traditional map and the high-precision map, the map data are hierarchically associated after the traditional map and the high-precision map are subjected to projection processing and data matching under the same coordinate system, then the data are fused, so that the mapping relation between the traditional road and the high-precision lane can be realized, the high-precision map information is enriched by utilizing the information fusion of the traditional map, the map data can be effectively and quickly updated, the information of the high-precision map can be abstractly previewed, and the information of the traditional electronic map is enriched; on the basis of traditional electronic map data, the attributes of the two data are mutually supplemented through matching of high-precision map data in the same area, the map data precision is updated, the map intelligence is improved, and a foundation is laid for application such as subsequent path exploration and unmanned driving.
Drawings
Fig. 1 is a flowchart of a data fusion method of a conventional map and a high-precision map in an embodiment of the present invention.
Fig. 2 is a diagram illustrating a projection result of map data according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an electronic map obtained by the fusion processing in the embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
< example >
Fig. 1 is a flowchart of a data fusion method of a conventional map and a high-precision map in an embodiment of the present invention.
As shown in fig. 1, the embodiment provides a data fusion method 100 for a traditional map and a high-precision map, which is used for implementing data fusion of the traditional map and the high-precision map, so that an electronic map obtained after fusion is more accurate, and can be widely applied to intelligent fields such as unmanned driving, intelligent transportation, electronic map navigation, map data mining and the like. The data fusion method 100 includes the steps of:
s1, map information acquisition step: and acquiring data information corresponding to the traditional map and the high-precision map in the preset area range according to the data storage specification.
In this map information acquisition step S1, if there is no conventional map data within the data range of the current high-precision map, conventional roads can be extracted by a certain rule. The extraction process comprises the following steps:
and converting the specified lane into the road of the traditional road according to the road of the high-precision map, and extracting nodes.
Then, further extending the road at the intersection of the traditional road to the intersection, wherein the node is converted into an intersection point.
And finally, converting other layers of the high-precision map according to the categories and the storage rules, and storing the converted layers into the related attributes of the traditional road.
S2, data matching processing step: and organizing the data through the similarity of the data association attributes under the same coordinate system, and further matching the data of different dimensions in the traditional map and the high-precision map.
Fig. 2 is a diagram illustrating a projection result of map data according to an embodiment of the present invention.
In the data matching process step S2, as shown in fig. 2, the data information of the conventional map and the data information of the high-precision map are first projected under the same coordinate system by the projection algorithm. Then, matching the data with different dimensions contained in the lock between the traditional map and the high-precision map under the coordinate system, wherein the processing process of data matching comprises the following steps:
and (3) road information matching: matching the corresponding traditional road according to the rich attribute road name, the road passing direction and the road shape corresponding to the high-precision map; therefore, other layer attributes on the road association are also associated to the high-precision map; simultaneously, associating all lane information corresponding to the high-precision road to the road of the traditional map, and simultaneously recording the information of the relevant lanes in the traditional road information; and after matching is finished, the shape and the nodes of the traditional map road are corrected through the high-precision map road range, and other additional connection attributes of the traditional map data are kept unchanged.
Further matching other map-layer information based on the road information matching result, specifically including two situations, as follows:
processing of attributes (namely layers) of both traditional maps and high-precision maps
Because a lot of other information is stored in the high-precision map data according to the map layer, the high-precision map data generally have a relationship with the road; and the corresponding information of the conventional map data is generally stored in the road-associated attribute table. Therefore, for the layers of both the traditional map and the high-precision map, firstly, the roads of the traditional map data are obtained according to the acquired association relation of the lanes associated with the high-precision map layer, then the specified attribute data associated with the traditional roads are obtained, and the information and the attribute content recorded by the layers are compared and analyzed, wherein the high-precision map layer information is used as the reference, and the position coordinates and the classification attributes are converted and updated according to a data storage mode and are updated into the traditional map data.
Second, processing data attribute in high-precision map layer which is not provided in traditional map
For the data attributes of other map layers of a high-precision map which are not provided in the traditional map, the road attributes corresponding to the traditional map data are directly added.
S3, hierarchical fusion processing: and fusing and storing the data of each dimension according to the matching result of the data matching processing step.
In the hierarchical fusion processing step S3, the hierarchical storage is to update the associated map data based on a two-level quadtree formula, and the map data is specifically classified into a road level and a lane level, where the lowest layer is a lane-based level high-precision map.
Fig. 3 is a schematic diagram of an electronic map obtained by the fusion processing in the embodiment of the present invention.
The fusion processing of the traditional map and the high-precision map can be realized through the three steps shown in the figure 1, the electronic map shown in the figure 3 is obtained, the information of the traditional map is utilized, the rich high-precision map information is fused, the map data is effectively and quickly updated, and a foundation is laid for future path exploration and unmanned application.
Effects and effects of the embodiments
According to the data fusion method of the traditional map and the high-precision map, the map data are hierarchically associated after the traditional map and the high-precision map are subjected to projection processing and data matching under the same coordinate system, then the data are fused, so that the mapping relation between the traditional road and the high-precision lane can be realized, the high-precision map information is enriched by utilizing the information fusion of the traditional map, the map data can be effectively and quickly updated, the information of the high-precision map can be abstractly previewed, and the information of the traditional electronic map is enriched; on the basis of traditional electronic map data, the attributes of the two data are mutually supplemented through matching of high-precision map data in the same area, the map data precision is updated, the map intelligence is improved, and a foundation is laid for application such as subsequent path exploration and unmanned driving.
The purpose of this embodiment is to realize effective fusion between different precision map data, provide more accurate, more targeted navigation service, and it is very meaningful to carry out effective fusion on traditional map data and high precision data. Moreover, the electronic map obtained by the data fusion method of the embodiment can be quickly inquired and retrieved and further lay a good foundation based on other high-level applications and calculations made by path planning made by a navigator.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (5)
1. A data fusion method of a traditional map and a high-precision map is characterized by comprising the following steps:
a map information acquisition step: acquiring data information corresponding to a traditional map and a high-precision map in a preset area range according to the data storage specification;
and data matching processing: organizing the data through the similarity of the data association attributes under the same coordinate system, and further matching the data of different dimensions in the traditional map and the high-precision map;
a step of hierarchical fusion treatment: and fusing and storing the data of each dimension according to the matching result of the data matching processing step.
2. The data fusion method of the traditional map and the high-precision map as claimed in claim 1, characterized in that:
the data matching processing step comprises:
and (3) road information matching: matching the corresponding traditional road according to the rich attribute road name, the road passing direction and the road shape corresponding to the high-precision map, so that other layer attributes on the road association are also associated to the high-precision map; simultaneously, associating all lane information of the corresponding high-precision road to the road of the traditional map, and simultaneously recording the information of the relevant lanes in the traditional road information; the shape and the nodes of the traditional map road are corrected through the high-precision map road range, and other additional connection attributes of the traditional map data are kept unchanged.
3. The data fusion method of the traditional map and the high-precision map as claimed in claim 2, characterized in that:
the hierarchical fusion processing step further includes:
further matching other map-layer information based on the road information matching result, wherein the specific process is as follows:
for the layers of both the traditional map and the high-precision map, acquiring roads of traditional map data according to the association relation acquired by the lanes associated with the high-precision map layer, then acquiring the attribute data of the specified layer associated with the traditional roads, performing comparative analysis through the information and the attribute content recorded by the layer, and converting and updating the position coordinate precision and the conversion and classification attributes according to the data storage mode to update the traditional map data;
and directly adding the road attribute corresponding to the traditional map data to the data attribute of other map layers of the high-precision map which is not provided in the traditional map.
4. The data fusion method of the traditional map and the high-precision map as claimed in claim 3, characterized in that:
the hierarchical storage is to update the associated map data based on a two-level quad-tree formula, the data are divided into a road level and a lane level, and the lowest layer is a lane-based high-precision map.
5. The data fusion method of the traditional map and the high-precision map as claimed in claim 1, characterized in that:
in the map information obtaining step, if there is no corresponding traditional map data in the data range of the current high-precision map, performing traditional road extraction processing based on a predetermined rule, where the extraction process is as follows:
converting the specified lane into a traditional road according to the road of the high-precision map, and extracting nodes;
further, road extension is carried out at the intersection of the traditional road until the intersection is crossed, and the node is converted into an intersection point; and
and converting other layers of the high-precision map according to the category and a storage rule, and storing the converted layers into the related attributes of the traditional road.
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| CN114413914A (en) * | 2022-01-18 | 2022-04-29 | 上汽通用五菱汽车股份有限公司 | Precision improving method and system for high-precision map and computer readable storage medium |
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