CN111708857A

CN111708857A - Processing method, device and equipment of high-precision map data and storage medium

Info

Publication number: CN111708857A
Application number: CN202010522378.3A
Authority: CN
Inventors: 李春晓; 彭玮琳; 黄杰; 宋适宇
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-09-25
Anticipated expiration: 2040-06-10
Also published as: CN111708857B

Abstract

The embodiment of the application discloses a method, a device, equipment and a storage medium for processing high-precision map data, which relate to map data processing technology for automatic driving and comprise the following steps: segmenting physical layer map elements in the high-precision map, and distributing the physical layer map elements obtained by segmentation to an operation unit; determining an element association relation corresponding to the physical layer map elements obtained through segmentation, wherein the element association relation indicates an association relation between the physical layer map elements in the high-precision map; and distributing the element association relation to the operation unit according to the distribution relation between the physical layer map element corresponding to the element association relation and the operation unit. According to the embodiment of the application, the efficiency and the quality of parallel processing of high-precision map data can be improved.

Description

Processing method, device and equipment of high-precision map data and storage medium

Technical Field

The embodiment of the application relates to the field of data processing, in particular to a map data processing technology for automatic driving.

Background

The high-precision map is an electronic map with higher precision and more data dimensions. The accuracy is higher, and the data dimension is more embodied by the fact that the data dimension comprises surrounding static information which is related to traffic besides road information. The high-precision map can be applied to the fields of automatic driving and the like.

The high-precision map has abundant data information such as road elements, and can help an automobile to predict road surface complex information and better avoid potential risks when being applied to the navigation field. Compared with the common map, the high-precision map increases a large amount of geometric information, lane information, traffic sign information and the like, and has various elements and attributes, and the precision reaches centimeter level. The requirement of complexity and accuracy of high-precision maps also brings great challenges to mass production of maps.

At present, in order to meet the requirement of mass production of high-precision maps, high-precision map data is generally processed in a parallel operation mode, complex data is divided into relatively independent small operation units, and the operation units are updated or modified in parallel. However, the efficiency and quality of the existing parallel processing of high-precision map data are still low.

Disclosure of Invention

The embodiment of the application provides a method, a device and equipment for processing high-precision map data and a storage medium, so as to improve the efficiency and quality of parallel processing of the high-precision map data.

In a first aspect, an embodiment of the present application provides a method for processing high-precision map data, including:

segmenting physical layer map elements in the high-precision map, and distributing the physical layer map elements obtained by segmentation to an operation unit;

determining an element association relation corresponding to the physical layer map elements obtained through segmentation, wherein the element association relation indicates an association relation between the physical layer map elements in the high-precision map;

and distributing the element association relation to the operation unit according to the distribution relation between the physical layer map element corresponding to the element association relation and the operation unit.

In a second aspect, an embodiment of the present application provides an apparatus for processing high-precision map data, including:

the physical layer map element segmentation module is used for segmenting physical layer map elements in the high-precision map and distributing the physical layer map elements obtained through segmentation to the operation units;

the element incidence relation determining module is used for determining an element incidence relation corresponding to the physical layer map elements obtained through segmentation, and the element incidence relation indicates the incidence relation between the physical layer map elements in the high-precision map;

and the element association relation distribution module is used for distributing the element association relation to the operation unit according to the distribution relation between the physical layer map element corresponding to the element association relation and the operation unit.

In a third aspect, an embodiment of the present application provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the processing method of high-precision map data provided by the embodiment of the first aspect.

In a fourth aspect, the present application provides a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are configured to cause the computer to perform the processing method of high-precision map data provided in the first aspect.

According to the embodiment of the application, the physical layer map elements in the high-precision map are segmented, the physical layer map elements obtained through segmentation are distributed to the operation units, then the element association relation corresponding to the physical layer map elements obtained through segmentation is determined, and the element association relation is distributed to the operation units according to the distribution relation of the physical layer map elements corresponding to the element association relation and the operation units, so that the problems of low efficiency and quality and the like in the existing parallel processing of high-precision map data are solved, and the efficiency and the quality of the parallel processing of the high-precision map data are improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

fig. 1 is a flowchart of a processing method of high-precision map data according to an embodiment of the present application;

fig. 2 is a flowchart of a processing method of high-precision map data according to an embodiment of the present application;

fig. 3 is a block diagram of a processing device for high-precision map data according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device for implementing the processing method of high-precision map data according to the embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In an example, fig. 1 is a flowchart of a processing method of high-precision map data according to an embodiment of the present application, which is applicable to a case where elements and associations in the high-precision map data are accurately segmented and processed, and the method may be executed by a processing apparatus of the high-precision map data, and the apparatus may be implemented by software and/or hardware, and may be generally integrated in an electronic device. The electronic device may be a computer device. Accordingly, as shown in fig. 1, the method comprises the following operations:

and S110, segmenting physical layer map elements in the high-precision map, and distributing the segmented physical layer map elements to operation units.

The physical layer map elements may be elements used for representing various objects in the high-precision map, and are elements directly representing real existence in the physical world, including but not limited to position coordinate information or attribute information. The attribute information corresponding to different physical layer map elements is also different. For example, lanes are a kind of physical layer map element, and attribute information corresponding to each lane may be different. For example, lane 1 is a left turn lane, lane 2 is a right turn lane, and lane 3 is a straight lane. The job unit may be a unit provided for the high-precision map for processing the high-precision map data. In an alternative embodiment of the present application, the number of job units may be plural. Each job cell may store partial data of a high-precision map. Different operation units can independently operate, namely, each operation unit can process the stored high-precision map data in parallel. The sizes of the operation units may be the same or different, and this is not limited in the embodiments of the present application.

In the embodiment of the present application, optionally, the job units may be divided according to the scale of the high-precision map and the position coordinate information of the high-precision map, and the size and the number of the job units are not limited in the embodiment of the present application. Correspondingly, when the high-precision map is segmented, the physical layer map elements in the high-precision map can be segmented firstly, and the physical layer map elements obtained through segmentation are distributed to the operation units. Optionally, the physical layer map elements may be processed according to the position coordinate information corresponding to the physical layer map elements, and the physical layer map elements obtained by segmentation may be distributed to the corresponding operation units. It should be noted that, in the embodiment of the present application, the physical layer map element allocated to the job unit is an integral element, rather than a partial element obtained by splitting.

For example, assuming that the position coordinate of the physical layer map element a is latitude 45 ° and longitude 50 °, the position coordinate information corresponding to one job unit B near the physical layer map element a is: the latitude is 40-60 degrees, the longitude is 45-55 degrees, and the physical layer map element A obtained by splitting can be distributed to the operation unit B. Assuming that the position coordinate of the physical layer map element C is 49-60 ° latitude and 50 ° longitude, the position coordinate information corresponding to one operation unit D near the physical layer map element C is: latitude 40-50 degrees, longitude 45-55 degrees, and position coordinate information corresponding to another operation unit E is as follows: the latitude is 51-60 deg., the longitude is 45-55 deg., the entire physical layer map element C may be assigned to the job unit E instead of breaking the physical layer map element C into two parts and assigning the two parts thus broken to the job unit D and the job unit E, respectively.

It can be understood that the high-precision map is drawn by taking the physical layer map element as a basic unit in the drawing process. Therefore, when the physical layer map elements are divided, the physical layer map elements can be directly obtained according to the original data of the high-precision map.

Therefore, the obtained complete physical layer map elements are directly distributed to the operation units, so that the independent physical layer map elements are prevented from being respectively distributed to different operation units, and the redundant operation that the same physical layer map element is processed by different operation units at the same time is also avoided, so that the data processing efficiency and quality of each operation unit are improved, and the parallel processing efficiency and quality of the high-precision map are integrally improved.

And S120, determining an element association relation corresponding to the physical layer map elements obtained through segmentation, wherein the element association relation indicates the association relation between the physical layer map elements in the high-precision map.

The element association relationship may be a geometric relationship or a logical relationship between the physical layer map elements. Illustratively, the relationship between the intersection and the lane line, the relationship between the intersection and the traffic light, or the relationship between the traffic sign and the control lane, etc. may be an element association relationship.

It can be understood that the element association relationship corresponds to a physical layer map element, and the corresponding association object may be two or even a plurality of physical layer map elements. For example, the relationship between the intersection and the left-turn lane is: the intersection is connected with the left-turn lane, and the associated objects of the association relationship are two physical layer map elements of the intersection and the left-turn lane. The correlation among the intersection, the left-turn lane and the right-turn lane is as follows: the intersection comprises a left-turn lane and a right-turn lane, the intersection is simultaneously connected with the left-turn lane and the right-turn lane, and the associated objects of the association relationship are three physical layer map elements, namely the intersection, the left-turn lane and the right-turn lane.

In the embodiment of the application, after each physical layer map element is allocated to the corresponding operation unit, the element association relation corresponding to each physical layer map element can be determined, so that the element association relation can be segmented.

And S130, distributing the element association relation to the operation unit according to the distribution relation between the physical layer map element corresponding to the element association relation and the operation unit.

Correspondingly, after the element association relation corresponding to the physical layer map element obtained through segmentation is determined, the element association relation can be distributed to the operation unit. Specifically, the element association relationship may be assigned to the job unit according to the assignment relationship between the physical layer map element and the job unit corresponding to the element association relationship. For example, assuming that two physical layer map elements corresponding to the element association relationship are both allocated to the job unit a, the element association relationship may also be allocated to the job unit a.

It can be understood that if the element association relationship is simply broken and respectively allocated to different operation units, it is very easy to cause the same association relationship to be processed respectively at different operation units, which is a repetitive data processing process. Meanwhile, when the merging processing is performed, the editing conflict and the standby of manual inspection for the same association relationship in different operation units can seriously weaken the advantages of parallel operation, thereby affecting the efficiency and the quality of parallel processing of high-precision maps.

Therefore, the element association relationship is segmented according to the distribution relationship between the physical layer map elements corresponding to the element association relationship and the operation units, the condition that the same element association relationship is processed in the two operation units respectively can be effectively avoided, the processing difficulty of edge joint and merging can be effectively reduced, and the efficiency and the quality of parallel processing of the high-precision map are improved.

In an example, fig. 2 is a flowchart of a processing method of high-precision map data provided in an embodiment of the present application, and the embodiment of the present application performs optimization and improvement on the basis of the technical solutions of the foregoing embodiments, and provides a specific implementation manner for splitting a physical layer map element in a high-precision map, allocating the physical layer map element obtained by the splitting to an operation unit, determining an element association relationship corresponding to the physical layer map element obtained by the splitting, and allocating the element association relationship to the operation unit according to an allocation relationship between the physical layer map element corresponding to the element association relationship and the operation unit.

A processing method of high-precision map data as shown in fig. 2 includes:

s210, segmenting physical layer map elements in the high-precision map, and distributing the segmented physical layer map elements to operation units.

Correspondingly, S210 may specifically include:

and S211, acquiring trace point information of each physical layer map element.

The trace point information may be information of a point element corresponding to the physical layer map element.

In the embodiment of the application, when the map elements of the physical layer are divided, trace point information of each map element of the physical layer may be obtained first.

S212, segmenting each physical layer map element according to the trace point information, and distributing the physical layer map elements obtained through segmentation to the operation units.

Specifically, each physical layer map element may be segmented according to trace point information of each physical layer map element, and the physical layer map elements obtained by segmentation are allocated to the operation unit. The advantage of segmenting the map elements of each physical layer according to the trace point information is as follows: the distribution relation between each physical layer map element and each operation unit can be determined according to the trace point information of each physical layer map element, so that the physical layer map elements are accurately distributed to each operation unit.

In an optional embodiment of the present application, the physical layer map element may include at least one of a point element, a line element, and a polygon element; the trace point information of the point elements can be point element coordinates; the trace point information of the line element may be point distribution information; the trace point information of the polygon element may be vertex distribution information.

The point elements can be traffic lights, telegraph poles, traffic signs or the like, and the element objects which can be presented by points on the high-precision map can be the point elements. Accordingly, the line element may be an element object represented by a linear shape such as a lane or a river, and the polygon element may be an element object represented by a polygon shape such as a lawn, a lake, or a building. Likewise, the embodiments of the present application do not limit the specific types of line elements and polygon elements. Accordingly, for a point element, the trace information may be the coordinates of the point element, and for a line element, the trace information may be the distribution information of all points on the line element. For a polygon element, the trace point information may be distribution information of each vertex of the polygon.

In the embodiment of the present application, the physical layer map elements may include, but are not limited to, geometric elements such as point elements, line elements, or polygon elements. Different types of geometric elements represent different display modalities for physical layer map elements. Different types of physical layer map elements can be segmented according to the corresponding trace point information, and the method has the advantages that: the corresponding trace point information can be determined according to the specific types of the map elements of the physical layer, so that the map elements of the physical layer are further segmented according to the trace point information.

In an optional embodiment of the present application, segmenting the line element according to the point distribution information of the line element, and allocating the line element obtained by segmentation to the operation unit may include: determining at least one line-associated job unit for the line element; the line-related operation unit comprises part or all line point elements distributed on the line elements; when the line-related operation unit comprises all line point elements of the line elements, directly distributing the line elements obtained by segmentation to the line-related operation unit; and when the line-related operation unit comprises part of line point elements of the line elements, distributing the line elements obtained by segmentation to the line-related operation unit meeting line element distribution conditions.

In an optional embodiment of the present application, the segmenting the polygon element according to the vertex distribution information of the polygon element, and allocating the polygon element obtained by segmentation to the operation unit may include: determining at least one polygon associated job unit of the polygon elements; the polygon associated operation unit comprises part or all vertex elements of the polygon elements; when the polygon associated operation unit comprises all vertex elements of the polygon elements, directly distributing the polygon elements obtained by segmentation to the polygon associated operation unit; and when the polygon associated operation unit comprises partial vertex elements of the polygon elements, distributing the polygon elements obtained by segmentation to the polygon associated operation unit meeting the distribution condition of the polygon elements.

The line-associated job units may be job units associated with line elements, and each line-associated job unit may include part or all of line point elements of a line element. The line point elements are the points that make up the line elements. The polygon associated job cell may be a job cell with which the polygon element is associated. Each polygon associated job cell may include some or all of the vertex elements of the polygon element. The vertex elements are the vertices of the polygon elements. The line element assignment condition may be a condition for assigning a line element, and for example, the line element assignment condition may be: the line element is occupied by the largest number of line point elements. The polygon element assignment condition may be a condition for assigning a polygon element, and for example, the polygon element assignment condition may be: occupying the most vertex elements of the polygon elements.

Specifically, when the physical layer map element is a point element, the physical layer map element may be specifically segmented according to a point element coordinate of the physical layer map element, and the physical layer map element obtained by the segmentation is allocated to the operation unit. In a specific example, assuming that the position coordinates of the point element a are latitude 45 ° and longitude 50 °, the position coordinate information corresponding to one working unit B in the vicinity of the point element a is: latitude 40-60 deg., longitude 45-55 deg., the point element a obtained by the segmentation can be assigned to the operation unit B.

Specifically, when the physical layer map element is a line element, at least one line-associated working unit of the line element may be determined first. If only one line-related operation unit indicates that all points on the line element are distributed in the line-related operation unit, the line element can be directly distributed to the line-related operation unit; if the number of line-associated job units is plural, indicating that all points on the line element are distributed in plural line-associated job units at the same time, the line element may be allocated to a line-associated job unit satisfying the line element allocation condition. In a specific example, assume that the position coordinates of line element a are latitude 45 ° -51 °, longitude 50 °, and the line-associated work units corresponding to line element a are work unit B, work unit C, and work unit D, respectively. The position coordinate information corresponding to the operation unit B is as follows: latitude 41-45 degrees, longitude 50 degrees, and the position coordinate information corresponding to the operation unit C is as follows: latitude 46-50 degrees and longitude 50 degrees, and the position coordinate information corresponding to the operation unit D is as follows: latitude 51-55 deg. and longitude 50 deg.. As can be seen, the operation unit C includes the most line point elements of the line element a, and the line element a obtained by splitting may be allocated to the operation unit C.

Specifically, when the physical layer map element is a polygon element, at least one line-associated work unit of the polygon element may be determined first. If only one line-associated operation unit indicates that all the vertexes of the polygon element are distributed in the line-associated operation unit, the polygon element can be directly distributed to the line-associated operation unit; if the number of the polygon-associated job units is plural, indicating that all the vertices on the polygon element are distributed in the plural line-associated job units at the same time, the polygon element may be assigned to the line-associated job unit satisfying the polygon element assignment condition. In a specific example, assume that the position coordinates of the polygon element a are 45 ° -51 ° latitude, 50 ° -60 ° longitude, and the line-associated work units corresponding to the polygon element a are respectively the work unit B and the work unit C. The position coordinate information corresponding to the operation unit B is as follows: the latitude is 41-45 degrees, the longitude is 50-70 degrees, and the position coordinate information corresponding to the operation unit C is as follows: latitude is 46-55 degrees, longitude is 50-70 degrees. As can be seen, the operation unit C includes the largest number of vertex elements of the polygon element a, and the line element a obtained by splitting may be allocated to the operation unit C.

In the above scheme, the operation unit matched with each physical layer map element is determined according to the trace point information of each physical layer map element, the operation unit most closely associated with each physical layer map element can be used as the assigned operation unit, accurate assignment of each physical layer map element can be realized, and the efficiency and quality of data processing of each operation unit are improved.

And S220, determining the element association relation corresponding to the physical layer map elements obtained through segmentation.

Correspondingly, S220 may specifically include:

and S221, acquiring an original element association relation corresponding to each physical layer map element.

The original element association relationship may be an element association relationship originally existing between map elements of physical layers in the high-precision map.

The original element incidence relation in the high-precision map can be automatically calculated and obtained through a related algorithm, part of the original element incidence relation cannot be automatically obtained through the algorithm, and the original element incidence relation can also be obtained in a manual supplement setting mode.

S222, determining the element association relation corresponding to the physical layer map element according to the number of the physical layer map elements corresponding to the original element association relation.

It can be understood that the number of the physical layer map elements corresponding to the original element association relationship may be two, or may be multiple. Therefore, when determining the element association relationship corresponding to the physical layer map elements obtained by splitting, the element association relationship corresponding to the physical layer map elements obtained by splitting may be specifically determined according to the number of the physical layer map elements corresponding to the original element association relationship.

In an optional embodiment of the present application, the determining, according to the number of physical layer map elements corresponding to the original element association relationship, an element association relationship corresponding to the physical layer map element may include: when the original element association relationship corresponds to two physical layer map elements, directly taking the original element association relationship as the element association relationship corresponding to the two physical layer map elements; and when the original element association relationship corresponds to more than three physical layer map elements, determining the element association relationship between every two physical layer map elements as the element association relationship between every two physical layer map elements.

In an optional embodiment of the present application, the determining an element association relationship between every two physical layer map elements may include: and calculating the element association relationship between every two physical layer map elements according to the original element association relationship and the physical layer map elements corresponding to the original element association relationship.

For the original element association relationship, the simplest association manner between the original element association relationship and the physical layer map element is to associate two physical layer map elements. Therefore, if the original element association relationship itself only corresponds to two physical layer map elements, the original element association relationship of this type can be directly used as the element association relationship corresponding to each of the two physical layer map elements. If the original element association relationship corresponds to more than three physical layer map elements, the element association relationship between every two physical layer map elements is further determined for a plurality of physical layer map elements related to the original element association relationship, and the element association relationship is used as the element association relationship between every two physical layer map elements. When determining the element association relationship between every two physical layer map elements, the element association relationship between every two physical layer map elements can be specifically calculated according to the original element association relationship and the physical layer map elements corresponding to the original element association relationship.

In an optional embodiment of the present application, the original element association may include at least one of: original element association relation among intersections, traffic lights and lane lines; original element association relation among intersections, traffic lights and traffic signs; original element association relations between the traffic signs and the plurality of lane lines; original element association relations between the road and a plurality of lane lines; correspondingly, the calculating an element association relationship between every two physical layer map elements according to the original element association relationship and the physical layer map elements corresponding to the original element association relationship may include: calculating the element association relationship between the intersection and the traffic light as well as between the intersection and the lane line according to the original element association relationship between the intersection and the traffic light as well as between the intersection and the lane line; calculating the element association relations between the intersections and the traffic lights and between the intersections and the traffic signs according to the original element association relations between the intersections and the traffic lights and between the intersections and the traffic signs; calculating the element association relation between the traffic sign and each lane line according to the original element association relation between the traffic sign and the lane lines; and calculating the element association relationship between the road and each lane line according to the original element association relationship between the road and the lane lines.

In a specific example, assuming that an original element association relationship exists between an intersection and a plurality of traffic lights and a plurality of lane lines, the original element association relationship can be split into an element association relationship between the intersection and a single traffic light and between the intersection and a single lane line. For example, the first traffic light is located at the northwest corner of the intersection, the second traffic light is located at the northeast corner of the intersection, the left-turn lane line is located in the left region of the intersection, the right-turn lane line is located in the right region of the intersection, and the straight lane line is located in the center region of the intersection. The relative position between the intersection and the traffic lights and the relative position between the intersection and each lane line can be represented by means of position coordinate information. Similarly, if an original element association relationship exists between the intersection and a plurality of traffic lights and a traffic sign, the original element association relationship can be split into the element association relationship between the intersection and a single traffic light and between the intersection and the traffic sign. For example, the first traffic light is located in the northwest corner of the intersection, the second traffic light is located in the northeast corner of the intersection, and the traffic sign is located in the southeast corner of the intersection. If an original element association relationship exists between one traffic sign and a plurality of lane lines, the original element association relationship may be split into element association relationships between the traffic sign and a single lane line. For example, the speed limit sign can control the speed of the left-turn lane line and can also control the speed of the straight lane line. If the original element association relationship exists between the road and the plurality of lane lines, the original element association relationship can be split into the element association relationship between the intersection and each lane line. For example, the left-turn lane line is located in the left area of the intersection, the right-turn lane line is located in the right area of the intersection, and the straight lane line is located in the central area of the intersection.

Therefore, the original element association relation related to more than three physical layer map elements can be split into a plurality of element association relations, and each element association relation corresponds to two associated objects. It should be noted that the types of the original element association relationships corresponding to three or more physical layer map elements are not limited to the above examples, and the embodiments of the present application do not limit the types of the original element association relationships corresponding to three or more physical layer map elements and the types of the related specific physical layer map elements.

The processing method for determining the element association relation corresponding to the physical layer map elements obtained by segmentation has the advantages that: when the number of the physical layer map elements corresponding to the original element association relationship is more than three, the element association relationship between every two physical layer map elements is calculated respectively, the complex original element association relationship can be split into the simple element association relationship, and the process of distributing the element association relationship to the operation unit is facilitated to be simplified.

And S230, distributing the element association relation to the operation unit according to the distribution relation between the physical layer map element corresponding to the element association relation and the operation unit.

Correspondingly, S230 may specifically include:

and S231, judging whether the physical layer map elements corresponding to the element association relationship belong to different operation units, if so, executing S232, otherwise, executing S233.

And S232, copying the element association relation, and distributing each element association relation to the operation unit corresponding to the physical layer map element.

And S233, directly distributing the element association relation to the operation unit corresponding to the physical layer map element.

In the embodiment of the application, since the complex original element association relationship is already split into the element association relationship between every two physical layer map elements, when the element association relationship is distributed, the element association relationship only associating the two physical layer map elements can be distributed.

Specifically, if the physical layer map element corresponding to the element association relationship belongs to different operation units, the element association relationship may be copied, and each element association relationship is respectively allocated to the operation unit corresponding to the physical layer map element. If the physical layer map elements corresponding to the element association relationship belong to the same operation unit, the element association relationship can be directly distributed to the operation unit corresponding to the physical layer map element.

In a specific example, assume that the element association relationship L is: the traffic light A is located at the northeast corner of the intersection B. If the traffic light A belongs to the operation unit A and the intersection B belongs to the operation unit B, the element association relation L can be simultaneously distributed to the operation unit A and the operation unit B. That is, both the job unit a and the job unit B store the element association relationship L. If the traffic light A and the intersection B belong to the operation unit D, the element association relation L can be directly distributed to the operation unit D. That is, only the job unit D stores the element association relationship L.

Therefore, the element association relationship is distributed to the matched operation units according to the distribution relationship between the physical layer map elements corresponding to the element association relationship and the operation units, and when the physical layer map elements corresponding to the element association relationship belong to the same operation unit, the condition that the same element association relationship is simultaneously distributed to a plurality of operation units can be avoided, so that the condition that the same element association relationship is respectively processed in the two operation units is avoided. When the physical layer map elements corresponding to the element association relationship belong to different operation units, the operation units distributed by the physical layer map elements can be ensured to all relate to the element association relationship related to the physical layer map elements, so that the physical layer map elements and the corresponding element association relationship can be processed in parallel.

In an optional embodiment of the present application, after the assigning the element association relationship to the job unit, the method may further include: performing parallel operation on each operation unit of the high-precision map; wherein the parallel job comprises a parallel update and/or a parallel modification.

In the embodiment of the present application, after the high-precision map data is segmented, parallel operations may be performed on the high-precision map by using each job unit, for example, data processing manners such as parallel updating or parallel modification may be performed on data of each job unit. The map data in the operation unit obtained by the technical scheme is more concise and more accurate, so that the efficiency and quality of parallel operation can be effectively improved.

It should be noted that, each operation unit that has completed the segmentation processing may also perform data merging two by two to obtain the final complete high-precision map data. When data merging is performed on the operation units, the element association relationship is also merged. For the job units obtained by the technical scheme, if different job units modify or update the same element association relationship, a conflict of parallel processing can be detected during merging, and a data operator is prompted to merge the conflicting element association relationships.

According to the technical scheme, the physical layer map elements in the high-precision map are segmented, the physical layer map elements obtained through segmentation are distributed to the operation units, then the element association relation corresponding to the physical layer map elements obtained through segmentation is determined, and the element association relation is distributed to the operation units according to the distribution relation of the physical layer map elements corresponding to the element association relation and the operation units, so that the problems of low efficiency and quality and the like in the existing parallel processing of high-precision map data are solved, and the efficiency and the quality of the parallel processing of the high-precision map data are improved.

In one example, fig. 3 is a structural diagram of a processing device for high-precision map data according to an embodiment of the present application. The embodiment of the application is suitable for the condition of accurately segmenting and processing the elements and the incidence relation in the high-precision map data, and the device is realized through software and/or hardware and is specifically configured in computer equipment.

A processing apparatus 300 for high-precision map data as shown in fig. 3 includes: a physical layer map element segmentation module 310, an element association determination module 320, and an element association assignment module 330. Wherein the content of the first and second substances,

the physical layer map element segmentation module 310 is configured to segment physical layer map elements in the high-precision map, and distribute the physical layer map elements obtained through the segmentation to the operation units;

an element association relation determining module 320, configured to determine an element association relation corresponding to the physical layer map elements obtained through segmentation, where the element association relation indicates an association relation between physical layer map elements in the high-precision map;

the element association relationship allocating module 330 is configured to allocate the element association relationship to the operation unit according to the allocation relationship between the physical layer map element corresponding to the element association relationship and the operation unit.

Optionally, the physical layer map element segmentation module 310 includes: the trace point information acquisition unit is used for acquiring trace point information of each physical layer map element; and the physical layer map element segmentation unit is used for segmenting each physical layer map element according to the trace point information and distributing the physical layer map elements obtained by segmentation to the operation unit.

Optionally, the physical layer map element includes at least one of a point element, a line element, and a polygon element; the trace point information of the point elements is point element coordinates; the trace point information of the line element is point distribution information; and the trace point information of the polygon element is vertex distribution information.

Optionally, the physical layer map element segmentation unit is specifically configured to: determining at least one line-associated job unit for the line element; the line-related operation unit comprises part or all line point elements distributed on the line elements; when the line-related operation unit comprises all line point elements of the line elements, directly distributing the line elements obtained by segmentation to the line-related operation unit; and when the line-related operation unit comprises part of line point elements of the line elements, distributing the line elements obtained by segmentation to the line-related operation unit meeting line element distribution conditions.

Optionally, the physical layer map element segmentation unit is specifically configured to: determining at least one polygon associated job unit of the polygon elements; the polygon associated operation unit comprises part or all vertex elements of the polygon elements; when the polygon associated operation unit comprises all vertex elements of the polygon elements, directly distributing the polygon elements obtained by segmentation to the polygon associated operation unit; and when the polygon associated operation unit comprises partial vertex elements of the polygon elements, distributing the polygon elements obtained by segmentation to the polygon associated operation unit meeting the distribution condition of the polygon elements.

Optionally, the element association relationship determining module 320 includes: an original element association relation obtaining unit, configured to obtain an original element association relation corresponding to each physical layer map element; and the element association relation determining unit is used for determining the element association relation corresponding to the physical layer map elements according to the number of the physical layer map elements corresponding to the original element association relation.

Optionally, the element association relationship determining unit is specifically configured to: when the original element association relationship corresponds to two physical layer map elements, directly taking the original element association relationship as the element association relationship corresponding to the two physical layer map elements; and when the original element association relationship corresponds to more than three physical layer map elements, determining the element association relationship between every two physical layer map elements as the element association relationship between every two physical layer map elements.

Optionally, the element association relationship determining unit is specifically configured to: and calculating the element association relationship between every two physical layer map elements according to the original element association relationship and the physical layer map elements corresponding to the original element association relationship.

Optionally, the original element association relationship includes at least one of: original element association relation among intersections, traffic lights and lane lines; original element association relation among intersections, traffic lights and traffic signs; original element association relations between the traffic signs and the plurality of lane lines; and, an original element association relationship between the road and the plurality of lane lines; the element association relation determining unit is specifically configured to: calculating the element association relationship between the intersection and the traffic light as well as between the intersection and the lane line according to the original element association relationship between the intersection and the traffic light as well as between the intersection and the lane line; calculating the element association relations between the intersections and the traffic lights and between the intersections and the traffic signs according to the original element association relations between the intersections and the traffic lights and between the intersections and the traffic signs; calculating the element association relation between the traffic sign and each lane line according to the original element association relation between the traffic sign and the lane lines; and calculating the element association relationship between the road and each lane line according to the original element association relationship between the road and the lane lines.

Optionally, the element association relationship allocating module 330 includes: the first element incidence relation distribution unit is used for copying the element incidence relation when the physical layer map element corresponding to the element incidence relation belongs to different operation units, and distributing each element incidence relation to the operation unit corresponding to the physical layer map element; and the second element association relation distribution unit is used for directly distributing the element association relation to the operation unit corresponding to the physical layer map element when the physical layer map element corresponding to the element association relation belongs to the same operation unit.

Optionally, the number of the operation units is multiple.

Optionally, the processing apparatus 300 for high-precision map data may further include: the parallel operation module is used for performing parallel operation on each operation unit of the high-precision map; wherein the parallel job comprises a parallel update and/or a parallel modification.

The processing device for the high-precision map data can execute the processing method for the high-precision map data provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method. For details of the technology not described in detail in this embodiment, reference may be made to a processing method of high-precision map data provided in any embodiment of the present application.

Since the processing device for high-precision map data described above is a device capable of executing the processing method for high-precision map data in the embodiment of the present application, a person skilled in the art can understand a specific implementation of the processing device for high-precision map data in the embodiment of the present application and various modifications thereof based on the processing method for high-precision map data described in the embodiment of the present application, and therefore, a detailed description of how the processing device for high-precision map data implements the processing method for high-precision map data in the embodiment of the present application is not given here. The scope of the present application is intended to be covered by the claims so long as those skilled in the art can implement the method for processing high-precision map data in the embodiments of the present application.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 4 is a schematic structural diagram of an electronic device for implementing the processing method of high-precision map data according to the embodiment of the present application. As shown in fig. 4, the present application is a block diagram of an electronic device of a method for processing high-precision map data according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 4, the electronic apparatus includes: one or more processors 401, memory 402, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 4, one processor 401 is taken as an example.

Memory 402 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the method of processing high precision map data provided herein. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to perform the method of processing high-precision map data provided by the present application.

The memory 402, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the method of processing of high-precision map data in the embodiments of the present application (e.g., the physical layer map element segmentation module 310, the element association determination module 320, and the element association assignment module 330 shown in fig. 3). The processor 401 executes various functional applications of the server and data processing, i.e., a method of implementing processing of high-precision map data in the above-described method embodiments, by executing non-transitory software programs, instructions, and modules stored in the memory 402.

The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by use of an electronic device that implements a processing method of high-precision map data, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 402 may optionally include a memory remotely disposed from the processor 401, and these remote memories may be connected to an electronic device implementing the processing method of high-precision map data through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device implementing the processing method of high-precision map data may further include: an input device 403 and an output device 404. The processor 401, the memory 402, the input device 403 and the output device 404 may be connected by a bus or other means, and fig. 4 illustrates an example of a connection by a bus.

The input device 403 may receive input numeric or character information and generate key signal inputs related to user settings and function control of an electronic apparatus implementing the processing method of high-precision map data, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 404 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A processing method of high-precision map data is characterized by comprising the following steps:

2. The method according to claim 1, wherein the segmenting the physical layer map elements in the high-precision map and distributing the segmented physical layer map elements to the operation units comprises:

acquiring trace point information of each physical layer map element;

and segmenting each physical layer map element according to the trace point information, and distributing the physical layer map elements obtained by segmentation to the operation units.

3. The method of claim 2, wherein the physical layer map elements comprise at least one of point elements, line elements, and polygon elements;

the trace point information of the point elements is point element coordinates;

the trace point information of the line element is point distribution information;

and the trace point information of the polygon element is vertex distribution information.

4. The method according to claim 3, wherein the slicing the line element according to the point distribution information of the line element and distributing the sliced line element to the job unit includes:

determining at least one line-associated job unit for the line element; the line-related operation unit comprises part or all line point elements distributed on the line elements;

when the line-related operation unit comprises all line point elements of the line elements, directly distributing the line elements obtained by segmentation to the line-related operation unit;

and when the line-related operation unit comprises part of line point elements of the line elements, distributing the line elements obtained by segmentation to the line-related operation unit meeting line element distribution conditions.

5. The method according to claim 3, wherein the segmenting the polygon elements according to the vertex distribution information of the polygon elements and distributing the polygon elements obtained by segmenting to the operation units comprises:

determining at least one polygon associated job unit of the polygon elements; the polygon associated operation unit comprises part or all vertex elements of the polygon elements;

when the polygon associated operation unit comprises all vertex elements of the polygon elements, directly distributing the polygon elements obtained by segmentation to the polygon associated operation unit;

and when the polygon associated operation unit comprises partial vertex elements of the polygon elements, distributing the polygon elements obtained by segmentation to the polygon associated operation unit meeting the distribution condition of the polygon elements.

6. The method of claim 1, wherein determining the element association corresponding to the physical layer map element comprises:

acquiring an original element association relation corresponding to each physical layer map element;

and determining the element association relation corresponding to the physical layer map element according to the number of the physical layer map elements corresponding to the original element association relation.

7. The method according to claim 6, wherein determining the element association relationship corresponding to the physical layer map element according to the number of physical layer map elements corresponding to the original element association relationship comprises:

when the original element association relationship corresponds to two physical layer map elements, directly taking the original element association relationship as the element association relationship corresponding to the two physical layer map elements;

and when the original element association relationship corresponds to more than three physical layer map elements, determining the element association relationship between every two physical layer map elements as the element association relationship between every two physical layer map elements.

8. The method of claim 7, wherein determining the element association relationship between each two physical layer map elements comprises:

and calculating the element association relationship between every two physical layer map elements according to the original element association relationship and the physical layer map elements corresponding to the original element association relationship.

9. The method of claim 8, wherein the original element association comprises at least one of:

original element association relation among intersections, traffic lights and lane lines;

original element association relation among intersections, traffic lights and traffic signs;

original element association relations between the traffic signs and the plurality of lane lines; and

original element association relations between the road and a plurality of lane lines;

the calculating the element association relationship between every two physical layer map elements according to the original element association relationship and the physical layer map elements corresponding to the original element association relationship includes:

calculating the element association relationship between the intersection and the traffic light as well as between the intersection and the lane line according to the original element association relationship between the intersection and the traffic light as well as between the intersection and the lane line;

calculating the element association relations between the intersections and the traffic lights and between the intersections and the traffic signs according to the original element association relations between the intersections and the traffic lights and between the intersections and the traffic signs;

calculating the element association relation between the traffic sign and each lane line according to the original element association relation between the traffic sign and the lane lines;

and calculating the element association relationship between the road and each lane line according to the original element association relationship between the road and the lane lines.

10. The method according to any one of claims 1 to 9, wherein the assigning the element association relationship to the job unit according to the assignment relationship between the physical layer map element corresponding to the element association relationship and the job unit includes:

when the physical layer map elements corresponding to the element association relationship belong to different operation units, copying the element association relationship, and respectively distributing the element association relationship to the operation units corresponding to the physical layer map elements;

and when the physical layer map elements corresponding to the element association relationship belong to the same operation unit, directly distributing the element association relationship to the operation unit corresponding to the physical layer map elements.

11. The method of claim 1, wherein the number of work units is plural.

12. The method of claim 1, after said assigning said element association relationship to said unit of work, further comprising:

performing parallel operation on each operation unit of the high-precision map;

wherein the parallel job comprises a parallel update and/or a parallel modification.

13. A processing apparatus of high-precision map data, characterized by comprising:

14. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-12.

15. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-12.