CN111708857B - Processing method, device, equipment and storage medium for high-precision map data - Google Patents
Processing method, device, equipment and storage medium for high-precision map data Download PDFInfo
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- CN111708857B CN111708857B CN202010522378.3A CN202010522378A CN111708857B CN 111708857 B CN111708857 B CN 111708857B CN 202010522378 A CN202010522378 A CN 202010522378A CN 111708857 B CN111708857 B CN 111708857B
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Abstract
The embodiment of the application discloses a processing method, a device, equipment and a storage medium of high-precision map data, which relate to a map data processing technology for automatic driving and comprise the following steps: splitting physical layer map elements in the high-precision map, and distributing the physical layer map elements obtained by splitting to a working unit; determining element association relations corresponding to the physical layer map elements obtained through segmentation, wherein the element association relations indicate association relations among the physical layer map elements in the high-definition map; and distributing the element association relationship to the operation unit according to the distribution relationship between the physical layer map element corresponding to the element association relationship and the operation unit. The embodiment of the application can improve the efficiency and quality of parallel processing of the high-precision map data.
Description
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
High-precision maps are popular electronic maps with higher precision and more data dimensions. The higher accuracy is embodied in the accuracy to the centimeter level, and the more data dimension is embodied in that it includes surrounding static information related to traffic in addition to road information. The high-precision map can be applied to the fields of automatic driving and the like.
The high-precision map has rich data information such as road elements, and can help automobiles to predict complex road surface information when being applied to the navigation field, so that potential risks are better avoided. Compared with the common map, the high-precision map is added with a large amount of geometric information, lane information, traffic sign information and the like, has various elements and attributes, and has the precision of centimeter level. But the complexity and accuracy requirements of the high-precision map also bring great challenges to mass production of the map.
At present, in order to meet the requirement of mass production of high-precision maps, the high-precision map data is generally processed in a parallel operation mode, the complex data is divided into relatively independent small operation units, and the operation units are subjected to processing such as updating or modifying in parallel. However, the efficiency and quality of the existing parallel processing of high-precision map data is still relatively low.
Disclosure of Invention
The embodiment of the application provides a processing method, a device, equipment and a storage medium for high-precision map data, which are used for improving the efficiency and the 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:
Splitting physical layer map elements in the high-precision map, and distributing the physical layer map elements obtained by splitting to a working unit;
determining element association relations corresponding to the physical layer map elements obtained through segmentation, wherein the element association relations indicate association relations among the physical layer map elements in the high-definition map;
and distributing the element association relationship to the operation unit according to the distribution relationship between the physical layer map element corresponding to the element association relationship 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-definition map and distributing the physical layer map elements obtained by segmentation to the operation unit;
the element association relation determining module is used for determining element association relation corresponding to the physical layer map elements obtained through segmentation, and the element association relation indicates the association relation between the physical layer map elements in the high-definition 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 liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of processing high-precision map data provided by the embodiment of the first aspect.
In a fourth aspect, an embodiment of the present application further provides a non-transitory computer readable storage medium storing computer instructions, where the computer instructions are configured to cause the computer to execute the method for processing high-precision map data provided in the embodiment of 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 by segmentation are distributed to the operation unit, then the element association relation corresponding to the physical layer map elements obtained by segmentation is determined, so that the element association relation is distributed to the operation unit according to the distribution relation of the physical layer map elements corresponding to the element association relation and the operation unit, the problems of low efficiency, low quality and the like in the existing parallel processing of the 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 description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are included to provide a better understanding of the present application and are not to be construed as limiting the application. Wherein:
fig. 1 is a flowchart of a processing method of high-precision map data provided by an embodiment of the present application;
fig. 2 is a flowchart of a processing method of high-precision map data provided by 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 a processing method of high-precision map data according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present application are included to facilitate understanding, and are to be considered merely exemplary. 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 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 provided by an embodiment of the present application, where the embodiment may be applicable to a case of accurately slicing elements and association relationships in processing high-precision map data, the method may be performed by a processing apparatus of 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 includes the following operations:
s110, splitting the physical layer map elements in the high-definition map, and distributing the physical layer map elements obtained by splitting to the operation units.
The physical layer map element may be an element used for representing various objects in the high-definition map, and is an element directly representing the real existence in the physical world, including but not limited to position coordinate information or attribute information, etc. Wherein, the attribute information corresponding to different physical layer map elements is also different. For example, lanes are used as a 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, lane 3 is a straight lane, and so on. The job unit may be a unit provided for the high-definition map for processing the high-definition map data. In an alternative embodiment of the application, the number of job units may be plural. Each job unit may store part of the data of the high-definition map. The different operation units can independently operate, namely each operation unit can process the stored high-precision map data in parallel. The sizes of the respective operation units may be the same or different, and the embodiment of the present application is not limited thereto.
In the embodiment of the present application, optionally, the operation 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 embodiment of the present application does not limit the size and the number of the operation units. Correspondingly, when the high-precision map is segmented, the physical layer map elements in the high-precision map can be segmented first, and the physical layer map elements obtained by segmentation are distributed to the operation units. Optionally, the physical layer map element may be performed according to the position coordinate information corresponding to the physical layer map element, and the physical layer map element obtained by segmentation is allocated to the corresponding operation unit. It should be noted that, in the embodiment of the present application, the physical layer map element allocated to the operation unit is a complete element, rather than a partial element obtained by slicing.
For example, assume that the position coordinate of the physical layer map element a is latitude 45 °, the longitude is 50 °, and the position coordinate information corresponding to one job unit B in the vicinity of the physical layer map element a is: latitude 40 ° -60 °, longitude 45 ° -55 °, the physical layer map element a obtained by segmentation may be assigned to the operation unit B. Assuming that the position coordinate of the physical layer map element C is 49 ° -60 ° in latitude, 50 ° in longitude, the position coordinate information corresponding to one operation unit D near the physical layer map element C is: latitude 40 ° -50 °, longitude 45 ° -55 °, and position coordinate information corresponding to another operation unit E is: instead of breaking the physical layer map element C into two parts, the two parts formed by breaking may be allocated to the operation unit D and the operation unit E, respectively.
It can be understood that the high-precision map is drawn by taking the physical layer map elements as basic units in the drawing process. Therefore, when the physical layer map elements are segmented, each physical layer map element can be directly obtained according to the original data of the high-precision map.
Therefore, the complete physical layer map elements obtained by segmentation are directly distributed to the operation units, and the independent physical layer map elements can be prevented from being distributed to different operation units respectively, namely, the redundant operation that the same physical layer map element is processed by different operation units simultaneously is avoided, so that the data processing efficiency and quality of each operation unit are improved, and the parallel processing efficiency and quality of a high-precision map are improved as a whole.
S120, determining element association relations corresponding to the physical layer map elements obtained through segmentation, wherein the element association relations indicate association relations among the physical layer map elements in the high-definition map.
The element association relationship may be a geometric relationship or a logical relationship between the map elements of the respective physical layers. For example, the relationship between the intersection and the lane line, the relationship between the intersection and the traffic light, the relationship between the traffic sign and the control lane, or the like may be element association relationship.
It may be appreciated that the element association relationship corresponds to a physical layer map element, and the corresponding association object may be two or even more physical layer map elements. For example, the association relationship between the intersection and the left-turn lane is: the intersection is connected with the left-turn lane, and the association objects of the association relationship are two physical layer map elements of the intersection and the left-turn lane. The association relationship between the intersection and the left turning lane and right turning lane is: the intersection comprises a left turning lane and a right turning lane, the intersection is connected with the left turning lane and the right turning lane at the same time, and the association objects of the association relationship are three physical layer map elements of the intersection, the left turning lane and the right turning lane.
In the embodiment of the application, after each physical layer map element is allocated to the corresponding operation unit, the element association relationship corresponding to each physical layer map element can be determined so as to split the element association relationship.
S130, distributing the element association relationship to the operation unit according to the distribution relationship of the physical layer map element corresponding to the element association relationship and the operation unit.
Correspondingly, after the element association relation corresponding to the physical layer map element obtained by segmentation is determined, the element association relation can be distributed to the operation unit. Specifically, the element association relationship may be allocated to the job unit according to the allocation relationship between the physical layer map element corresponding to the element association relationship and the job unit. For example, assuming that two physical layer map elements corresponding to an 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 is respectively distributed to different operation units, the same association relationship is easily processed in different operation units, which is a repeated data processing process. Meanwhile, when the edge joining and combining processing is performed, editing conflict and standby of manual inspection of the same association relation in different operation units can seriously weaken the advantage of parallel operation, so that the efficiency and quality of parallel processing of a high-precision map are affected.
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 situation that the same element association relationship is respectively processed in two operation units can be effectively avoided, the processing difficulty of edge-joining combination can be effectively reduced, and therefore the parallel processing efficiency and quality of the high-precision map are improved.
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 by segmentation are distributed to the operation unit, then the element association relation corresponding to the physical layer map elements obtained by segmentation is determined, so that the element association relation is distributed to the operation unit according to the distribution relation of the physical layer map elements corresponding to the element association relation and the operation unit, the problems of low efficiency, low quality and the like in the existing parallel processing of the 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 an example, fig. 2 is a flowchart of a processing method of high-precision map data provided by the embodiment of the present application, which is an optimization improvement based on the technical solutions of the above embodiments, and a specific implementation manner of splitting physical layer map elements in a high-precision map, distributing the physical layer map elements obtained by splitting to a job unit, determining an element association relationship corresponding to the physical layer map elements obtained by splitting, and distributing the element association relationship to the job unit according to the distribution relationship between the physical layer map elements corresponding to the element association relationship and the job unit is provided.
The processing method of the high-precision map data shown in fig. 2 comprises the following steps:
s210, splitting the physical layer map elements in the high-definition map, and distributing the physical layer map elements obtained by splitting to the operation units.
Accordingly, S210 may specifically include:
s211, acquiring the trace information of each physical layer map element.
The trace information may be information of a point element corresponding to the physical layer map element.
In the embodiment of the application, when the physical layer map elements are segmented, the trace point information of each physical layer map element can be acquired first.
S212, dividing each physical layer map element according to the trace point information, and distributing the physical layer map elements obtained by dividing to the operation unit.
Specifically, the physical layer map elements may be segmented according to the trace information of the physical layer map elements, and the physical layer map elements obtained by segmentation may be distributed to the operation units. The segmentation of the map elements of each physical layer according to the trace information has the following advantages: the allocation relation between each physical layer map element and each operation unit can be defined according to the trace point information of each physical layer map element, so that the physical layer map elements are accurately allocated to each operation unit.
In an alternative 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 point trace information of the point element can be point element coordinates; the trace information of the line element can be point distribution information; the trace information of the polygon element may be vertex distribution information.
The point elements can be traffic lights, telegraph poles or traffic signs, and the like, and the element objects which can be presented as points on the high-precision map can be point elements. Correspondingly, the line elements can be the element objects of lanes, riverways and the like which are presented by the linear shapes, and the polygonal elements can be the element objects of lawns, lakes, buildings and the like which are presented by the polygonal shapes. Likewise, embodiments of the present application are not limited to a particular type of line element and polygon element. Accordingly, for a dot element, the trace information may be the coordinates of the dot element, and for a line element, the trace information may be the distribution information of all the dots on the line element. For the polygon element, the trace information may be the distribution information of each vertex of the polygon.
In an embodiment of the present application, the physical layer map element may include, but is not limited to, a geometric element such as a point element, a line element, or a polygon element. Different types of geometric elements represent different display modalities of the physical layer map elements. Different types of physical layer map elements can be segmented according to corresponding trace information, and the set advantages are that: corresponding trace information can be determined according to the specific type of the physical layer map element, so that each physical layer map element is further segmented according to the trace information.
In an optional embodiment of the present application, the splitting the line element according to the point distribution information of the line element, and distributing the line element obtained by the splitting to the operation unit may include: determining at least one line association job unit of the line element; the line association operation unit comprises part or all of line point elements distributed on the line elements; when the line association operation unit comprises all line point elements of the line elements, directly distributing the line elements obtained by segmentation to the line association operation unit; and when the line association operation unit comprises part of line point elements of the line elements, distributing the line elements obtained by segmentation to the line association operation unit meeting the line element distribution condition.
In an optional embodiment of the present application, the splitting the polygon element according to the vertex distribution information of the polygon element, and distributing the polygon element obtained by splitting to the job unit may include: determining at least one polygon-associated job unit of the polygon element; the polygon association operation unit comprises part or all of vertex elements of the polygon element; 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 part of vertex elements of the polygon elements, distributing the polygon elements obtained by segmentation to the polygon-associated operation unit meeting the polygon element distribution condition.
The line association operation units may be operation units associated with line elements, and each line association operation unit may include part or all of line point elements of the line elements. The line point element is the point that constitutes the line element. The polygon-associated job unit may be a job unit to which the polygon element is associated. Each polygon-associated job unit may include some or all of the vertex elements of the polygon elements. The vertex elements are the vertices of the polygon elements. The line element allocation condition may be a condition for allocating a line element, and exemplary line element allocation conditions may be: the line element is occupied with the most line point elements. The polygon element allocation condition may be a condition for allocating a polygon element, and exemplary, the polygon element allocation condition may be: the most vertex elements in the polygon elements are occupied.
Specifically, when the physical layer map element is a point element, the physical layer map element may be split according to the coordinates of the point element of the physical layer map element, and the physical layer map element obtained by the splitting may be allocated to the operation unit. In a specific example, assuming that the position coordinate of the point element a is latitude 45 °, longitude 50 °, the position coordinate information corresponding to one work unit B in the vicinity of the point element a is: latitude 40 ° -60 °, longitude 45 ° -55 °, then the split point element a may be assigned to the work unit B.
Specifically, when the physical layer map element is a line element, at least one line association operation unit of the line element may be first determined. If the line association operation unit is only one, indicating that all points on the line element are distributed in the line association operation unit, the line element can be directly distributed to the line association operation unit; if the number of line-associated job units is plural, indicating that all points on the line element are distributed among the plural line-associated job units at the same time, the line element may be allocated to the line-associated job unit satisfying the line element allocation condition. In a specific example, assume that the position coordinates of the line element a are latitude 45 ° -51 °, longitude 50 °, and the line-related operation units corresponding to the line element a are operation unit B, operation unit C, and operation unit D, respectively. The position coordinate information corresponding to the operation unit B is: latitude 41 ° -45 °, longitude 50 °, position coordinate information corresponding to the working unit C is: latitude 46 ° -50 °, longitude 50 °, position coordinate information corresponding to the working unit D is: latitude 51 ° -55 °, longitude 50 °. It can be seen that, if the line unit C includes the most line point elements of the line element a, the line element a obtained by splitting may be allocated to the operation unit C.
Specifically, when the physical layer map element is a polygonal element, at least one line-associated job unit of the polygonal element may be first determined. If the line association operation unit is only one, indicating that all vertexes on the polygon element are distributed in the line association operation unit, the polygon element can be directly distributed to the line association operation unit; if the number of polygon-associated job units is plural, indicating that all vertices on the polygon element are simultaneously distributed among the line-associated job units, the polygon element may be allocated to the line-associated job units satisfying the polygon element allocation condition. In a specific example, it is assumed that the position coordinates of the polygon element a are latitude 45 ° to 51 °, longitude 50 ° to 60 °, and the line-associated job units corresponding to the polygon element a are the job unit B and the job unit C, respectively. The position coordinate information corresponding to the operation unit B is: latitude 41 ° -45 °, longitude 50 ° -70 °, position coordinate information corresponding to the working unit C is: latitude 46 ° -55 °, longitude 50 ° -70 °. It can be seen that, if the operation unit C includes the most vertex elements of the polygon element a, the line element a obtained by the segmentation 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, and the operation unit most closely related to each physical layer map element can be used as the allocated operation unit, so that the accurate allocation of each physical layer map element can be realized, and the data processing efficiency and quality of each operation unit are improved.
S220, determining element association relations corresponding to the physical layer map elements obtained through segmentation.
Accordingly, S220 may specifically include:
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 each physical layer in the high-definition map.
The original element association relationship in the high-precision map can be automatically calculated and obtained through a related algorithm, and part of the original element association relationship can not be automatically obtained through the algorithm, and can also be obtained through a manual supplementary setting mode.
S222, 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.
It can be understood that the number of the physical layer map elements corresponding to the original element association relationship may be two or more. Therefore, when determining the element association relationship corresponding to the physical layer map element obtained by segmentation, the element association relationship corresponding to the physical layer map element obtained by segmentation can be determined specifically according to the number of 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 each of the two physical layer map elements; 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 relation between every two physical layer map elements according to the original element association relation and the physical layer map elements corresponding to the original element association relation.
For the original element association relationship, the simplest association mode between the original element association relationship and the physical layer map elements is to associate two physical layer map elements. Therefore, if the original element association relationship corresponds to only two physical layer map elements, the original element association relationship of the type can be directly used as the element association relationship corresponding to 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 as the element association relationship between every two physical layer map elements for a plurality of physical layer map elements related to the original element association relationship. 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 application, the original element association relationship may include at least one of: original element association relation between the intersection and the traffic light and lane line; original element association relation between the intersection and the traffic light and traffic sign; original element association relations between traffic signs and a plurality of lane lines; original element association relations between roads and a plurality of lane lines; correspondingly, 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 may include: according to the original element association relationship between the intersection and the traffic light and between the intersection and the lane line, calculating the element association relationship between the intersection and the traffic light and between the intersection and the lane line; according to the original element association relationship between the intersection and the traffic light and the traffic sign, calculating the element association relationship between the intersection and the traffic light and between the intersection and the traffic sign; according to the original element association relationship between the traffic sign and the lane lines, calculating the element association relationship between the traffic sign and each lane line; and calculating the element association relation between the road and each lane line according to the original element association relation 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 may be split into an element association relationship between the intersection and a single traffic light and an element association relationship between the intersection and a single lane line. For example, a first traffic light is located at the northwest corner of the intersection, a second traffic light is located at the northeast corner of the intersection, a left turn lane line is located at the left region of the intersection, a right turn lane line is located at the right region of the intersection, and a straight lane line is located at the central region of the intersection. The relative positions of the intersection and the traffic lights and the relative positions of the intersection and the lane lines can be represented by means of position coordinate information. Similarly, if an original element association relationship exists between the intersection, 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, a first traffic light is located at the northwest corner of the intersection, a second traffic light is located at the northeast corner of the intersection, and a traffic sign is located at the southeast corner of the intersection. If an original element association exists between one traffic sign and a plurality of lane lines, the original element association can be split into element associations 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 also can 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 element association relationships between the intersections and the lane lines. For example, a left turn lane line is located in the left region of the intersection, a right turn lane line is located in the right region of the intersection, and a straight lane line is located in the center region of the intersection.
Therefore, the original element association relation of more than three physical layer map elements can be divided into a plurality of element association relations, and each element association relation corresponds to two association objects. It should be noted that, the types of the original element association relationships corresponding to the 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 the three or more physical layer map elements and the types of the specific physical layer map elements involved.
The processing mode adopted for determining the element association relation corresponding to the physical layer map element obtained by segmentation has the advantages that: when the number of physical layer map elements corresponding to the original element association relationship is more than three, element association relationships between every two physical layer map elements are calculated respectively, and the complex original element association relationship can be split into simple element association relationships, so that the process of distributing the element association relationships to the operation units is simplified.
S230, distributing the element association relationship to the operation unit according to the distribution relationship of the physical layer map element corresponding to the element association relationship and the operation unit.
Accordingly, S230 may specifically include:
s231, judging whether the physical layer map elements corresponding to the element association relations belong to different operation units, if yes, executing S232, otherwise, executing S233.
S232, copying the element association relations, and respectively distributing the element association relations to the operation units corresponding to the physical layer map elements.
S233, directly distributing the element association relationship to the operation unit corresponding to the physical layer map element.
In the embodiment of the application, because the complex original element association relationship is split into the element association relationship between every two physical layer map elements, when the element association relationship is allocated, the element association relationship which only associates with the two physical layer map elements can be allocated.
Specifically, if the physical layer map elements corresponding to the element association relationships belong to different operation units, the element association relationships can 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 relations belong to the same operation units, the element association relations can be directly distributed to the operation units corresponding to the physical layer map elements.
In a specific example, assume that the element association relationship L is: traffic light a is located at the northeast corner of 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, the job unit a and the job unit B each store the element association relationship L. If the traffic lights A and the intersections B are both attributed 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 physical layer map elements corresponding to the element association relations are distributed to the matched operation units according to the distribution relations of the physical layer map elements corresponding to the element association relations and the operation units, and when the physical layer map elements corresponding to the element association relations all belong to the same operation unit, the situation that the same element association relations are distributed to a plurality of operation units at the same time can be avoided, and the situation that the same element association relations are respectively processed in two operation units is avoided. When the physical layer map elements corresponding to the element association relations belong to different operation units, the element association relations related to the physical layer map elements in the operation units allocated by the physical layer map elements can be guaranteed, so that parallel processing of the physical layer map elements and the corresponding element association relations is facilitated.
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 jobs include parallel updates and/or parallel modifications.
In the embodiment of the application, after the segmentation processing of the high-precision map data is completed, each operation unit can be utilized to perform parallel operation on the high-precision map, for example, data processing modes such as parallel update or parallel modification are performed on the data of each operation unit. The map data included in the operation unit obtained through 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 after the segmentation processing may be combined two by two to obtain the final and complete high-precision map data. When data is combined for the operation units, element association relations are also combined. For the operation units obtained by the technical scheme, if different operation units modify or update the same element association relationship, the conflict of parallel processing can be detected during merging, so that a data operator is prompted to merge the conflicting element association relationship.
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, 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, the problems that the efficiency and the quality are low when the existing high-precision map data are processed in parallel are solved, and therefore the efficiency and the quality of the parallel processing of the high-precision map data are improved.
In one example, fig. 3 is a block diagram of a processing apparatus for high-precision map data according to an embodiment of the present application. The embodiment of the application is applicable to the situation of accurately segmenting and processing elements and association relations in high-precision map data, and the device is realized through software and/or hardware and is specifically configured in computer equipment.
The processing apparatus 300 of high-precision map data shown in fig. 3 includes: the physical layer map element segmentation module 310, the element association determination module 320 and the element association assignment module 330. Wherein, the liquid crystal display device comprises a liquid crystal display device,
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 by segmentation to the operation units;
An element association relationship determining module 320, configured to determine an element association relationship corresponding to the physical layer map element obtained by segmentation, where the element association relationship indicates an association relationship between physical layer map elements in the high-precision map;
and the element association relation allocation module 330 is configured to allocate the element association relation to the job unit according to an allocation relation between the physical layer map element corresponding to the element association relation and the job unit.
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 by segmentation are distributed to the operation unit, then the element association relation corresponding to the physical layer map elements obtained by segmentation is determined, so that the element association relation is distributed to the operation unit according to the distribution relation of the physical layer map elements corresponding to the element association relation and the operation unit, the problems of low efficiency, low quality and the like in the existing parallel processing of the high-precision map data are solved, and the efficiency and the quality of the parallel processing of the high-precision map data are improved.
Optionally, the physical layer map element segmentation module 310 includes: the trace information acquisition unit is used for acquiring trace 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 point trace information of the point element is the point element coordinate; the trace information of the line elements is point distribution information; the trace information of the polygon elements is vertex distribution information.
Optionally, the physical layer map element segmentation unit is specifically configured to: determining at least one line association job unit of the line element; the line association operation unit comprises part or all of line point elements distributed on the line elements; when the line association operation unit comprises all line point elements of the line elements, directly distributing the line elements obtained by segmentation to the line association operation unit; and when the line association operation unit comprises part of line point elements of the line elements, distributing the line elements obtained by segmentation to the line association operation unit meeting the line element distribution condition.
Optionally, the physical layer map element segmentation unit is specifically configured to: determining at least one polygon-associated job unit of the polygon element; the polygon association operation unit comprises part or all of vertex elements of the polygon element; 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 part of vertex elements of the polygon elements, distributing the polygon elements obtained by segmentation to the polygon-associated operation unit meeting the polygon element distribution condition.
Optionally, the element association relationship determining module 320 includes: the original element association relation acquisition unit is used for acquiring the original element association relation corresponding to each physical layer map element; the element association relation determining unit is used for 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.
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 each of the two physical layer map elements; 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 relation between every two physical layer map elements according to the original element association relation and the physical layer map elements corresponding to the original element association relation.
Optionally, the original element association relationship includes at least one of the following: original element association relation between the intersection and the traffic light and lane line; original element association relation between the intersection and the traffic light and traffic sign; original element association relations between traffic signs and a plurality of lane lines; and, original element association relationships between the road and the plurality of lane lines; the element association relation determining unit is specifically configured to: according to the original element association relationship between the intersection and the traffic light and between the intersection and the lane line, calculating the element association relationship between the intersection and the traffic light and between the intersection and the lane line; according to the original element association relationship between the intersection and the traffic light and the traffic sign, calculating the element association relationship between the intersection and the traffic light and between the intersection and the traffic sign; according to the original element association relationship between the traffic sign and the lane lines, calculating the element association relationship between the traffic sign and each lane line; and calculating the element association relation between the road and each lane line according to the original element association relation between the road and the lane lines.
Optionally, the element association relationship allocation module 330 includes: the first element association relation distribution unit is used for copying the element association relation when the physical layer map elements corresponding to the element association relation belong to different operation units, and distributing the element association relation to the operation units corresponding to the physical layer map elements respectively; 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 job units is a plurality.
Optionally, the processing apparatus 300 for high-precision map data may further include: the parallel operation module is used for carrying out parallel operation on each operation unit of the high-precision map; wherein the parallel jobs include parallel updates and/or parallel modifications.
The processing device for high-precision map data can execute the processing method for high-precision map data provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be referred to the processing method of high-precision map data provided in any embodiment of the present application.
Since the above-described high-precision map data processing apparatus is an apparatus capable of executing the high-precision map data processing method according to the embodiment of the present application, a person skilled in the art will be able to understand the specific implementation of the high-precision map data processing apparatus according to the embodiment of the present application and various modifications thereof based on the high-precision map data processing method according to the embodiment of the present application, and therefore how the high-precision map data processing apparatus according to the embodiment of the present application can be implemented will not be described in detail herein. The apparatus used by those skilled in the art to implement the method for processing high-precision map data in the embodiment of the present application is within the scope of the present application.
According to an embodiment of the present application, the present application also provides an electronic device and a readable storage medium.
Fig. 4 is a schematic structural diagram of an electronic device for implementing a processing method of high-precision map data according to an embodiment of the present application. As shown in fig. 4, there is a block diagram of an electronic device according to a method of 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
As shown in fig. 4, the electronic device includes: one or more processors 401, memory 402, and interfaces for connecting the components, including a high-speed interface and a low-speed interface. 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 executing within the electronic device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 401 is illustrated in fig. 4.
Memory 402 is a non-transitory computer readable storage medium provided by the present application. Wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the method of processing high-precision map data provided by the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the method of processing high-precision map data provided by the present application.
The memory 402 is used as a non-transitory computer readable storage medium, and may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (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) corresponding to a method for processing high-precision map data in an embodiment of the present application. The processor 401 executes various functional applications of the server and data processing, i.e., a method of realizing the processing of high-precision map data in the above-described method embodiment, by running non-transitory software programs, instructions, and modules stored in the memory 402.
Memory 402 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created by use of an electronic device implementing a processing method of high-definition map data, and the like. In addition, 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, memory 402 may optionally include memory remotely located with respect to processor 401, which may be connected via a network to an electronic device implementing the processing method of high-precision map data. 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, memory 402, input device 403, and output device 404 may be connected by a bus or otherwise, for example in fig. 4.
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 device implementing the processing method of high-definition map data, such as input devices for a touch screen, a keypad, a mouse, a track pad, a touch pad, a joystick, one or more mouse buttons, a track ball, a joystick, and the like. The output device 404 may include a display apparatus, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration 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 may be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASIC (application specific integrated circuit), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs (also referred to as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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.
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 by segmentation are distributed to the operation unit, then the element association relation corresponding to the physical layer map elements obtained by segmentation is determined, so that the element association relation is distributed to the operation unit according to the distribution relation of the physical layer map elements corresponding to the element association relation and the operation unit, the problems of low efficiency, low quality and the like in the existing parallel processing of the 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 appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed embodiments are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of the present application.
Claims (14)
1. A method for processing high-precision map data, comprising:
splitting physical layer map elements in the high-definition map, and distributing the physical layer map elements obtained by splitting to a working unit, wherein the physical layer map elements comprise at least one of point elements, line elements and polygonal elements;
determining element association relations corresponding to the physical layer map elements obtained through segmentation, wherein the element association relations indicate association relations among the physical layer map elements in the high-definition map;
when the physical layer map elements corresponding to the element association relationships belong to different operation units, copying the element association relationships, and respectively distributing the element association relationships to the operation units corresponding to the physical layer map elements;
And when the physical layer map elements corresponding to the element association relations belong to the same operation units, directly distributing the element association relations to the operation units corresponding to the physical layer map elements.
2. The method according to claim 1, wherein the splitting the physical layer map element in the high-definition map and distributing the physical layer map element obtained by the splitting to the job unit includes:
acquiring the trace information of each physical layer map element;
and splitting each physical layer map element according to the trace point information, and distributing the physical layer map elements obtained by splitting to the operation unit.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
the point trace information of the point element is the point element coordinate;
the trace information of the line elements is point distribution information;
the trace information of the polygon elements is vertex distribution information.
4. A method according to claim 3, wherein the splitting of the line element according to the point distribution information of the line element, and the distributing of the line element obtained by the splitting to the job unit, comprises:
determining at least one line association job unit of the line element; the line association operation unit comprises part or all of line point elements distributed on the line elements;
When the line association operation unit comprises all line point elements of the line elements, directly distributing the line elements obtained by segmentation to the line association operation unit;
and when the line association operation unit comprises part of line point elements of the line elements, distributing the line elements obtained by segmentation to the line association operation unit meeting the line element distribution condition.
5. A method according to claim 3, wherein the dividing the polygon element according to the vertex distribution information of the polygon element, and distributing the polygon element obtained by dividing to the job unit includes:
determining at least one polygon-associated job unit of the polygon element; the polygon association operation unit comprises part or all of vertex elements of the polygon element;
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 part of vertex elements of the polygon elements, distributing the polygon elements obtained by segmentation to the polygon-associated operation unit meeting the polygon element distribution condition.
6. The method of claim 1, wherein the determining the element association relationship 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 elements according to the number of the physical layer map elements corresponding to the original element association relation.
7. The method of claim 6, wherein determining the element association corresponding to the physical layer map element according to the number of physical layer map elements corresponding to the original element association 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 each of the two physical layer map elements;
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 relation between every two physical layer map elements according to the original element association relation and the physical layer map elements corresponding to the original element association relation.
9. The method of claim 8, wherein the original element association relationship comprises at least one of:
original element association relation between the intersection and the traffic light and lane line;
original element association relation between the intersection and the traffic light and traffic sign;
original element association relations between traffic signs and a plurality of lane lines; and
original element association relations between roads 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 comprises the following steps:
according to the original element association relationship between the intersection and the traffic light and between the intersection and the lane line, calculating the element association relationship between the intersection and the traffic light and between the intersection and the lane line;
according to the original element association relationship between the intersection and the traffic light and the traffic sign, calculating the element association relationship between the intersection and the traffic light and between the intersection and the traffic sign;
According to the original element association relationship between the traffic sign and the lane lines, calculating the element association relationship between the traffic sign and each lane line;
and calculating the element association relation between the road and each lane line according to the original element association relation between the road and the lane lines.
10. The method of claim 1, wherein the number of job units is a plurality.
11. The method according to claim 1, further comprising, after said assigning said element association relation to said job unit:
performing parallel operation on each operation unit of the high-precision map;
wherein the parallel jobs include parallel updates and/or parallel modifications.
12. A processing apparatus for high-precision map data, comprising:
the physical layer map element segmentation module is used for segmenting physical layer map elements in the high-definition map and distributing the physical layer map elements obtained by segmentation to the operation unit, wherein the physical layer map elements comprise at least one of point elements, line elements and polygonal elements;
the element association relation determining module is used for determining element association relation corresponding to the physical layer map elements obtained through segmentation, and the element association relation indicates the association relation between the physical layer map elements in the high-definition map;
An element association relationship allocation module, comprising: the first element association relation distribution unit is used for copying the element association relation when the physical layer map elements corresponding to the element association relation belong to different operation units, and distributing the element association relation to the operation units corresponding to the physical layer map elements respectively; 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.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
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 1-11.
14. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-11.
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