CN112231430A - Map data management method and device - Google Patents

Abstract

The application provides a map data management method and a map data management device, wherein the method comprises the following steps: after receiving a data call request, determining a target data type corresponding to the data call request, then calling target map data from a data warehouse according to the target data type, wherein the data warehouse stores the compiled map data in a layered mode, and finally generating a data call response corresponding to the data call request according to the target map data. The map data stored in the data warehouse in a layered mode is called in a targeted mode, so that data service is carried out on the application modules, the coupling of different application modules to map dependence is reduced, meanwhile, between data manufacturing and application, the data warehouse is established to store the data in each process in a layered mode, the management and maintenance of the data in time and space dimensions are guaranteed, and the elasticity of map data production and application is improved.

Description

Map data management method and device

Technical Field

The present application relates to the field of map making, and in particular, to a map data management method and apparatus.

Background

The map plays a core role in the fields of navigation and the like, and because different applications have different requirements on map data, the map data at the application level needs to be provided according to the actual conditions of the applications, so that the decoupling of different application modules on the dependence of the map data is especially important.

When the map data is managed by the map data management method in the prior art, data at each stage in the map making process is not effectively classified and stored, so that unified management and updating maintenance of the data are not facilitated. Under a specific application scene, corresponding map data needs to be called for data service, and due to the fact that the map data volume is huge, target map data cannot be rapidly determined in a database for application, so that map data making and application cannot be independent, and the requirements of a user on efficient generation of map data and independent application of map data cannot be met.

Therefore, the current map data management method has the technical problems of high coupling of different applications depending on map data and the like, and needs to be improved.

Disclosure of Invention

The embodiment of the application provides a map data management method and device, which are used for relieving the technical problems that different applications depend on map data, the coupling is high and the like in the current map data management method.

In order to alleviate the above technical problem, an embodiment of the present application provides the following technical solutions:

the application provides a map data management method, which comprises the following steps:

receiving a data calling request;

determining a target data type corresponding to the data calling request;

calling a data warehouse, wherein the data warehouse comprises compiled map data which is stored hierarchically according to the types of the map elements, and the map data comprises geometric information and attribute information of the map elements;

retrieving target map data from the data repository according to the target data type;

and generating a data calling response corresponding to the data calling request according to the target map data.

Meanwhile, the present application also provides a map data management apparatus, including:

the first receiving module is used for receiving a data calling request;

the first determining module is used for determining a target data type corresponding to the data calling request;

the data warehouse comprises compiled map element vector data which are stored hierarchically according to the map element types, and the map element vector data comprise geometric information and attribute information of map elements;

the data calling module is used for calling target map data from the data warehouse according to the target data type;

and the response generation module is used for generating a data calling response corresponding to the data calling request according to the target map data.

In one embodiment, the map data management apparatus further includes:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring multi-source data, and the multi-source data comprises at least one of point cloud data, image data and third-party data;

the classification module is used for carrying out map element classification on the multi-source data according to the map element types to obtain a classification result, and the classification result comprises attribute information corresponding to each map element in the multi-source data;

and the first storage module is used for storing the classification results in the data warehouse in a layering manner.

In one embodiment, the map data management apparatus further includes:

the second acquisition module is used for acquiring data specification information of the map element type, wherein the data specification information comprises a geometric information standard and an attribute information standard;

the first data processing module is used for processing the classification result according to the data specification information and the data extraction mode corresponding to the multi-source data to obtain vector data corresponding to each map element;

and the second storage module is used for hierarchically storing the vector data corresponding to the map elements in the data warehouse according to the map element types.

In one embodiment, the map data management apparatus further includes:

the judging module is used for judging the data source of the multi-source data;

and the second determining module is used for determining a data extraction mode corresponding to the multi-source data according to the data source, wherein the data extraction mode comprises at least one of automatic extraction, manual labeling and third party integration.

In one embodiment, the map data management apparatus further includes:

and the quality inspection module is used for carrying out quality inspection on the vector data.

In one embodiment, the map data management apparatus further includes:

the third acquisition module is used for acquiring a map element class table, and the map element class table comprises data warehouse hierarchical data corresponding to map element types;

and the third storage module is used for respectively storing the vector data corresponding to the map elements in the data warehouse hierarchy according to different map element types to obtain the hierarchical vector data.

In one embodiment, the map data management apparatus further includes:

the second receiving module is used for receiving a compiling request;

the second data processing module is used for processing the target vector data to generate corresponding map data according to the compiling request;

and the fourth storage module is used for storing the map data in the data warehouse.

Meanwhile, the application also provides a computer device which comprises a memory and a processor, wherein the memory is stored with a computer program, map data and the like, and the computer program is suitable for the processor to load so as to execute the steps in the method.

Meanwhile, the present application also provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps in the above method.

Also, the present application provides a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium; the processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps of the method.

Has the advantages that: compared with the prior art, the map data management method provided by the application has the advantages that the map data are generated by targeted compiling according to the requirements of different application modules, the balance of the map data manufacturing quality and efficiency is guaranteed, and a new manufacturing method can be integrated according to a new technology. In addition, the data warehouse is adopted to store data in each map making process in a layered mode, data making and data application are linked, management and maintenance of the data in space-time dimensions are guaranteed, target map data can be rapidly determined based on data calling requests according to requirements of different application modules on the map data, accordingly, map data meeting the requirements are provided, decoupling of the different application modules on map data dependence is guaranteed, map data production and application are independent, elasticity of map data production and application is improved, and map data expansion and application are facilitated.

Drawings

The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of a system network architecture provided by an embodiment of the present application;

FIG. 2 is a functional diagram of a data server provided by an embodiment of the present application;

fig. 3 is a first flowchart of a map data management method according to an embodiment of the present application;

fig. 4 is a second flowchart of a map data management method according to an embodiment of the present application;

fig. 5 is a third flowchart illustrating a map data management method according to an embodiment of the present application;

fig. 6 is an application diagram of a map data management method provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of a map data management apparatus according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, it should be understood that the terms first, second, etc. in the description and in the claims and the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein are capable of operation in other sequences than described or illustrated in the figures or otherwise described herein. Furthermore, the terms "comprises" and any variations thereof, are intended to cover non-exclusive inclusions.

Referring to fig. 1, fig. 1 is a schematic diagram of a network architecture of a system provided in an embodiment of the present application, where the system at least includes a data acquisition device 101, a data server 102, and an application terminal 103, where:

communication links are arranged among the data acquisition device 101, the data server 102 and the application terminal 103 so as to realize information interaction. The type of communication link may include a wired, wireless communication link, or fiber optic cable, among others.

The data acquisition device 101 includes any one or more of a camera, a laser radar (Lidar), a Global Navigation Satellite System (GNSS), a millimeter wave radar, a gyroscope, and a rain sensor, and may further include a third-party data capture module and a vehicle-mounted data return module. The camera is mainly used for collecting marks, lane lines and the like of some road surfaces, and because the pixel information of the image is many and the position information is not accurate, the camera is used for identifying the lane lines, the marks and the like of the road surfaces; laser radar (Lidar) is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is to emit detection signals such as laser beams to the target, then compare received signals reflected from the target, such as target echoes, with the emission signals, and after proper processing, obtain information related to the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters, so that the radar system is mainly used for collecting point cloud data in the application, thereby knowing the width of a road surface, the height of a traffic light and other information; the Global Navigation Satellite System (GNSS) is mainly used for recording the position information of equipment and recording the coordinates of a current acquisition point; the millimeter wave radar, the gyroscope and the rain sensor can be used for acquiring information required by maps such as road conditions, weather conditions and the like; the third-party data capturing module can be understood as capturing available data by cooperating with other platforms; the vehicle-mounted data return module can be understood as data collected in the vehicle driving process and is returned to the server for processing, so that the data is updated and the like.

The data server 102 may be an independent server, or may be a server network or a server cluster composed of servers. The data server 102 includes, but is not limited to, a computer, a network host, a database server, a large data server cluster, a storage server, and an application server or a Cloud server consisting of a plurality of servers, wherein the Cloud server consists of a large number of computers or network servers based on Cloud Computing (Cloud Computing). The data server 102 stores a large amount of data, including input data such as point cloud data, picture data, and third-party data acquired by the data acquisition device 101, a series of vector data extracted by using a data extraction algorithm, map data generated by compiling according to different application module requirements, and the like.

The application terminal 103 may be a map generating device, or may be various devices that need to use a guidance device, such as a car navigation device, an unmanned car, a tablet computer, a smart phone, and the like. Various client applications, such as map processing software, etc., may be installed on the application terminal 103.

In the embodiment of the application, the data acquisition device 101 acquires data with different sources, including point cloud data, picture data, third-party data and the like, through various channels, and then sends the multi-source data to the data server 102; the data server 102 processes and stores the data; the application terminal 103 obtains data stored in the data server 102 by sending a data call request to the data server 102, thereby providing a corresponding data service.

It should be noted that the schematic diagram of the system network architecture shown in fig. 1 is only an example, the server and the scenario described in the embodiment of the present application are for more clearly illustrating the technical solution of the embodiment of the present application, and do not form a limitation on the technical solution provided in the embodiment of the present application, and as a person having ordinary skill in the art knows, with the evolution of the system and the occurrence of a new service scenario, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

Specifically, the detailed functions of the data server 102 will be described in detail below, please refer to fig. 2, and fig. 2 is a functional diagram of the data server 102.

In the embodiment of the application, the data server 102 receives multi-source data sent by the data acquisition device 101, then performs map element classification on the multi-source data according to the types of map elements, such as lane lines, traffic lights, stop lines and the like, and hierarchically stores the classification results in a Base map data warehouse of the data server 102, wherein the hierarchically stored results include lane line layers, traffic light layers, stop line layers and the like, and meanwhile, the data server 102 obtains data specification information according to the types of the map elements, wherein the data specification information includes geometric information standards and attribute information standards of the map elements; then, the data server 102 processes the multi-source data by adopting a proper data extraction mode, such as manual labeling through an automatic labeling platform, automatic extraction through an algorithm, third-party fusion and the like, according to the data specification information and the data source of the multi-source data to obtain vector data corresponding to each map element; and then, performing quality inspection on the extracted vector data, storing the vector data which passes the inspection into a Base map data warehouse in a layering manner according to the types of the map elements to obtain layered vector data, re-classifying the map elements of the vector data which does not pass the inspection, extracting and performing quality inspection, and circulating the steps until the quality inspection is passed and the vector data is stored into the Base map data warehouse.

In the embodiment of the application, after receiving a compiling request sent by an application terminal 103, a data server 102 determines target vector data corresponding to the compiling request in a Base map data warehouse, compiles the target vector data to generate corresponding map data, and then stores the map data in the Base map data warehouse; the application terminal 103 generates different data calling requests according to requirements and sends the data calling requests to the data server 102, after the data server 102 receives the data calling requests, the data server first determines a target data type corresponding to the data calling requests, then calls target map data from a Base map data warehouse according to the target data type, generates data calling responses based on the target map data, and sends the data calling responses to the application terminal 103; after receiving the data call response, the application terminal 103 provides data service for the application terminal based on the data call response; the data server 102 manages data in a time dimension, for example, records the generation time of each map element vector data, and obtains change data of the map element vector data of the same map element according to the generation time, thereby managing and maintaining the map element vector data.

With reference to the system network architecture, the following will describe a map data management method in the present application in detail, please refer to fig. 3, where fig. 3 is a first flowchart of the map data management method according to the embodiment of the present application, and as shown in fig. 3, the map data management method according to the embodiment of the present application at least includes the following steps:

step 301: a data call request is received.

In the embodiment of the present application, the data call request may include a map data call request issued by the map generation device, and may also include a control request issued by the guidance device, and the like. Specifically, the map generation device directly draws and generates a map by calling the compiled map data, thereby providing referential spatial information for the user; the guiding device calls the compiled map data, judges the incidence relation and the like through map processing software, obtains corresponding control response, and controls the guiding device.

The guidance device in the embodiment of the present application may be a navigation system installed in an unmanned vehicle, and determine the driving parameters through control response, or may be navigation software installed in a terminal device such as a smart phone or a tablet electric vehicle, and provide parameters such as a driving route and time for a user.

In the embodiment of the application, the data call request is sent by the application terminal and received by the data server, and the server such as the application server in the data server analyzes and judges the data call request.

Step 302: and determining a target data type corresponding to the data calling request.

In the embodiment of the application, the data server obtains the information carried by the data calling request by analyzing the data calling request, so that the type of the target data which the application terminal wants to obtain is determined. The target data type, i.e. the map element type, may be a lane line, a traffic light, a stop line, a guideboard, etc.

Step 303: and calling a data warehouse, wherein the data warehouse comprises compiled map data which is stored hierarchically according to the types of the map elements, and the map data comprises geometric information and attribute information of the map elements.

In the embodiment of the present application, the data warehouse can replace part of the functions with the existing relational database, such as PostgreSQL, Oracle. The PostgreSQL is an object-relational database management system (ordms) of free software with very complete characteristics, very powerful functions and open source codes, supports most SQL standards and provides many other modern characteristics such as complex queries, foreign keys, triggers, views, transaction integrity, multi-version concurrency control and the like, and supports operating systems including WINDOWS, Linux, UNIX, MAC OS X and BSD; oracle is a database facing Internet computing environment, and is a product of Oracle (namely Oracle corporation) which is always in the leading position in the field of databases, and an Oracle relational database system is a popular relational database management system in the world at present, has good system portability, convenient use and strong function, is suitable for various large, medium, small and microcomputer environments, and is a database solution which has high efficiency and good reliability and is suitable for high throughput.

In the embodiment of the application, the Base map data warehouse stores input data, process data and result data generated in the map making process, and manages the data in two dimensions of time and space through the Base map data warehouse. The input data comprises point cloud data, picture data, third-party data and the like acquired by a data acquisition device; the process data comprises vector data extracted based on multi-source data such as point cloud data, picture data, third-party data and the like; the result data includes generated map data, processed vector data, data labeling a picture, and the like.

It should be understood that, the management of the data in the spatial dimension means that the map data stored in the Base map data warehouse is a spatial representation, so that the management of the spatial dimension is carried out, specifically, the content of the interested area can be obtained according to a central coordinate point and a radius; managing data in the time dimension means that the Base map data warehouse can manage data generated at different times, such as data before and data now, and compare the data to see what changes exist. Specifically, if one wants to analyze the changes in the annual time axis of a certain road, the analysis can be done in both the time and space dimensions.

In the embodiment of the present application, the geometric information of the map element includes the shape, size, etc. of the map element, for example, the traffic light includes a circle, an arrow, etc.; the attribute information refers to specific attributes of a certain map element, for example, the lane line may include a solid white line, a dashed white line, a double yellow line, and the like.

Step 304: and calling the target map data from the data warehouse according to the target data type.

In the embodiment of the application, the compiled map data is stored in the Base map data warehouse according to the hierarchy, and after the target data type which is required to be acquired by the application terminal is determined by the Base map data warehouse in the data server, the position of the target map data stored in the Base map data warehouse can be quickly positioned according to the target data type, so that the target map data can be called.

Step 305: and generating a data calling response corresponding to the data calling request according to the target map data.

In the embodiment of the present application, the data call response corresponds to the data call request, and may include a map data call response sent to the map generation device, and may also include a control response sent to the guidance device, and the like. Specifically, after determining the target map data, the data server generates a map data calling response and sends the map data calling response to the map generation device, the map generation device receives the map data calling response and analyzes the map data calling response to obtain corresponding target map data, and then the target map data is used for drawing a generated map, so that referential spatial information is provided for a user; and after receiving the control response, the guide device analyzes the control response so as to control the guide device to guide.

Specifically, when a map generation device in an application terminal sends a map data call request to a data server, please refer to fig. 4, where fig. 4 is a schematic flow diagram of a second map data management method provided in an embodiment of the present application, and the method at least includes the following steps:

step 401: the data acquisition device 101 acquires multi-source data.

In one embodiment, the data collection device 101 may be a map collection vehicle driven by a technician to collect environmental data around the vehicle, for example, the map collection vehicle may be provided with collection devices such as a Lidar (Lidar), an industrial camera, a global positioning receiver (GNSS), an inertial measurement unit, etc., to collect the surrounding environment of an area through which the map collection vehicle passes, and the obtained laser point cloud data, image data, geographic position data, etc., where the data is derived from the collection vehicle; or some available data such as image data shot by a camera, image data collected in the driving process of the automobile and the like through a certain channel; but also data collected through cooperation with a third party platform, etc.

Step 402 to step 403: the data server 102 receives the multi-source data sent by the data acquisition device 101, and classifies and stores the multi-source data.

In one embodiment, the data server 102 and the data acquisition device 101 establish a communication connection therebetween to realize data interaction therebetween.

In one embodiment, the multi-source data is classified according to the map element types to obtain layered data specification information. Specifically, map elements refer to indivisible abstract object units of the same type, such as lane lines, lane types, traffic lights, signboards, and the like, that make up map data. Wherein the values of the lane lines can be white dotted lines, white solid lines, double yellow lines and the like; the value of the lane type can be urban road, high speed, national road and the like; the traffic lights can take the values of 'round red light', 'round green light', 'left turn red light', 'left turn green light', 'straight going red light', 'straight going green light', etc.; the value of the guideboard can be 'service area indication board', 'speed limit indication board' and the like.

In one embodiment, the data specification information refers to a normative standard describing geometric information and attribute information of individual map elements of the map. The geometric data is divided into points, lines and surfaces, namely the vector data of the layer is a point layer, a line layer or a surface layer at the end, the geometric forms are different, and the displayed appearance is different; the attribute information refers to which characteristics of the layer of data are, such as color, virtual-real conditions, etc. The data in each data specification layer includes a number of elements, and the geometry and attribute values of each element are different.

Step 404: the data server 102 processes the multi-source data to obtain corresponding vector data.

In one embodiment, the data source of the multi-source data needs to be determined before the multi-source data is processed. Specifically, if the data is collected point cloud data or picture data, vector data can be extracted by adopting an automatic point cloud or picture extraction algorithm, and lane lines, traffic lights and the like in the point cloud or picture can be extracted; if the data is derived from data captured by a third party, such as from hundredths, high-end, etc., the vector extraction can be performed on the data by adopting a third party data cleaning algorithm.

It should be understood that the data is extracted and labeled by using the dedicated data labeling platform, which can be regarded as extracting and labeling the structured information of the road, including the lane line, the traffic sign, the traffic rule, and the like.

In one embodiment, vector data refers to data having spatial information, attribute information, and a certain topological structure in space, and can be considered as an organization form of data.

Step 405 to step 406: the data server 102 performs quality check on the vector data, and stores the vector data passing the check into the data warehouse hierarchy respectively.

In one embodiment, a quality check of the vector data is required before storing the extracted vector data. Specifically, for example, one lane element may relate to the relationship between the left lane and the right lane, and when a quality check is performed, if such a relation is not checked, a determination is made that the quality check fails.

In one embodiment, the data server stores the vector data that passes the quality check in the Base map data warehouse hierarchically, and reclassifies, extracts and checks the vector data that does not pass the quality check, and so on until the quality check passes.

In one embodiment, the storage format for hierarchically storing the vector data may be Shapefile, Geojson, Protobuf exchange format, or the like. The sharefile file refers to a method for storing files, and actually the file format is composed of a plurality of files. In which three files are indispensable to form a sharefile, which are ". shp", ". shx" and ". dbf" files, respectively, where the file name prefixes of a group of files representing the same data should be the same. For example, storing a piece of geometry and attribute data about a lake requires three files, i.e., lake.shp, lake.shx and lake.dbf, a Shapefile belongs to a vector graphic format and can store the position and related attributes of a geometry, and the Shapefile is used for describing a geometry object such as a point, a broken line and a polygon, for example, the Shapefile can store the geometry position of a spatial object such as a well, a river, a lake and the like, and the Shapefile can also store the attributes of the spatial objects such as the name of a river, the temperature of a city and the like in addition to the geometry position; many of the geometries in Shapefile can represent complex geographic objects and provide them with powerful and accurate computing power.

In one embodiment, the vector data stored in the Base map data warehouse does not need to establish an association relationship, and only needs to ensure that the map elements have geometric information and partial non-associated attribute values, so that the cost for manufacturing the map data can be reduced, and the efficiency and the elasticity of the data are improved.

Step 407 to step 410: the application terminal 103 generates a compiling request and transmits the compiling request to the data server 102, and the data server 102 receives the compiling request transmitted by the application terminal 103, generates map data according to the compiling request, and then stores the map data in the data warehouse.

In one embodiment, various vector data are stored in the Base map data warehouse, in order to balance the production efficiency and quality of map data, the vector data can be selectively compiled according to the requirements of an application terminal, and the compiling of the vector data can be understood as the construction of some association relations, the calculation of attributes, the conversion of formats and the like. Specifically, the map for PLANNING (PLANNING) for the vehicle end only needs to use the lane line, for example, so that only data related to the lane line needs to be exported from the Base map data warehouse for performing related compiling processing, and if only partial attributes of the lane line are used, only data of the partial attributes of the lane line can be extracted for compiling, and finally corresponding map data is obtained.

In one embodiment, data from different sources, with different confidence values, facilitates later data staging applications.

Step 411 to step 413: the map generation device in the application terminal 103 generates a map data call request and transmits the map data call request to the data server 102, and the data server 102 receives the map data call request transmitted by the map generation device and determines a target data type according to the map data call request.

In one embodiment, the map generation device in the application terminal has a need to create a map, for example, a map for planning needs to be created, and if the map is created based on only the lane line information, a map data call request is sent to the data server 102, and the data server 102, after receiving the map data call request, parses the map data call request, and determines that the target data type is a lane line.

Step 414 to step 416: the data server 102 invokes the data warehouse, determines target map data according to the type of the target data, then generates a map data invocation response according to the target map data, and sends the map data invocation response to the map generation device.

In one embodiment, the data server 102, after determining that the type of the target data is a lane line, calls a Base map data warehouse to retrieve compiled map data related to the lane line as target map data and generates a map data call response, the map data call response carries the lane line data, and then generates the map data call response based on the lane line data and sends the map data call response to the map generation device.

Step 417 to step 418: the map generation device in the application terminal 103 receives the map data call response sent by the data server 102 and provides a data service for the application map generation device.

In one embodiment, the map generation device receives a map data call response sent by the data server, obtains lane line map data by analyzing the map data call response, and directly draws a map for planning through the map data to provide a map space parameter which can be referred to for a user.

Specifically, when a guidance device in an application terminal sends a control request to a data server, please refer to fig. 5, where fig. 5 is a schematic flow chart of a third map data management method provided in an embodiment of the present application, where the method at least includes the following steps:

step 501: the data acquisition device 101 acquires multi-source data.

In one embodiment, the data collection device 101 may include any one or more of a camera, a laser radar (Lidar), a Global Navigation Satellite System (GNSS), a millimeter wave radar, a gyroscope, a rain sensor, a third-party data capture module, and an on-board data return module. The data source comprises point cloud data, image data, position information data and the like acquired by an acquisition vehicle; available data acquired through a certain channel is also included; the system also comprises available data and the like obtained by a third-party data capture module in cooperation with a third-party platform.

In one embodiment, the laser point cloud data may be data for generating a lane line, zebra crossing, or other ground marking; the picture data may be data for generating traffic lights, signs, and the like.

Step 502 to step 503: the data server 102 receives the multi-source data sent by the data acquisition device 101, and classifies and stores the multi-source data.

In one embodiment, the data server 102 and the data acquisition device 101 establish a communication connection therebetween to realize data interaction therebetween.

In one embodiment, classification of multi-source data according to map element types ensures accurate and complete description of surface feature elements, thereby obtaining a layered data specification. Specifically, the map elements may include lane speed limit, turning type, and the like, where the value of the lane speed limit may be "50 km/h lowest", "60 km/h highest", "60 km/h lowest", "120 km/h highest", and the like; the turning type can be selected from left turn, straight turn, right turn, straight turn plus left turn, straight turn plus right turn, etc.

In one embodiment, the data specification specifies the organization and configuration of the data, and is a multi-outlet classification mechanism standard, which generally contains geometric and attribute information. For example, in the specification of the lane line, the geometric center of the lane line is the geometric information thereof, and the type, color, number, whether the lane line is a real lane line, whether the lane line is an isolation line, and the like are the attribute information thereof.

Step 504: the data server 102 processes the multi-source data to obtain corresponding vector data.

In one embodiment, the data source of the multi-source data needs to be determined before the multi-source data is processed. Specifically, if the data is collected point cloud data or picture data, vector data can be extracted by adopting an automatic point cloud or picture extraction algorithm; if the data is obtained through a certain channel, vector data can be extracted in a manual labeling mode.

It should be understood that the point cloud or picture extraction algorithm can be regarded as extracting some features for point cloud matching and positioning, such as telegraph poles, buildings, traffic signs and the like, on the basis of storing an original point cloud map; and a third-party data cleaning algorithm is used for mainly extracting the current road condition, real-time traffic rules and the like.

Step 505 to step 506: the data server 102 performs quality check on the vector data, and stores the vector data passing the check into the data warehouse hierarchy respectively.

In one embodiment, after vector data is extracted, a quality check of the vector data is required before storage in the data warehouse. Specifically, for example, when a lane is associated with a lane position information and an intersection information, if the lane position information is not detected, or the intersection information is not detected, or the association relationship between the lane and the lane position information and the intersection information is not detected during the quality check, the data server will determine that the vector data quality does not pass, so as to perform the processes of classifying, extracting and quality checking on the data again, and the process is circulated until the data quality check passes; for example, for one intersection, four roads should have a crossing relationship with the intersection, but in the quality inspection, only two roads are checked to have a crossing relationship with the intersection, and therefore, it is determined that the quality of the vector data at the intersection has not passed, and the vector data is classified, extracted, and subjected to the quality inspection again until the quality inspection passes.

In one embodiment, the storage format for hierarchically storing the vector data may be Shapefile, Geojson, Protobuf exchange format, or the like. Geojson is a format for coding various geographic data structures, a geospatial information data exchange format based on Javascript object representation, Geojson objects can represent geometry, features or feature sets, and Geojson supports the following geometry types: point, line, face, multipoint, multiline, multifaceted and geometric set, the feature in Geojson contains a geometric object and other attributes, the feature set represents a series of features; protobuf is a platform-independent, language-independent, extensible, lightweight, and efficient protocol for serialized data structures that can be used for network communications and data storage.

Step 507 to step 510: the application terminal 103 generates a compiling request and transmits the compiling request to the data server 102, and the data server 102 receives the compiling request transmitted by the application terminal 103, generates map data according to the compiling request, and then stores the map data in the data warehouse.

In one embodiment, many types of vector data are stored in a Base map data warehouse in the data server, the information is comprehensive, in order to ensure balance of map data production efficiency and quality, selective compiling processing can be performed on the vector data according to the requirements of an application terminal, and compiling the vector data can be understood as construction of some association relations, attribute calculation, format conversion and the like. Specifically, for example, a map for simulation requires not only lane lines, zebra stripes, traffic lights, but also some interesting data, and therefore the data needs to be exported and compiled, for example, the data is converted into a format, content, and the like required by the data.

Step 511 to step 513: the bootstrap device in the application terminal 103 generates a control request and transmits the control request to the data server 102, and the data server 102 receives the control request transmitted by the bootstrap device and determines a target data type according to the control request.

In one embodiment, the guidance device may include an in-vehicle navigation, an unmanned automobile, a tablet, a smart phone, and the like.

In one embodiment, for example, the unmanned vehicle travels to a traffic light intersection, at this time, the unmanned vehicle acquires environmental information of the located position through its own sensing device, such as a camera, and sends a control request to the data server 102 based on the environmental information to request it to send out an instruction for controlling the unmanned vehicle to travel, decelerate or stop, etc., and after receiving the control request sent by the unmanned vehicle, the data server 102 analyzes the control request to determine that the target data type is traffic light, lane line, position information.

Step 514 to step 516: the data server 102 invokes the data warehouse and determines target map data according to the type of the target data, then generates a control response according to the target map data, and sends the control response to the guidance device.

In an embodiment, after the data server 102 determines that the target data type is a traffic light and a lane line, the compiled map data corresponding to the traffic light, the lane line and the position information is found in the Base map data warehouse, and the compiled lane line data, the traffic light data and the position information may have a certain association relationship. Specifically, the spatial geographic position of the unmanned automobile is judged through position information data, so that the spatial geographic position of a corresponding lane and a corresponding traffic light is determined, then which lane the unmanned automobile is located is judged through environment information, if the lane is a left-turn lane, the corresponding left-turn indicator light is seen, whether the indicator light is a red light or a green light is judged through the environment information acquired by the unmanned automobile, if the indicator light is the red light, a stop control instruction is generated, and if the indicator light is the green light, a driving control instruction is generated; if the vehicle is a straight lane, the corresponding straight indicator light is seen, whether the indicator light is a red light or a green light at the moment is judged through environment information acquired by the unmanned vehicle, if the indicator light is the red light, a stop control instruction is generated, and if the indicator light is the green light, a driving control instruction is generated; if the lane is a right-turn lane, the corresponding right-turn indicator light is seen, whether the indicator light is a red light or a green light at the moment is judged through environmental information acquired by the unmanned automobile, if the indicator light is the red light, a control instruction for stopping is generated, and if the indicator light is the green light, a control instruction for driving is generated; and finally, sending a corresponding control response to the unmanned automobile.

Step 517 to step 518: the boot device in the application terminal 103 receives the control response sent by the data server 102 and provides data services for the application boot device.

In one embodiment, after receiving the control response sent by the data server 102, the driverless vehicle analyzes the control response to obtain a specific stop control command or driving control command, and then performs an operation such as stopping or driving according to the corresponding control command.

By the map data management method, map data meeting requirements can be provided for relevant application modules, and specifically, please refer to fig. 6, where fig. 6 is an application schematic diagram of the map data management method provided in the embodiment of the present application.

In the embodiment of the application, the data server adopts various modes such as labeling, automatic extraction and the like for multi-source data, classifies, extracts and vectorizes relevant elements, and inputs the relevant elements into a Base map data warehouse master library. The data warehouse is mainly applied to OLAP (On-Line Analytical Processing), can support complex analysis operation, emphasizes decision support, provides visual and understandable query results, has the characteristics of high extensibility, multiple granularities, space-time backtracking and the like, and can ensure that data in different formats, credibility and time periods can be managed and combined through dimensions such as time and space.

In the embodiment of the application, the extraction and vectorization of the data include automatic extraction by using images or point clouds, third-party integration or manual labeling and the like. The manual labeling part needs a special map labeling tool which can be special labeling platform equipment, the labeling platform equipment is connected with a Base map mother library, data such as vectors, point clouds and pictures can be loaded according to space-time dimensions, multi-dimensional visual angle switching during labeling is guaranteed, the labeling accuracy is improved, and finally, result data after labeling is stored in the Base map mother library and is maintained as basic data.

It should be understood that, according to the loading of data such as vectors, point clouds, pictures and the like according to the space-time dimensions, the switching of the multidimensional viewing angles during the labeling is ensured, that is, the data of different formats can be loaded through the switching of the viewing angles on the labeling platform, so that the purpose of better drawing is achieved. The visual angle switching is actually a function of the labeling platform, because the vector diagram can be displayed in two dimensions and also can be displayed in three dimensions, the visual angles may need to be switched when labeling is carried out, and some multi-source data are two-dimensional data and some are three-dimensional data, so that the labeling platform needs to be switched with different visual angles if the data need to be compatible.

In the embodiment of the application, different applications have different requirements and emphasis points, so that vector data needs to be compiled and screened in a targeted manner. Based on the Base map mother library, the map data generation of different application modules can be completed according to different data compiling interfaces, so that the decoupling of the different application modules on the map data dependence can be ensured, the map data production and the application are independent, and the expansion of subsequent application scenes is facilitated. For example, some application modules may require lane lines, some application modules may require traffic lights, some application modules may require some calculations for lane lines and traffic lights, and so on.

Specifically, for a Human Machine Interface (HMI) display graph, data needs to be as rich and detailed as possible, so all vector data needs to be compiled, an association relationship is constructed, and the vector data is converted into a format required by the HMI display graph; for a map for planning, for example, the context of a lane needs to be used, so that the vector data needs to be compiled based on the context of the lane, and the association is constructed for the user to use; for a perceptual map, only the region of interest (ROI) may be of interest, so only vector data within the corresponding region need be compiled. In general, according to this manner, a dedicated map product can be generated for use by different users, thereby ensuring a balance of data quality and production efficiency, and a new production method can be integrated according to a new technology.

It is to be understood that data can be better managed by hierarchically storing data of each stage by using a Base map data warehouse. For example, different methods can be adopted for making the lane lines and the traffic lights, for example, the lane lines are manually marked, the possible efficiency is higher than that of other methods, the efficiency of the traffic lights is higher than that of other methods by utilizing image recognition, and which making method is adopted when which algorithm is adopted is higher in efficiency, so that the efficiency can be improved, instead of using a general method for making data such as the lane lines, the traffic lights and the like, and by analogy, more efficient production modes aiming at single type data can be provided, and the method can also be adopted.

In the embodiment of the application, the data production and the data application are linked through the Base map data warehouse master library, the whole process of map data production and application can be connected in series, the map data production and application form a closed loop, and meanwhile, the management and maintenance of data in space-time dimensions are guaranteed, the elasticity of high-precision map data production and application is improved, and the extended application of the high-precision map data is facilitated.

Based on the content of the foregoing embodiments, embodiments of the present application provide a map data management apparatus, which may be disposed in a data server. The map data management apparatus is configured to execute the map data management method provided in the foregoing method embodiment, and specifically, referring to fig. 7, the apparatus includes:

a first receiving module 701, configured to receive a data call request;

a first determining module 702, configured to determine a target data type corresponding to the data call request;

the invoking module 703 is configured to invoke a data warehouse, where the data warehouse includes compiled map element vector data stored hierarchically according to map element types, and the map element vector data includes geometric information and attribute information of a map element;

a data retrieving module 704, configured to retrieve target map data from the data warehouse according to the target data type;

the response generating module 705 is configured to generate a data call response corresponding to the data call request according to the target map data.

In one embodiment, the data call request received by the first receiving module 701 may include a map data call request issued by a map generating device and may also include a control request issued by a guidance device.

In one embodiment, the data call response generated by the response generation module 705 may include a map data call response issued to the map generation device and may also include a control response issued to the guidance device.

In one embodiment, the map data management apparatus further includes a first obtaining module, configured to obtain multi-source data, where the multi-source data includes at least one of point cloud data, image data, and third-party data; the classification module is used for carrying out map element classification on the multi-source data according to the map element types to obtain a classification result, and the classification result comprises attribute information corresponding to each map element in the multi-source data; and the first storage module is used for storing the classification results in the data warehouse in a layering manner.

In one embodiment, the map data management apparatus further includes a second obtaining module configured to obtain data specification information of a map element type, the data specification information including a geometric information standard and an attribute information standard; the first data processing module is used for processing the classification result according to the data specification information and the data extraction mode corresponding to the multi-source data to obtain vector data corresponding to each map element; and the second storage module is used for hierarchically storing the vector data corresponding to the map elements in the data warehouse according to the map element types.

In one embodiment, the map data management apparatus further includes a determining module, configured to determine a data source of the multi-source data; and the second determining module is used for determining a data extraction mode corresponding to the multi-source data according to the data source, wherein the data extraction mode comprises at least one of automatic extraction, manual labeling and third party integration.

In one embodiment, the map data management apparatus further includes a quality check module configured to perform quality check on the vector data.

In one embodiment, the map data management apparatus further includes a third obtaining module, configured to obtain a map element class table, where the map element class table includes data warehouse hierarchical data corresponding to a map element type; and the third storage module is used for respectively storing the vector data corresponding to the map elements in the data warehouse hierarchy according to different map element types to obtain the hierarchical vector data.

In one embodiment, the map data management apparatus further includes a second receiving module for receiving a compilation request; the second data processing module is used for processing the target vector data to generate corresponding map data according to the compiling request; and the fourth storage module is used for storing the map data in the data warehouse.

The map data management apparatus of the embodiment of the present application may be configured to implement the technical solution of the foregoing method embodiment, and the implementation principle and the technical effect are similar, which are not described herein again.

Different from the prior art, the map data management device provided by the application is provided with the first determining module, the calling module and the data calling module, and is mainly used for determining the type of target data according to the requirements of different application modules, and then quickly and accurately determining the target map data in a data specification layer in a data warehouse, so that corresponding data service is provided. The method connects the whole processes of map data production and application in series, so that the map data production and application form a closed loop, and the data warehouse is used for connection, thereby not only ensuring the management and maintenance of data in space-time dimension, but also improving the elasticity of map data production and application, facilitating the extended application of map data, ensuring the decoupling of different application modules on the dependence of map data, and making the map data production and application independent.

Correspondingly, the embodiment of the application also provides computer equipment, and the computer equipment comprises a server or a terminal and the like.

As shown in fig. 8, the computer device may include a processor 801 having one or more processing cores, a memory 802 including one or more computer-readable storage media, an input unit 803, a power supply 804, and a communication unit 805. Those skilled in the art will appreciate that the computer device configuration illustrated in FIG. 8 does not constitute a limitation of computer devices, and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components. Wherein:

the processor 801 is a control center of the computer device, connects various parts of the entire cellular phone using various interfaces and lines, and performs various functions of the computer device and processes data by operating or executing software programs and/or modules stored in the memory 802 and calling data stored in the memory 802.

The memory 802 may be used to store software programs and modules, and the processor 801 executes various functional applications and data processing by operating the software programs and modules stored in the memory 802. The input unit 803 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

The computer device also includes a power supply 804 (e.g., a battery) for powering the various components, which may be logically coupled to the processor 801 via a power management system that may be used to manage charging, discharging, and power consumption.

The communication unit 805 performs communication processing via a network such as the internet.

Although not shown, the computer device may further include a camera, a bluetooth module, etc., which will not be described herein. Specifically, in the embodiment of the present application, the processor 801 in the computer device loads an executable file corresponding to a process of one or more application programs into the memory 802 according to the following instructions, and the processor 801 executes the application programs stored in the memory 802, so as to implement the following functions:

receiving a data calling request;

determining a target data type corresponding to the data calling request;

calling a data warehouse, wherein the data warehouse comprises compiled map data which is stored hierarchically according to the types of the map elements, and the map data comprises geometric information and attribute information of the map elements;

retrieving target map data from the data repository according to the target data type;

and generating a data calling response corresponding to the data calling request according to the target map data.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed description, and are not described herein again.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to implement the following functions:

receiving a data calling request;

determining a target data type corresponding to the data calling request;

calling a data warehouse, wherein the data warehouse comprises compiled map data which is stored hierarchically according to the types of the map elements, and the map data comprises geometric information and attribute information of the map elements;

retrieving target map data from the data repository according to the target data type;

and generating a data calling response corresponding to the data calling request according to the target map data.

The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.

Wherein the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

Since the instructions stored in the storage medium can execute the steps in any method provided in the embodiments of the present application, the beneficial effects that can be achieved by any method provided in the embodiments of the present application can be achieved, for details, see the foregoing embodiments, and are not described herein again.

Meanwhile, the embodiment of the present application provides a computer program product or a computer program, which includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above. For example, the following functions are implemented:

receiving a data calling request;

determining a target data type corresponding to the data calling request;

calling a data warehouse, wherein the data warehouse comprises compiled map data which is stored hierarchically according to the types of the map elements, and the map data comprises geometric information and attribute information of the map elements;

retrieving target map data from the data repository according to the target data type;

and generating a data calling response corresponding to the data calling request according to the target map data.

The method and apparatus for managing map data, the computer device, and the computer-readable storage medium provided in the embodiments of the present application are described in detail above, and specific examples are applied in the present application to explain the principles and embodiments of the present application, and the description of the above embodiments is only used to help understanding the technical solutions and their core ideas of the present application, but not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims (10)

1. A map data management method, characterized by comprising:

receiving a data calling request;

determining a target data type corresponding to the data calling request;

calling a data warehouse, wherein the data warehouse comprises compiled map data which is stored hierarchically according to the types of the map elements, and the map data comprises geometric information and attribute information of the map elements;

retrieving target map data from the data repository according to the target data type;

and generating a data calling response corresponding to the data calling request according to the target map data.

2. The map data management method according to claim 1, further comprising, before the step of calling a data warehouse:

acquiring multi-source data, wherein the multi-source data comprises at least one of point cloud data, image data and third-party data;

according to the map element types, map element classification is carried out on the multi-source data to obtain classification results, and the classification results comprise attribute information corresponding to all map elements in the multi-source data;

and hierarchically storing the classification results in the data warehouse.

3. The map data management method according to claim 2, wherein the step of hierarchically storing the classification results in the data warehouse includes:

acquiring data specification information of map element types, wherein the data specification information comprises a geometric information standard and an attribute information standard;

processing the classification result according to the data specification information and the data extraction mode corresponding to the multi-source data to obtain vector data corresponding to each map element;

and according to the map element types, hierarchically storing the vector data corresponding to the map elements in the data warehouse.

4. The map data management method according to claim 3, further comprising, before the step of processing the classification result to obtain vector data corresponding to each map element:

judging the data source of the multi-source data;

and determining a data extraction mode corresponding to the multi-source data according to the data source, wherein the data extraction mode comprises at least one of automatic extraction, manual labeling and third party integration.

5. The map data management method according to claim 3, further comprising, after the step of processing the classification result to obtain vector data corresponding to each map element:

performing quality check on the vector data;

storing the checked vector data in the data warehouse;

and re-classifying the map elements of the vector data which fails to pass the check.

6. The map data management method according to claim 3, wherein the step of hierarchically storing the vector data corresponding to the map elements in the data repository includes:

obtaining a map element class table, wherein the map element class table comprises data warehouse hierarchical data corresponding to map element types;

and respectively storing the vector data corresponding to each map element into a data warehouse layer according to different map element types to obtain layered vector data.

7. The map data management method according to claim 3, wherein after the step of hierarchically storing the vector data corresponding to the map elements in the data repository according to the map element types, the method further comprises:

receiving a compiling request;

processing the target vector data to generate corresponding map data according to the compiling request;

storing the map data in the data repository.

8. The map data management method according to claim 1, characterized by further comprising:

acquiring the generation time of each map element vector data in the data warehouse;

and obtaining the change data of the map element vector data of the same map element according to the generation time of the map element vector data of each region.

9. The map data management method according to any one of claims 1 to 8, wherein the step of receiving a data call request includes at least one of:

receiving a map data calling request of a map generation device;

alternatively, a control request to boot the device is received.

10. A map data management apparatus, characterized by comprising:

the first receiving module is used for receiving a data calling request;

the first determining module is used for determining a target data type corresponding to the data calling request;

the data warehouse comprises compiled map element vector data which are stored hierarchically according to the map element types, and the map element vector data comprise geometric information and attribute information of map elements;

the data calling module is used for calling target map data from the data warehouse according to the target data type;

and the response generation module is used for generating a data calling response corresponding to the data calling request according to the target map data.

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