CN113280824A

CN113280824A - High-precision map and standard map association method and equipment

Info

Publication number: CN113280824A
Application number: CN202010105966.7A
Authority: CN
Inventors: 吴代晖; 张建平
Original assignee: Navinfo Co Ltd
Current assignee: Navinfo Co Ltd
Priority date: 2020-02-20
Filing date: 2020-02-20
Publication date: 2021-08-20

Abstract

The invention provides a method and equipment for associating a high-precision map with a standard map, wherein the method comprises the steps of obtaining a lane group in the high-precision map and generating a road section reference line corresponding to the lane group; acquiring a road route in a standard map; the road route is matched with the road section reference line, the road line and the road section reference line with the association relation are determined, the road line and the road section reference line with the association relation are associated, the association between the high-precision map and the standard map can be realized, and the road section reference line of the high-precision map and the road route of the standard map both represent an actual section of road, and the road section reference line of the high-precision map can be accurately associated by matching the road section reference line and the road line.

Description

High-precision map and standard map association method and equipment

Technical Field

The embodiment of the invention relates to the technical field of maps, in particular to a method and equipment for associating a high-precision map with a standard map.

Background

Electronic maps are mainly divided into high-precision maps and standard maps. The standard map mainly provides positioning, retrieving and path planning functions in manual driving, and the high-precision map is mainly used for auxiliary driving or automatic driving. At present, the standard map can realize the coverage of the whole road network, the high-precision map only has a specific scene, not all the road networks are covered, the precision of the high-precision map can reach the lane level, and the precision of the standard map can only reach the road level.

In the prior art, a standard map and a high-precision map are frequently switched during the running of a vehicle, for example, after automatic driving is started, the standard map used for navigation needs to be switched to the high-precision map so as to perform automatic driving by using lane-level information of the high-precision map.

However, the inventors found that at least the following problems exist in the prior art: when switching between a standard map and a high-precision map is performed, for example, when the standard map is switched to the high-precision map, a high-precision map lane group corresponding to a standard map road where a vehicle is currently located needs to be found so that the corresponding high-precision map can be switched, and therefore, a corresponding relationship needs to be established between the standard map road and the high-precision map lane group, so that the corresponding relationship between the high-precision map lane group and the standard map road becomes an urgent problem to be solved.

Disclosure of Invention

The embodiment of the invention provides a method and equipment for associating a high-precision map with a standard map, which are used for establishing a corresponding relation between a high-precision map lane group and a standard map road.

In a first aspect, an embodiment of the present invention provides a method for associating a high-precision map with a standard map, including:

acquiring a lane group in a high-precision map, and generating a road section reference line corresponding to the lane group;

acquiring a road route in a standard map;

and matching the road route with the road section reference line, determining the road route and the road section reference line with the association relationship, and establishing the association between the road route and the road section reference line with the association relationship.

In one possible design, the number of the lane groups is at least one, and the lane groups correspond to the road section reference lines one by one;

matching the road route with the road section reference line, and determining the road route and the road section reference line with an incidence relation, wherein the method comprises the following steps:

and for each road section reference line, searching a target road route matched with the road section reference line from the road routes, wherein the target road route and the road section reference line have an association relation.

In one possible design, finding a target road route matching the road segment reference line from the road routes includes:

acquiring a first road section corresponding to the road section reference line;

searching a first route located in the first route section from the road routes;

judging whether a road to be detected is consistent with the road section reference line or not, wherein the road to be detected is any one of the first road;

and if the road to be detected is consistent with the road section reference line, determining that the road to be detected is a target road route.

In one possible design, the determining whether the route of the road to be detected is consistent with the road section reference line includes:

acquiring the driving direction of the road section reference line and the driving direction of the road line to be detected;

acquiring the curve variation trend of the road section reference line and the curve variation trend of the road line to be detected;

judging whether the driving direction of the road line to be detected is the same as the driving direction of the road section reference line or not and judging whether the curve variation trend of the road line to be detected is the same as the curve variation trend of the road section reference line or not;

and if the driving direction of the road to be detected is the same as the driving direction of the road section reference line and the curve variation trend of the road to be detected is the same as the curve variation trend of the road section reference line, determining that the road to be detected is consistent with the road section reference line.

In one possible design, generating the road segment reference line corresponding to the lane group includes:

acquiring a separation line of the lane group;

and selecting one separation line from the separation lines, and taking the selected separation line as the road section reference line.

acquiring a separation line of the lane group;

selecting two separation lines from the separation lines, and determining the median line of the two separation lines;

and taking the median line as the road section reference line.

In one possible design, the lane route is at least one;

and aiming at each road line, searching a target road section reference line matched with the road line from the road section reference lines, wherein the road line and the target road section reference line have an association relation.

In one possible design, finding a first route from the road routes that is located within the first segment includes:

acquiring the middle point of each route;

and for each road line, if the midpoint of the road line is positioned in the first road section, determining that the road line is the first road line.

In one possible design, after the associating the road line with the road section reference line, the method further includes:

when a first map switching instruction is received, acquiring a current target road section reference line associated with a current road route, and displaying a high-precision map corresponding to the current target road section reference line;

or the like, or, alternatively,

and when a second map switching instruction is received, acquiring a current target road route associated with the current road section reference line, and displaying a standard map corresponding to the current target road route.

In a second aspect, an embodiment of the present invention provides a high-precision map and standard map association apparatus, including:

the lane processing module is used for acquiring a lane group in a high-precision map by a lane and generating a road section reference line corresponding to the lane group;

the road route acquisition module is used for acquiring a road route in a standard map;

and the association determining module is used for matching the road route with the road section reference line, determining the road line and the road section reference line with the association relationship, and establishing the association between the road line with the association relationship and the road section reference line.

the association determining module is specifically configured to: and for each road section reference line, searching a target road route matched with the road section reference line from the road routes, wherein the target road route and the road section reference line have an association relation.

In one possible design, the association determination module is specifically configured to:

In one possible design, the association determination module is further specifically configured to:

In one possible design, the lane processing module is specifically configured to:

acquiring a separation line of the lane group;

and taking the median line as the road section reference line.

In one possible design, the lane route is at least one;

the association determining module is specifically configured to: and aiming at each road line, searching a target road section reference line matched with the road line from the road section reference lines, wherein the road line and the target road section reference line have an association relation.

acquiring the middle point of each route;

In one possible design, the association determination module is further configured to: after the road line and the road section reference line with the association relation are associated, when a first map switching instruction is received, acquiring a target road section reference line associated with the current road line, and displaying a high-precision map corresponding to the target road section reference line;

or the like, or, alternatively,

In a third aspect, an embodiment of the present invention provides a high-precision map and standard map association apparatus, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the high precision map to standard map association method of any of the first aspects.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer-executable instruction is stored in the computer-readable storage medium, and when a processor executes the computer-executable instruction, the method for associating a high-precision map with a standard map is implemented as described in the first aspect and various possible designs of the first aspect.

The method and the device for associating the high-precision map with the standard map provided by the embodiment of the invention generate the road section reference line corresponding to the lane group after acquiring the lane group in the high-precision map, representing the road section corresponding to the lane group by the road section reference line, matching the road route with the road section reference line to determine the road line and the road section reference line with the association relationship, establishing the association between the road line with the association relationship and the road section reference line, namely, the corresponding relation between the lane group in the high-precision map and the road line in the standard map is established, the association between the high-precision map and the standard map is realized, and because the road section reference line of the high-precision map and the road route of the standard map both represent an actual section of road, by matching the section reference lines with the road lines, the section reference lines of the high-precision map can be accurately associated with the section reference lines.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a diagram of a standard map provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a high-precision map provided by an embodiment of the present invention;

fig. 3 is a schematic diagram of a scene associated with a high-precision map and a standard map according to an embodiment of the present invention;

fig. 4 is a first schematic flowchart of a method for associating a high-precision map with a standard map according to an embodiment of the present invention;

FIG. 5 is a first illustrative diagram of a lane group according to an embodiment of the present invention;

FIG. 6 is a second schematic diagram illustrating a lane group according to an embodiment of the present invention;

fig. 7 is a third schematic diagram illustrating a lane group according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a road route provided by an embodiment of the present invention;

fig. 9 is a second flowchart illustrating a method for associating a high-precision map with a standard map according to an embodiment of the present invention;

FIG. 10 is a schematic diagram illustrating the curvature of a curve provided by an embodiment of the present invention;

fig. 11 is a schematic structural diagram of a high-precision map and standard map association device according to an embodiment of the present invention;

fig. 12 is a schematic diagram of a hardware structure of a high-precision map and standard map association device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.

Electronic maps are mainly divided into high-precision maps and standard maps. The standard map mainly provides positioning, retrieving and path planning functions in manual driving, and the high-precision map is mainly used for auxiliary driving or automatic driving. At present, the standard map can realize the coverage of the whole road network, and the high-precision map only has a specific scene, but not all the road networks are covered.

The standard map is a map composed of topological net elements based on a road route (link), and as shown in fig. 1, the standard map has the accuracy of meter level, only depicts the position and the form of a road, and can only reach the road level.

The high-precision map is a map composed of elements based on lane-level topology network elements, as shown in fig. 2, compared with a standard map, the high-precision map has higher precision and can reach lane levels, the data dimensionality of the high-precision map is richer, and the detailed information of lane line types, lane widths, roadside landmarks and the like is increased.

Fig. 3 is a schematic diagram of a scene in which a high-precision map and a standard map are associated with each other according to an embodiment of the present invention, as shown in fig. 3, when a vehicle is traveling on a road, a map switch between the standard map and the high-precision map may need to be performed (from the standard map to the high-precision map or from the high-precision map to the standard map), for example, a user may first use the standard map to perform route planning and navigation, and most of the users need to use lane-level information provided by the high-precision map to complete lane keeping, or when a curve occurs in the current direction, the users need to use curvature information provided by the high-precision map to plan an optimal speed for adapting to the curve, or need to switch to the high-precision map to perform other operations. When switching between a standard map and a high-precision map is performed, for example, when the standard map is switched to the high-precision map, a high-precision map lane group corresponding to a standard map road where a vehicle is currently located needs to be found so that the corresponding high-precision map can be switched, and therefore, a corresponding relation needs to be established between the standard map road and the high-precision map lane group, so that the application provides a high-precision map and standard map association method, which generates a road section reference line corresponding to the lane group by a terminal device after the lane group in the high-precision map is obtained, namely, represents a road section corresponding to the lane group by the road section reference line, then matches a road route with the road section reference line to determine the road line and the road section reference line with the association relation, and establishes the association between the road line and the road section reference line with the association relation, the method comprises the steps of establishing a corresponding relation between a lane group in a high-precision map and a road line in a standard map, realizing the association between the high-precision map and the standard map, and matching the road reference line with the road line to accurately associate the road reference line and the road reference line of the high-precision map because the road reference line of the high-precision map and the road line of the standard map both represent an actual section of road, so that the situation that the lane group connecting line is wrongly associated with the road line when the lane group connecting line of the high-precision map is associated with the road line of the standard map is avoided.

When the terminal device is not the vehicle-mounted terminal, the determined association relationship between the road section reference line and the target road route needs to be sent to the vehicle-mounted terminal, so that the vehicle-mounted terminal performs map switching by using the association relationship.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Fig. 4 is a first flowchart illustrating a method for associating a high-precision map with a standard map according to an embodiment of the present invention, where an execution subject in this embodiment may be a vehicle-mounted terminal on a vehicle, as shown in fig. 4, the method includes:

s401, obtaining a lane group in the high-precision map, and generating a road section reference line corresponding to the lane group.

In the present embodiment, the high-precision map includes at least one lane group, and each lane group corresponds to one road segment, that is, one road segment. The method comprises the steps of obtaining a plurality of lane groups in a high-precision map and lane group information corresponding to each lane group, and generating a road section reference line corresponding to each lane group after obtaining the plurality of lane groups.

The lane group is a set of lanes having the same driving direction and the same road section. For example, as shown in fig. 5, the lane group a, the lane group B, the lane group C, and the lane group D, or as shown in fig. 6, the lane group E and the lane group F, the traveling direction of the lane group E, i.e., the passing direction is opposite to the passing direction of the lane group F.

The road section reference line is a geometric representation of the road section corresponding to the road section reference line in the map, that is, the road section reference line represents a lane group corresponding to the road section, and the lane group corresponds to the road section reference line in a meaningful way, for example, as shown in fig. 7, the lane group G corresponding to the road section reference line may be represented by a road section reference line Div 3.

When the road section reference line corresponding to the lane group is generated, the road section reference line can be determined according to the separation line of the lane group, and the specific process is as follows: a separation line of the lane group is acquired. And selecting one separation line from the separation lines, and taking the selected separation line as a road section reference line.

In the present embodiment, the separation line refers to a sign line on the road surface for distinguishing different lanes in the same driving direction, and the road section may be divided into a plurality of lanes by the sign line, that is, each lane corresponds to two separation lines, for example, the road section in fig. 7 includes a separation line Div1, a separation line Div2, a separation line Div3 and a separation line Div4, and the road section is divided into a lane G1, a lane G2 and a lane G3 by the separation line Div1, the separation line Div3, the separation line Div4 and the separation line Div2, resulting in a lane group G, each lane corresponds to two separation lines, for example, a lane G1 corresponds to the separation line Div1 and the separation line Div 3.

The method comprises the steps of obtaining separation lines of a lane group, namely obtaining separation lines corresponding to all lanes in the lane group, selecting one separation line from the separation lines, and using the selected separation line as the separation line corresponding to the lane group, namely a road section reference line corresponding to a road section corresponding to the lane group.

When the separation lines are selected from the separation lines, one separation line may be arbitrarily selected from the separation lines as the road section reference line, or in order to make the selected separation line better represent the corresponding lane group, a specific separation line may be selected from the separation lines as the road section reference line, for example, a right separation line of a leftmost lane in the lane group is used as the road section reference line corresponding to the lane group, that is, the road section reference line corresponding to the road section corresponding to the lane group, for example, the leftmost lane in fig. 7 is lane G1, and a right separation line of lane G1, that is, separation line Div3, is used as the road section reference line corresponding to the lane group G.

Optionally, in order to enable the road section reference line to better represent the lane group, the road section reference line may also be determined according to a median line of the separation line, and the specific process includes: a separation line of the lane group is acquired. Two separation lines are selected from the separation lines, and a median line of the two separation lines is determined. And taking the median line as a road section reference line.

In this embodiment, two separation lines are selected from the separation lines of the lane group, the median line of the two selected separation lines is determined, the determined median line is used as the road section reference line of the lane group, and the lane group is represented by the median line of the separation lines of the lane group, so that the actual situation of the lane group, that is, the actual road geometry, can be better characterized.

Specifically, when determining the median line of two separation lines, a plurality of third target points may be selected from one of the two separation lines, then, for each third target point, a fourth target point matching the third target point is selected from another separation line, and the fourth target point is connected with the third target point, so as to obtain a separation connecting line, that is, the separation connecting line is a connecting line between the third target point and the fourth target point matching the third target point. And acquiring the midpoints between the separation connecting lines, and connecting the midpoints between the separation connecting lines to obtain the median lines of the two separation lines.

In this embodiment, the median line of the two separation lines may be determined in other manners, and the manner of determining the median line is not limited herein.

When the difference value between the position coordinates of the fourth target point and the third target point is within a certain range, the matching between the position coordinates of the fourth target point and the third target point is determined.

When two separation lines are selected from the separation lines, the two separation lines may be arbitrarily selected from the separation lines, or in order to make the median line determined according to the selected separation lines better represent the corresponding lane group, two specific separation lines may be selected from the separation lines, for example, separation lines on both sides of the lane group, that is, the separation lines Div1 and Div2 in fig. 7.

In this embodiment, the road segment reference line of the lane group may also be determined in other manners, as long as the determined road segment reference line can represent the lane group, and here, the manner of determining the road segment reference line of the lane group is not limited.

S402, obtaining a road route in the standard map.

In a standard map or a high-precision map, a road is divided into a plurality of links, i.e. road routes, according to the actual need of map building, and the number of links corresponding to a road in the standard map may be different from the number of links corresponding to a road in the high-precision map, for example, the road a may be divided into 3 links in the high-precision map, and may be divided into 4 links in the standard map, specifically, how many links are divided, depending on the actual need of map building.

As shown in fig. 8, the link is composed of end points (NODE points) at both ends and a shape point in the middle, and is a digitized representation of an actual road.

The NODE points may record attributes, may be plane intersections of roads, attribute change points, contour points, and the like.

Where the shape points are the points necessary to describe the road, which are actually road shape points.

In this embodiment, the road routes in the standard map and the road route data corresponding to each road route are obtained, that is, the road route data corresponding to each road route is obtained from the map data corresponding to the standard map.

S403, matching the road route with the road section reference line, determining the road line and the road section reference line with the association relation, and establishing the association between the road line with the association relation and the road section reference line.

In the present embodiment, the road line and the link reference line having an association relationship are determined by matching the road line in the standard map with the link reference line corresponding to the high-precision map.

Specifically, when the road route in the standard map is matched with the road section reference line corresponding to the high-precision map, a target road route matched with the road section reference line can be searched from each road route, and the target road route has an association relationship with the road section reference line, that is, for each road section reference line, a target road route matched with the road section reference line is searched from the road lines, wherein the target road route has an association relationship with the road section reference line.

Optionally, a target road segment reference line matched with the road line may also be searched from each road segment reference line, and the target road segment reference line has an association relationship with the road line, that is, for each road line, a target road segment reference line matched with the road line is searched from the road segment reference lines, where the road line has an association relationship with the target road segment reference line.

In practical applications, there may be a need to switch to a high-precision map to perform driving assistance or automatic driving using lane-level information of the high-precision map during route planning and navigation using a standard map, for example, in high-speed driving, lane keeping is performed using the lane-level information provided by the high-precision map. When a curve appears in the front, the curvature information provided by the high-precision map is used for planning and adapting to the optimal speed and the like of the curve, or in the process of planning and navigating a route by using the high-precision map, a request for manual driving needs to be switched to the standard map, so that the same road needs to be found out in the high-precision map and the standard map, and the found road is subjected to corresponding relation establishment, namely, the incidence relation is established.

In this embodiment, after determining the road section reference line and the target road route having the association relationship, the road section reference line of the high-precision map needs to be associated with the target road route of the standard map, and when the road section reference line of the high-precision map is associated with the target road route of the standard map, the reference line information of the road section reference line and the road line information of the target road route need to be acquired, and a corresponding association relationship table is generated according to the reference line information of the road section reference line and the road line information of the target road route. The reference line information comprises a road section reference line identifier, a starting position offset of the road section reference line, an ending position offset of the road section reference line and a driving direction of the road section reference line. The route information includes a target road route identification and a driving direction of the target road route.

The road section reference line identifier may be a number of the road section reference line. The destination road route identification may be a number of the destination road route.

The road section reference line has a starting point and an end point, and the road route also has a starting point and an end point. The start position offset amount of the link reference line refers to a distance between the start point of the link reference line and the start point of the target road route, which can be calculated from coordinates of the two start points.

The deviation amount of the ending position of the road section reference line refers to the distance between the ending point of the road section reference line and the ending point of the target road route, and the distance can be calculated according to the coordinates of the two ending points.

The driving direction of the road section reference line refers to the passing direction corresponding to the road section reference line. The driving direction of the target road route refers to the passing direction corresponding to the target road route.

A corresponding association table is generated according to the reference line information and the road line information, as shown in table 1, that is, the association table includes the reference line information of the road section reference line having the association and the road line information of the target road route.

TABLE 1 Association table

Optionally, after determining that the road line and the target road segment reference line have an association relationship, the target road segment reference line of the high-precision map needs to be associated with the road line of the standard map, and the process of establishing the association is similar to the process of establishing the association between the road segment reference line of the high-precision map and the target road route of the standard map, and is not described herein again.

After the road lines of the standard map are obtained, a target road route matched with a road section reference line corresponding to a certain road section can be determined from the road lines, and both the target road route and the road section reference line correspond to the road section, namely correspond to the same road section, so that the target road route and the road section reference line have an incidence relation, namely establish a correspondence relation. The target road section reference line matched with the road line corresponding to a certain road section can also be determined from the road section reference lines, the target road section reference line and the road line correspond to the same road section, and therefore, the target road section reference line and the road line have an association relation.

In this embodiment, when the high-precision map is associated with the standard map, the lane group is represented by using the separation line in the lane group, i.e. the link reference line corresponding to the lane group is obtained, and then the road line in the standard map is matched with the link reference line, i.e. the target road line matched with a certain link reference line is searched from the road lines of the standard map, or the target link reference line matched with a certain road line is searched from the link reference line of the high-precision map, so as to determine the road line and the link reference line having an association relationship, since the link reference line can represent the geometric shape (e.g. curvature) position and the driving direction of the corresponding lane group, the road line and the link reference line having an association relationship therewith do have an association relationship, and when the high-precision map is associated with the standard map, whether the connection line of the lane group of the high-precision map is intersected with the road line of the standard map is determined through determining whether the connection line of the lane group of the high-precision map is intersected with the road line of the standard map or not, namely when the connection line of the lane group of the high-precision map is intersected with the road line of the standard map, the connection line of the lane group of the high-precision map and the road line is considered to be associated, but the geometric shape of the road line is possibly different from the geometric shape of the road corresponding to the connection line of the lane group, and the connection line of the lane group of the high-precision map and the road line are actually not associated, so that the road and the road line are wrongly associated.

After the road route is associated with the road section reference line, when a map switching is required during the driving of the vehicle, for example, when a first map instruction that a standard map is required to be switched to a high-precision map is received, a road line where the vehicle is currently located, that is, a current road route, may be determined, a current target road section reference line associated with the current road route is then obtained, and then the current target road section reference line is switched to a high-precision map of a lane group corresponding to the current target road section reference line, and when the high-precision map is required to be displayed, the high-precision map is directly displayed through a related device (for example, a display), and the displayed high-precision map includes information of the lane group corresponding to the lane group (for example, lane information included by the lane group), which may be specifically performed as follows: and when a first map switching instruction is received, acquiring a current target road section reference line associated with a current road route, and displaying a high-precision map corresponding to the current target road section reference line.

In the present embodiment, the first map switching instruction is used to instruct the in-vehicle terminal to switch the standard map to the high-precision map. After the vehicle-mounted terminal receives the first map switching instruction, the road section reference line in the corresponding high-precision map can be found according to the road line of the current standard map, and free switching between the standard map and the high-precision map can be effectively realized.

Optionally, after receiving a second map switching instruction to switch from the high-precision map to the standard map, determining a lane group where the vehicle is currently located and a road section reference line corresponding to the lane group, that is, a current road section reference line, obtaining a current target road route having an association relationship with the current road section reference line, then switching to the standard map corresponding to the current target road route, and when the standard map needs to be displayed, directly displaying the standard map through a related device (for example, a display), where the specific process may be as follows: and when a second map switching instruction is received, acquiring a current target road route associated with the current road section reference line, and displaying a standard map corresponding to the current target road route.

When the map is switched, in addition to the map switching by the user sending a map switching command (for example, a first map switching command and a second map switching command), the in-vehicle terminal may automatically switch the map according to the actual situation, for example, when the automatic driving is started, if a standard map currently used, the map needs to be switched to a high-precision map.

As can be seen from the above description, after the lane group in the high-precision map is obtained, the road section reference line corresponding to the lane group is generated, that is, the road section corresponding to the lane group is represented by the road section reference line, then the road line and the road section reference line having the association relationship are determined by matching the road line with the road section reference line, and the road line and the road section reference line having the association relationship are associated, that is, the correspondence relationship between the lane group in the high-precision map and the road line in the standard map is established, so as to realize the association between the high-precision map and the standard map, and since the road section reference line of the high-precision map and the road line of the standard map both represent an actual section of road, by matching the road section reference line with the road line, the road section reference line and the road section reference line of the high-precision map can be accurately associated, and when the road line of the standard map is associated by the lane group connection line of the high-precision map, a situation occurs in which the lane group connection line is wrongly associated with the lane route.

When the association relationship between the road route of the standard map and the road section reference line corresponding to the lane group of the high-precision map is established, it is necessary to select a target road route matching the road section reference line from the road lines of the standard map for each road section reference line, and then establish the association relationship between the road section reference line and the target road line.

Fig. 9 is a second flowchart illustrating a method for associating a high-precision map with a standard map according to an embodiment of the present invention, where this embodiment describes in detail a specific implementation process of screening out a target road route matching a road section reference line from road lines of the standard map based on the embodiment of fig. 4, and as shown in fig. 9, the method includes:

s901, obtaining a lane group in the high-precision map, and generating a road section reference line corresponding to the lane group.

And S902, acquiring a road route in the standard map.

The processes of S901 to S902 are similar to the processes of S401 to S402 in the embodiment of fig. 4, and are not described again in this embodiment.

And S903, acquiring a first road section corresponding to the road section reference line.

In this embodiment, when a target road route corresponding to a certain road section reference line is screened, a first road section corresponding to the road section reference line, that is, a road section corresponding to a lane group corresponding to the road section reference line, needs to be obtained first.

When the first road segment corresponding to the road segment reference line is obtained, the road segments corresponding to the lane segment may be restored by using the separation lines on both sides of the lane group, so as to obtain the first road segment, for example, the separation lines Div1 and Div2 in fig. 7 are the separation lines on both sides of the lane group G.

And S904, searching a first route in the first section from the routes.

In this embodiment, after the first road segment is determined, the road lines in the first road segment are screened out from the road lines of the standard map, and the screened-out road lines are used as the first road line.

When a road line located in a first road section is screened out from road lines of a standard map, whether the road line is located in the first road section can be determined by judging whether the midpoint of the road line is located in the first road section, and the specific process is as follows: and acquiring the middle point of each route. And for each road line, if the midpoint of the road line is positioned in the first road section, determining that the road line is the first road line.

In this embodiment, it is determined whether a midpoint of each route of the standard map is located in the first segment, and if the midpoint of each route is located in the first segment and the route is identified to be located in the first segment, the route is determined to be the first route.

The lane group in the high-precision map, that is, the coordinate section corresponding to the road segment, may be acquired, so when determining whether the midpoint of the road line is located in the first road segment, the determination is made by determining whether the coordinate of the midpoint is located in the coordinate range corresponding to the first road segment, and when the coordinate of the midpoint is located in the coordinate range corresponding to the first road segment, the determination indicates that the midpoint is located in the first road segment.

S905, judging whether the road to be detected is consistent with the road section reference line or not, wherein the road to be detected is any one of the first road lines.

In this embodiment, after the first routes are obtained, it is further required to respectively determine whether each first route is consistent with the road section reference line, that is, determine whether the road to be detected is consistent with the road section reference line, where the road to be detected is any one of the first routes.

When judging whether the road line to be detected is consistent with a certain road section reference line, whether the driving direction and the curve variation trend of the road line to be detected are respectively consistent with the driving direction and the curve variation trend of the road section reference line needs to be judged, and when the driving direction and the curve variation trend of the road line to be detected are consistent, the road line to be detected can be determined to be consistent with the road section reference line, and the specific process comprises the following steps: and acquiring the driving direction of the road section reference line and the driving direction of the road line to be detected. And acquiring the curve variation trend of the road section reference line and the curve variation trend of the road line to be detected. And judging whether the driving direction of the road line to be detected is the same as the driving direction of the road section reference line or not and judging whether the curve variation trend of the road line to be detected is the same as the curve variation trend of the road section reference line or not. And if the driving direction of the road to be detected is the same as the driving direction of the road section reference line and the curve variation trend of the road to be detected is the same as the curve variation trend of the road section reference line, determining that the road to be detected is consistent with the road section reference line.

If the driving direction of the road to be detected is different from the driving direction of the road section reference line or the curve variation trend of the road to be detected is different from the curve variation trend of the road section reference line, determining that the road to be detected is inconsistent with the road section reference line, and marking that the road to be detected is not matched with the road section reference line, namely that the road to be detected is not associated with the road section reference line.

In this embodiment, the driving direction of the road section reference line is obtained, and the driving direction of the road section reference line is the driving direction corresponding to the corresponding lane group, and the driving direction corresponding to the lane group may be obtained from the lane group information corresponding to the lane group.

The curvature is a numerical value of a degree of curvature of a road curve at a certain point, which indicates a degree of curvature and a direction of the road in a horizontal plane.

Before obtaining the curve variation trend of the road section reference line, a plurality of points, namely at least one point, need to be selected from the road section reference line and used as first target points, the curvatures of the first target points are respectively calculated, and the difference between the curvatures of the first target points is obtained, that is, the curvatures of the first target points are mutually differenced to obtain at least one first curvature difference. The first curvature difference value can represent a curve variation trend of the road section reference line. And then, aiming at each first target point, selecting a second target point matched with the first target point from the road line to be detected. And respectively calculating the curvatures of the second target points, and acquiring the difference between the curvatures of the second target points, namely, mutually subtracting the curvatures of the second target points to obtain at least one second curvature difference. The second curvature difference value can represent the curve variation trend of the path to be detected.

And calculating curve difference values between the first curvature difference values and the second curvature difference values according to the first curvature difference values, and if the curve difference values are within a preset curve difference value range, determining that the curve variation trend of the line to be detected is the same as the curve variation trend of the road section reference line.

Taking a specific application scenario as an example, two points are selected from the road section reference line, which are the first target point 1 and the first target point 2, respectively, the curvature of the first target point 1 is k1, and the curvature of the first target point 2 is k2, and a difference between the curvatures of the first target points, that is, the difference between the curvature k1 of the first target point 1 and the curvature k2 of the first target point 2, is obtained to obtain a first curvature difference a1, and the first curvature difference a1 can represent a curve variation trend of the road section reference line. Two points, namely a second target point 1 and a second target point 2, are selected from the road line to be detected, the curvature of the second target point 1 is k3, the curvature of the second target point 2 is k4, a difference value between the curvatures of the second target points, namely the difference value between the curvature k3 of the second target point 1 and the curvature k4 of the second target point 2 is obtained, a second curvature difference value a2 is obtained, and the second curvature difference value a2 can represent the curve variation trend of the road line to be detected. And calculating the difference value between a1 and a2 to obtain a curve difference value, and if the curve difference value is within a preset curve difference value range, determining that the curve change trend of the road section reference line is the same as the curve change trend of the road to be detected.

When calculating the curve difference, the first curvature difference may be subtracted from the second curvature difference to obtain a corresponding curve difference, or the second curvature difference may be subtracted from the first curvature difference to obtain a curve difference, where the subtrahend and the subtrahend are not limited, and the subtrahend may be calculated according to actual requirements.

And when the difference value between the position coordinate of the second target point and the position coordinate of the first target point is within a certain range, determining that the second target point and the first target point are matched.

When the curvature of a first target point on a road section reference line is calculated, a target arc section is determined from the road section reference line, one end point of the target arc section is the first target point, the arc length of the target arc section is a preset arc length, a corner corresponding to the target arc section is obtained, and the curvature of the first target point is determined according to the corner and the target arc section.

Wherein, when the curvature of the first target point is determined according to the rotation angle and the target arc segment, the curvature is determined by

Calculating the curvature of the first target point, wherein K is the curvature of the first target pointAnd the rate is that the Delta s is the arc length of the target arc segment and the Delta alpha is the corresponding rotation angle of the target arc segment.

Taking a specific application scenario as an example, as shown in fig. 10, when the curvature of the M point is calculated, an arc segment is taken from the M point on the road segment reference line to obtain a target arc segment with an arc length Δ S, and the corresponding switching rotation angle of the target arc segment is Δ α, which defines the average curvature on Δ S

The curvature at this point M is then:

the process of calculating the curvature corresponding to the second target point is similar to the process of calculating the curvature of the first target point, and is not repeated here.

And S906, if the road to be detected is consistent with the road section reference line, determining that the road to be detected is the target road route.

In this embodiment, when it is determined that the route to be detected is consistent with the road section reference line, it indicates that the route to be detected is matched with the road section reference line, and if there is an association relationship between the route to be detected and the road section reference line, it is determined that the route to be detected is the target route.

And S907, associating the road section reference line with the target road route.

The process of establishing the association between the road segment reference line and the target route in this embodiment is similar to the process of establishing the association in the embodiment of fig. 4, and is not repeated in this embodiment.

Optionally, when the road route is matched with the road section reference lines, for each road line, a target road section reference line matched with the road line is screened out from the road section reference lines of the high-precision map, that is, the road route and the target road section reference line have an association relationship, that is, a second road section corresponding to the road route is obtained first, then a road section reference line corresponding to the second road section is obtained, whether the road section reference line to be detected is consistent with the road line is judged, the road section reference line to be detected is any one of the road section reference lines corresponding to the second road section, if so, the road section reference line to be detected is determined to be the target road section reference line, and the specific implementation process is similar to the process of screening out the target road route matched with the road section reference line from the road lines of the standard map, and description is not given here.

In the embodiment, the lane group is used for generating the reference line, and the line-line association relationship between the high-precision map and the common standard map is accurately established through dimensions such as range, traffic direction, curvature and the like, so that the road lines of the standard map can be associated with the lane group of the high-precision map, and the road lines of the standard map are correct.

Fig. 11 is a schematic structural diagram of a high-precision map and standard map association device according to an embodiment of the present invention. As shown in fig. 11, the high-precision map and standard map associating apparatus 20 includes: a lane processing module 21, a road line acquisition module 22 and an association determination module 23.

The lane processing module 21 is configured to acquire a lane group in a high-precision map from a lane and generate a road section reference line corresponding to the lane group.

And the road line acquisition module 22 is used for acquiring road lines in the standard map.

The association determining module 23 is configured to match the road route with the road section reference line, determine the road line and the road section reference line having an association relationship, and associate the road line and the road section reference line having an association relationship.

In one possible design, there is at least one lane group, and the lane groups correspond to the road section reference lines one to one.

The association determining module 23 is specifically configured to: and aiming at each road section reference line, searching a target road route matched with the road section reference line from the road lines, wherein the target road route and the road section reference line have an association relation.

In one possible design, the association determining module 23 is specifically configured to:

and acquiring a first road section corresponding to the road section reference line.

And searching a first road route located in the first road section from the road routes.

And judging whether the road line to be detected is consistent with the road section reference line or not, wherein the road line to be detected is any one of the first road lines.

And if the road to be detected is consistent with the road section reference line, determining that the road to be detected is the target road route.

In one possible design, the association determining module 23 is further specifically configured to:

and acquiring the driving direction of the road section reference line and the driving direction of the road line to be detected.

And acquiring the curve variation trend of the road section reference line and the curve variation trend of the road line to be detected.

And judging whether the driving direction of the road line to be detected is the same as the driving direction of the road section reference line or not and judging whether the curve variation trend of the road line to be detected is the same as the curve variation trend of the road section reference line or not.

In one possible design, the lane processing module 21 is specifically configured to:

a separation line of the lane group is acquired.

And selecting one separation line from the separation lines, and taking the selected separation line as a road section reference line.

a separation line of the lane group is acquired.

Two separation lines are selected from the separation lines, and a median line of the two separation lines is determined.

And taking the median line as a road section reference line.

In one possible design, the lane route is at least one.

The association determining module 23 is specifically configured to: and aiming at each road line, searching a target road section reference line matched with the road line from the road section reference lines, wherein the road line and the target road section reference line have an incidence relation.

and acquiring the middle point of each route.

In one possible design, association determination module 23 is further configured to: after the road line and the road section reference line which have the association relation are associated, when a first map switching instruction is received, a target road section reference line associated with the current road line is obtained, and a high-precision map corresponding to the target road section reference line is displayed.

Or the like, or, alternatively,

The high-precision map and standard map associated device provided in this embodiment may be used to implement the technical solution of the above method embodiment, and the implementation principle and technical effect thereof are similar, and this embodiment is not described herein again.

Fig. 12 is a schematic diagram of a hardware structure of a high-precision map and standard map association device according to an embodiment of the present invention. As shown in fig. 12, the high-precision map and standard map associating apparatus 30 of the present embodiment includes: the service processing device 30 provided in this embodiment includes: at least one processor 31 and a memory 32. The processor 31 and the memory 32 are connected by a bus 33.

In a specific implementation, the at least one processor 31 executes computer-executable instructions stored in the memory 32, so that the at least one processor 31 executes the high-precision map and standard map association method in the above-described method embodiments.

For a specific implementation process of the processor 31, reference may be made to the above method embodiments, which implement the principle and the technical effect similarly, and details of this embodiment are not described herein again.

In the embodiment shown in fig. 12, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise high speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

The embodiment of the invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when a processor executes the computer-executable instructions, the method for associating the high-precision map with the standard map is realized.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A high-precision map and standard map association method is characterized by comprising the following steps:

acquiring a road route in a standard map;

2. The method of claim 1, wherein the lane group is at least one, the lane group corresponding one-to-one to the road segment reference line;

3. The method of claim 2, wherein finding a target road route from the road routes that matches the segment reference line comprises:

4. The method according to claim 3, wherein determining whether the road to be detected is consistent with the road section reference line comprises:

5. The method according to any one of claims 1-4, wherein generating the road segment reference line corresponding to the lane group comprises:

acquiring a separation line of the lane group;

6. The method according to any one of claims 1-4, wherein generating the road segment reference line corresponding to the lane group comprises:

acquiring a separation line of the lane group;

and taking the median line as the road section reference line.

7. The method of claim 1, wherein the lane route is at least one;

8. The method of claim 3, wherein finding a first route from the road routes that is located within the first segment comprises:

acquiring the middle point of each route;

9. The method according to claim 1, wherein after associating the road line with the road segment reference line, further comprising:

or the like, or, alternatively,

10. A high-precision map and standard map association device is characterized by comprising: