CN113886511B - High-precision map generation method, system, electronic device, computer equipment and storage medium - Google Patents
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Abstract
The application relates to a method, a system, an electronic device, computer equipment and a storage medium for generating a high-precision map, wherein the method comprises the following steps: acquiring data of a road sealing area; matching the acquired road sealing area data with map original data; splitting the map original data according to the matching result; detecting the road sealing state of the lanes in each region after segmentation according to the matching result; and re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the topological relation of all the non-road sealing lanes is created. By analyzing the road sealing area data, the area road of the road sealing area is segmented for each closed area, then the road sealing state of the internal lanes of the segmented area is detected, the non-road sealing lanes are re-established into the topological relation, and when all the non-road sealing lanes refresh the topological relation, a more accurate high-precision map for the road sealing area is generated, so that the closed lanes can be used more effectively, and the path planning efficiency is improved.
Description
Technical Field
The present disclosure relates to the field of autopilot technology, and in particular, to a method, a system, an electronic device, a computer device, and a storage medium for generating a high-precision map.
Background
Automated horizontal transport is one of the key components of port "greenization", "intellectualization" and "unmanned", and has very strict requirements for the ability of an automated driving bicycle, i.e. 7×24 hours of port operation is required to be completed in various weather and working conditions. The automatic horizontal transportation can solve the problems of difficult labor and expensive labor faced by the current logistics industry, further reduce accidents and improve the safety index.
Under the automatic driving scene of the port, the condition that the road is occupied by the container and the condition that the gantry crane in the yard occupies the intersection are frequently met. At this time, the occupied road is required to be closed, and the map engine bypasses the closed road in the process of path planning so as to realize the function of avoiding the closed road in the running process of the automatic driving vehicle.
To sum up, the high-precision map in the prior art cannot realize accurate road sealing: for example, two ends of a road can be closed at the middle part of a certain lane line, and if the whole lane line is closed, the non-closed part of the road can not be fully used.
Disclosure of Invention
The embodiment of the application provides a method, a system, an electronic device, computer equipment and a storage medium for generating a high-precision map, which are used for at least solving the problem that an unclosed part of a road cannot be fully used in the related technology.
In a first aspect, an embodiment of the present application provides a method for generating a high-precision map, including the following steps:
acquiring data of a road sealing area;
matching the acquired road sealing area data with map original data;
splitting the map original data according to the matching result;
detecting the road sealing state of the lanes in each region after segmentation according to the matching result;
and re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the topological relation of all the non-road sealing lanes is created.
In some embodiments, the method for generating a high-precision map further includes the following steps:
dividing the boundary difference of the road sealing area into a point list;
and matching each point with the lane in the road sealing area, and recording the index position of each matched lane as the index range of the matched lane.
In some embodiments, the splitting the map raw data according to the matching result specifically includes the following steps:
counting the index ranges of the matched lanes corresponding to all lanes in the regional roads, and sorting according to the index positions;
obtaining a plurality of dividing points according to the ordering information;
and cutting the regional road according to the cutting points to obtain a plurality of continuous cutting subareas.
In some embodiments, the detecting the road sealing state of the lane in each region after the segmentation according to the matching result specifically includes the following steps:
judging the road sealing state of each lane in the segmentation subarea according to the matching lane index range of each lane and the segmentation position information of the road sealing area data.
In some embodiments, the detecting result of the pair re-creates a topology relationship for the lane of the non-enclosed road, and generates a high-precision map after the creation of the topology relationship for all the lanes of the non-enclosed road is completed, specifically including the following steps:
acquiring the road sealing state information of all lanes of all segmentation subareas in the regional road;
if the lanes in the segmentation subarea are in a road sealing state, creating a topological relation for the lanes which are not connected with the lanes in front and back; if the lanes in the segmentation subarea are in an unsealed state, creating a topological relation for the unsealed lanes connected with the lanes in front and back;
and generating a high-precision map after the topological relation of all the non-road-sealed lanes is established.
In a second aspect, an embodiment of the present application provides a generation system of a high-precision map, including an acquisition unit, a matching unit, a segmentation unit, a detection unit, and a generation unit;
the acquisition unit is used for acquiring the data of the road sealing area;
the matching unit is used for matching the acquired road sealing area data with the map original data;
the segmentation unit is used for segmenting the map original data according to the matching result;
the detection unit is used for detecting the road sealing state of the lanes in each region after the segmentation according to the matching result;
the generating unit is used for re-creating topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the creation of the topological relation of all the non-road sealing lanes is completed.
In a third aspect, an embodiment of the present application provides an electronic device, including a memory, and a processor, where the memory stores a computer program, and the processor is configured to run the computer program to perform the method for generating a high-precision map according to the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the steps of the method for generating a high-precision map according to the first aspect are implemented when the processor executes the computer program.
In a fifth aspect, embodiments of the present application provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the method for generating a high-precision map as described in the first aspect above.
Compared with the related art, the method, the system, the electronic device, the computer equipment and the storage medium for generating the high-precision map acquire the road sealing area data; matching the acquired road sealing area data with map original data; splitting the map original data according to the matching result; detecting the road sealing state of the lanes in each region after segmentation according to the matching result; and re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the topological relation of all the non-road sealing lanes is created. By analyzing the road sealing area data, the area road of the road sealing area is segmented for each closed area, then the road sealing state of the internal lanes of the segmented area is detected, the non-road sealing lanes are re-established into the topological relation, and when all the non-road sealing lanes refresh the topological relation, a more accurate high-precision map for the road sealing area is generated, so that the closed lanes can be used more effectively, and the path planning efficiency is improved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a hardware block diagram of a terminal of a related art high-precision map generation method;
fig. 2 is a flowchart of a high-precision map generation method of the present embodiment;
fig. 3 is a regional road schematic diagram of the high-precision map generation method of the present embodiment;
fig. 4 is a schematic diagram of the structure of the high-precision map generation system of the present embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described and illustrated below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments provided herein, are intended to be within the scope of the present application. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by those of ordinary skill in the art that the embodiments described herein can be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar terms herein do not denote a limitation of quantity, but rather denote the singular or plural. The terms "comprising," "including," "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as used herein means greater than or equal to two. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. The terms "first," "second," "third," and the like, as used herein, are merely distinguishing between similar objects and not representing a particular ordering of objects.
The method embodiment provided in this embodiment may be executed in a terminal, a computer or a similar computing device. Taking the operation on a terminal as an example, fig. 1 is a block diagram of a hardware structure of a terminal of a high-precision map generating method according to an embodiment of the present invention. As shown in fig. 1, the terminal 10 may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, and optionally a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting on the structure of the terminal described above. For example, the terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a method for generating a high-precision map in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104, thereby performing various functional applications and data processing, that is, implementing the above-mentioned method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.
The present embodiment provides a method for generating a high-precision map, and fig. 2 is a flowchart of the method for generating a high-precision map according to an embodiment of the present application, as shown in fig. 2, where the flowchart includes the following steps:
s100: acquiring data of a road sealing area;
the route sealing area data are set by the cloud, meanwhile, the route sealing area data are forwarded to the map service through the cloud route sealing service, and then the map service responds to a route planning request of external service to feed back a route planning result based on the generated high-precision map.
S200: matching the acquired road sealing area data with map original data;
s300: splitting the map original data according to the matching result;
s400: detecting the road sealing state of the lanes in each region after segmentation according to the matching result;
s500: and re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the topological relation of all the non-road sealing lanes is created.
The steps S300 to S500 are operations for the same sealing area, and if a plurality of sealing areas are generated by analysis, the step S300 may be repeated for each sealing area.
Obtaining the data of the road sealing area through the steps S100 to S500; matching the acquired road sealing area data with map original data; splitting the map original data according to the matching result; detecting the road sealing state of the lanes in each region after segmentation according to the matching result; and re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the topological relation of all the non-road sealing lanes is created. By analyzing the road sealing area data, the area road of the road sealing area is segmented for each closed area, then the road sealing state of the internal lanes of the segmented area is detected, the non-road sealing lanes are re-established into the topological relation, and when all the non-road sealing lanes refresh the topological relation, a more accurate high-precision map for the road sealing area is generated, so that the closed lanes can be used more effectively, and the path planning efficiency is improved.
The operation of a sealing area comprises the following steps besides the steps:
s600: dividing the boundary difference of the road sealing area into a point list;
s700: and matching each point with the lane in the road sealing area, and recording the index position of each matched lane as the index range of the matched lane.
Wherein, step S300: the method comprises the following steps of:
s310: counting the index ranges of the matched lanes corresponding to all lanes in the regional roads, and sorting according to the index positions;
s320: obtaining a plurality of dividing points according to the ordering information;
s330: and cutting the regional road according to the cutting points to obtain a plurality of continuous cutting subareas.
In the present embodiment, the rule for sorting the range sizes in the process of steps S310 to S330 is not limited, because once the sorting rule is changed, the rule for obtaining a plurality of sorting points according to the sorting information is modified accordingly.
Step S400, detecting the road sealing state of the lanes in each region after segmentation according to the matching result, and specifically comprising the following steps:
judging the road sealing state of each lane in the segmentation subarea according to the matching lane index range of each lane and the segmentation position information of the road sealing area data.
In an embodiment, the road sealing state of a section of the lane in the current segmented road is determined according to the road, the subordinate lane of the road, the index range of the matched lane of the segmented lane and the segmentation position information in the road sealing region data.
Step S500, re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the creation of the topological relation of all the non-road sealing lanes is completed, wherein the method specifically comprises the following steps:
s510: acquiring the road sealing state information of all lanes of all segmentation subareas in the regional road;
in an embodiment, based on the step S400, the step S510 mainly obtains the lane sealing status of each lane in the segmentation sub-area.
S520: if the lanes in the segmentation subarea are in a road sealing state, creating a topological relation for the lanes which are not connected with the lanes in front and back; if the lanes in the segmentation subarea are in an unsealed state, creating a topological relation for the unsealed lanes connected with the lanes in front and back;
s530: and generating a high-precision map after the topological relation of all the non-road-sealed lanes is established.
Except the steps, the topological relation between the head end and the tail end of the split road and the adjacent road is transplanted from the original data of the map.
In step S530, the topology creation operation of several lanes is repeated, because the lane sealing area data may be more than one, and each lane sealing area data includes n roads, each road includes m lanes, and is divided into i subareas for each road, at this time, the number of sealing states of each lane is determined to be i times greater than that before the division, and based on detecting the sealing state of each lane in a range after the division and refreshing the topology relationship for the non-sealing lane again, the sealing state is detected after the division, so that the sealing position can be detected more accurately, meanwhile, the lane sealing is deleted (instead of deleting data, only the topology relationship is created for the lanes connected before and after the lane), only the topology relationship of the non-sealing lane is created, and a high-precision map with higher precision can be generated, which is more beneficial to path planning.
For matching, segmentation and topology relation creation of regional roads, explanation is now made, as shown in fig. 3, in which, a horizontal solid line is a lane line, a horizontal dotted line is a lane center line, a geometric figure of a solid line in a road is a road sealing region, and the steps of S300 to S500 concretely include the following steps:
for example, the regional road has three lanes, namely a lane 0, a lane 1 and a lane 2;
(1) Dividing the boundary difference of the road sealing area for obtaining the data of the road sealing area into a point list;
(2) Matching each point with map original data, recording the index range of each matched lane, and marking the index range as a matched lane index range, wherein the range matched with a No. 0 lane is (a, b), the range matched with a No. 1 lane is (d, e), and the range matched with a No. 2 lane is (c, e);
(3) Sorting all the matched index ranges, wherein the sorting is performed according to the sequence of the points in the same extending direction of the lane, namely a, b, c, d, e, judging whether the sequence contains a starting point or not, if not, adding the starting point, and removing the duplicate to obtain a cut point list of 0 and a, b, c, d, e, t; if the sequence includes a starting point, for example, a point is taken as the starting point, the cut point list of 0 and b, c, d, e, t is obtained after the data is de-duplicated. The following steps are illustrated with the starting point not included in the sequence;
(4) Dividing the regional road according to the obtained dividing points to obtain continuous A, B, C, D, E, F divided subregions;
(5) Detecting the road sealing state of three sections of lanes in each segmentation subarea;
(6) The detection results of the road sealing state information of all lanes in the six segmentation subareas are as follows: the B segmentation subarea of the No. 0 lane is in a road sealing state, the E segmentation subarea of the No. 1 lane is in a road sealing state, and the D segmentation subarea of the No. 2 lane is in a road sealing state;
(7) At this time, the topological relation of the lane 0 is A, C- > D- > E- > F, the topological relation of the lane 1 is A- > B- > C- > D, F, the topological relation of the lane 2 is A- > B- > C, E- > F, and the topological relation of the A segmentation subarea and F segmentation subareas of the three lanes and the adjacent roads directly passes through the topological relation of the corresponding areas of the original data of the transplanted map.
It should be noted that the steps illustrated in the above-described flow or flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment also provides a system for generating a high-precision map, which is used for realizing the above embodiment and the preferred implementation, and is not described in detail. As used below, the terms "module," "unit," "sub-unit," and the like may be a combination of software and/or hardware that implements a predetermined function. While the system described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 4 is a block diagram of a high-precision map generating system according to an embodiment of the present application, and as shown in fig. 4, a high-precision map generating system includes an obtaining unit 10, a matching unit 20, a slicing unit 30, a detecting unit 40, and a generating unit 50;
the acquiring unit 10 is configured to acquire data of a road sealing area;
the matching unit 20 is configured to match the acquired road sealing area data with map raw data;
the segmentation unit 30 is configured to segment the map raw data according to the matching result;
the detecting unit 40 is configured to detect a road sealing state of the lane in each region after the segmentation according to the matching result;
the generating unit 50 is configured to re-create a topology relationship for the lanes with the detection result of being the non-closed lanes, and generate a high-precision map when the creation of the topology relationship of all the non-closed lanes is completed.
The generation system of the high-precision map acquires road sealing area data; matching the acquired road sealing area data with map original data; splitting the map original data according to the matching result; detecting the road sealing state of the lanes in each region after segmentation according to the matching result; and re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the topological relation of all the non-road sealing lanes is created. By analyzing the road sealing area data, the area road of the road sealing area is segmented for each closed area, then the road sealing state of the internal lanes of the segmented area is detected, the non-road sealing lanes are re-established into the topological relation, and when all the non-road sealing lanes refresh the topological relation, a more accurate high-precision map for the road sealing area is generated, so that the closed lanes can be used more effectively, and the path planning efficiency is improved.
The present embodiment also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input/output device is connected to the processor.
Alternatively, in the present embodiment, the above-described processor may be configured to execute the following steps by a computer program:
s100: acquiring data of a road sealing area;
s200: matching the acquired road sealing area data with map original data;
s300: splitting the map original data according to the matching result;
s400: detecting the road sealing state of the lanes in each region after segmentation according to the matching result;
s500: and re-creating a topological relation for the lanes with the detection result of non-road sealing, and generating a high-precision map after the topological relation of all the non-road sealing lanes is created.
It should be noted that, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations, and this embodiment is not repeated herein.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of generating a high-precision map. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the foregoing structure is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than those described above, or may combine certain components, or have a different arrangement of components.
In addition, in combination with the method for generating a high-precision map in the above embodiment, the embodiment of the application may be implemented by providing a storage medium. The storage medium has a computer program stored thereon; the computer program, when executed by a processor, implements the method of generating a high-precision map of any of the above embodiments.
It should be understood by those skilled in the art that the technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, they should be considered as being within the scope of the description provided herein, as long as there is no contradiction between the combinations of the technical features.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (5)
1. The method for generating the high-precision map is characterized by comprising the following steps of:
acquiring data of a road sealing area;
matching the acquired road sealing area data with map original data;
dividing the boundary difference of the road sealing area into a point list;
matching each point with a lane in the road sealing area, and recording the index position of each matched lane as the index range of the matched lane;
counting the index ranges of the matched lanes corresponding to all lanes in the regional road, sorting according to the index positions of the matched lanes, and arranging the sorting according to the sequence of the points in the same extending direction of the lanes;
obtaining a plurality of dividing points according to the ordering information;
dividing the regional road according to the dividing points to obtain a plurality of continuous dividing subareas;
judging the road sealing state of each lane in the segmentation subarea according to the matching lane index range of each lane and the segmentation position information of the road sealing area data;
acquiring the road sealing state information of all lanes of all segmentation subareas in the regional road;
if the lanes in the segmentation subarea are in a road sealing state, creating a topological relation for the lanes which are not connected with the lanes in front and back; if the lanes in the segmentation subarea are in an unsealed state, creating a topological relation for the unsealed lanes connected with the lanes in front and back;
and generating a high-precision map after the topological relation of all the non-road-sealed lanes is established.
2. The system for generating the high-precision map is characterized by comprising an acquisition unit, a matching unit, a segmentation unit, a detection unit and a generation unit;
the acquisition unit is used for acquiring the data of the road sealing area;
the matching unit is used for matching the acquired road sealing area data with the map original data; dividing the boundary difference of the road sealing area into a point list; matching each point with a lane in the road sealing area, and recording the index position of each matched lane as the index range of the matched lane;
the segmentation unit counts the index ranges of the matched lanes corresponding to all lanes in the regional road, sorts the matched lanes according to the index positions of the matched lanes, and sorts the matched lanes according to the sequence of the points in the same extending direction of the lanes; obtaining a plurality of dividing points according to the ordering information; dividing the regional road according to the dividing points to obtain a plurality of continuous dividing subareas;
the detection unit is used for judging the road sealing state of each lane in the segmentation subarea according to the matched lane index range of each lane and the segmentation position information of the road sealing area data;
the generation unit is used for acquiring the road sealing state information of all lanes of all segmentation subareas in the regional road; if the lanes in the segmentation subarea are in a road sealing state, creating a topological relation for the lanes which are not connected with the lanes in front and back; if the lanes in the segmentation subarea are in an unsealed state, creating a topological relation for the unsealed lanes connected with the lanes in front and back; and generating a high-precision map after the topological relation of all the non-road-sealed lanes is established.
3. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of generating a high-precision map as claimed in claim 1.
4. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the high-precision map generation method of claim 1 when the computer program is executed by the processor.
5. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the high-precision map generation method as claimed in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111184583.4A CN113886511B (en) | 2021-10-12 | 2021-10-12 | High-precision map generation method, system, electronic device, computer equipment and storage medium |
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