CN114234986B - Map data processing method and device - Google Patents
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- CN114234986B CN114234986B CN202111276277.3A CN202111276277A CN114234986B CN 114234986 B CN114234986 B CN 114234986B CN 202111276277 A CN202111276277 A CN 202111276277A CN 114234986 B CN114234986 B CN 114234986B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The embodiment of the invention provides a method and a device for processing map data, wherein the method comprises the following steps: in the running process of the vehicle, responding to a triggering event, and starting a target vehicle-mounted application; determining target map data from the obtained original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application; and calling the target application data under the condition of starting the target vehicle-mounted application. According to the embodiment of the invention, when the vehicle-mounted application is started, the application data required by the vehicle-mounted application is obtained by processing the map data, so that the diversified application can be realized through the map data conveniently, and the map use experience of a user is improved.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method and an apparatus for processing map data.
Background
The map plays an important role in the running process of the vehicle, for example, navigation through the vehicle-mounted map provides an accurate running route for the user.
Currently, a map applied by a vehicle is a map data packet provided by a provider, and the vehicle can store the map data packet into the vehicle for a user to use after the vehicle restores the received map data packet into the map.
The vehicle-mounted map can generally show the approximate distribution condition of the path, the intersection, the sign building and the like for the user, but the user cannot directly acquire the specific information of the path and the intersection from the vehicle-mounted map, such as speed limit information of a road section, curvature of the path and the like, so that the application of the vehicle-mounted map is limited, and the use experience of the map is reduced.
Disclosure of Invention
In view of the above problems, there is provided a method and apparatus for processing map data, which overcomes or at least partially solves the above problems, comprising:
A method of processing map data, the method comprising:
in the running process of the vehicle, responding to a triggering event, and starting a target vehicle-mounted application;
determining target map data from the obtained original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application;
And calling the target application data under the condition of starting the target vehicle-mounted application.
Optionally, the determining the target map data from the acquired original map data includes:
determining a data type required by the target vehicle application;
From the acquired original map data, target map data corresponding to the data type is determined.
Optionally, the processing the target map data includes:
determining a target data processing mode required by the target vehicle-mounted application;
and processing the target map data according to the target data processing mode.
Optionally, the target map data is stored in a target linked list formed by a plurality of linked list nodes arranged in sequence, and the processing the target map data includes:
determining a current linked list node corresponding to the positioning information of the vehicle in the target linked list;
And traversing map data stored by a plurality of linked list nodes in the target linked list by taking the current linked list node as a starting point.
Optionally, the target vehicle-mounted application is a vehicle-mounted application for speed limitation, and traversing the data stored by the plurality of linked list nodes in the target linked list includes:
acquiring first speed limit data stored by a current linked list node, wherein the first speed limit data is a speed limit starting point of a first speed limit road section;
When the pointer of the target linked list shifts backwards, second speed limit data of a next linked list node is obtained;
Judging whether the first speed limit data and the second speed limit data are the same or not;
and when the first speed limit data and the second speed limit data are judged to be different, the second speed limit data are used as the speed limit end point of the first speed limit road section and the speed limit start point of the second speed limit road section.
Optionally, the original map data is data in a local map, and further includes:
acquiring a map data packet corresponding to positioning information of a vehicle, wherein the map data packet comprises intersection map data and road section map data;
determining a plurality of connected map nodes based on the positioning information and the intersection map data;
And constructing a local map according to the plurality of connected map nodes and the road section map data.
Optionally, the method further comprises:
Determining a road section mark of a road section where the vehicle is located according to the positioning information of the vehicle in the running process of the vehicle;
inquiring the road section mark in the original map data;
and when the road segment mark is inquired, executing the obtained original map data to determine target map data.
A processing apparatus of map data, the apparatus comprising:
The vehicle-mounted application starting module is used for responding to a triggering event in the running process of the vehicle and starting a target vehicle-mounted application;
The target application data determining module is used for determining target map data from the acquired original map data and processing the target map data to obtain target application data required by the target vehicle-mounted application;
and the target application data calling module is used for calling the target application data under the condition of starting the target vehicle-mounted application.
A vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements the method of processing map data as claimed in any one of the preceding claims.
A computer-readable storage medium on which a computer program is stored which, when executed by a processor, implements the method of processing map data as claimed in any one of the preceding claims.
The embodiment of the invention has the following advantages:
According to the embodiment of the invention, the target vehicle-mounted application is started in response to the triggering event in the running process of the vehicle, the target map data is determined from the acquired original map data, and is processed to obtain the target application data required by the target vehicle-mounted application, and the target application data is called under the condition of starting the target vehicle-mounted application, so that the application data required by the vehicle-mounted application is obtained by processing the map data when the vehicle-mounted application is started, the diversified application realized through the map data is facilitated, and the map use experience of a user is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a flowchart of a method for processing map data according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating another method for processing map data according to an embodiment of the present invention;
FIG. 3a is a flowchart illustrating another method for processing map data according to an embodiment of the present invention;
FIG. 3b is a schematic diagram of a map data process according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating another method for processing map data according to an embodiment of the present invention;
FIG. 5a is a flowchart illustrating steps of another method for processing map data according to an embodiment of the present invention;
FIG. 5b is a schematic diagram of a tree structure according to an embodiment of the present invention;
FIG. 5c is a schematic diagram of a linked list structure according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a map data processing device according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a step flowchart of a map data processing method according to an embodiment of the present invention may specifically include the following steps:
Step 101, responding to a trigger event in the running process of a vehicle, and starting a target vehicle-mounted application;
When a trigger event is detected in the running process of the vehicle, the trigger event can be responded, so that the target vehicle-mounted application is started, wherein the trigger event can be the operation of starting the target vehicle-mounted application by a user or the trigger event generated by the vehicle and used for starting the target vehicle-mounted application, for example, the operation of starting the target vehicle-mounted application by the user can be the operation of starting functions such as intelligent speed limit and curve automatic cruising by the user, and the target vehicle-mounted application can be an application function related to a map in the vehicle, for example, a speed limit function.
102, Determining target map data from the acquired original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application;
The vehicle can acquire the original map data from the position of the vehicle end or cloud end and the like where the map is stored, and can determine the target map data from the original map data by carrying out data filtering processing on the original map data, wherein the target map data is the map data required by the target vehicle-mounted application to realize the application function.
After the target map data is obtained, the target map data can be processed, so that target application data required by the target vehicle-mounted application can be obtained.
For example, the speed limit data in the map data is processed, so that the speed limit starting point of each speed limit road section is obtained, and the speed limit ending point is application data capable of directly guiding the user to travel.
And step 103, calling the target application data under the condition of starting the target vehicle-mounted application.
After the target application data is obtained, the target application data can be called through a preset interface under the condition of starting the target vehicle-mounted application.
In an embodiment of the present invention, further includes:
104, determining a road section mark of a road section where the vehicle is located according to the positioning information of the vehicle in the running process of the vehicle;
In practical application, in the running process of the vehicle, the positioning information of the vehicle can be obtained, so that the road section mark of the current road section of the vehicle can be obtained, wherein the road section mark can be the number information of the road section and is used for representing the road section, and the road section marks of different road sections are different, so that the road section can be distinguished from other road sections through the road section mark.
Step 105, inquiring the road section marks in the original map data;
after the link flag is determined, the link flag may be searched in the acquired original map data to check whether the link exists in the acquired original map.
And 106, executing the obtained original map data to determine target map data when the road segment label is queried.
When the road section mark is queried in the original map data, the relevant data of the road section of the vehicle currently exists in the original map data can be determined, so that the obtained original map data is confirmed to be effective map data, further, target map data can be determined from the original map data, and target application data can be obtained through the target map data, so that the vehicle-mounted application can be supported to call the target application data.
In the embodiment of the invention, the target vehicle-mounted application is started in response to the triggering event in the running process of the vehicle, the target map data is determined from the acquired original map data, the target map data is processed to obtain the target application data required by the target vehicle-mounted application, and the target application data is called under the condition of starting the target vehicle-mounted application, so that the application data required by the vehicle-mounted application is obtained by processing the map data when the vehicle-mounted application is started, the diversified application is conveniently realized through the map data, and the map use experience of a user is improved.
Referring to fig. 2, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention may specifically include the following steps:
Step 201, in the running process of the vehicle, responding to a trigger event, and starting a target vehicle-mounted application;
Step 202, determining the data type required by the target vehicle application;
The map data required by different vehicle applications are different, and the data type of the map data required by the target vehicle application can be determined, wherein the data type can include: intersection type data, road segment type data, intersection shape type data, and the like.
And 203, determining target map data corresponding to the data type from the acquired original map data.
The original map data can comprise various types of data, such as intersection type data, road section type data, intersection shape type data and the like, and the original map data can be subjected to data filtering according to the data types required by the target vehicle-mounted application to determine target map data corresponding to the data types.
The data type is used for carrying out data filtering on the original map data, so that the data processing amount can be reduced, and the processing efficiency of the map data can be improved.
Step 204, processing the target map data to obtain target application data required by the target vehicle-mounted application;
And step 205, calling the target application data under the condition of starting the target vehicle-mounted application.
In an embodiment of the invention, in response to a trigger event in a vehicle running process, starting a target vehicle-mounted application, determining a data type required by the target vehicle application, determining target map data corresponding to the data type from acquired original map data, processing the target map data to obtain target application data required by the target vehicle-mounted application, and calling the target application data under the condition of starting the target vehicle-mounted application, thereby realizing that application data required by the vehicle-mounted application is obtained by processing the map data when the vehicle-mounted application is started, facilitating realization of diversified applications through the map data, and improving map use experience of users.
Referring to fig. 3a, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention may specifically include the following steps:
Step 301, in the running process of the vehicle, responding to a trigger event, and starting a target vehicle-mounted application;
step 302, determining target map data from the acquired original map data.
Step 303, determining a target data processing mode required by the target vehicle-mounted application;
The data processing modes aiming at different map data can be preset in the vehicle, the data processing modes required by different vehicle-mounted applications are different, and when the target vehicle-mounted application is started, the data processing modes required by the target vehicle-mounted application can be determined.
Step 304, processing the target map data according to the target data processing mode to obtain target application data required by the target vehicle-mounted application;
After the data processing mode is determined, the target map data can be correspondingly processed according to the data processing mode, so that target application data required by the target vehicle-mounted application can be obtained.
In one example, the data processing mode may be an operator, as shown in fig. 3b which is a schematic diagram of map data processing,
After the map data is filtered, the map data can be determined according to different operators, in fig. 3b, the corresponding operators of the target vehicle-mounted application are a plurality of operators such as an operator 1, an operator 2, an operator n and the like, wherein the operator 1 is an operator for processing speed limit information, the operator 2 is an operator for processing road types, the operator n is an operator for processing road curvatures, and after the operators are processed, the obtained data can be cached in a map information set so as to be convenient for the upper layer application to call.
And step 305, calling the target application data under the condition of starting the target vehicle-mounted application.
In the embodiment of the invention, in the running process of the vehicle, responding to a trigger event, starting a target vehicle-mounted application, and determining target map data from the acquired original map data. Determining a target data processing mode required by the target vehicle-mounted application, processing the target map data according to the target data processing mode to obtain target application data required by the target vehicle-mounted application, and processing the target map data according to the target data processing mode to obtain target application data required by the target vehicle-mounted application.
Referring to fig. 4, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention may specifically include the following steps:
step 401, responding to a trigger event in the running process of the vehicle, and starting a target vehicle-mounted application;
step 402, determining target map data from the acquired original map data; the target map data is stored in a target linked list composed of a plurality of linked list nodes arranged in sequence.
The vehicle can acquire original map data from a position where a map such as a vehicle end or a cloud end is stored, and can determine target map data from the original map data by performing data filtering processing on the original map data, wherein the target map data is map data required by a target vehicle-mounted application to realize an application function of the target vehicle-mounted application, and the target map data can be stored in a target linked list formed by a plurality of linked list nodes which are sequentially arranged.
Step 403, determining a current linked list node corresponding to the positioning information of the vehicle in the target linked list;
After determining the target map data, the target map data stored in the target linked list needs to be parsed. The current positioning information of the vehicle can be determined first, then the coordinate matching linked list node of the positioning information is queried in the target linked list, and the queried linked list node is used as the current linked list node.
Step 404, traversing map data stored by a plurality of linked list nodes in the target linked list by taking the current linked list node as a starting point to obtain target application data required by the target vehicle-mounted application;
After determining the current linked list node, traversing a plurality of linked list nodes contained in the target linked list by taking the current linked list node as a starting point, and traversing map data stored in the linked list nodes to obtain target application data required by the target vehicle-mounted application.
In an embodiment of the present invention, the target vehicle-mounted application is a vehicle-mounted application for speed limitation, and step 404 includes the following substeps:
Sub-step 4041, obtaining first speed limit data stored in a current linked list node, wherein the first speed limit data is a speed limit starting point of a first speed limit road section;
In practical application, the target vehicle-mounted application may be a vehicle-mounted application aiming at speed limit, and after determining the current linked list node according to the positioning information, the first speed limit data stored in the current linked list node may be obtained. And the first speed limit data may be used as a speed limit starting point of the first speed limit section.
Sub-step 4042, when the pointer of the target linked list shifts backwards, acquiring second speed limit data of a next linked list node;
When the pointer of the target linked list shifts backwards, second speed limit data can be acquired according to the order of linked list nodes.
Sub-step 4043, determining whether said first speed limit data and said second speed limit data are the same;
Sub-step 4044, when it is determined that the first speed limit data and the second speed limit data are different, sets the second speed limit data as a speed limit end point of the first speed limit section and a speed limit start point of the second speed limit section.
When the first speed limit data and the second speed limit data are different, the second speed limit data can be used as the speed limit end point of the first speed limit road section and the speed limit start point of the second speed limit road section, and the pointer of the target linked list is continuously offset backwards, the next linked list node is traversed until the pointer points to the null.
And when the first speed limit data and the second speed limit data are the same, and the pointer of the target linked list continuously shifts backwards, traversing the next linked list node until the pointer points to the null.
And step 405, calling the target application data under the condition of starting the target vehicle-mounted application.
In an embodiment of the invention, in a vehicle running process, responding to a trigger event, starting a target vehicle-mounted application, and determining target map data from acquired original map data; the target map data are stored in a target linked list formed by a plurality of linked list nodes which are sequentially arranged, and the current linked list node corresponding to the positioning information of the vehicle is determined in the target linked list; traversing map data stored by a plurality of linked list nodes in the target linked list by taking the current linked list node as a starting point to obtain target application data required by the target vehicle-mounted application; under the condition of starting the target vehicle-mounted application, the target application data is called, so that when the vehicle-mounted application is started, application data required by the vehicle-mounted application is obtained by processing the map data, diversified applications can be conveniently realized through the map data, and the map use experience of a user is improved.
Referring to fig. 5a, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention may specifically include the following steps:
Step 501, obtaining a map data packet corresponding to positioning information of a vehicle, wherein the map data packet comprises intersection map data and road section map data;
in one example, the map data packet may be data sent to the CAN bus by a third party.
The map DATA packet may include location DATA (location), road SEGMENT map DATA (SEGMENT), intersection map DATA (STUB), road shape information (PROFILE), metadata (META-DATA), etc., wherein:
The location data may include: path number, offset (offset), speed, relative direction to the road, current lane, confidence, time stamp (timestamp), etc.
The road section map data may include: path number, road grade, type (e.g., road, turntable, parking lot, etc.), road composition (e.g., high speed, single and double lanes, etc.), speed limit, number of lanes, direction, (tunnel, bridge, branch, emergency lane, calculating path, service area, and complex intersection), etc.
Intersection map data (resembling intersections between segents) may include: the number of the path, the number of the sub-path, the corner (the included angle with the next road segment), the probability of being an intersection, the type and composition of the road, the number of forward and reverse lanes, the turning point (turning to another road), whether the intersection is complex or not, and the like.
The road shape information may include: path number, contour type, contour sequence points (for interpolation calculation of the position within the road section), curvature (higher order interpolation), etc.
The metadata may include: country code, region (county) code, driver's bits (left, right), speed units, protocol size version, hardware version, map Provider, map version, horizons Provider compatibility, and mode information.
In practical application, the map can provide great convenience for a user to drive the vehicle, and the vehicle can obtain a map applicable to the vehicle by acquiring an external map data packet and processing the map data packet. The map data packet may be a world map or map data of a region.
In the running process of the vehicle, the area concerned by the user is road information in a certain range around the vehicle, other road conditions except the running route are not required to be concerned, and in practical application, the received map data packet is required to be completely restored to be a global map so as to use the map, so that the data processing amount is large, a large number of map areas which are not concerned by the user are constructed, and further, the storage space occupied by the map is larger.
In order to reduce the processing amount of the map restoration process and reduce the storage amount of map data, the vehicle CAN determine the positioning information of the vehicle, so that a map data packet corresponding to the positioning information CAN be obtained from a CAN bus of the vehicle according to the positioning information, wherein the map data packet comprises map data within a certain range of the front-rear distance of the current position of the vehicle, such as advanced driving assistance systems (ADVANCED DRIVER ASSISTANCE SYSTEM, adas) of-0.5 km to 2.0km CAN be provided for the vehicle by a supplier high-altitude map, and the accuracy of the Adas map is 1m; thus, a local map can be constructed from the received map data packet to reduce the data processing amount.
In one example, an in-vehicle system controller (System Control Unit, SCU) may be configured to process map data packets received by the vehicle in a manner that may include processing the map data packets into a local map for storage, and applying the parsed data to the vehicle travel by parsing the local map.
Because the data information amount in the map data packet received by the vehicle is large, and the hardware resources of the system controller for processing the map data in the vehicle are limited, when the vehicle is detected to be under the working condition of insufficient memory, the received map data packet can be stored in the system controller preferentially.
The system controller of the vehicle may be provided with a map module for processing map data packets, which may include a storage layer and an parsing layer.
The storage layer CAN receive CAN data (map data packet), so that the received CAN data CAN be stored, the analysis layer CAN acquire the data stored in the storage layer, the analysis module of the analysis layer CAN analyze the stored data to finally obtain a map cache (namely an analysis result), the analysis layer of the map module CAN output the analysis result to an application layer formed by Adas applications, and in the application layer, information provided by the map module CAN be applied to speed limiting fusion, speed limiting functions (SPEED LIMIT functions, SLF) and the like of adaptive cruising (Adaptive Cruise Control, ACC), lane centering Control (LANE CENTERING Control, LCC).
For example, the speed limit value of the driving road section or the road section to be driven is obtained through the analysis result, and the highest driving speed conforming to the regulations can be obtained through fusion by combining the speed limit result of the visual recognition road, so that the vehicle does not exceed the highest driving speed to pass through the road section.
In addition, the automatic curve cruising can be realized according to the curve curvature data of the road obtained by the analysis result of the map module.
Step 502, determining a plurality of connected map nodes based on positioning information and intersection map data;
the map data packet may include intersection map data for each intersection; the vehicle can approach each intersection and each road section in the running process, so that a local map in the running process of the vehicle can be constructed according to the intersections and the road sections.
The map data of the crossing can be used for determining a plurality of map nodes in the local map, the map nodes can store map data of corresponding crossings, after determining vehicle positioning information and acquiring map data of the crossing, the map nodes can be determined according to the positioning information, and the crossings corresponding to two map nodes which are connected are two crossings on the same road section.
In an example, the step 502 may include the sub-steps of:
Sub-step 5021, when constructing a local map for the first time, determining map data for a target intersection, which is matched with positioning information, in the intersection map data;
After the map data packet is acquired, when a map is built for the first time, the map data of the target intersection can be determined by searching in the intersection map data according to the positioning information, wherein the target intersection can be an intersection near the vehicle positioning, and the current advancing direction of the vehicle is taken as the driving front, so that the target intersection can be an intersection positioned behind the vehicle on the road section where the vehicle is currently positioned.
Sub-step 5022, creating a root node and storing map data of the target intersection in the root node;
When the local map is created for the first time, a root node can be created first, and the obtained map data of the target intersection is stored in the root node, so that assignment of the root node is realized, and the root node corresponds to the target intersection in reality.
Sub-step 5023, determining a plurality of connected map nodes based on the root node and the intersection map data.
After the root node is determined, the extension can be started based on the root node, other map nodes are sequentially determined according to the map data of the intersection, and the map nodes can be connected with each other.
Specifically, an intersection through which the vehicle is about to pass can be determined according to the current path of the vehicle and the root node, map data for the intersection is determined in the map data of the intersection, a map node connected with the root node is created, and the map node connected with the root node is assigned according to the determined map data for the intersection.
In an example, the step 502 may further include the sub-steps of:
Sub-step 5024, when the local map is not built for the first time, determining a first map node matched with the vehicle in the local map according to the positioning information; the first map node is used for storing map data for a first intersection in the intersection map data;
In the running process of the vehicle, a new map data packet can be continuously acquired according to the positioning of the vehicle, a local map is constructed according to the map data packet, and when the local map is not constructed for the first time, the local map can be updated according to the latest map data packet.
The vehicle can determine a matched first map node in the created local map according to the vehicle positioning information, the first map node can be used for storing map data aiming at a first intersection in intersection map data, the first intersection is the intersection through which the vehicle passes recently or the intersection behind which the vehicle runs recently, the current position of the vehicle is a road section connected with the first intersection, and the first map node can be a root node or a map node established behind the root node.
Step 5025, determining map data for a second intersection in the intersection map data according to the first map node, wherein the second intersection is an intersection adjacent to the first intersection;
After the first map node is determined, map data of a second intersection through which the vehicle is about to pass can be determined in the intersection map data, wherein the first intersection and the second intersection are two adjacent intersections on the current road section of the vehicle.
Sub-step 5026 creates a second map node connected to the first map node and stores map data for the second intersection at the second map node.
After the first map node is determined, a second map node connected with the first map node can be created, so that the second map node can be assigned according to the determined map data of the second intersection, a third node connected with the second map node can be continuously created and assigned according to the method for adding the map node, and a plurality of connected map nodes can be obtained.
Step 503, constructing a local map according to the plurality of connected map nodes and road section map data, so that the vehicle runs according to the local map.
After the map nodes are determined, a local map can be constructed according to the map nodes and the road section map data, so that the vehicle can run according to the local map.
Specifically, in the local map, the map nodes correspond to intersections in the real roads, and the map nodes can be connected through connecting lines, the connecting lines correspond to road segments of the real roads, so that tree structures shown in fig. 5b are formed, such as A, B, C, D, E, identifiers like # and the like represent tree nodes on the tree structures, the tree nodes in the tree structures are map nodes, intersection map data can be stored in the map nodes, and the connecting lines between the map nodes can be used for storing road segment map data.
Wherein, an intersection can point to a main path (main path) and a sub path (sub path) at the same time, and tree nodes can be divided into 3 types: root Node (Root Node), normal Node (Normal Node), crossing Node (Cross Node), wherein the crossing Node may point to the next Path (Path).
Each intersection node stores map data of all road segments, road shape information, etc. in the next Path (Path).
In addition, to prevent path false hops, in the tree structure, the intersection node may store a path of a previous stage of the current path. For example: the path number (PathId) of the current path is 17; the path number (PathId) of the path at the upper level is 9, and the path with the path number 9 is cached until the path is switched to the next path or the offset distance is greater than the preset distance (such as 500 m).
In an example, when the vehicle starts the functions of adaptive cruise (ACC, adaptive Cruise Control), intelligent speed limiting, automatic cruise of a curve, and the like, a local map constructed and stored by the vehicle can be obtained, and the local map is analyzed to obtain application data to guide the vehicle to run.
For example, after intelligent speed limiting, the local map constructed in real time can be analyzed to obtain road section speed limiting data, and speed limiting control is performed on the vehicle according to the speed limiting data.
In an example, step 503 includes the sub-steps of:
Sub-step 5031, creating a target linked list corresponding to the plurality of connected map nodes;
In practical application, the map nodes have a certain distance from the map nodes, which can correspond to the road sections between two intersections in reality, and the road section map data is the map data related to the road sections between the map nodes, so that after the map nodes are determined, a target linked list for storing the road section map data can be created between the connected map nodes.
Sub-step 5032 sequentially stores the road segment map data on linked list nodes of the target linked list to construct the local map.
There may be a plurality of linked list nodes sequentially connected to the target linked list, and the road map data may be sequentially stored on the corresponding linked list nodes, as shown in fig. 5c, which is a linked list structure that is a bidirectional linked list (i.e., a double linked list).
Road Segment data in the map data packet, such as road Segment map data (Segment), road shape information (including information of road curvature, slope, longitude and latitude, altitude, traffic sign, etc.), can be distinguished according to the path numbers, and the road Segment data with matched path numbers (i.e. the road Segment data belonging to the same road Segment) are sequentially stored in a bidirectional linked list in a linear structure.
When storing, the sorting may be performed according to the offset (offset) of the link data, as shown in fig. 5c, the head may represent the first linked list node of the linked list, and then the link data with the offset of 10m, 20m, 30m, 40m, 50m from the head is sequentially stored in the linked list, and the bidirectional linked list may support forward and reverse traversal, dynamic insertion/deletion, and the like.
In an embodiment of the present invention, step 503 further comprises the sub-steps of:
Sub-step 5033 updates the created linked list of targets in the local map during vehicle travel.
In practical application, as the vehicle travels, a new target linked list is continuously created to store new road section map data, and the previously created linked list and the vehicle are positioned farther and farther in real time, the data stored in the previously linked list becomes outdated data, so that the target linked list created in the local map can be updated in real time in the vehicle traveling process, and the updating mode can include generating the new linked list or deleting the old linked list.
In an example, the intersection map data stored in the linked list may include an offset, where the offset is used to represent a distance between the vehicle and each intersection in real time, and when the offset exceeds a preset offset, updating the linked list in the local map may be started, and the linked list data whose offset is not satisfactory may be deleted.
Step 504, in the running process of the vehicle, responding to a trigger event, and starting a target vehicle-mounted application;
Step 505, determining target map data from the obtained original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application; the original map data is data in a local map.
Step 506, calling the target application data under the condition of starting the target vehicle-mounted application.
In the embodiment of the invention, the local map is constructed in the running process of the vehicle, the constructed local map is stored, the local map can be analyzed when the target vehicle-mounted application is started, and the map data is processed into the application data, so that the application data can be called, the map data processing process is simplified, the map data memory is reduced, and the diversified application can be realized through the local map.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 6, a schematic structural diagram of a map data processing device according to an embodiment of the present invention may specifically include the following modules:
The vehicle-mounted application opening module 601 is configured to respond to a trigger event in a vehicle driving process, and open a target vehicle-mounted application;
the target application data determining module 602 is configured to determine target map data from the obtained original map data, and process the target map data to obtain target application data required by the target vehicle-mounted application;
and the target application data calling module 603 is configured to call the target application data when the target vehicle-mounted application is started.
In an embodiment of the present invention, the target application data determining module 602 may include:
A data type determination sub-module for determining a data type required by the target vehicle application;
And the data filtering sub-module is used for determining target map data corresponding to the data type from the acquired original map data.
In an embodiment of the present invention, the target application data determining module 602 may further include:
The data processing mode determining submodule is used for determining a target data processing mode required by the target vehicle-mounted application;
And the map data processing sub-module is used for processing the target map data according to the target data processing mode.
In an embodiment of the present invention, the target map data is stored in a target linked list formed by a plurality of linked list nodes that are sequentially arranged, and the target application data determining module 602 may further include:
the current linked list node determining submodule is used for determining a current linked list node corresponding to the positioning information of the vehicle in the target linked list;
And the linked list node traversing sub-module is used for traversing the map data stored by the linked list nodes in the target linked list by taking the current linked list node as a starting point.
In an embodiment of the present invention, the target vehicle-mounted application is a vehicle-mounted application for speed limitation, and the linked list node traversing submodule includes:
The first speed limit data acquisition unit is used for acquiring first speed limit data stored in the current linked list node, wherein the first speed limit data is the speed limit starting point of the first speed limit road section;
the second speed limit data acquisition unit is used for acquiring second speed limit data of a next linked list node when the pointer of the target linked list shifts backwards;
the speed limit data judging unit is used for judging whether the first speed limit data and the second speed limit data are the same or not;
And the speed limit data judging unit is used for taking the second speed limit data as the speed limit end point of the first speed limit road section and the speed limit start point of the second speed limit road section when judging that the first speed limit data and the second speed limit data are different.
In an embodiment of the present invention, the original map data is data in a local map, and further includes:
The map data packet acquisition sub-module is used for acquiring map data packets corresponding to positioning information of the vehicle, wherein the map data packets comprise intersection map data and road section map data;
A map node determining sub-module for determining a plurality of connected map nodes based on the positioning information and the intersection map data;
and the local map construction sub-module is used for constructing a local map according to the plurality of connected map nodes and the road section map data.
In an embodiment of the present invention, further includes:
The road section mark determining module is used for determining the road section mark of the road section where the vehicle is located according to the positioning information of the vehicle in the running process of the vehicle;
the road section mark inquiring module is used for inquiring the road section mark in the original map data;
and the execution module is used for executing the obtained original map data to determine target map data when the road segment mark is inquired.
In the embodiment of the invention, the target vehicle-mounted application is started in response to the triggering event in the running process of the vehicle, the target map data is determined from the acquired original map data, the target map data is processed to obtain the target application data required by the target vehicle-mounted application, and the target application data is called under the condition of starting the target vehicle-mounted application, so that the application data required by the vehicle-mounted application is obtained by processing the map data when the vehicle-mounted application is started, the realization of diversified application through the map data is facilitated, and the map use experience of a user is improved.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program implementing the above map data processing method when executed by the processor.
An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements a method of processing map data as above.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.
The foregoing has described in detail the method and apparatus for processing map data, and specific examples have been presented herein to illustrate the principles and embodiments of the present invention, the above examples being provided only to assist in understanding the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (9)
1. A method of processing map data, the method comprising:
acquiring a map data packet corresponding to positioning information of a vehicle, wherein the map data packet comprises intersection map data and road section map data;
determining a plurality of connected map nodes based on the positioning information and the intersection map data;
Creating target linked lists corresponding to a plurality of connected map nodes, and sequentially storing road section map data on the linked list nodes of the target linked lists to construct a local map; wherein the target linked list is a bidirectional linked list;
in the running process of the vehicle, responding to a triggering event, and starting a target vehicle-mounted application;
Determining target map data from the obtained original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application; wherein the original map data is data in a local map;
And calling the target application data under the condition of starting the target vehicle-mounted application.
2. The method of claim 1, wherein the determining target map data from the acquired raw map data comprises:
determining a data type required by the target vehicle application;
From the acquired original map data, target map data corresponding to the data type is determined.
3. The method according to claim 1 or 2, wherein said processing said target map data comprises:
determining a target data processing mode required by the target vehicle-mounted application;
and processing the target map data according to the target data processing mode.
4. The method according to claim 1, wherein the target map data is stored in a target linked list made up of a plurality of linked list nodes arranged in sequence, and the processing the target map data includes:
determining a current linked list node corresponding to the positioning information of the vehicle in the target linked list;
And traversing map data stored by a plurality of linked list nodes in the target linked list by taking the current linked list node as a starting point.
5. The method of claim 4, wherein the target vehicle application is a vehicle application for speed limiting, and traversing the data stored by the plurality of linked list nodes in the target linked list comprises:
acquiring first speed limit data stored by a current linked list node, wherein the first speed limit data is a speed limit starting point of a first speed limit road section;
When the pointer of the target linked list shifts backwards, second speed limit data of a next linked list node is obtained;
Judging whether the first speed limit data and the second speed limit data are the same or not;
and when the first speed limit data and the second speed limit data are judged to be different, the second speed limit data are used as the speed limit end point of the first speed limit road section and the speed limit start point of the second speed limit road section.
6. The method as recited in claim 1, further comprising:
Determining a road section mark of a road section where the vehicle is located according to the positioning information of the vehicle in the running process of the vehicle;
inquiring the road section mark in the original map data;
and when the road segment mark is inquired, executing the obtained original map data to determine target map data.
7. A processing apparatus of map data, characterized in that the apparatus comprises:
The vehicle-mounted application starting module is used for responding to a triggering event in the running process of the vehicle and starting a target vehicle-mounted application;
The map data packet acquisition sub-module is used for acquiring map data packets corresponding to positioning information of the vehicle, wherein the map data packets comprise intersection map data and road section map data;
A map node determining sub-module for determining a plurality of connected map nodes based on the positioning information and the intersection map data;
The local map construction sub-module is used for creating target linked lists corresponding to a plurality of connected map nodes, and sequentially storing road section map data on the linked list nodes of the target linked lists so as to construct a local map; wherein the target linked list is a bidirectional linked list;
The target application data determining module is used for determining target map data from the acquired original map data and processing the target map data to obtain target application data required by the target vehicle-mounted application; wherein the original map data is data in a local map;
and the target application data calling module is used for calling the target application data under the condition of starting the target vehicle-mounted application.
8. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing a method of processing map data as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method of processing map data according to any one of claims 1 to 6.
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| CN107292107A (en) * | 2014-12-02 | 2017-10-24 | 厦门飞游信息科技有限公司 | A kind of map road-seeking method, equipment and computing terminal |
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