CN115761169A

CN115761169A - Map data generation method, map element association method, map data generation device, map element association device and map element association equipment

Info

Publication number: CN115761169A
Application number: CN202211523095.6A
Authority: CN
Inventors: 朱建华
Original assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-03-07

Abstract

The disclosure provides a map data generation method, a map element association method, a map data generation device, a map element association device and map element association equipment, and relates to the technical field of artificial intelligence, in particular to the technical fields of automatic driving, high-precision maps and the like. The map data generation method includes: acquiring characteristic information of map elements; processing the feature information based on preset space size information to determine space reference information and space offset information corresponding to the feature information, and constructing identification information of the map element based on the space reference information, the space offset information and the space size information; and establishing a corresponding relation between the identification information and the map elements to generate map data. The method and the device can improve the association efficiency of the map elements.

Description

Map data generation method, map element association method, map data generation device, map element association device and map element association equipment

Technical Field

The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the technical fields of automatic driving and high-precision maps, and in particular, to a method, an apparatus, and a device for generating map data and associating map elements.

Background

The automatic driving technology, also called as unmanned technology, is a complex of a plurality of leading-edge subjects such as sensors, computers, artificial intelligence, communication, navigation positioning, mode recognition, machine vision, intelligent control and the like. Compared with the common map, the high-precision map provides map information with higher precision and richer content, and mainly serves the field of automatic driving.

Due to the change of road environment and other reasons, the electronic map is updated at certain intervals, so that maps of multiple versions exist, and the problem of how to associate map elements in electronic maps of different versions needs to be solved.

In the related art, corresponding attribute information is usually found based on identification information of map elements, and association is performed based on the attribute information, and the identification information is usually obtained by using a sequential identification information manner.

Disclosure of Invention

The disclosure provides a map data generation method, a map element association method, a map data generation device, a map element association device and a map element association device.

According to an aspect of the present disclosure, there is provided a method of generating map data, including: acquiring characteristic information of map elements; processing the feature information based on preset space size information to determine space reference information and space offset information corresponding to the feature information, and constructing identification information of the map element based on the space reference information, the space offset information and the space size information; and establishing a corresponding relation between the identification information and the map elements to generate map data.

According to another aspect of the present disclosure, there is provided a method of associating map elements, including: acquiring identification information of two map elements to be associated, wherein the identification information is constructed based on spatial reference information, spatial offset information and spatial dimension information, and the spatial reference information and the spatial offset information are acquired after processing feature information of the map elements based on preset spatial dimension information; determining space starting point information based on the space reference information and the space size information in the identification information; determining an association relationship of the two map elements based on at least one of the spatial origin information, the spatial offset information, and the spatial size information.

According to another aspect of the present disclosure, there is provided a map data generation apparatus including: the acquisition module is used for acquiring the characteristic information of the map elements; the construction module is used for processing the characteristic information based on preset space size information so as to determine space reference information and space offset information corresponding to the characteristic information, and constructing identification information of the map element based on the space reference information, the space offset information and the space size information; and the generating module is used for establishing the corresponding relation between the identification information and the map elements so as to generate map data.

According to another aspect of the present disclosure, there is provided an apparatus for associating map elements, including: the map information association system comprises an acquisition module, a correlation module and a correlation module, wherein the acquisition module is used for acquiring identification information of two map elements to be associated, the identification information is constructed based on space reference information, space offset information and space size information, and the space reference information and the space offset information are acquired after processing feature information of the map elements based on preset space size information; a determining module, configured to determine space starting point information based on the space reference information and the space size information in the identification information; an association module, configured to determine an association relationship between the two map elements based on at least one of the spatial starting point information, the spatial offset information, and the spatial size information.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the above aspects.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method according to any one of the above aspects.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of the above aspects.

According to the technical scheme disclosed by the invention, the association efficiency of the map elements can be improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;

fig. 2 is a schematic diagram of an application scenario corresponding to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of generating identification information based on feature information of multiple dimensions in an embodiment of the present disclosure;

FIG. 4 is a schematic illustration of a second embodiment according to the present disclosure;

FIG. 5 is a schematic diagram according to a third embodiment of the present disclosure;

FIG. 6 is a schematic diagram of an intersection element in an embodiment of the disclosure;

FIG. 7 is a schematic diagram according to a fourth embodiment of the present disclosure;

FIG. 8 is a schematic diagram of map element association based on identification information in an embodiment of the present disclosure;

FIG. 9 is a schematic diagram according to a fifth embodiment of the present disclosure;

FIG. 10 is a schematic diagram according to a sixth embodiment of the present disclosure;

fig. 11 is a schematic diagram of an electronic device for implementing a map data generation method or a map element association method according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the related art, a sequential identification information manner is usually adopted to identify map elements.

For example, the identification information of one map element is 1, and the identification information of the next map element is 2.

When map element association is performed based on the identification information, since the identification information itself lacks interpretability, in order to associate two map elements of different versions, attribute information of the corresponding map element needs to be obtained based on the identification information in the different versions, and then an association relationship between the two map elements is determined based on the attribute information, that is, whether the two map elements are the same map element. Particularly in a high-precision map scene, due to the large data volume, the implementation is complex and the efficiency is poor based on the searching and comparing scheme.

In order to improve the association efficiency of map elements, the present disclosure provides the following embodiments.

Fig. 1 is a schematic diagram according to a first embodiment of the present disclosure, which provides a method for generating map data, the method including:

101. feature information of the map element is acquired.

102. Processing the feature information based on preset spatial size information to determine spatial reference information and spatial offset information corresponding to the feature information, and constructing identification information of the map element based on the spatial reference information, the spatial offset information and the spatial size information.

103. And establishing a corresponding relation between the identification information and the map elements to generate map data.

Map elements are components of a map, which may be, for example, lane lines, intersections, and the like.

The characteristic information is used for representing the map elements, and based on the difference of the map elements, appropriate information can be selected as the characteristic information of the map elements. For example, coordinate information is used as the feature information.

In addition, based on the difference of the map elements, the feature information may be directly obtained from the road network data corresponding to the map elements, or the feature information may be obtained by processing the road network data corresponding to the map elements.

For example, for a point element (such as a building) or a line element (such as a lane line), one spatial point may be selected from at least one spatial point included in the point element or the line element, and feature information (recorded in road network data) of the selected spatial point may be used as the feature information of the point element or the line element; alternatively, the first and second electrodes may be,

for a surface element (such as an intersection), feature information of the surface element may be obtained based on a polygon (recorded in the road network data) corresponding to the surface element.

In addition, the dimension of the feature information may be one or more, for example, the feature information is coordinate information, and in a three-dimensional space, the coordinate information includes coordinate information of three dimensions, and the corresponding feature information includes feature information of three dimensions, that is, coordinate values in x, y, and z directions.

For the feature information of multiple dimensions, processing can be performed on each dimension, and then identification information is constructed based on the processing result on each dimension. The method specifically comprises the following steps: for each of the plurality of dimensions: processing the feature information of each dimension based on the spatial dimension information of each dimension to determine spatial reference information of each dimension and spatial offset information of each dimension; and constructing the identification information based on the spatial reference information of each dimension, the spatial offset information of each dimension and the spatial size information of each dimension.

When the identification information is constructed based on the spatial reference information, the spatial offset information and the spatial dimension information, a preset splicing symbol may be adopted to splice the spatial reference information, the spatial offset information and the spatial dimension information to obtain the identification information of the map element. The concatenation character is, for example, an underline or the like.

After the map elements and the identification information thereof are obtained, the corresponding relationship between the map elements and the identification information can be established to generate map data. That is, a plurality of map elements and identification information thereof may be included in the map data. It is understood that other information may also be included in the map data, such as attribute information of the map elements, and for the lane lines, the attribute information includes, for example, type (solid line or dotted line), length, and the like.

In this embodiment, the identification information of the map element is constructed based on the feature information of the map element, and the interpretability of the identification information can be improved compared with a sequential numbering mode. In addition, the identification information is constructed based on the spatial reference information, the spatial offset information and the spatial dimension information, so that the comparability of the identification information can be improved, and further, when the association processing of the map elements is performed based on the identification information, the association efficiency of the map elements can be improved.

For a better understanding of the present disclosure, application scenarios of the embodiments of the present disclosure are described.

Fig. 2 is a schematic diagram of an application scenario corresponding to an embodiment of the present disclosure. As shown in fig. 2, the autonomous vehicle 201 can perform positioning, navigation, and the like based on the high-precision map. The high-precision map may be generated based on map data, which may include map elements and their corresponding identification information.

Unlike the sequence numbering in the related art, in the present embodiment, the identification information of the corresponding map element may be generated based on the feature information of the map element.

Based on different map elements, appropriate information can be selected as the characteristic information of the corresponding map elements according to actual requirements.

The feature information may include feature information of a plurality of dimensions, and constructing the identification information based on the feature information of the plurality of dimensions may include: for each of the plurality of dimensions: processing the feature information of each dimension based on the spatial dimension information of each dimension to determine spatial reference information of each dimension and spatial offset information of each dimension; and constructing the identification information based on the spatial reference information of each dimension, the spatial offset information of each dimension and the spatial size information of each dimension.

For example, as shown in fig. 3, the dimensions are denoted as a, B, a.

Taking dimension a as an example, for dimension a, based on the spatial size information AP in the dimension, spatial reference information AI and spatial offset information AR in the dimension may be determined; similarly, the spatial reference information BI and the spatial offset information BR in the dimension may be determined based on the spatial size information BP in the dimension B, and the spatial reference information NI and the spatial offset information NR in the dimension may be determined based on the spatial size information NP in the dimension N.

Thereafter, identification information may be constructed based on the spatial reference information, the spatial offset information, and the spatial size information in the respective dimensions.

The spatial size information may be preset, and the spatial size information of different dimensions may be the same or different.

In this embodiment, for the feature information of multiple dimensions, each dimension is processed separately, and comprehensive and accurate identification information can be obtained.

When the identification information is constructed, a preset splicing symbol may be adopted to splice the spatial reference information, the spatial offset information, and the spatial dimension information to obtain the identification information of the map element.

Taking the splicing symbol as an underline as an example, as shown in fig. 3, the spatial reference information (indicated by the integer value AI), the spatial offset information (indicated by the remainder value AR), and the spatial size information in each dimension may be spliced by underlines to obtain the identification information of the map element.

The splicing order of the spatial reference information, the spatial offset information, and the spatial size information is not limited, and as shown in fig. 3, for example, the spatial reference information and the spatial offset information of each dimension may be spliced first, and then the spatial offset information of each dimension may be spliced.

Taking the feature information as the coordinate value, the spatial dimension information may be a preset granularity value, the spatial reference information may be an integer value of the coordinate value obtained based on the granularity value, and the spatial offset information may be a remainder value of the coordinate value obtained based on the granularity value.

Taking the coordinate value of dimension a as X, the integer value as AI, the remainder value as AR, and the preset granularity value as AP as an example, the calculation formula may be:

wherein the content of the first and second substances,

denotes a rounding-down operation, and denotes a multiplication operation.

For example, X =12345, ap =10, then AI =1234, ap =5.

In this embodiment, by using the concatenation symbol to perform concatenation processing on the spatial reference information, the spatial offset information, and the spatial size information, information of different parts (an integer part, a remainder part, and a granularity part) may be included in the identification information, instead of combining the different parts into a single numerical value.

Appropriate information may be selected as the feature information for different map elements.

The method specifically comprises the following steps:

if the map element is a point element or a line element, selecting a space point from at least one space point included in the point element or the line element, and using the feature information of the selected space point as the feature information of the point element or the line element; alternatively, the first and second liquid crystal display panels may be,

and if the map element is a surface element, acquiring the characteristic information of the surface element based on the polygon corresponding to the surface element.

For example, the map element is a lane line (line element), and the feature information of the start point of the lane line may be selected as the feature information of the lane line. The characteristic information of the start point includes, for example: coordinate information (x, y, z) and orientation information of the start point.

For another example, the map element is an intersection (surface element), and the feature information of the intersection can be determined based on a polygon corresponding to the intersection, and the feature information of the intersection includes, for example: center coordinates, intersection orientation, and intersection area.

In this embodiment, a suitable manner may be selected to determine the corresponding feature information for different map elements, which may improve the accuracy of the feature information, and thus improve the accuracy of the identification information.

By combining the application scenarios, the following embodiments are provided in the present disclosure, taking the map elements as lane lines and intersections as examples.

Fig. 4 is a schematic diagram according to a second embodiment of the present disclosure, which takes the example that the map element is a lane line. As shown in fig. 4, the method provided by this embodiment includes:

401. feature information of at least one spatial point included in the lane line is acquired.

In the road network data, each lane line corresponds to one curve, and the road network data may record feature information of spatial points on the curve, where the spatial points include, for example, a start point and an end point.

Therefore, the above-described feature information of the spatial point can be acquired from the existing road network data.

402. Selecting one space point from at least one space point included in the lane line, and taking the feature information of the selected space point as the feature information of the lane line.

In this case, if the selected spatial point is a starting point, the feature information of the starting point may be used as the feature information of the lane line.

The characteristic information of the start point may include: the coordinate information (x, y, z) of the start point may further include orientation information θ.

For simplicity of description, this embodiment takes the coordinate information (x, y, z) in which the feature information of the lane line is the start point as an example.

Since the above-described coordinate information is three-dimensional, that is, the feature information of the lane line is three-dimensional feature information. If the direction information of the starting point is also included, the feature information of the lane line is feature information of four dimensions.

403. Processing the feature information of each dimension based on the space size information of each dimension in a plurality of dimensions to determine space reference information of each dimension and space offset information of each dimension; and constructing the identification information based on the spatial reference information of each dimension, the spatial offset information of each dimension and the spatial size information of each dimension.

The spatial dimension information of each dimension is preset, and the spatial dimension information of different dimensions can be the same or different.

Assuming that the characteristic information of the lane line is (12345, 67890, 24687), the spatial dimension information (e.g. granularity value) of each dimension is: 10. 100 and 10, the spatial reference information (e.g. integer value) in each dimension is: 1234. 678, 2468, the spatial offset information (e.g. remainder values) is: 5. 90 and 7.

The identification information constructed further may be: 1234\u10_678_100_2468_10_5_90_7.

404. And establishing a corresponding relation between the lane line and the identification information of the lane line to generate map data.

The map data may record a corresponding relationship between the map elements and the identification information thereof.

For example, assuming that the lane line is R1, a corresponding relationship between R1 and 1234_10 678_100_2468_10_5_90_7 can be established.

In the embodiment, the identification information of the lane line is determined based on the characteristic information of the lane line, so that the interpretability of the identification information can be improved; the identification information is carried out based on the space dimension information, so that robustness in a certain range can be realized, the comparison can be carried out quickly under the condition of fine adjustment of the lane, and the analysis and application of a cross-version map are facilitated; the identification information is obtained by splicing based on the space reference information, the space offset information and the space size information, the original characteristic information can be restored with high fidelity according to a set rule, and the quick comparison analysis of the adjacent region can be carried out. Based on the identification information scheme, uniqueness, readability and usability are considered.

Fig. 5 is a schematic diagram according to a third embodiment of the present disclosure, in which the map element is an intersection as an example. As shown in fig. 5, the method provided in this embodiment includes:

501. and determining a polygon corresponding to the intersection.

In the road network data, intersections are usually stored in a polygonal form, and the stored data includes, for example: coordinate information of spatial points (e.g., black dots shown in fig. 6) on the polygon corresponding to the intersection.

Therefore, the coordinate information of the spatial point on the polygon corresponding to the intersection can be acquired from the existing road network data, and the corresponding polygon can be acquired based on the coordinate information.

502. And determining the characteristic information of the intersection based on the polygon corresponding to the intersection.

The feature information of the intersection may include: the center coordinates (x, y, z) of the intersection, the intersection orientation θ, and may also include the intersection area s.

The characteristic information can be extracted by a thin plate model method or a directional bounding box method.

For the thin plate model method, the method can comprise the following steps:

determining the centroid coordinate of the polygon, and taking the centroid coordinate as the central coordinate of the intersection;

determining the direction of the intersection based on the direction information of the lanes related to the intersection;

and determining the area of the polygon, and taking the area of the polygon as the area of the intersection.

Specifically, after determining polygons corresponding to intersections, as shown in fig. 6, the polygons formed by connecting the space points may use a centroid calculation method to calculate coordinate information of a centroid of the polygons, and use the coordinate information of the centroid as a center coordinate of the intersection.

The road network data may further record the direction information of the lanes associated with the intersection, and then, the direction information of the lanes associated with the intersection may be calculated according to a preset rule, for example, an average value is calculated, and the direction average value is taken as the direction of the intersection, or the direction of the intersection is selected as the direction of the maximum (for example, 5 lanes are associated in total, and 4 of them are all directed toward the first direction, and the first direction is taken as the direction of the intersection).

In addition, the area of the polygon can be calculated and used as the intersection area.

In this embodiment, the feature information of the intersection can be obtained simply and efficiently based on the thin-plate model method.

For the directed bounding box approach, it may include:

performing principal component analysis on the sampling points on the polygon to determine the principal axes and the principal axis orientations of the sampling points;

projecting the sampling points to the main shaft to determine boundary points at two ends of a projection position on the main shaft, and determining a central point and a central coordinate of the main shaft based on the boundary points at the two ends;

determining a secondary shaft based on the central point of the primary shaft, and projecting the sampling points onto the secondary shaft to determine two end boundaries of the projection position on the secondary shaft;

forming a quadrangle based on the two-end boundary points on the main shaft and the two-end boundary points on the auxiliary shaft, and determining the area of the quadrangle;

and taking the central coordinate, the orientation of the main shaft and the area of the quadrangle as the characteristic information of the intersection.

The sampling points may be spatial points of polygons recorded in the road network data, or the polygons may be sampled to obtain sampling points. The sampling process may be equally spaced to enhance the stability of the results of subsequent spindle determinations and the like.

After the sampling points are obtained, the Principal axis and its orientation can be determined using Principal Component Analysis (PCA) algorithms. The principal axis and the direction thereof may be determined by using KL Transform (Karhunen-Loeve Transform) algorithm, linear discriminant analysis algorithm, or the like, without being limited to principal component analysis.

After the principal axis is determined, the sampling points may be projected onto the principal axis to determine the two-end boundary points of the projected position on the principal axis, and the points of the triangle shown in fig. 6 are the two-end boundary points.

After determining the boundary points at the two ends of the main shaft, the center point of the two boundary points can be used as the center point of the main shaft. And the coordinates of the center point may be calculated based on the coordinates of the boundary points.

After the center point of the major axis is determined, a straight line passing through the center point and perpendicular to the major axis may be constructed as the minor axis. The sampling points can also be projected onto the secondary axis and the boundary points at both ends of the projected position on the secondary axis are determined (as shown by the triangular points).

For the boundary points at the two ends on the main shaft, straight lines which pass through the boundary points and are perpendicular to the main shaft can be constructed, for the boundary points at the two ends on the auxiliary shaft, straight lines which pass through the boundary points and are perpendicular to the auxiliary shaft can be constructed, the straight lines (four lines) can form a quadrangle, and the area of the quadrangle can be calculated based on the coordinates of the boundary points.

Then, the coordinate of the center point, the orientation of the main axis, and the area of the quadrangle can be used as the feature information of the intersection, that is, the center coordinate of the intersection is the coordinate of the center point, the orientation of the intersection is the orientation of the main axis, and the area of the intersection is the area of the quadrangle.

In the embodiment, based on the principal component analysis mode, because the influence of the uneven distribution of the sampling points on the main shaft is small, the intersection is almost unchanged when the intersection changes such as widening or prolonging, the stability under the condition of polygonal appearance fluctuation of the intersection is realized, and meanwhile, the method has strong adaptability to asymmetric intersections such as T-shaped intersections and roundabout intersections.

503. Processing the feature information of each dimension based on the space size information of each dimension in a plurality of dimensions to determine space reference information of each dimension and space offset information of each dimension; and constructing the identification information based on the spatial reference information of each dimension, the spatial offset information of each dimension and the spatial size information of each dimension.

For simplicity of description, the present embodiment takes the example that the feature information of the intersection includes the center coordinates of the intersection and the intersection orientation (x, y, z, θ).

Specifically, assuming that the characteristic information of the intersection is (12345, 67890, 24687, 45), the spatial dimension information (such as the granularity value) of each dimension is: 10. 100,10, and 6, the spatial reference information (e.g., integer value) in each dimension is: 1234. 678, 2468, and 7, the spatial offset information (e.g., remainder values) is: 5. 90,7 and 3.

The identification information constructed further may be:

1234_10_678_100_2468_10_7_6_5_90_7_3。

504. and establishing a corresponding relation between the intersections and the identification information of the intersections to generate map data.

For example, assuming that the intersection is C1, a corresponding relationship between C1 and 1234_10_678 u 100_2468_10_7_6_90_7_3 can be established.

In the embodiment, the identification information of the intersection is determined based on the characteristic information of the intersection, so that the interpretability of the identification information can be improved; the identification information is carried out based on the space dimension information, so that robustness in a certain range can be realized, and the comparison can be carried out quickly under the condition of intersection fine adjustment, thereby being beneficial to the analysis and application of a cross-version map; the identification information is obtained by splicing based on the space reference information, the space offset information and the space size information, the original characteristic information can be restored with high fidelity according to a set rule, and the quick comparison analysis of the adjacent region can be carried out. The intersection is represented by taking the center coordinates, the orientation and the area of the intersection as characteristic information of the intersection; feature information of the road junction is extracted based on a thin plate model method, so that the method is concise and efficient; the intersection feature information is extracted based on the directed bounding box method, and robustness is achieved. Based on the identification information scheme, uniqueness, readability and usability are considered.

Fig. 7 is a schematic diagram according to a fourth embodiment of the present disclosure, which provides a method for associating map elements, where the method includes:

701. the method comprises the steps of obtaining identification information of two map elements to be associated, wherein the identification information is constructed based on space reference information, space offset information and space size information, and the space reference information and the space offset information are obtained after processing feature information of the map elements based on preset space size information.

702. And determining space starting point information based on the space reference information and the space size information in the identification information.

703. Determining an association relationship of the two map elements based on at least one of the spatial origin information, the spatial offset information, and the spatial size information.

The generation scheme of the identification information of the map element can be seen from the above-described embodiment.

The association relationship of two map elements can be efficiently determined based on the above-described identification information.

When the space starting point information is determined based on the space reference information and the space size information, the space reference information and the space size information may be multiplied, and the product of the space reference information and the space size information may be used as the space starting point information.

For example, two map elements are E1 and E2, respectively, and the identification information is: 1234, 10, 678, 100, 2468, 10, 5,90,7 and 1234, 10, 678, 100, 2468, 10, 2,45,9, based on the identification information of E1, it can be determined that the start point information of E1 is (12340, 67800, 24680), the spatial information is (10, 100, 10), and the offset information is (5, 90, 7), i.e., E1 is a map element starting at (12340, 67800, 24680) and having a size of (10, 100, 10) and an offset of (5, 90, 7).

Similarly, E2 corresponds to the starting point information of (12340, 67800, 24680), the spatial information of (10, 100, 10), the offset information of (2, 45, 9), and E2 is the map element of (2, 45, 9) offset in the space of (10, 100, 10) size starting from (12340, 67800, 24680).

Thereafter, the association relationship of E1 and E2, i.e., whether E1 and E2 are the same map element, may be determined based on a predetermined rule.

The predetermined rule may be set according to actual needs, for example, if the rule indicates that map elements with the same starting point and the same space size are the same map element, based on the rule, the above-mentioned E1 and E2 are the same map element.

In addition, the rule may refer to an offset, such as a starting point and the same space size, and if the difference between the offsets in a certain dimension or dimensions is smaller than a threshold, it indicates that the two are the same map element.

In the embodiment, the identification information of the map elements is constructed based on the characteristic information of the map elements, and the interpretability of the identification information can be improved compared with a sequential identification information mode. In addition, the identification information is constructed based on the spatial reference information, the spatial offset information and the spatial dimension information, so that the comparability of the identification information can be improved, and further, when the association processing of the map elements is performed based on the identification information, the association efficiency of the map elements can be improved.

In this embodiment, the association relationship between the two map elements is determined based on one or more of the starting point information, the spatial information, and the offset information, and an appropriate comparison rule may be selected based on an actual situation, so that flexibility may be improved.

The above comparison based on the identification information can realize rapid comparison, and in addition, fine comparison can be performed, wherein the fine comparison refers to obtaining the attribute information of the map elements based on the identification information, and then calculating the similarity between the attribute information of the two map elements, and if the similarity is greater than a preset value, the two map elements are the same map element.

For example, as shown in fig. 8, the comparison between two map elements may include a fast comparison and/or a fine comparison, where the fast comparison refers to performing comparison based on the identification information itself, and the fine comparison refers to performing a search based on the identification information to obtain the attribute information of the map elements, and then performing the comparison based on the attribute information.

During fast speed comparison, for example, the original feature information (a, B, N) can be restored based on the identification information, and then the feature information of each dimension of the two map elements is compared to obtain a fast comparison result. Wherein, it can be determined that the values of a certain dimension or some dimensions are the same (or the difference value is smaller than a preset value) that the two are the same map element.

During fine matching, attribute information (such as type and length) can be obtained based on the identification information, similarity can be calculated for a plurality of attribute information one by one, overall similarity is obtained after weighting, and when the overall similarity is larger than a preset value, the two map elements are determined to be the same.

In this embodiment, based on the fast comparison, the efficiency can be improved, and based on the fine comparison, the accuracy can be improved. The user can adopt quick comparison or fine comparison according to actual requirements, so that the flexibility can be improved, and the balance of efficiency and accuracy can be realized.

Fig. 9 is a schematic diagram according to a fifth embodiment of the present disclosure, which provides a map data generation apparatus 900 including: an acquisition module 901, a construction module 902 and a generation module 903. The obtaining module 901 is configured to obtain feature information of a map element; the constructing module 902 is configured to process the feature information based on preset spatial dimension information to determine spatial reference information and spatial offset information corresponding to the feature information, and construct identification information of the map element based on the spatial reference information, the spatial offset information, and the spatial dimension information; the generating module 903 is configured to establish a corresponding relationship between the identification information and the map element to generate map data.

In some embodiments, the building module 902 is further configured to:

and splicing the space reference information, the space offset information and the space size information by adopting a preset splicing character to obtain the identification information of the map element.

In some embodiments, the feature information comprises feature information in a plurality of dimensions;

the building block 902 is further configured to:

for each of the plurality of dimensions: processing the feature information of each dimension based on the spatial dimension information of each dimension to determine spatial reference information of each dimension and spatial offset information of each dimension;

and constructing the identification information based on the spatial reference information of each dimension, the spatial offset information of each dimension and the spatial size information of each dimension.

In some embodiments, the obtaining module 901 is further configured to:

if the map element is a point element or a line element, selecting a spatial point from at least one spatial point included in the point element or the line element, and taking the feature information of the selected spatial point as the feature information of the point element or the line element; alternatively, the first and second liquid crystal display panels may be,

In some embodiments, the surface element is an intersection, and the obtaining module 901 is further configured to:

determining the direction of the intersection based on the direction information of the lane related to the intersection;

determining the area of the polygon, and taking the area of the polygon as the area of the intersection;

and taking the center coordinate of the intersection, the intersection orientation and the intersection area as the characteristic information of the intersection.

Fig. 10 is a schematic diagram of a sixth embodiment according to the present disclosure, which provides an apparatus for associating map elements, the apparatus 1000 including: an obtaining module 1001, a determining module 1002 and an associating module 1003.

The obtaining module 1001 is configured to obtain identification information of two map elements to be associated, where the identification information is constructed based on spatial reference information, spatial offset information, and spatial size information, and the spatial reference information and the spatial offset information are obtained by processing feature information of the map elements based on preset spatial size information; the determining module 1002 is configured to determine space starting point information based on the space reference information and the space size information in the identification information; the association module 1003 is configured to determine an association relationship between the two map elements based on at least one of the spatial starting point information, the spatial offset information, and the spatial size information.

It is to be understood that in the disclosed embodiments, the same or similar elements in different embodiments may be referenced.

It is to be understood that "first", "second", and the like in the embodiments of the present disclosure are only used for distinguishing, and do not indicate the degree of importance, the sequence, and the like.

In the technical scheme of the disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the common customs of public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 11 shows a schematic block diagram of an example electronic device 1100 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, servers, blade servers, mainframes, and other appropriate computers. The electronic device 1100 may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 11, the electronic device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1102 or a computer program loaded from a storage unit 11011 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the electronic device 1100 may also be stored. The calculation unit 1101, the ROM 1102, and the RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

A number of components in electronic device 1100 connect to I/O interface 1105, including: an input unit 1106 such as a keyboard, mouse, or the like; an output unit 1107 such as various types of displays, speakers, and the like; a storage unit 1108, such as a magnetic disk, optical disk, or the like; and a communication unit 1109 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 1109 allows the electronic device 1100 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 1101 can be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 1101 performs the respective methods and processes described above, such as the generation method of map data or the association method of map elements. For example, in some embodiments, the method of generation of map data or the method of association of map elements may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 1100 via the ROM 1102 and/or the communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the above-described generation method of map data or association method of map elements may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured by any other suitable means (e.g., by means of firmware) to perform the generation method of map data or the association method of map elements.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable load balancing apparatus such that the program codes, when executed by the processor or controller, cause the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for generating map data, comprising:

acquiring characteristic information of map elements;

processing the feature information based on preset space size information to determine space reference information and space offset information corresponding to the feature information, and constructing identification information of the map element based on the space reference information, the space offset information and the space size information;

and establishing a corresponding relation between the identification information and the map elements to generate map data.

2. The method of claim 1, wherein the constructing identification information of the map element based on the spatial reference information, the spatial offset information, and the spatial dimension information comprises:

3. The method of claim 1, wherein,

the feature information comprises feature information of a plurality of dimensions;

the processing the feature information based on preset spatial size information to determine spatial reference information and spatial offset information corresponding to the feature information, and constructing identification information of the map element based on the spatial reference information, the spatial offset information, and the spatial size information includes:

4. The method of claim 1, wherein the obtaining feature information of the map element comprises:

and if the map element is a surface element, acquiring the characteristic information of the surface element based on a polygon corresponding to the surface element.

5. The method according to claim 4, wherein the surface element is a crossing, and the obtaining the feature information of the surface element based on the polygon corresponding to the surface element comprises:

and taking the center coordinates of the intersection, the intersection orientation and the intersection area as the characteristic information of the intersection.

6. The method according to claim 4, wherein the surface element is a crossing, and the obtaining the feature information of the surface element based on the polygon corresponding to the surface element comprises:

performing principal component analysis on the sampling points on the polygon to determine principal axes and principal axis orientations of the sampling points;

7. A method of associating map elements, comprising:

acquiring identification information of two map elements to be associated, wherein the identification information is constructed based on space reference information, space offset information and space size information, and the space reference information and the space offset information are obtained after processing feature information of the map elements based on preset space size information;

determining space starting point information based on the space reference information and the space size information in the identification information;

determining an association relationship of the two map elements based on at least one of the spatial origin information, the spatial offset information, and the spatial size information.

8. A map data generation apparatus comprising:

the acquisition module is used for acquiring the characteristic information of the map elements;

the construction module is used for processing the characteristic information based on preset space size information so as to determine space reference information and space offset information corresponding to the characteristic information, and constructing identification information of the map elements based on the space reference information, the space offset information and the space size information;

and the generating module is used for establishing the corresponding relation between the identification information and the map elements so as to generate map data.

9. The apparatus of claim 9, wherein the build module is further to:

10. The apparatus of claim 9, wherein,

the build module is further to:

11. The apparatus of claim 9, wherein the means for obtaining is further configured to:

12. The apparatus of claim 12, wherein the surface element is an intersection, the obtaining module further configured to:

13. The apparatus of claim 12, wherein the surface element is an intersection, the obtaining module further configured to:

14. An apparatus for associating map elements, comprising:

the map information association system comprises an acquisition module, a correlation module and a correlation module, wherein the acquisition module is used for acquiring identification information of two map elements to be associated, the identification information is constructed based on space reference information, space offset information and space size information, and the space reference information and the space offset information are acquired after processing feature information of the map elements based on preset space size information;

a determining module, configured to determine space starting point information based on the space reference information and the space size information in the identification information;

an association module, configured to determine an association relationship between the two map elements based on at least one of the spatial starting point information, the spatial offset information, and the spatial size information.

15. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.