CN116295418A - Map fusion device, vehicle, method and program product - Google Patents

Abstract

The application relates to the technical field of data processing, in particular to map fusion equipment, a vehicle, a method and a program product, which are used for improving the accuracy of map fusion. Wherein the apparatus comprises: the processing module is used for determining a road section group based on road information of each road section in the high-precision map and the navigation map when the high-precision map and the navigation map are switched; for each road segment group: determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the running direction of the vehicle; and determining a road section transition area based on each end point of the overlapped line segments and the boundary of the edge road section and the associated road section, and fusing the edge road section and the associated road section based on the road section transition area to obtain the fused road section. According to the method and the device, the edge road sections and the associated road sections are fused based on the road section transition areas, so that the problem of data dislocation caused by direct superposition of the edge road sections and the associated road sections can be avoided, and the map fusion accuracy is improved.

Description

Map fusion device, vehicle, method and program product

Technical Field

The present disclosure relates to the field of data processing technologies, and in particular, to a map fusion apparatus, a vehicle, a method, and a program product.

Background

Man-machine co-driving refers to the task of driving a vehicle jointly by a natural driver and an automatic driving system in a scene where full automatic driving cannot be guaranteed. Currently, limited by the state of the art of autopilot, the driving mode will be in a complex man-machine co-driving mode stage for a long time. The man-machine co-driving interaction system is considered as a key factor of safe operation of the automatic driving vehicle at the present stage, provides an interaction mode for exchanging driving information and operation between a person (natural driver) and a machine (automatic driving system), and ensures that the automatic driving behavior is clearer and more visual.

The map is used as a main carrier of man-machine co-driving interaction, and comprises a high-precision map (High Definition Map, HD map) and a navigation map (Standard Definition Map, SD map). The HD map cannot cover the whole road network (about 30 kilometers), and the roads of nearly ten kilometers can only be displayed by the SD map, so that the situation that the HD map and the SD map need to be switched to each other often occurs in the driving process of the vehicle.

In the related art, when the HD map and the SD map need to be switched, the HD map and the SD map are generally directly superimposed, but because of the difference in data precision between the HD map and the SD map, as shown in fig. 1A, there is a problem of data dislocation when the HD map and the SD map are directly superimposed and displayed, as shown in fig. 1B, which greatly affects the map display effect.

Disclosure of Invention

The embodiment of the application provides map fusion equipment, a vehicle, a method and a program product, which are used for improving the map fusion accuracy.

The embodiment of the application provides a map fusion device, is applied to the vehicle, the map fusion device includes processing module, wherein:

the processing module is used for determining a plurality of road segment groups based on respective road information of each road segment in the high-precision map and the navigation map when switching between the high-precision map and the navigation map is carried out; each road segment group comprises an edge road segment in the high-precision map and an associated road segment in the navigation map, and the associated road segment is intersected with the edge road segment; for each road segment group, the following operations are performed:

determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the running direction of the vehicle;

and determining a road section transition area based on each endpoint of the overlapped line segments and the boundary of the edge road section and the associated road section, and fusing the edge road section and the associated road section based on the road section transition area to obtain a fused road section.

In an alternative embodiment, the processing module is specifically configured to:

determining an edge transition line for connecting the boundary of the edge road section and an associated transition line for connecting the boundary of the associated road section based on each end point of the overlapped line sections and the boundary of the edge road section and the associated road section respectively;

the road segment transition region is determined based on the edge transition line and the associated transition line.

In an alternative embodiment, each endpoint of the overlapped line segment includes a first overlapped endpoint and a second overlapped endpoint, and the processing module is specifically configured to:

determining the edge transition line based on the first overlap endpoint and a boundary of the edge road segment, the edge transition line passing through the first overlap endpoint and intersecting the boundary of the edge road segment;

the associated transition line is determined based on the second overlap endpoint and a boundary of the associated road segment, the associated transition line passing through the second overlap endpoint and intersecting the boundary of the associated road segment.

In an alternative embodiment, the processing module is specifically configured to:

determining a first joining line and a second joining line for joining the edge transition line and the associated transition line based on each edge end point of the edge transition line and each associated end point of the associated transition line; wherein two endpoints of the same connecting line are on the same side of the overlapped line segment;

And taking an area surrounded by the edge transition line, the associated transition line, the first connecting line and the second connecting line as the road section transition area.

In an alternative embodiment, the edge endpoints include a first edge endpoint and a second edge endpoint, the association endpoints include a first association endpoint and a second association endpoint, and the processing module is specifically configured to:

determining the first joining line based on the first edge endpoint and the first association endpoint, the first joining line being tangent to a boundary of the edge segment where the first edge endpoint is located at the first edge endpoint and tangent to a boundary of the association segment where the first association endpoint is located at the first association endpoint;

and determining the second connecting line based on the second edge endpoint and the second association endpoint, wherein the second connecting line is tangent to the boundary of the edge road section where the second edge endpoint is located at the second edge endpoint and tangent to the boundary of the association road section where the second association endpoint is located at the second association endpoint.

In an alternative embodiment, the edge transition line is perpendicular to the vehicle travel direction of the edge section, and the associated transition line is perpendicular to the vehicle travel direction of the associated section.

In an alternative embodiment, the road information includes location information, and the processing module is specifically configured to:

determining an edge road section in each road section based on the respective position information of each road section in the high-precision map, wherein the distance between the edge road section and other adjacent road sections in the high-precision map is larger than a preset threshold value;

determining at least one associated road segment intersecting each edge road segment based on the location information of each edge road segment and each road segment in the navigation map;

and dividing each edge road section and a corresponding one of the associated road sections into the same road section group respectively to obtain the road section groups.

In an alternative embodiment, the processing module is specifically configured to:

dividing each road section in the navigation map into a plurality of candidate road groups based on the respective position information of each road section in the navigation map;

determining the identification of the corresponding candidate road group based on the respective position information of each road section contained in each candidate road group;

determining a target road group corresponding to each edge road section from the plurality of candidate road groups based on the respective position information of each edge road section and the identification of each candidate road group;

And respectively determining the position relation between each edge road section and each road section in the corresponding target road group, and taking the road sections with the position relation of being intersected as the associated road sections of the corresponding edge road sections.

The map fusion method provided by the embodiment of the application comprises the following steps:

when switching between a high-precision map and a navigation map is carried out, determining a plurality of road segment groups based on road information of each road segment in the high-precision map and the navigation map; each road segment group comprises an edge road segment in the high-precision map and an associated road segment in the navigation map, and the associated road segment is intersected with the edge road segment; for each road segment group, the following operations are performed:

determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the running direction of the vehicle;

and determining a road section transition area based on each endpoint of the overlapped line segments and the boundary of the edge road section and the associated road section, and fusing the edge road section and the associated road section based on the road section transition area to obtain a fused road section.

In an alternative embodiment, the determining the road segment transition area based on each end point of the overlapped line segments and the boundary between the edge road segment and the associated road segment includes:

Determining an edge transition line for connecting the boundary of the edge road section and an associated transition line for connecting the boundary of the associated road section based on each end point of the overlapped line sections and the boundary of the edge road section and the associated road section respectively;

the road segment transition region is determined based on the edge transition line and the associated transition line.

In an alternative embodiment, each end point of the overlapped line segment includes a first overlapped end point and a second overlapped end point, and the determining an edge transition line for connecting the boundary of the edge section and an associated transition line for connecting the boundary of the associated section based on each end point of the overlapped line segment and the boundary of the edge section and the associated section, respectively, includes:

determining the edge transition line based on the first overlap endpoint and a boundary of the edge road segment, the edge transition line passing through the first overlap endpoint and intersecting the boundary of the edge road segment;

the associated transition line is determined based on the second overlap endpoint and a boundary of the associated road segment, the associated transition line passing through the second overlap endpoint and intersecting the boundary of the associated road segment.

In an alternative embodiment, the determining the road segment transition region based on the edge transition line and the associated transition line includes:

determining a first joining line and a second joining line for joining the edge transition line and the associated transition line based on each edge end point of the edge transition line and each associated end point of the associated transition line; wherein two endpoints of the same connecting line are on the same side of the overlapped line segment;

and taking an area surrounded by the edge transition line, the associated transition line, the first connecting line and the second connecting line as the road section transition area.

In an alternative embodiment, the edge endpoints include a first edge endpoint and a second edge endpoint, the association endpoints include a first association endpoint and a second association endpoint, and the determining the first and second engagement lines for joining the edge transition line and the association transition line based on each edge endpoint of the edge transition line and each association endpoint of the association transition line includes:

determining the first joining line based on the first edge endpoint and the first association endpoint, the first joining line being tangent to a boundary of the edge segment where the first edge endpoint is located at the first edge endpoint and tangent to a boundary of the association segment where the first association endpoint is located at the first association endpoint;

And determining the second connecting line based on the second edge endpoint and the second association endpoint, wherein the second connecting line is tangent to the boundary of the edge road section where the second edge endpoint is located at the second edge endpoint and tangent to the boundary of the association road section where the second association endpoint is located at the second association endpoint.

In an alternative embodiment, the edge transition line is perpendicular to the vehicle travel direction of the edge section, and the associated transition line is perpendicular to the vehicle travel direction of the associated section.

In an alternative embodiment, the road information includes location information, and the determining a plurality of road segment groups based on the road information of each road segment in the high-precision map and the navigation map includes:

determining an edge road section in each road section based on the respective position information of each road section in the high-precision map, wherein the distance between the edge road section and other adjacent road sections in the high-precision map is larger than a preset threshold value;

determining at least one associated road segment intersecting each edge road segment based on the location information of each edge road segment and each road segment in the navigation map;

And dividing each edge road section and a corresponding one of the associated road sections into the same road section group respectively to obtain the road section groups.

In an alternative embodiment, the determining at least one associated road segment intersecting with each edge road segment based on the position information of each edge road segment and each road segment in the navigation map includes:

dividing each road section in the navigation map into a plurality of candidate road groups based on the respective position information of each road section in the navigation map;

determining the identification of the corresponding candidate road group based on the respective position information of each road section contained in each candidate road group;

determining a target road group corresponding to each edge road section from the plurality of candidate road groups based on the respective position information of each edge road section and the identification of each candidate road group;

and respectively determining the position relation between each edge road section and each road section in the corresponding target road group, and taking the road sections with the position relation of being intersected as the associated road sections of the corresponding edge road sections.

The embodiment of the application provides a vehicle, which comprises any one of the map fusion devices.

Embodiments of the present application provide a computer program product comprising a computer program which when executed by a computer program processor implements any of the map fusion methods described above.

An electronic device comprising a processor and a memory, wherein the memory stores a computer program which, when executed by the processor, causes the processor to perform the steps of any of the map fusion methods described above.

The beneficial effects of the application are as follows:

in the embodiment of the application, when the high-precision map and the navigation map are switched, road information of each road section in the high-precision map and the navigation map is used for determining road section groups, further, for each road section group, an overlapping line section is determined based on projection of an overlapping area between an associated road section and an edge road section in the road section group along the running direction of the vehicle, a road section transition area is determined based on each endpoint of the overlapping line section and the boundary of the edge road section and the associated road section, and finally, the fused road section is obtained based on the fusion of the road section transition area to the edge road section and the associated road section. Based on the mode, smooth transition between the edge road section and the associated road section can be realized, the problem of data dislocation caused by direct superposition of the edge road section and the associated road section is avoided, and the map fusion accuracy is improved.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1A is a schematic diagram of a high-precision map and a navigation map in the related art;

fig. 1B is a schematic diagram of a superposition of a high-precision map segment and a navigation map segment in the related art;

FIG. 2 is an alternative schematic diagram of an application scenario in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a map fusion apparatus according to an embodiment of the present application;

FIG. 4A is a schematic diagram of a first overlapping line segment in an embodiment of the present application;

FIG. 4B is a schematic diagram of a second overlapping line segment in an embodiment of the present application;

FIG. 5 is a schematic diagram of a third overlapping line segment in an embodiment of the present application;

FIG. 6A is a schematic diagram of a road segment transition region in an embodiment of the present application;

FIG. 6B is a schematic diagram of another road segment transition region in an embodiment of the present application;

FIG. 7 is a schematic illustration of an edge transition line and associated transition line in an embodiment of the present application;

FIG. 8 is a schematic view of a first and second connector wire in an embodiment of the present application;

fig. 9A is a schematic diagram of a road segment fusion method according to an embodiment of the present application;

fig. 9B is a schematic diagram of a fused road segment according to an embodiment of the present application;

fig. 10 is a flow chart of a map fusion method in an embodiment of the present application;

fig. 11 is a schematic flow chart of an implementation of a map fusion method according to an embodiment of the present application;

fig. 12 is a schematic diagram of a composition structure of an electronic device in an embodiment of the present application;

fig. 13 is a schematic diagram of a hardware composition of a computing device to which embodiments of the present application are applied.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the technical solutions of the present application, but not all embodiments. All other embodiments, which can be made by a person of ordinary skill in the art without any inventive effort, based on the embodiments described in the present application are intended to be within the scope of the technical solutions of the present application.

Some of the concepts involved in the embodiments of the present application are described below.

High-precision map: the stored body is a lane, the data accuracy is usually in the decimeter level, and the stored map information includes geometric information of lane lines and information of road facilities and the like, for example, whether a road is under construction or not. The map information stored by the high-precision map is rich, and is mainly used in the field of automatic driving at present.

Navigation map: the stored body is an element of the road level, the data precision is usually about 5 meters to 10 meters, and the stored map information comprises the shape of the road, the interest points and other information.

Edge road segment: for the road section in the high-precision map, because the coverage area of the high-precision map is limited, the situation that the high-precision map and the navigation map are mutually switched often occurs in the vehicle driving process, and usually, the distance between the edge road section and other adjacent road sections in the high-precision map is larger than a preset threshold value, and the road section needs to be switched from the edge road section to the road section in the navigation map or from the road section in the navigation map to the edge road section when the vehicle is driven.

Associated road segments: in order to navigate the road sections in the map, when the vehicle runs, the road sections need to be switched from the associated road sections to the corresponding edge road sections or from the corresponding edge road sections to the associated road sections, and the map fusion method in the embodiment of the application can achieve smooth connection of the associated road sections and the edge road sections.

Edge transition line: the edge transition line is located on the edge section.

Associated transition lines: the line segment used for connecting the boundary of the associated road segment is located on the associated road segment, and in the embodiment of the application, the area between the edge transition line and the associated transition line is used for connecting the edge road segment and the associated road segment, so that smooth connection between the associated road segment and the edge road segment is realized.

The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it being understood that the preferred embodiments described herein are for illustration and explanation only, and are not intended to limit the present application, and embodiments and features of embodiments of the present application may be combined with each other without conflict.

Fig. 2 is a schematic view of an application scenario in an embodiment of the present application. The application scenario diagram includes a vehicle controller 210 and a display device 220. The vehicle controller 210 and the display device 220 may both be located on the vehicle.

In this embodiment of the present application, the vehicle controller 210 may be provided with a client related to map fusion, where the client may be software (such as a browser, map fusion software, etc.), and may also be a web page, an applet, etc. The display device 220 may be a liquid crystal display, an organic light emitting display, a projection device, or the like. The specific display device type, size, resolution, etc. are not limited.

In an alternative embodiment, the vehicle controller 210 and the display device 220 may communicate via a communication network.

In an alternative embodiment, the communication network is a wired network or a wireless network.

It should be noted that, the method shown in fig. 2 is only illustrative, and the number of the vehicle controller and the display device is not limited in practice, and the embodiment of the present application is not specifically limited.

In addition, the embodiment of the application can be applied to various scenes, including not only map fusion scenes, but also scenes such as cloud technology, artificial intelligence, intelligent traffic, auxiliary driving and the like.

The map fusion method provided by the exemplary embodiments of the present application will be described below with reference to the accompanying drawings in conjunction with the application scenario described above, and it should be noted that the application scenario described above is merely shown for the convenience of understanding the spirit and principles of the present application, and embodiments of the present application are not limited in any way in this respect.

Referring to fig. 3, a schematic structural diagram of a map fusion device provided in an embodiment of the present application specifically includes a processing module S31:

the processing module S31 is configured to determine a plurality of road segment groups based on road information of each road segment in the high-precision map and the navigation map when switching between the high-precision map and the navigation map is performed;

Wherein each road segment group comprises an edge road segment in a high-precision map and an associated road segment in a navigation map, the associated road segment intersects with the edge road segment, for example, road segment group 1 comprises an edge road segment 1 and an associated road segment 1, road segment group 2 comprises an edge road segment 2 and an associated road segment 1, and road segment group 3 comprises an edge road segment 2 and an associated road segment 2.

In an alternative embodiment, the road information includes location information, and the plurality of road segment groups are obtained by:

firstly, determining edge road segments in the road segments based on the respective position information of the road segments in the high-precision map, and then determining at least one associated road segment intersected with the edge road segments based on the position information of the road segments in the navigation map and the edge road segments; and finally, dividing each edge road section and a corresponding one of the associated road sections into the same road section group to obtain a plurality of road section groups.

Specifically, road segments (namely edge road segments) in the high-precision map in the edge zone are screened out, distances between the edge road segments and other adjacent road segments in the high-precision map are larger than a preset threshold, and then the road segment group is obtained through face intersection calculation. For example, the edge section 1 and the edge section 2 are screened out, then the associated section 1 intersecting the edge section 1 is determined, the associated section 1 and the associated section 2 intersecting the edge section 2 are determined, then the edge section 1 and the associated section 1 are divided into the same section group, the edge section 2 and the associated section 2 are divided into the same section group, and 3 section groups are obtained.

In the process of screening the associated road segments of the edge road segments, in order to accelerate the calculation process, a spatial index of the road segments in the navigation map may be established first.

In an alternative embodiment, the at least one associated road segment corresponding to the edge road segment is obtained by:

firstly, dividing each road section in a navigation map into a plurality of candidate road groups based on the respective position information of each road section in the navigation map; secondly, determining the identification of the corresponding candidate road group based on the respective position information of each road section contained in each candidate road group; then, based on the respective position information of each edge road section and the identification of each candidate road group, determining a respective target road group corresponding to each edge road section from a plurality of candidate road groups; and finally, respectively determining the position relation between each edge road section and each road section in the corresponding target road group, and taking the road sections with the position relation of being intersected as the associated road sections of the corresponding edge road sections.

Specifically, the road segments that are close in position may be divided into the same candidate road group based on the division based on the spatial coordinate strings of the road segments in the navigation map. For a candidate road group, for example, road segment 1 is located at (110.21, 120.34) and road segment 2 is located at (110.89, 120.78), the candidate road group may be identified as the same field (110, 120) of coordinates for road segment 1 and road segment 2. Taking the edge road section 1 as an example, a target road group which is possibly intersected with the edge road section 1 is screened out according to the position information of the edge road section 1, and then the intersection of the edge road section 1 and the target road group is determined through surface intersection calculation to serve as an associated road section of the edge road section 1.

Based on the mode, a plurality of candidate road groups are firstly divided, and the edge road sections only need to be subjected to surface intersection calculation with the road sections in the corresponding target road groups, so that the calculated amount is greatly reduced, and the map fusion efficiency is improved.

After obtaining the road segment groups, the edge road segments and the associated road segments in each road segment group may be fused by the following steps S41 to S43:

s41: determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the running direction of the vehicle;

s42: determining a road segment transition area based on each end point of the overlapped line segments and the boundary of the edge road segment and the associated road segment,

s43: and fusing the edge road segments and the associated road segments based on the road segment transition area to obtain the fused road segments.

Specifically, since the associated road segments and the edge road segments belong to the navigation map and the high-precision map, respectively, there is a difference in data accuracy and a certain deviation in the direction in which the vehicle travels, the manner of determining the overlapping line segments in step S41 may be divided into the following two types:

mode one: determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the vehicle running direction of the associated road segment;

The road network is composed of a series of road segments, each road segment can be expressed by a polygonal surface when the map is displayed, so that the road network of the high-precision map and the navigation map can be regarded as a set of two polygonal surfaces. As shown in fig. 4A, a schematic diagram of a first overlapped segment in the embodiment of the present application includes an edge segment 1 and an associated segment 1, wherein a segment AB is a center line of the associated segment 1, the segment AB is parallel to a vehicle driving direction of the associated segment 1, a diagonal line filling portion is an overlapped area of the edge segment 1 and the associated segment 1, the overlapped segment CB is obtained by projection along the vehicle driving direction (i.e., the segment direction) of the associated segment 1, an end point C is an intersection point of the segment AB and the edge segment 1, and an end point B is an intersection point of the segment AB and the associated segment 1.

In fig. 4A, only a part of the overlapping line segment is taken as an example of the line segment AB, and in fact, the overlapping line segment may be any line segment parallel to the line segment AB in the associated road segment and the edge road segment, which is not specifically limited herein. Referring to FIG. 4B, a schematic diagram of a second overlapping segment in the embodiment of the present application is shown, and still taking edge segment 1 and associated segment 1 as an example, segment C ₁ D is an overlapped line segment, and is parallel to and not overlapped with the line segment AB.

Mode two: the overlapping line segments are determined based on a projection of an overlapping region between the associated road segment and the edge road segment in the road segment group along a vehicle travel direction of the edge road segment.

For example, as shown in fig. 5, a schematic diagram of a third overlapped line segment in the embodiment of the present application is illustrated by taking an edge segment 1 and an associated segment 1 as an example, and a line segment C ₂ D ₁ For overlapping line segments, parallel to the vehicle running direction of the edge segment 1.

To sum up, fig. 4A, fig. 4B, and fig. 5 illustrate overlapping line segments, and actually the overlapping line segments may be any line segments parallel to the vehicle driving direction in the overlapping area, which is not limited herein.

In an alternative embodiment, the map fusion apparatus in fig. 3 may further include a display module S32 for displaying the fused road segments.

The vehicle controller in fig. 2 is one possible form of the processing module, and the display device in fig. 2 is one possible form of the display module, which is not specifically limited herein.

In the embodiment of the application, when the high-precision map and the navigation map are switched, a road section group is determined based on road information of each road section in the high-precision map and the navigation map, further, for each road section group, an overlapped line section is determined based on projection of an overlapped area between an associated road section and an edge road section in the road section group along the running direction of a vehicle, a road section transition area is determined based on each endpoint of the overlapped line section and the boundary of the edge road section and the associated road section, and finally, the boundary road section and the associated road section are fused based on the road section transition area, so that a fused road section is obtained. Based on the mode, smooth transition between the edge road section and the associated road section can be realized, the problem of data dislocation caused by direct superposition of the edge road section and the associated road section is avoided, and the map fusion accuracy is improved.

In an alternative embodiment, step S42 may be implemented as the following steps S421-S422:

s421: determining an edge transition line for connecting the boundary of the edge road segment and an associated transition line for connecting the boundary of the associated road segment based on each end point of the overlapped line segment and the boundary of the edge road segment and the associated road segment, respectively;

s422: a road segment transition region is determined based on the edge transition line and the associated transition line.

Specifically, as shown in fig. 6A, which is a schematic diagram of a road segment transition area in the embodiment of the present application, taking the overlapping line CB in fig. 4A as an example, the end points are the end point C and the end point B, the boundary of the edge road segment is the boundary 1 and the boundary 2, the boundary of the associated road segment is the boundary 3 and the boundary 4, and the edge transition line EF and the associated transition line GH determine the road segment transition area EFHG.

In fig. 6A, taking the overlapping line CB as an example, the road segment transition area in the embodiment of the present application is illustrated, two end points of the overlapping line CB in fig. 6A are both located on the center line AB of the associated road segment 1, and actually two end points of the overlapping line CB may also be located on the extension lines of AB and AB, as shown in fig. 6B, which is a schematic diagram of another road segment transition area in the embodiment of the present application, where the overlapping line C ₃ D ₂ Endpoint C of (2) ₃ On AB, endpoint D ₂ On the extension line of AB, the edge transition line EF passes through the end point C ₃ Intersecting boundary 1 and boundary 2, the associated transition line GH crosses endpoint D ₂ Intersecting boundary 3 and boundary 4, edge transition line EF and associated transition line GH define road segment transition region EFHG. Road segment transition zone determined based on the manner in fig. 6BThe domain EFHG can make the transition of the associated road segment 1 and the edge road segment 1 more natural.

It should be noted that the road segment transition area EFHG in fig. 6A and 6B is merely an example, and virtually any area surrounded by an edge transition line and an associated transition line can be applied to the embodiments of the present application, which is not limited herein.

In an alternative embodiment, each endpoint of the overlapped line segment includes a first overlapped endpoint and a second overlapped endpoint, and step S421 may be implemented as:

determining an edge transition line based on the first overlap endpoint and the boundary of the edge road segment, the edge transition line passing through the first overlap endpoint and intersecting the boundary of the edge road segment; an associated transition line is determined based on the second overlap endpoint and the boundary of the associated road segment, the associated transition line passing through the second overlap endpoint and intersecting the boundary of the associated road segment.

Specifically, as shown in fig. 7, in the embodiment of the present application, an edge transition line and an associated transition line are shown, where the first overlapping endpoint is endpoint B, the second overlapping endpoint is endpoint C, and the edge transition line E ₁ F ₁ Associated transition line G ₁ H ₁ As can be seen from fig. 6A, 6B and 7, the edge transition line in the present application may be a curved line or a straight line.

In an alternative embodiment, step S422 may be implemented as steps 1-2:

step 1: determining a first joining line and a second joining line for joining the edge transition line and the associated transition line based on each edge end point of the edge transition line and each associated end point of the associated transition line; wherein two endpoints of the same connecting line are on the same side of the overlapped line segment;

step 2: and taking an area surrounded by the edge transition line, the associated transition line, the first connecting line and the second connecting line as a road section transition area.

Specifically, line segment EG in FIG. 6A is a first connecting line, line segment FH is a second connecting line, line segment EG in FIG. 6B is another first connecting line, line segment FH is another second connecting line, and line segment E in FIG. 7 ₁ And G ₁ A further first connection line can be obtained, connection F ₁ And H ₁ A further second connection line can be obtained.

In an alternative embodiment, the edge endpoints include a first edge endpoint and a second edge endpoint, the association endpoints include a first association endpoint and a second association endpoint, and step 1 may be implemented as:

Determining a first connecting line based on the first edge endpoint and the first association endpoint, wherein the first connecting line is tangent with the boundary of the edge road section where the first edge endpoint is located at the first edge endpoint and tangent with the boundary of the association road section where the first association endpoint is located at the first association endpoint;

a second joining line is determined based on the second edge endpoint and the second association endpoint, the second joining line being tangent to a boundary of the edge segment at which the second edge endpoint is located at the second edge endpoint and tangent to a boundary of the association segment at which the second association endpoint is located at the second association endpoint.

In particular, to achieve smooth joining of the edge segments and the associated segments, it may be defined that the first joining line is tangent at the first edge end point to the boundary of the edge segment where the first edge end point is located and tangent at the first associated end point to the boundary of the associated segment where the first associated end point is located, and that the second joining line is tangent at the second edge end point to the boundary of the edge segment where the second edge end point is located and tangent at the second associated end point to the boundary of the associated segment where the second associated end point is located. FIG. 8 is a schematic diagram of a first connecting line and a second connecting line according to an embodiment of the present application, wherein the first edge is G ₁ First associated endpoint E ₁ Second edge endpoint H ₁ Second associated endpoint F ₁ First connecting line E ₁ G ₁ At E ₁ Tangential to boundary 1, at G ₁ Tangential to boundary 3, a second line of engagement is tangential to boundary 2 at F1, at H ₁ Tangential to the boundary 4.

In an alternative embodiment, the edge transition line is perpendicular to the vehicle travel direction of the edge road segment and the associated transition line is perpendicular to the vehicle travel direction of the associated road segment.

Specifically, the direction perpendicular to the vehicle running direction of the edge road section is the direction parallel to the normal line of the edge road section, the direction perpendicular to the vehicle running direction of the associated road section is the direction parallel to the normal line of the associated road section, the edge transition line is parallel to the normal line of the edge road section and the associated transition line is parallel to the normal line of the associated road section, smooth connection of the edge road section and the associated road section can be further promoted, the display effect is enhanced, and the user experience is improved.

After obtaining the road segment transition zone, step S43 may be implemented based on the following manner:

and replacing the region between the edge transition line and the upper boundary of the edge road section in the edge road section and the region between the lower boundary of the associated road section and the associated transition line in the associated road section with the road section transition region to obtain the fused road section.

Specifically, as shown in fig. 9A, which is a schematic diagram of a road segment fusion method in the embodiment of the present application, boundary 5 is a lower boundary of the associated road segment, boundary 6 is an upper boundary of the edge road segment, and an edge transition line E is defined ₁ F ₁ The area between the boundary 6 and the associated transition line G ₁ H ₁ The area between the boundary 5 and the road section transition area E is replaced by ₁ F ₁ H ₁ G ₁ The obtained fused road segments are shown in fig. 9B, so that smooth transition between the edge road segments and the associated road segments is realized, the map fusion efficiency is improved, and the user experience is improved. In addition, compared with the prior art that a bypass avoidance mode is adopted when the high-precision map and the navigation map are switched, namely the navigation map is directly switched into the navigation map before the navigation route leaves the high-precision map area, and the navigation map is switched into the navigation map after the navigation route enters the high-precision map area, the mode has obvious switching process and poor user experience. The map fusion method can improve user experience and increase user utilization rate.

Fig. 10 is a schematic flow chart of a map fusion method according to an embodiment of the present application, including the following steps:

s1001: determining a plurality of road segment groups based on the road information of each road segment in the high-precision map and the navigation map;

S1002: respectively calculating overlapped line segments between the edge road segments and the navigation road segments in each road segment group;

s1003: fitting the end points of the overlapped line segments, the boundary of the edge road segments and the boundary of the navigation road segments to obtain an associated transition line of the edge transition line;

s1004: generating a road segment transition region based on the edge transition line and the associated transition line;

s1005: and fusing the edge road segments and the associated road segments based on the road segment transition area to obtain the fused road segments.

Based on the mode, when the transition problem of the map roads with different precision is processed, the concept of the transition surface is introduced, the natural fusion transition effect is realized, and the generation method of the transition surface can ensure smooth transition with the original road data.

In addition, in the prior art, the transition problem of the high-precision map and the navigation map is avoided by improving the coverage of the high-precision map, but compared with the method, the method is high in cost.

Referring to fig. 11, a schematic implementation flow chart of a map fusion method according to an embodiment of the present application is shown, and a specific implementation flow chart of the method includes the following steps S1101-S1102:

s1101: when switching between a high-precision map and a navigation map is carried out, determining a plurality of road segment groups based on road information of each road segment in the high-precision map and the navigation map;

Each road section group comprises an edge road section in the high-precision map and an associated road section in the navigation map, and the associated road section is intersected with the edge road section;

s1102: for each road segment group, the following operations are performed:

s11021: determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the running direction of the vehicle;

s11022: and determining a road section transition area based on each endpoint of the overlapped line segments and the boundary of the edge road section and the associated road section, and fusing the edge road section and the associated road section based on the road section transition area to obtain a fused road section.

The implementation process of the map fusion method in the present application may refer to the above embodiment, and will not be described herein.

In an alternative embodiment, the determining the road segment transition area based on each end point of the overlapped line segments and the boundary between the edge road segment and the associated road segment includes:

determining an edge transition line for connecting the boundary of the edge road section and an associated transition line for connecting the boundary of the associated road section based on each end point of the overlapped line sections and the boundary of the edge road section and the associated road section respectively;

The road segment transition region is determined based on the edge transition line and the associated transition line.

In an alternative embodiment, each end point of the overlapped line segment includes a first overlapped end point and a second overlapped end point, and the determining an edge transition line for connecting the boundary of the edge section and an associated transition line for connecting the boundary of the associated section based on each end point of the overlapped line segment and the boundary of the edge section and the associated section, respectively, includes:

determining the edge transition line based on the first overlap endpoint and a boundary of the edge road segment, the edge transition line passing through the first overlap endpoint and intersecting the boundary of the edge road segment;

the associated transition line is determined based on the second overlap endpoint and a boundary of the associated road segment, the associated transition line passing through the second overlap endpoint and intersecting the boundary of the associated road segment.

In an alternative embodiment, the determining the road segment transition region based on the edge transition line and the associated transition line includes:

determining a first joining line and a second joining line for joining the edge transition line and the associated transition line based on each edge end point of the edge transition line and each associated end point of the associated transition line; wherein two endpoints of the same connecting line are on the same side of the overlapped line segment;

And taking an area surrounded by the edge transition line, the associated transition line, the first connecting line and the second connecting line as the road section transition area.

In an alternative embodiment, the edge endpoints include a first edge endpoint and a second edge endpoint, the association endpoints include a first association endpoint and a second association endpoint, and the determining the first and second engagement lines for joining the edge transition line and the association transition line based on each edge endpoint of the edge transition line and each association endpoint of the association transition line includes:

determining the first joining line based on the first edge endpoint and the first association endpoint, the first joining line being tangent to a boundary of the edge segment where the first edge endpoint is located at the first edge endpoint and tangent to a boundary of the association segment where the first association endpoint is located at the first association endpoint;

and determining the second connecting line based on the second edge endpoint and the second association endpoint, wherein the second connecting line is tangent to the boundary of the edge road section where the second edge endpoint is located at the second edge endpoint and tangent to the boundary of the association road section where the second association endpoint is located at the second association endpoint.

In an alternative embodiment, the edge transition line is perpendicular to the vehicle travel direction of the edge section, and the associated transition line is perpendicular to the vehicle travel direction of the associated section.

In an alternative embodiment, the road information includes location information, and the determining a plurality of road segment groups based on the road information of each road segment in the high-precision map and the navigation map includes:

determining an edge road section in each road section based on the respective position information of each road section in the high-precision map, wherein the distance between the edge road section and other adjacent road sections in the high-precision map is larger than a preset threshold value;

determining at least one associated road segment intersecting each edge road segment based on the location information of each edge road segment and each road segment in the navigation map;

and dividing each edge road section and a corresponding one of the associated road sections into the same road section group respectively to obtain the road section groups.

In an alternative embodiment, the determining at least one associated road segment intersecting with each edge road segment based on the position information of each edge road segment and each road segment in the navigation map includes:

Dividing each road section in the navigation map into a plurality of candidate road groups based on the respective position information of each road section in the navigation map;

determining the identification of the corresponding candidate road group based on the respective position information of each road section contained in each candidate road group;

determining a target road group corresponding to each edge road section from the plurality of candidate road groups based on the respective position information of each edge road section and the identification of each candidate road group;

and respectively determining the position relation between each edge road section and each road section in the corresponding target road group, and taking the road sections with the position relation of being intersected as the associated road sections of the corresponding edge road sections.

Having described the map fusion apparatus and method of exemplary embodiments of the present application, next, an electronic apparatus according to another exemplary embodiment of the present application is described.

Those skilled in the art will appreciate that the various aspects of the present application may be implemented as a system, method, or program product. Accordingly, aspects of the present application may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.

The embodiment of the application also provides electronic equipment based on the same inventive concept as the embodiment of the method. In one embodiment, the electronic device may be a processing device, such as the processing device shown in FIG. 2. In this embodiment, the electronic device may be configured as shown in fig. 12, including a memory 1201, a communication module 1203, and one or more processors 1202.

A memory 1201 for storing a computer program for execution by the processor 1202. The memory 1201 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a program required for running an instant communication function, and the like; the storage data area can store various instant messaging information, operation instruction sets and the like.

Memory 1201 may be a volatile memory (RAM), such as random-access memory; the memory 1201 may also be a nonvolatile memory (non-volatile memory), such as a read-only memory, a flash memory (flash memory), a hard disk (HDD) or a Solid State Drive (SSD); or memory 1201 is any other medium that can be used to carry or store a desired computer program in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 1201 may be a combination of the above memories.

The processor 1202 may include one or more central processing units (central processing unit, CPU) or digital processing units, or the like. A processor 1202 for implementing the map fusion method described above when calling a computer program stored in a memory 1201.

The communication module 1203 is configured to communicate with the processing device and other display devices.

The specific connection medium between the memory 1201, the communication module 1203, and the processor 1202 is not limited in the embodiments of the present application. The embodiment of the present application is illustrated in fig. 12, where the memory 1201 and the processor 1202 are connected by a bus 1204, and the bus 1204 is illustrated in fig. 12 with a bold line, and the connection between other components is merely illustrative, and not limited to the above. Bus 1204 may be classified as an address bus, a data bus, a control bus, etc. For ease of description, only one thick line is depicted in fig. 12, but only one bus or one type of bus is not depicted.

The memory 1201 has stored therein a computer storage medium having stored therein computer executable instructions for implementing the map fusion method of the embodiments of the present application. The processor 1202 is configured to perform the map fusion method described above, as shown in fig. 11.

A computing device 1300 according to such an embodiment of the present application is described below with reference to fig. 13. The computing device 1300 of fig. 13 is only one example and should not be taken as limiting the functionality and scope of use of embodiments of the present application.

As shown in fig. 13, computing device 1300 is embodied in the form of a general purpose computing device. The components of computing device 1300 may include, but are not limited to: the at least one processing unit 1301, the at least one storage unit 1302, a bus 1303 connecting different system components (including the storage unit 1302 and the processing unit 1301).

Bus 1303 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, and a local bus using any of a variety of bus architectures.

The storage unit 1302 may include readable media in the form of volatile memory, such as Random Access Memory (RAM) 1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.

The storage unit 1302 may also include a program/utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The computing device 1300 may also communicate with one or more external devices 1304 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with the computing device 1300, and/or any device (e.g., router, modem, etc.) that enables the computing device 1300 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 1305. Moreover, computing device 1300 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, for example, the Internet, through network adapter 1306. As shown in fig. 13, the network adapter 1306 communicates with other modules for the computing device 1300 via the bus 1303. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computing device 1300, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

Embodiments of the present application also provide a computer program product, where the methods of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described herein are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network device, a user device, a core network device, an OAM, or other programmable apparatus.

The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The usable medium may be a magnetic medium, e.g., floppy disk, hard disk, tape; but also optical media such as digital video discs; but also semiconductor media such as solid state disks. The computer readable storage medium may be volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage medium.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. 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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims (10)

1. A map fusion apparatus, characterized by being applied to a vehicle, comprising a processing module, wherein:

the processing module is used for determining a plurality of road segment groups based on respective road information of each road segment in the high-precision map and the navigation map when switching between the high-precision map and the navigation map is carried out; each road segment group comprises an edge road segment in the high-precision map and an associated road segment in the navigation map, and the associated road segment is intersected with the edge road segment; for each road segment group, the following operations are performed:

Determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the running direction of the vehicle;

and determining a road section transition area based on each endpoint of the overlapped line segments and the boundary of the edge road section and the associated road section, and fusing the edge road section and the associated road section based on the road section transition area to obtain a fused road section.

2. The apparatus of claim 1, wherein the processing module is specifically configured to:

determining an edge transition line for connecting the boundary of the edge road section and an associated transition line for connecting the boundary of the associated road section based on each end point of the overlapped line sections and the boundary of the edge road section and the associated road section respectively;

the road segment transition region is determined based on the edge transition line and the associated transition line.

3. The apparatus of claim 2, wherein each endpoint of the overlapping line segment comprises a first overlapping endpoint and a second overlapping endpoint, the processing module being specifically configured to:

determining the edge transition line based on the first overlap endpoint and a boundary of the edge road segment, the edge transition line passing through the first overlap endpoint and intersecting the boundary of the edge road segment;

The associated transition line is determined based on the second overlap endpoint and a boundary of the associated road segment, the associated transition line passing through the second overlap endpoint and intersecting the boundary of the associated road segment.

4. The apparatus of claim 2, wherein the processing module is specifically configured to:

determining a first joining line and a second joining line for joining the edge transition line and the associated transition line based on each edge end point of the edge transition line and each associated end point of the associated transition line; wherein two endpoints of the same connecting line are on the same side of the overlapped line segment;

and taking an area surrounded by the edge transition line, the associated transition line, the first connecting line and the second connecting line as the road section transition area.

5. The apparatus of claim 4, wherein the edge endpoints comprise a first edge endpoint and a second edge endpoint, the association endpoints comprise a first association endpoint and a second association endpoint, the processing module is specifically configured to:

determining the first joining line based on the first edge endpoint and the first association endpoint, the first joining line being tangent to a boundary of the edge segment where the first edge endpoint is located at the first edge endpoint and tangent to a boundary of the association segment where the first association endpoint is located at the first association endpoint;

And determining the second connecting line based on the second edge endpoint and the second association endpoint, wherein the second connecting line is tangent to the boundary of the edge road section where the second edge endpoint is located at the second edge endpoint and tangent to the boundary of the association road section where the second association endpoint is located at the second association endpoint.

6. The apparatus of any one of claims 2-5, wherein the edge transition line is perpendicular to a vehicle travel direction of the edge segment, and the associated transition line is perpendicular to the vehicle travel direction of the associated segment.

7. The apparatus of claim 1, wherein the road information comprises location information, the processing module being specifically configured to:

determining an edge road section in each road section based on the respective position information of each road section in the high-precision map, wherein the distance between the edge road section and other adjacent road sections in the high-precision map is larger than a preset threshold value;

determining at least one associated road segment intersecting each edge road segment based on the location information of each edge road segment and each road segment in the navigation map;

and dividing each edge road section and a corresponding one of the associated road sections into the same road section group respectively to obtain the road section groups.

8. The apparatus of claim 7, wherein the processing module is specifically configured to:

dividing each road section in the navigation map into a plurality of candidate road groups based on the respective position information of each road section in the navigation map;

determining the identification of the corresponding candidate road group based on the respective position information of each road section contained in each candidate road group;

determining a target road group corresponding to each edge road section from the plurality of candidate road groups based on the respective position information of each edge road section and the identification of each candidate road group;

and respectively determining the position relation between each edge road section and each road section in the corresponding target road group, and taking the road sections with the position relation of being intersected as the associated road sections of the corresponding edge road sections.

9. A vehicle, characterized in that it comprises a map fusion apparatus as claimed in any one of claims 1-8.

10. A method of map fusion, the method comprising:

when switching between a high-precision map and a navigation map is carried out, determining a plurality of road segment groups based on road information of each road segment in the high-precision map and the navigation map; each road segment group comprises an edge road segment in the high-precision map and an associated road segment in the navigation map, and the associated road segment is intersected with the edge road segment; for each road segment group, the following operations are performed:

Determining an overlapped line segment based on the projection of the overlapped area between the associated road segment and the edge road segment in the road segment group along the running direction of the vehicle;

and determining a road section transition area based on each endpoint of the overlapped line segments and the boundary of the edge road section and the associated road section, and fusing the edge road section and the associated road section based on the road section transition area to obtain a fused road section.

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