CN116358516A - Query method and device for map adjacent elements, intelligent vehicle and storage medium - Google Patents
Query method and device for map adjacent elements, intelligent vehicle and storage medium Download PDFInfo
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Abstract
The invention provides a query method and device for map adjacent elements, an intelligent vehicle and a storage medium. The query method comprises the following steps: acquiring a high-precision map of an area where a vehicle is located, dividing road data of the high-precision map into a plurality of regional layers, and establishing a KD-tree according to a topological relation among the plurality of regional layers; acquiring the current longitude and latitude of the vehicle, and searching and acquiring m zone layers to be confirmed, which are adjacent to the current longitude and latitude, in the KD-tree according to the current longitude and latitude; when m is more than 1, acquiring a plurality of historical longitudes and latitudes of the vehicle, and screening and determining a current zone layer from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, wherein the current zone layer comprises n lane layers; when n is more than 1, the current lane layer is screened and determined from n lane layers according to a plurality of historical longitudes and latitudes. The invention solves the problems that: the technical scheme in the related art cannot restrain the interference of overlapped high-precision map elements in a multi-layer geographic scene, and provides adjacent element inquiry near vehicle coordinates in the high-precision map according to the longitude and latitude coordinates of the vehicle.
Description
Technical Field
The invention relates to the technical field of map navigation and data processing, in particular to a query method and device of map adjacent elements, an intelligent vehicle and a storage medium.
Background
The high-precision map is one of key components for realizing automatic driving, is used as an effective supplement of the vehicle-mounted sensor, and provides more reliable and larger space-scale sensing capability for the vehicle. The technical problem to be solved is urgent to realize how to quickly query high-precision map elements of various auxiliary traveling vehicles near a geographic position according to longitude and latitude coordinates of a host vehicle in huge map data while providing centimeter-level precision road data, lane surrounding fixed object data and other traveling vehicle auxiliary information by utilizing the high-precision map.
On the other hand, due to the requirement of national geographic data security, the high-precision map cannot contain elevation information, so that the problem of overlapping of high-precision map data of geographic elements with different heights in multi-layer geographic scenes such as an overhead geographic scene, a tunnel and the like is brought, and therefore, the method for querying the adjacent elements of the high-precision map, which can be effectively applied, also needs to contain screening and optimizing designs of the elements with different adjacent longitude and latitude coordinates.
As can be seen, the problems in the related art are: the technical scheme in the related art cannot restrain the interference of overlapped high-precision map elements in a multi-layer geographic scene, and provides adjacent element inquiry near vehicle coordinates in the high-precision map according to the longitude and latitude coordinates of the vehicle.
Disclosure of Invention
The invention solves the problems that: the technical scheme in the related art cannot restrain the interference of overlapped high-precision map elements in a multi-layer geographic scene, and provides adjacent element inquiry near vehicle coordinates in the high-precision map according to the longitude and latitude coordinates of the vehicle.
In order to solve the above problems, a first object of the present invention is to provide a method for querying a high-precision map proximity element based on longitude and latitude.
The second object of the invention is to provide a query device of high-precision map adjacent elements based on longitude and latitude.
A third object of the present invention is to provide an intelligent vehicle.
A fourth object of the present invention is to provide a readable storage medium.
In order to achieve the first object of the present invention, an embodiment of the present invention provides a method for querying a high-precision map proximity element based on latitude and longitude, the method comprising: acquiring a high-precision map of an area where a vehicle is located, dividing road data of the high-precision map into a plurality of regional layers, and establishing a KD-tree according to a topological relation among the plurality of regional layers; acquiring the current longitude and latitude of the vehicle, and searching and acquiring m zone layers to be confirmed, which are adjacent to the current longitude and latitude, in the KD-tree according to the current longitude and latitude; when m is more than 1, acquiring a plurality of historical longitudes and latitudes of the vehicle, and screening and determining a current zone layer from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, wherein the current zone layer comprises n lane layers; when n is more than 1, selecting and determining a current lane layer from n lane layers according to a plurality of historical longitudes and latitudes; providing map element inquiry of a current lane layer for a vehicle; wherein m is a natural number, n is a positive integer, and each lane layer comprises 1 lane and map element data of the lane.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: in the offline preprocessing stage, the establishing process of the search KD-tree has short operation time and high efficiency when the online query element function is used; the high-precision map is divided into the regional layer and the lane layer, and in the actual application process, the regional layer where the vehicle is located is queried firstly, and then the specific lane layer is queried, so that the efficiency and the query speed of the query method are effectively improved, and the operation time is reduced; the query method can provide the query of the adjacent elements near the vehicle coordinates in the high-precision map according to the longitude and latitude coordinates of the vehicle.
In one embodiment of the present invention, the plurality of historical longitudes and latitudes are recorded during the current driving process of the vehicle, and when the vehicle sequentially drives through the plurality of historical longitudes and latitudes and the current longitude and latitude in time sequence, the driving distance of the vehicle between each two longitudes and latitudes is the same.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: when a vehicle is blocked or waiting for a red light for a long time, the longitude and latitude coordinates of the vehicle are stationary within a certain time, if the historical longitude and latitude coordinates of the vehicle are obtained at the same time interval, the obtained coordinates can not necessarily accurately reflect the running track of the vehicle; the historical longitude and latitude coordinates obtained by the method are obtained equidistantly, so that the historical running track of the vehicle can be reflected more accurately, and further the subsequent query method is more accurate.
In one embodiment of the present invention, when m > 1, a plurality of historical longitudes and latitudes of the vehicle are obtained, and according to the plurality of historical longitudes and latitudes, a current zone is selected from m zone layers to be confirmed, and the current zone layer includes n lane layers, including: determining at least 1 candidate zone layer in m zone layers to be confirmed according to a plurality of historical longitudes and latitudes; acquiring the heading of a central shape point set of the candidate region layer; according to the historical longitudes and latitudes, determining the heading of a historical coordinate point set; and comparing the deviation of the heading of the center shape point set and the heading of the history coordinate point set, and selecting the candidate zone with the smallest deviation as the current zone.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the method of the invention can reduce the calculated amount and improve the discrimination accuracy by using the method of the link inquiry of the center shape point set; the history longitude and latitude discrimination is added in the query method, so that the problem of overlapping of high-precision map element data in a multi-layer geographic environment is effectively suppressed, and the robustness of high-precision map data query applied to automatic driving vehicles is enhanced.
In one embodiment of the present invention, determining at least 1 candidate zone layer among m zone layers to be confirmed according to a plurality of historical longitudes and latitudes includes: determining a plurality of history zone layers according to the plurality of history longitudes and latitudes; and screening the region layers which are the same as any one of the plurality of historical region layers or have the topological relation of interconnection from the m region layers to be confirmed as candidate region layers.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the method of the embodiment can accurately determine the candidate region layer, and further effectively improves the stability and reliability of the subsequent query method.
In one embodiment of the present invention, when n > 1, selecting and determining the current lane layer from the n lane layers according to the plurality of historical longitudes and latitudes includes: searching a center shape point set of the current zone layer by adopting a dichotomy method of head-tail secant projection to obtain a lane layer to be confirmed; determining a plurality of history lane layers according to the plurality of history longitudes and latitudes; and judging whether the lane layer to be confirmed is the current lane layer according to the topological connection relation between the plurality of historical lane layers and the lane layer to be confirmed.
Compared with the prior art, the technical effect achieved by adopting the technical scheme is as follows: the method of the embodiment can accurately confirm the current lane layer where the vehicle is located, and effectively increases the reliability of the query method of the invention.
In one embodiment of the invention, the query method comprises: when m=1, the region layer to be confirmed is the current region layer.
In one embodiment of the invention, the query method comprises: when n=1, the lane layer is the current lane layer.
In order to achieve the second object of the present invention, an embodiment of the present invention provides a query device for a high-precision map proximity element based on latitude and longitude, the query device including: the first acquisition module is used for acquiring a high-precision map of an area where the vehicle is located, dividing road data of the high-precision map into a plurality of area layers, and establishing a KD-tree according to a topological relation among the plurality of area layers; the second acquisition module is used for acquiring the current longitude and latitude of the vehicle, and searching and acquiring m zone layers to be confirmed close to the current longitude and latitude in the KD-tree according to the current longitude and latitude; the first control module is used for acquiring a plurality of historical longitudes and latitudes of the vehicle when m is more than 1, and screening and determining a current zone layer from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, wherein the current zone layer comprises n lane layers; the second control module is used for screening and determining a current lane layer from n lane layers according to a plurality of historical longitudes and latitudes when n is more than 1; the inquiry module is used for providing map element inquiry of the current lane layer for the vehicle; wherein m is a natural number, n is a positive integer, and each lane layer comprises 1 lane and map element data of the lane.
The query device of the high-precision map adjacent element based on longitude and latitude in the embodiment of the invention realizes the steps of the query method in any embodiment of the invention, so that the query device has all the beneficial effects of the query method in any embodiment of the invention and is not repeated here.
To achieve the third object of the present invention, an embodiment of the present invention provides an intelligent vehicle, including: a processor, a memory and a program or instructions stored on the memory and executable on the processor, which when executed by the processor, implement the steps of a query method as in any of the embodiments of the invention.
The intelligent vehicle according to the embodiment of the present invention implements the steps of the query method according to any embodiment of the present invention, so that the intelligent vehicle has all the advantages of the query method according to any embodiment of the present invention, and is not described herein.
To achieve the fourth object of the present invention, an embodiment of the present invention provides a readable storage medium having a program or instructions stored thereon, which when executed by a processor, implement the steps of the query method as in any of the embodiments of the present invention.
The readable storage medium according to the embodiment of the present invention implements the steps of the query method according to any embodiment of the present invention, so that the method according to any embodiment of the present invention has all the advantages of the query method according to any embodiment of the present invention, and will not be described herein.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for querying a high-precision map proximity element based on latitude and longitude according to some embodiments of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Referring to fig. 1, the present embodiment provides a method for querying a high-precision map proximity element based on longitude and latitude, where the method for querying includes:
s100: acquiring a high-precision map of an area where a vehicle is located, dividing road data of the high-precision map into a plurality of regional layers, and establishing a KD-tree according to a topological relation among the plurality of regional layers;
s200: acquiring the current longitude and latitude of the vehicle, and searching and acquiring m zone layers to be confirmed, which are adjacent to the current longitude and latitude, in the KD-tree according to the current longitude and latitude;
s300: when m is more than 1, acquiring a plurality of historical longitudes and latitudes of the vehicle, and screening and determining a current zone layer from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, wherein the current zone layer comprises n lane layers;
s400: when n is more than 1, selecting and determining a current lane layer from n lane layers according to a plurality of historical longitudes and latitudes;
s500: providing map element inquiry of a current lane layer for a vehicle;
wherein m is a natural number, n is a positive integer, and each lane layer comprises 1 lane and map element data of the lane.
It should be noted that, various element data in the high-precision map are stored according to the geographic coordinate sequence, in the invention, the high-precision map data can be simply divided into a zone layer and a lane layer for data retrieval, different high-precision maps can be divided into different or finer zone layers or lane layers, but the processing methods for adjacent element searching are consistent, and the high-precision map data can be simplified into the data structures of the zone layers and the lane layers in the invention.
The zone layer comprises at least 1 lane layer, and when the zone layer comprises a plurality of lane layers, the zone layer also comprises the topological relation among the lane layers; the lane layer is a lane and comprises map element data of the lane. The zone layer is established by the following method: on the road plane, enlarging in the direction perpendicular to the central road to form a rectangular area, preferably the width of the rectangular area is the sum of all lane widths in the direction perpendicular to the central road; when the regional layer is established, rectangular areas of the regional layers which are not connected in a topological relation are not overlapped. If lanes of 2 zones have a relationship of communication with each other, the 2 zones are zones having a topological connection relationship.
Further, in S100, a high-precision map of the region where the vehicle is located is acquired, road data of the high-precision map is divided into a plurality of regional layers, and KD-tree is established according to a topological relation among the plurality of regional layers. The construction process of the KD-tree is carried out in an off-line pretreatment stage of the vehicle. After the road data of the high-precision map is divided into a plurality of zone layers, KD-tree is gradually built according to the topological relation of the interconnection between the zone layers and the left relation of the respective boundaries of the zone layers, and the map data element query preprocessing is completed.
Further, in S200, the current longitude and latitude of the vehicle are obtained, and m to-be-confirmed area layers adjacent to the current longitude and latitude in the KD-tree are retrieved and obtained according to the current longitude and latitude; the zone to be confirmed comprises the current longitude and latitude or the zone to be confirmed is adjacent to the zone where the current longitude and latitude are located. Preferably, the m zone layers to be confirmed are obtained through a KNN nearest neighbor algorithm based on the KD-tree.
Further, in S300, when m is greater than 1, a plurality of historical longitudes and latitudes of the vehicle are obtained, and according to the plurality of historical longitudes and latitudes, a current zone is selected from m zone layers to be confirmed, and the current zone layer includes n lane layers.
Further, in S400, when n > 1, the current lane layer is selected from the n lane layers according to the plurality of historic longitudes and latitudes.
Further, in S500, a map element query of the current lane layer is provided for the vehicle; the current lane layer is the lane layer where the vehicle is currently located, and at the moment, map element inquiry service of the current lane layer under the actual longitude and latitude position can be provided for the vehicle according to the actual longitude and latitude position of the vehicle.
It can be understood that the establishing process of searching KD-tree has short operation time and high efficiency when using on-line inquiring element function in the off-line preprocessing stage; the high-precision map is divided into the regional layer and the lane layer, and in the actual application process, the regional layer where the vehicle is located is queried firstly, and then the specific lane layer is queried, so that the efficiency and the query speed of the query method are effectively improved, and the operation time is reduced; the query method can provide the query of the adjacent elements near the vehicle coordinates in the high-precision map according to the longitude and latitude coordinates of the vehicle.
Further, the plurality of historical longitudes and latitudes are recorded in the current running process of the vehicle, and when the vehicle sequentially runs through the plurality of historical longitudes and latitudes and the current longitude and latitude in time sequence, the running distance of the vehicle between every two longitudes and latitudes is the same.
For example, when the plurality of historical longitude and latitude coordinates of the vehicle are sequentially arranged according to the running time sequence of the vehicle, the running distance of the vehicle is 50m between every two historical longitude and latitude coordinates.
It can be understood that when the vehicle is blocked or waiting for a red light for a long time, the longitude and latitude coordinates thereof are stationary within a certain time, if the historical longitude and latitude coordinates of the vehicle are obtained at the same time interval, the obtained coordinates do not necessarily accurately reflect the running track of the vehicle; the historical longitude and latitude coordinates obtained by the method are obtained equidistantly, so that the historical running track of the vehicle can be reflected more accurately, and further the subsequent query method is more accurate.
Further, when m is greater than 1, acquiring a plurality of historical longitudes and latitudes of the vehicle, and screening and determining a current zone layer from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, wherein the current zone layer comprises n lane layers and comprises:
s310: determining at least 1 candidate zone layer in m zone layers to be confirmed according to a plurality of historical longitudes and latitudes;
s320: acquiring the heading of a central shape point set of the candidate region layer;
s330: according to the historical longitudes and latitudes, determining the heading of a historical coordinate point set;
s340: and comparing the deviation of the heading of the center shape point set and the heading of the history coordinate point set, and selecting the candidate zone with the smallest deviation as the current zone.
Further, in S320, the center shape point set heading of the candidate region layer is acquired. The candidate area layer is rectangular, and the heading of the central shape point set of the candidate area layer is the direction of the lane in the candidate area layer.
Further, in S330, a historical coordinate point set heading is determined based on the plurality of historical latitudes and longitudes. The heading of the historical coordinate point set can be approximately considered as the running direction of the vehicle with the highest probability at the current time point calculated according to a plurality of historical longitude and latitude coordinates of the vehicle.
Further, in S340, comparing the deviation of the heading of the center shape point set and the heading of the history coordinate point set, and selecting the candidate zone with the smallest deviation as the current zone; and comparing the central shape point set heading and the historical coordinate point set heading of the plurality of candidate zone layers, wherein the candidate zone layer with the minimum deviation is the current zone layer of the vehicle.
When the vehicle has crossing bifurcation under the current longitude and latitude coordinates, the calculated current zone layer may have errors, and after the vehicle is required to travel a certain distance, the correction is performed again according to the real-time longitude and latitude coordinates of the vehicle, so as to determine the correct current zone layer of the vehicle.
It can be understood that the method of the invention can reduce the calculated amount and improve the accuracy of discrimination by using the method of the link inquiry of the center shape point set; the history longitude and latitude discrimination is added in the query method, so that the problem of overlapping of high-precision map element data in a multi-layer geographic environment is effectively suppressed, and the robustness of high-precision map data query applied to automatic driving vehicles is enhanced.
Further, determining at least 1 candidate zone layer among the m zone layers to be confirmed according to the plurality of historical longitudes and latitudes comprises:
s311: determining a plurality of history zone layers according to the plurality of history longitudes and latitudes;
s312: and screening the region layers which are the same as any one of the plurality of historical region layers or have the topological relation of interconnection from the m region layers to be confirmed as candidate region layers.
Further, in S311, a plurality of history zone layers are determined according to the plurality of history longitudes and latitudes; the zone layer where the history longitude and latitude is located is the history zone layer.
It can be appreciated that the method of the embodiment can accurately determine the candidate region layer, thereby effectively improving the stability and reliability of the subsequent query method.
Further, when n > 1, according to a plurality of historical longitudes and latitudes, selecting and determining the current lane layer from the n lane layers, including:
s410: searching a center shape point set of the current zone layer by adopting a dichotomy method of head-tail secant projection to obtain a lane layer to be confirmed;
s420: determining a plurality of history lane layers according to the plurality of history longitudes and latitudes;
s430: and judging whether the lane layer to be confirmed is the current lane layer according to the topological connection relation between the plurality of historical lane layers and the lane layer to be confirmed.
In this embodiment, the lane layer to be confirmed having a topological connection relationship with the plurality of history lane layers is the current lane layer.
It can be appreciated that the method of the embodiment can accurately confirm the current lane layer where the vehicle is located, and effectively increases the reliability of the query method of the invention.
Further, the query method includes:
when m=1, the region layer to be confirmed is the current region layer.
In this embodiment, when m=1, it is indicated that only 1 to-be-confirmed determination meets the requirement, and the to-be-confirmed area layer is the current area layer.
Further, the query method includes:
when n=1, the lane layer is the current lane layer.
In this embodiment, when n=1, it is clear that only 1 lane layer is determined to meet the requirement, and the lane layer is the current lane layer.
Further, the present embodiment provides a query device for high-precision map adjacent elements based on longitude and latitude, where the query device includes:
the first acquisition module is used for acquiring a high-precision map of an area where the vehicle is located, dividing road data of the high-precision map into a plurality of area layers, and establishing a KD-tree according to a topological relation among the plurality of area layers;
the second acquisition module is used for acquiring the current longitude and latitude of the vehicle, and searching and acquiring m zone layers to be confirmed close to the current longitude and latitude in the KD-tree according to the current longitude and latitude;
the first control module is used for acquiring a plurality of historical longitudes and latitudes of the vehicle when m is more than 1, and screening and determining a current zone layer from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, wherein the current zone layer comprises n lane layers;
the second control module is used for screening and determining a current lane layer from n lane layers according to a plurality of historical longitudes and latitudes when n is more than 1;
the inquiry module is used for providing map element inquiry of the current lane layer for the vehicle;
wherein m is a natural number, n is a positive integer, and each lane layer comprises 1 lane and map element data of the lane.
The query device of the high-precision map adjacent element based on longitude and latitude in the embodiment of the invention realizes the steps of the query method in any embodiment of the invention, so that the query device has all the beneficial effects of the query method in any embodiment of the invention and is not repeated here.
Further, the present embodiment provides an intelligent vehicle, which includes: a processor, a memory and a program or instructions stored on the memory and executable on the processor, which when executed by the processor, implement the steps of a query method as in any of the embodiments of the invention.
The intelligent vehicle according to the embodiment of the present invention implements the steps of the query method according to any embodiment of the present invention, so that the intelligent vehicle has all the advantages of the query method according to any embodiment of the present invention, and is not described herein.
Further, the present embodiment provides a readable storage medium, on which a program or an instruction is stored, which when executed by a processor, implements the steps of the query method according to any of the embodiments of the present invention.
The readable storage medium according to the embodiment of the present invention implements the steps of the query method according to any embodiment of the present invention, so that the method according to any embodiment of the present invention has all the advantages of the query method according to any embodiment of the present invention, and will not be described herein.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (10)
1. The query method of the high-precision map adjacent element based on the longitude and latitude is characterized by comprising the following steps of:
acquiring a high-precision map of an area where a vehicle is located, dividing road data of the high-precision map into a plurality of area layers, and establishing a KD-tree according to topological relations among the plurality of area layers;
acquiring the current longitude and latitude of the vehicle, and searching and acquiring m zone layers to be confirmed, which are adjacent to the current longitude and latitude, in the KD-tree according to the current longitude and latitude;
when m is more than 1, acquiring a plurality of historical longitudes and latitudes of the vehicle, and screening and determining a current zone layer from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, wherein the current zone layer comprises n lane layers;
when n is more than 1, according to a plurality of historical longitudes and latitudes, selecting and determining a current lane layer from n lane layers;
providing map element inquiry of the current lane layer for the vehicle;
wherein m is a natural number, n is a positive integer, and each lane layer comprises 1 lane and map element data of the lane.
2. The query method according to claim 1, wherein a plurality of the historic longitudes and latitudes are recorded during the current traveling of the vehicle, and when the vehicle travels through a plurality of the historic longitudes and latitudes and the current longitude and latitude in chronological order, the traveling distance of the vehicle between each two longitudes and latitudes is the same.
3. The query method according to claim 2, wherein when m > 1, a plurality of historical longitudes and latitudes of the vehicle are obtained, and a current zone layer is selected and determined from m zone layers to be confirmed according to the plurality of historical longitudes and latitudes, the current zone layer including n lane layers, and the method comprises:
determining at least 1 candidate zone layer in m zone layers to be confirmed according to the historic longitudes and latitudes;
acquiring the heading of the center shape point set of the candidate region layer;
according to the historical longitudes and latitudes, determining the heading of a historical coordinate point set;
and comparing the deviation of the heading of the center shape point set and the heading of the history coordinate point set, and selecting the candidate zone layer with the smallest deviation as the current zone layer.
4. The query method of claim 3, wherein said determining at least 1 candidate zone layer among m zone layers to be confirmed according to a plurality of said historic longitudes and latitudes comprises:
determining a plurality of history zone layers according to a plurality of history longitudes and latitudes;
and selecting a zone layer which is the same as any zone layer in the historical zone layers or has a topological relation of interconnection from the m zone layers to be confirmed as a candidate zone layer.
5. The query method of claim 1, wherein when n > 1, selecting and determining a current lane layer from n lane layers according to a plurality of historic longitudes and latitudes, comprises:
searching the center shape point set of the current zone layer by adopting a dichotomy of head-tail secant projection to obtain a lane layer to be confirmed;
determining a plurality of historical lane layers according to the plurality of historical longitudes and latitudes;
and judging whether the lane layer to be confirmed is the current lane layer according to the topological connection relation between the historical lane layers and the lane layer to be confirmed.
6. The query method according to any one of claims 1 to 5, characterized in that the query method comprises:
when m=1, the region layer to be confirmed is the current region layer.
7. The query method according to any one of claims 1 to 5, characterized in that the query method comprises:
when n=1, the lane layer is the current lane layer.
8. A query device for high-precision map adjacent elements based on longitude and latitude, which is characterized in that the query device comprises:
the first acquisition module is used for acquiring a high-precision map of an area where a vehicle is located, dividing road data of the high-precision map into a plurality of regional layers, and establishing a KD-tree according to topological relations among the plurality of regional layers;
the second acquisition module is used for acquiring the current longitude and latitude of the vehicle, and searching and acquiring m zone layers to be confirmed, which are adjacent to the current longitude and latitude, in the KD-tree according to the current longitude and latitude;
the first control module is used for acquiring a plurality of historical longitudes and latitudes of the vehicle when m is more than 1, and screening and determining a current zone layer from m zone layers to be confirmed according to the historical longitudes and latitudes, wherein the current zone layer comprises n lane layers;
the second control module is used for screening and determining a current lane layer from n lane layers according to the historic longitudes and latitudes when n is more than 1;
the query module is used for providing map element query of the current lane layer for the vehicle;
wherein m is a natural number, n is a positive integer, and each lane layer comprises 1 lane and map element data of the lane.
9. An intelligent vehicle, the intelligent vehicle comprising: a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor implements the steps of the query method of any of claims 1 to 7.
10. A readable storage medium, characterized in that it stores thereon a program or instructions, which when executed by a processor, implement the steps of the query method of any of claims 1 to 7.
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| CN202310200795.XA CN116358516A (en) | 2023-02-24 | 2023-02-24 | Query method and device for map adjacent elements, intelligent vehicle and storage medium |
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| CN202310200795.XA CN116358516A (en) | 2023-02-24 | 2023-02-24 | Query method and device for map adjacent elements, intelligent vehicle and storage medium |
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