CN116524057A - Rendering method based on cabin domain rendering engine, lane-level navigation method and system - Google Patents
Rendering method based on cabin domain rendering engine, lane-level navigation method and system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000007405 data analysis Methods 0.000 claims abstract description 17
- 238000003860 storage Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 11
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
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- G06F8/00—Arrangements for software engineering
- G06F8/40—Transformation of program code
- G06F8/41—Compilation
- G06F8/42—Syntactic analysis
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
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Abstract
The invention provides a rendering method based on a cabin zone rendering engine, a lane-level navigation method and a lane-level navigation system, wherein the rendering method comprises the following steps: acquiring high-precision map data acquired by a map data acquisition vehicle and outputting the high-precision map data as NDS data; according to the NDS data, the NDS data is generated into PBF data through a cockpit area integrated NDS data analysis module and a PBF data compiling tool, and the PBF data is provided for a cockpit area rendering engine to render high-precision map data, so that the rendered PBF data in the cockpit area is consistent with ID information of the same data element of the NDS data in the intelligent driving area. The method mainly solves the problem that the vehicle positioning cannot be calculated back through the lane ID and the offset due to the fact that NDS data of the map engine in the intelligent driving area and PBF data of the rendering engine in the cabin area are different in source in the auxiliary intelligent driving of the vehicle, and the rendering of the vehicle position cannot be matched with rendering display of the map data rendered by the rendering engine.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a rendering method based on a cabin zone rendering engine, a lane-level navigation method and a lane-level navigation system.
Background
The high-precision map of the cabin area is PBF data which is mainly used for rendering the scene where the real vehicle is located, and the high-precision map of the intelligent driving area is NDS data which is mainly used for assisting driving of the vehicle by a map engine. The cabin area renders the position information of the own vehicle, which is input by the intelligent driving area, and the surrounding vehicles perceived by the vehicle. When the intelligent driving area is transmitting the position information of the vehicle, the absolute coordinates cannot be transmitted according to the national survey, but the cabin area only can use the absolute coordinates of the vehicle when the position of the vehicle is matched with map data. Therefore, the intelligent driving domain can only acquire the same datum point as the intelligent driving domain by searching the same ID information through sending the ID information of the road and lane information where the vehicle is located and the offset of the vehicle, and then reversely calculate the vehicle positioning information through the offset.
The existing problem is that on different sources of data, NDS data and PBF data come from the same acquired data, but the NDS data and the PBF data are different in manufacturing mode, so that IDs of the same data elements of the NDS data and the PBF data are different, the different sources cannot acquire the same datum points from information sent by a driving area, and the absolute coordinates can be calculated by the vehicle position back calculation, so that the vehicle is positioned.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a rendering method based on a cabin zone rendering engine, a lane-level navigation method and a lane-level navigation system.
According to a first aspect of the present invention, there is provided a cabin domain rendering engine based rendering method, comprising:
acquiring high-precision map data acquired by a map data acquisition vehicle, and outputting the high-precision map data as NDS data;
according to the NDS data, the NDS data is generated into PBF data through a cockpit area integrated NDS data analysis module and a PBF data compiling tool, and the PBF data is provided for a cockpit area rendering engine to render high-precision map data, so that the rendered PBF data in the cockpit area is consistent with ID information of the same data element of the NDS data in the intelligent driving area.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, generating, according to the NDS data, the NDS data as PBF data by a cockpit domain integrated NDS data parsing module and a PBF data compiling tool, including:
integrating an NDS data analysis module in a PBF data compiling tool of a cabin domain to analyze the NDS data into map elements required by a cabin domain rendering engine, and outputting the map elements into map element files which can be used by the cabin domain rendering engine;
and producing the PBF data based on the PBF data compiling tool in the cabin domain according to the map element file.
Optionally, according to the NDS data, generating the NDS data as the PBF data by using an NDS data parsing module and a PBF data compiling tool integrated in a cabin domain, and then further including:
and deploying the PBF data to a rendering engine local or cloud server for the cabin rendering engine to provide rendering data.
According to a second aspect of the present invention, there is provided a lane-level navigation method comprising:
a rendering method based on a cabin domain rendering engine obtains rendered map element data in a cabin domain;
when the vehicle is running or stopped, the intelligent driving domain inputs lane ID information and offset of the vehicle to the cabin domain;
the cabin domain searches the absolute coordinates of the datum point according to the lane ID information;
and calculating the absolute coordinates of the position of the vehicle based on the absolute coordinates of the datum point and the offset, and performing vehicle navigation based on the absolute coordinates of the position of the vehicle.
According to a third aspect of the present invention, there is provided a cabin domain rendering engine-based rendering system, comprising an acquisition module, and an NDS data parsing module and a PBF data compiling tool integrated in the cabin domain;
the acquisition module is used for acquiring high-precision map data acquired by the map data acquisition vehicle and outputting the high-precision map data as NDS data;
the NDS data analysis module and the PBF data compiling tool are used for generating corresponding PBF data according to the NDS data, and providing the corresponding PBF data for a cabin domain rendering engine to render high-precision map data so that the rendered PBF data in the cabin domain is consistent with ID information of the same data element of the NDS data in the intelligent driving domain.
Optionally, the NDS data analysis module is integrated with the PBF data compiling tool, and the NDS data analysis module and the PBF data compiling tool are configured to generate corresponding PBF data according to the NDS data, including:
the NDS data analysis module is used for analyzing the NDS data into map elements required by the cabin zone rendering engine and outputting the map elements into map element files which can be used by the cabin zone rendering engine;
the PBF data compiling tool is used for producing PBF data according to the map element file.
According to a fourth aspect of the present invention, there is provided a lane-level navigation system comprising:
a cabin domain rendering engine-based rendering system for obtaining rendered map element data in a cabin domain;
the intelligent driving area is used for inputting lane ID information and offset of the vehicle into the cabin area when the vehicle is running or stopped;
the cabin domain is used for finding the absolute coordinates of the datum point according to the lane ID information; and calculating the absolute coordinates of the position of the vehicle based on the absolute coordinates of the datum point and the offset, and performing vehicle navigation based on the absolute coordinates of the position of the vehicle.
According to a fifth aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of a cabin domain rendering engine based rendering method and the steps of a lane-level navigation method when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management class program which, when executed by a processor, implements the steps of a cabin domain rendering engine based rendering method, and implements the steps of a lane-level navigation method.
According to the rendering method, the lane-level navigation method and the system based on the cabin rendering engine, the NDS data analysis module is integrated in the cabin, the NDS data are analyzed and the PBF data are generated, so that the map engine data in the cabin and the vehicle positioning data in the intelligent driving domain are kept in the same coordinate system, the problem that the NDS data of the map engine in the intelligent driving domain and the PBF data of the rendering engine in the cabin are different in source in auxiliary intelligent driving of a vehicle, so that the vehicle positioning cannot be calculated out reversely through the lane ID and the offset, the positioning cannot be obtained, and the rendering of the vehicle position cannot be matched with the rendering of the map data rendered by the rendering engine.
Drawings
FIG. 1 is a flow chart of a rendering method based on a cabin zone rendering engine provided by the invention;
FIG. 2 is a process interaction diagram of a cabin domain rendering engine based rendering method of one embodiment;
FIG. 3 is a process interaction diagram of a rendering method based on a cabin domain rendering engine according to another embodiment;
FIG. 4 is a schematic flow chart of a lane-level navigation method according to the present invention;
FIG. 5 is a schematic diagram of a rendering system based on a cabin rendering engine according to the present invention;
FIG. 6 is a schematic diagram of a lane-level navigation system according to the present invention;
fig. 7 is a schematic hardware structure of a possible electronic device according to the present invention;
fig. 8 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In addition, the technical features of each embodiment or the single embodiment provided by the invention can be combined with each other at will to form a feasible technical scheme, and the combination is not limited by the sequence of steps and/or the structural composition mode, but is necessarily based on the fact that a person of ordinary skill in the art can realize the combination, and when the technical scheme is contradictory or can not realize, the combination of the technical scheme is not considered to exist and is not within the protection scope of the invention claimed.
The invention relates to interactive linkage of a cabin area where a high-precision map PBF data rendering engine of an automobile is located in auxiliary driving and an intelligent driving area where an NDS data map engine of the automobile is located in auxiliary driving.
Fig. 1 is a flowchart of a rendering method based on a cabin domain rendering engine according to the present invention, where, as shown in fig. 1, the method includes:
s1, acquiring high-precision map data acquired by a map data acquisition vehicle, and outputting the high-precision map data as NDS data.
It can be understood that the class-a mapping qualification is obtained, the high-precision data of the national roads is collected by the map data collection vehicle, the high-precision map data is output into NDS data, and the NDS data is stored in the cloud data server.
S2, generating the data into PBF data through an NDS data analysis module and a PBF data compiling tool integrated in the cabin domain according to the NDS data, and providing the PBF data for a cabin domain rendering engine to render high-precision map data so that the rendered PBF data in the cabin domain is consistent with ID information of the same data element of the NDS data in the intelligent driving domain.
As an embodiment, according to the NDS data, generating the NDS data as the PBF data by the cockpit integrated NDS data parsing module and the PBF data compiling tool includes: integrating an NDS data analysis module in a PBF data compiling tool of a cabin domain to analyze the NDS data into map elements required by a cabin domain rendering engine, and outputting the map elements into map element files which can be used by the cabin domain rendering engine; and producing the PBF data based on the PBF data compiling tool in the cabin domain according to the map element file.
It can be understood that the invention aims to solve the problem that the absolute coordinates of the vehicle positioning cannot be acquired and matched with the map data of the rendering engine of the cabin domain due to the problem of data different sources in the background art. According to the technical scheme, the intelligent driving domain and the cockpit domain both use the NDS data of the intelligent driving domain, an NDS data analysis module is integrated in a PBF data compiling tool of the cockpit domain, the NDS data is analyzed into map elements needed by a cockpit domain rendering engine and output into related map element files which can be used by the cockpit domain rendering engine, the cockpit domain passes through the map element files, and the PBF data before multiplexing is produced and compiled by the PBF data production compiling tool to produce the PBF data and provide the PBF data to the cockpit domain rendering engine for rendering the map data with high precision. In this way, the PBF data in the cabin domain obtains map element data having the same ID as NDS data in the intelligent driving domain.
Referring to fig. 2 and 3, NDS data in a cloud data server is input into a rendering data preprocessing tool in a cabin domain, the rendering data preprocessing tool comprises a DNS data parsing module, the DNS data parsing module performs processing of homology, data optimization, texture shape, height Cheng Tuidao, data slicing and the like on the input DNS data to generate corresponding PBF data, and the generated PBF data is stored in the cloud data server. The cabin domain can acquire the generated PBF data from the cloud data server for rendering.
Referring to fig. 4, there is provided a lane-level navigation method of the present invention, including:
s1', rendering method based on cabin domain rendering engine obtains rendered map element data in cabin domain; s2', when the vehicle is running or stopped, the intelligent driving domain inputs lane ID information and offset of the vehicle to the cabin domain; s3', the cabin domain searches the absolute coordinates of the datum point according to the lane ID information; and calculating the absolute coordinates of the position of the vehicle based on the absolute coordinates of the datum point and the offset, and performing vehicle navigation based on the absolute coordinates of the position of the vehicle.
It can be understood that, after the generated PBF data is rendered by the rendering method based on the cabin domain rendering engine provided by the above embodiment, map element data is obtained. When the vehicle is running or stopped, the intelligent driving domain inputs the lane ID information and the offset of the vehicle to the cabin domain, the cabin domain can find the absolute coordinates of the datum point through the lane ID information, and the absolute coordinates of the position of the vehicle are calculated back through the offset, so that the positioning of the vehicle and the map engine data can be obtained and kept in the same coordinate system, and the positioning and the map engine data are matched with the rendering of the high-precision data of the rendering engine.
Referring to fig. 5, a rendering system based on a cabin domain rendering engine provided by the present invention includes an acquisition module 51, an NDS data parsing module 521 and a PBF data compiling tool 522 integrated in a cabin domain 52;
an acquisition module 51, configured to acquire high-precision map data acquired by a map data acquisition vehicle, and output the high-precision map data as NDS data;
the NDS data parsing module 521 and the PBF data compiling tool 522 are configured to generate corresponding PBF data according to the NDS data, and provide the corresponding PBF data to the cabin domain rendering engine for rendering high-precision map data, so that the PBF data rendered in the cabin domain is consistent with the ID information of the same data element of the NDS data in the intelligent driving domain.
The NDS data parsing module 521 is integrated with the PBF data compiling tool 522, and the NDS data parsing module 521 and the PBF data compiling tool 522 are configured to generate corresponding PBF data according to the NDS data, including:
the NDS data parsing module 521 is configured to parse the NDS data into map elements required by the cabin rendering engine, and output the map elements as map element files that can be used by the cabin rendering engine;
the PBF data compilation tool 522 is configured to produce PBF data from the map element file.
It can be understood that, the rendering system based on the cabin zone rendering engine provided by the present invention corresponds to the rendering method based on the cabin zone rendering engine provided in the foregoing embodiments, and the relevant technical features of the rendering system based on the cabin zone rendering engine may refer to the relevant technical features of the rendering method based on the cabin zone rendering engine, which are not described herein again.
Referring to fig. 6, there is provided a lane-level navigation system of the present invention, comprising:
a cabin domain rendering engine-based rendering system for obtaining rendered map element data in a cabin domain;
the intelligent driving area 61 is used for inputting lane ID information and offset of the vehicle to the cabin area 52 when the vehicle is running or stopped;
a cabin domain 52 for finding absolute coordinates of a reference point according to the lane ID information; and calculating the absolute coordinates of the position of the vehicle based on the absolute coordinates of the datum point and the offset, and performing vehicle navigation based on the absolute coordinates of the position of the vehicle.
It can be understood that the lane-level navigation system provided by the present invention corresponds to the lane-level navigation method provided in the foregoing embodiments, and the relevant technical features of the lane-level navigation system may refer to the relevant technical features of the lane-level navigation method, which are not described herein.
Referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 7, an embodiment of the present invention provides an electronic device 700, including a memory 710, a processor 720, and a computer program 711 stored on the memory 710 and executable on the processor 720, wherein the processor 720 implements steps of a cabin-domain rendering engine based rendering method and steps of a lane-level navigation method when executing the computer program 711.
Referring to fig. 8, fig. 8 is a schematic diagram of an embodiment of a computer readable storage medium according to the present invention. As shown in fig. 8, the present embodiment provides a computer-readable storage medium 800 on which a computer program 811 is stored, which computer program 811, when executed by a processor, implements the steps of a cabin domain rendering engine based rendering method, and implements the steps of a lane-level navigation method.
According to the rendering method, the lane-level navigation method and the system based on the cabin zone rendering engine, the PBF data compiling tool of the cabin zone analyzes NDS data into map elements needed by the cabin zone rendering engine through the integrated NDS data analyzing module and outputs the map elements to be related map element files which can be used by the cabin zone rendering engine, the cabin zone further utilizes the map element files, and PBF data produced by the PBF data producing compiling tool before multiplexing are provided for rendering high-precision map data to the cabin zone rendering engine. In this way, the PBF data obtain map element data with the same ID as the NDS data, when the vehicle is running or stopped, the intelligent driving domain inputs the lane ID and the offset of the vehicle to the cabin domain, the cabin domain can find the absolute coordinate of the datum point through the lane ID, and the absolute coordinate of the position of the vehicle is reversely calculated through the offset, so that the positioning of the vehicle and the map engine data can be obtained, kept in the same coordinate system, and are matched with the rendering of the high-precision data of the rendering engine; the same NDS data is used, so that labor investment is greatly reduced, and two data are required to be maintained before now only one data is required to be maintained. And the data problem occurs, so that the problem can be quickly positioned, and the two data do not need to be checked respectively. The same data is used, so that the stability is improved.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A cabin domain rendering engine-based rendering method, comprising:
acquiring high-precision map data acquired by a map data acquisition vehicle, and outputting the high-precision map data as NDS data;
according to the NDS data, the NDS data is generated into PBF data through a cockpit area integrated NDS data analysis module and a PBF data compiling tool, and the PBF data is provided for a cockpit area rendering engine to render high-precision map data, so that the rendered PBF data in the cockpit area is consistent with ID information of the same data element of the NDS data in the intelligent driving area.
2. The cabin-based rendering engine-based rendering method of claim 1, wherein generating, from the NDS data, the PBF data as the PBF data by a cabin-integrated NDS data parsing module and PBF data compiling tool, comprises:
integrating an NDS data analysis module in a PBF data compiling tool of a cabin domain to analyze the NDS data into map elements required by a cabin domain rendering engine, and outputting the map elements into map element files which can be used by the cabin domain rendering engine;
and producing the PBF data based on the PBF data compiling tool in the cabin domain according to the map element file.
3. The rendering method based on a cabin zone rendering engine according to claim 1 or 2, wherein, based on the NDS data, the NDS data parsing module and the PBF data compiling tool integrated by the cabin zone are generated as PBF data, and further comprising:
and deploying the PBF data to a rendering engine local or cloud server for the cabin rendering engine to provide rendering data.
4. A lane-level navigation method, comprising:
obtaining rendered map element data in a cabin domain based on the cabin domain rendering engine-based rendering method of any one of claims 1-3;
when the vehicle is running or stopped, the intelligent driving domain inputs lane ID information and offset of the vehicle to the cabin domain;
the cabin domain searches the absolute coordinates of the datum point according to the lane ID information;
and calculating the absolute coordinates of the position of the vehicle based on the absolute coordinates of the datum point and the offset, and performing vehicle navigation based on the absolute coordinates of the position of the vehicle.
5. The rendering system based on the cabin domain rendering engine is characterized by comprising an acquisition module, an NDS data analysis module and a PBF data compiling tool, wherein the NDS data analysis module and the PBF data compiling tool are integrated in the cabin domain;
the acquisition module is used for acquiring high-precision map data acquired by the map data acquisition vehicle and outputting the high-precision map data as NDS data;
the NDS data analysis module and the PBF data compiling tool are used for generating corresponding PBF data according to the NDS data, and providing the corresponding PBF data for a cabin domain rendering engine to render high-precision map data so that the rendered PBF data in the cabin domain is consistent with ID information of the same data element of the NDS data in the intelligent driving domain.
6. The rendering system of claim 5, wherein the NDS data parsing module is integrated with the PBF data compiling tool, the NDS data parsing module and the PBF data compiling tool for generating corresponding PBF data from the NDS data, comprising:
the NDS data analysis module is used for analyzing the NDS data into map elements required by the cabin zone rendering engine and outputting the map elements into map element files which can be used by the cabin zone rendering engine;
the PBF data compiling tool is used for producing PBF data according to the map element file.
7. A lane-level navigation system, comprising:
rendering system based on a cabin zone rendering engine according to claim 5 or 6 for obtaining rendered map element data in the cabin;
the intelligent driving area is used for inputting lane ID information and offset of the vehicle into the cabin area when the vehicle is running or stopped;
the cabin domain is used for finding the absolute coordinates of the datum point according to the lane ID information; and calculating the absolute coordinates of the position of the vehicle based on the absolute coordinates of the datum point and the offset, and performing vehicle navigation based on the absolute coordinates of the position of the vehicle.
8. An electronic device comprising a memory, a processor for implementing the steps of the cabin-rendering engine-based rendering method of any one of claims 1-3 and the lane-level navigation method of claim 4 when executing a computer management class program stored in the memory.
9. A computer-readable storage medium, having stored thereon a computer management class program which, when executed by a processor, implements the steps of the cabin domain rendering engine based rendering method of any one of claims 1-3, and the steps of the lane-level navigation method of claim 4.
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| CN202310491170.3A CN116524057A (en) | 2023-04-29 | 2023-04-29 | Rendering method based on cabin domain rendering engine, lane-level navigation method and system |
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| CN202310491170.3A CN116524057A (en) | 2023-04-29 | 2023-04-29 | Rendering method based on cabin domain rendering engine, lane-level navigation method and system |
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