CN117804473A - Map data acquisition method, device, equipment and computer-readable storage medium - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
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- G—PHYSICS
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- 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
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Abstract
一种地图数据获取方法、装置、设备及计算机可读存储介质。该方法包括:按照预设时间间隔确定车辆位置;针对每次确定的车辆位置,基于车辆位置确定目标路段;获取目标路段对应的第一高精地图数据;基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新,其中,存储区域中存储的高精地图数据用于被智能驾驶模块调用。通过本申请,存储区域中存储的高精地图数据仅与车辆位置对应的目标路段相关,大大缩减了存储区域中存储的高精地图数据的数据量,在此基础上,智能驾驶模块对其进行调用时,数据处理压力较小,从而减少了算力资源的消耗。
A map data acquisition method, device, equipment and computer-readable storage medium. The method includes: determining the vehicle position according to a preset time interval; determining a target road segment based on the vehicle position for each determined vehicle position; obtaining first high-precision map data corresponding to the target road segment; and mapping the storage area based on the first high-precision map data. The second high-precision map data stored in the high-precision map data is updated, wherein the high-precision map data stored in the storage area is used to be called by the intelligent driving module. Through this application, the high-precision map data stored in the storage area is only related to the target road section corresponding to the vehicle position, which greatly reduces the amount of high-precision map data stored in the storage area. On this basis, the intelligent driving module performs When calling, the data processing pressure is less, thus reducing the consumption of computing resources.
Description
技术领域Technical field
本申请涉及智能驾驶技术领域,具体涉及一种地图数据获取方法、装置、设备及计算机可读存储介质。This application relates to the field of intelligent driving technology, and specifically to a map data acquisition method, device, equipment and computer-readable storage medium.
背景技术Background technique
高精地图数据是智能驾驶算法运行时所依赖的重要数据基础。现有技术中,一般是预先将囊括全部地区的高精地图数据存储到车端,以供智能驾驶模块对其进行调用。High-precision map data is an important data basis that intelligent driving algorithms rely on when running. In the existing technology, high-precision map data covering all areas is generally stored in the vehicle in advance for the intelligent driving module to call it.
由于高精地图数据含有十分丰富的各类道路要素信息,导致高精地图数据的数据量很大,因此存储全部地区的高精地图数据需要占用大量的存储空间,且智能驾驶模块在面对大数据量的高精地图数据时,所需的算力资源较高。Since the high-precision map data contains very rich information on various road elements, the data volume of the high-precision map data is very large. Therefore, storing the high-precision map data of all regions requires a large amount of storage space, and the intelligent driving module is facing a large number of problems. When the amount of high-precision map data is large, the computing resources required are relatively high.
发明内容Contents of the invention
本申请提供一种地图数据获取方法、装置、设备及计算机可读存储介质,可以解决现有技术中存在的在智能驾驶场景中高精地图数据需占用大量存储空间,且消耗了智能驾驶模块较多算力资源的技术问题。The present application provides a map data acquisition method, device, equipment and computer-readable storage medium, which can solve the technical problems existing in the prior art that high-precision map data in intelligent driving scenarios requires a large amount of storage space and consumes more computing power resources of the intelligent driving module.
第一方面,本申请实施例提供一种地图数据获取方法,所述地图数据获取方法包括:In a first aspect, embodiments of the present application provide a method for obtaining map data. The method for obtaining map data includes:
按照预设时间间隔确定车辆位置;determining the vehicle position at preset time intervals;
针对每次确定的车辆位置,基于车辆位置确定目标路段;For each determined vehicle position, the target road segment is determined based on the vehicle position;
获取目标路段对应的第一高精地图数据;Obtaining first high-precision map data corresponding to the target road section;
基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新,其中,存储区域中存储的高精地图数据用于被智能驾驶模块调用。The second high-precision map data stored in the storage area is updated based on the first high-precision map data, where the high-precision map data stored in the storage area is used to be called by the intelligent driving module.
结合第一方面,在一种实施方式中,所述目标路段为车辆位置所处的路段。With reference to the first aspect, in one implementation, the target road section is a road section where the vehicle position is located.
结合第一方面,在一种实施方式中,所述基于车辆位置确定目标路段的步骤包括:With reference to the first aspect, in one implementation, the step of determining the target road segment based on the vehicle position includes:
确定车辆位置所处的第一路段;Determine the first road segment where the vehicle position is located;
检测车辆位置与第一路段的终点的距离是否小于预设距离;Detect whether the distance between the vehicle position and the end point of the first road segment is less than a preset distance;
若车辆位置与第一路段的终点的距离小于预设距离,则以第一路段以及与所述第一路段邻接的路段为目标路段;If the distance between the vehicle position and the end point of the first road segment is less than the preset distance, then the first road segment and the road segments adjacent to the first road segment are used as the target road segment;
若车辆位置与第一路段终点的距离不小于预设距离,则检测是否存在起点与所述车辆位置的距离小于预设距离的第二路段;If the distance between the vehicle position and the end point of the first road segment is not less than the preset distance, detect whether there is a second road segment whose starting point is less than the preset distance from the vehicle position;
若存在第二路段,则以第一路段以及第二路段为目标路段。If there is a second road segment, the first road segment and the second road segment are used as the target road segments.
结合第一方面,在一种实施方式中,所述基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新的步骤包括:In conjunction with the first aspect, in one implementation, the step of updating the second high-precision map data stored in the storage area based on the first high-precision map data includes:
删除存储区域中已存储的第二高精地图数据;Delete the second high-precision map data stored in the storage area;
将第一高精地图数据写入存储区域。Write the first high-precision map data into the storage area.
结合第一方面,在一种实施方式中,所述基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新的步骤包括:In combination with the first aspect, in one implementation, the step of updating the second high-precision map data stored in the storage area based on the first high-precision map data includes:
确定在第一高精地图数据中存在但在存储区域中已存储的第二高精地图数据中不存在的待新增数据,确定在存储区域中已存储的第二高精地图数据中存在但在第一高精地图数据中不存在的待删除数据;Determine the data to be added that exists in the first high-precision map data but does not exist in the second high-precision map data stored in the storage area, and determine the data to be deleted that exists in the second high-precision map data stored in the storage area but does not exist in the first high-precision map data;
将待删除数据从存储区域中删除,并将待新增数据写入存储区域。The data to be deleted is deleted from the storage area, and the data to be added is written into the storage area.
结合第一方面,在一种实施方式中,所述确定在第一高精地图数据中存在但在存储区域中已存储的第二高精地图数据中不存在的待新增数据,确定在存储区域中已存储的第二高精地图数据中存在但在第一高精地图数据中不存在的待删除数据的步骤包括:In conjunction with the first aspect, in one implementation, it is determined that the data to be added that exists in the first high-precision map data but does not exist in the second high-precision map data that has been stored in the storage area is determined in the storage area. The steps for deleting data that exists in the second high-precision map data stored in the area but does not exist in the first high-precision map data include:
将第一高精地图数据包含的路段标识信息与存储区域中已存储的第二高精地图数据包含的路段标识信息进行对比;Compare the road section identification information contained in the first high-precision map data with the road section identification information contained in the second high-precision map data stored in the storage area;
以在第一高精地图数据中存在但在存储区域中已存储的第二高精地图数据中不存在的路段标识信息对应的路段信息作为待新增数据;Use the road segment information corresponding to the road segment identification information that exists in the first high-precision map data but does not exist in the second high-precision map data that has been stored in the storage area as the data to be added;
以在存储区域中已存储的第二高精地图数据中存在但在第一高精地图数据中不存在的路段标识信息对应的路段信息作为待删除数据。The road section information corresponding to the road section identification information that exists in the second high-precision map data stored in the storage area but does not exist in the first high-precision map data is used as the data to be deleted.
结合第一方面,在一种实施方式中,在所述获取目标路段对应的第一高精地图数据的步骤之后,还包括:In combination with the first aspect, in one implementation, after the step of obtaining the first high-precision map data corresponding to the target road section, the method further includes:
对第一高精地图数据进行有效性校验;Perform validity verification on the first high-precision map data;
若有效性校验通过,则基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新。If the validity check passes, the second high-precision map data stored in the storage area is updated based on the first high-precision map data.
第二方面,本申请实施例提供了一种地图数据获取装置,所述地图数据获取装置包括:In a second aspect, an embodiment of the present application provides a map data acquisition device, the map data acquisition device comprising:
位置确定模块,用于按照预设时间间隔确定车辆位置;A position determination module used to determine the vehicle position according to a preset time interval;
路段确定模块,用于针对每次确定的车辆位置,基于车辆位置确定目标路段;The road segment determination module is used to determine the target road segment based on the vehicle position for each determined vehicle position;
获取模块,用于获取目标路段对应的第一高精地图数据;The acquisition module is used to obtain the first high-precision map data corresponding to the target road section;
更新模块,用于基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新,其中,存储区域中存储的高精地图数据用于被智能驾驶模块调用。An update module, configured to update the second high-precision map data stored in the storage area based on the first high-precision map data, wherein the high-precision map data stored in the storage area is used to be called by the intelligent driving module.
第三方面,本申请实施例提供了一种地图数据获取设备,所述地图数据获取设备包括处理器、存储器、以及存储在所述存储器上并可被所述处理器执行的地图数据获取程序,其中所述地图数据获取程序被所述处理器执行时,实现如第一方面所述的地图数据获取方法的步骤。In a third aspect, embodiments of the present application provide a map data acquisition device. The map data acquisition device includes a processor, a memory, and a map data acquisition program stored on the memory and executable by the processor. When the map data acquisition program is executed by the processor, the steps of the map data acquisition method described in the first aspect are implemented.
第四方面,本申请实施例提供了一种计算机可读存储介质,所述计算机可读存储介质上存储有地图数据获取程序,其中所述地图数据获取程序被处理器执行时,实现如第一方面所述的地图数据获取方法的步骤。In a fourth aspect, embodiments of the present application provide a computer-readable storage medium. A map data acquisition program is stored on the computer-readable storage medium. When the map data acquisition program is executed by a processor, the first step is implemented. The steps of the map data acquisition method described in this aspect.
本申请实施例提供的技术方案带来的有益效果包括:The beneficial effects brought by the technical solutions provided by the embodiments of this application include:
本申请实施例中,按照预设时间间隔确定车辆位置;针对每次确定的车辆位置,基于车辆位置确定目标路段;获取目标路段对应的第一高精地图数据;基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新,其中,存储区域中存储的高精地图数据用于被智能驾驶模块调用。通过本申请本实施例,存储区域中存储的高精地图数据仅与车辆位置对应的目标路段相关,大大缩减了存储区域中存储的高精地图数据的数据量,在此基础上,智能驾驶模块对其进行调用时,数据处理压力较小,从而减少了算力资源的消耗。In the embodiment of the present application, the vehicle position is determined according to a preset time interval; for each vehicle position determined, the target road section is determined based on the vehicle position; the first high-precision map data corresponding to the target road section is obtained; based on the first high-precision map data The second high-precision map data stored in the storage area is updated, wherein the high-precision map data stored in the storage area is used to be called by the intelligent driving module. Through this embodiment of the present application, the high-precision map data stored in the storage area is only related to the target road section corresponding to the vehicle position, which greatly reduces the amount of high-precision map data stored in the storage area. On this basis, the intelligent driving module When it is called, the data processing pressure is less, thereby reducing the consumption of computing resources.
附图说明Description of drawings
图1为本申请地图数据获取方法一实施例的流程示意图;Figure 1 is a schematic flow chart of an embodiment of the map data acquisition method of the present application;
图2为本申请地图数据获取方法一实施例中行驶场景示意图;FIG2 is a schematic diagram of a driving scene in an embodiment of a method for acquiring map data of the present application;
图3为本申请地图数据获取方法另一实施例中行驶场景示意图;Figure 3 is a schematic diagram of a driving scene in another embodiment of the map data acquisition method of the present application;
图4为本申请地图数据获取装置一实施例的功能模块示意图;Figure 4 is a functional module schematic diagram of an embodiment of the map data acquisition device of the present application;
图5为本申请实施例方案中涉及的地图数据获取设备的硬件结构示意图。Figure 5 is a schematic diagram of the hardware structure of the map data acquisition device involved in the embodiment of the present application.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本申请方案,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。In order to enable those in the technical field to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only These are part of the embodiments of this application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.
为使本申请的目的、技术方案和优点更加清楚,下面将结合附图对本申请实施方式作进一步地详细描述。In order to make the objectives, technical solutions and advantages of the present application more clear, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.
第一方面,本申请实施例提供一种地图数据获取方法。In the first aspect, embodiments of the present application provide a method for obtaining map data.
一实施例中,参照图1,图1为本申请地图数据获取方法一实施例的流程示意图。如图1所示,地图数据获取方法包括:In one embodiment, referring to FIG. 1 , FIG. 1 is a flow chart of an embodiment of a method for obtaining map data of the present application. As shown in FIG. 1 , the method for obtaining map data includes:
步骤S10,按照预设时间间隔确定车辆位置;Step S10, determine the vehicle position according to a preset time interval;
本实施例中,预设时间间隔根据实际需要进行设置,例如设置为3分钟、5分钟或10分钟等。In this embodiment, the preset time interval is set according to actual needs, for example, set to 3 minutes, 5 minutes, or 10 minutes.
预设时间间隔以5分钟为例,考虑到高精地图数据是用于支持智能驾驶功能,则在启动智能驾驶功能时获取车辆位置,后续,每隔5分钟,获取一次车辆位置。Taking the preset time interval of 5 minutes as an example, considering that the high-precision map data is used to support the intelligent driving function, the vehicle position is obtained when the intelligent driving function is started, and subsequently, the vehicle position is obtained every 5 minutes.
其中,每次确定车辆位置时,可通过融合定位技术、组合导航定位技术或RTK定位技术中任一种确定车辆位置。Each time the vehicle position is determined, the vehicle position may be determined by any one of fusion positioning technology, combined navigation positioning technology or RTK positioning technology.
进一步地,还可以是优先通过融合定位技术确定车辆位置,在无法通过融合定位技术进行定位时,通过组合导航定位技术确定车辆位置,在无法通过组合导航定位技术进行定位时,通过RTK定位技术确定车辆位置。Furthermore, it is also possible to give priority to determining the vehicle position through the fused positioning technology. When the positioning cannot be performed through the fused positioning technology, the vehicle position is determined through the integrated navigation and positioning technology. When the positioning cannot be performed through the integrated navigation and positioning technology, the vehicle position is determined through the RTK positioning technology. vehicle location.
需要说明的是,确定车辆位置所使用的方案不限于上述方式。It should be noted that the solution used to determine the vehicle location is not limited to the above method.
步骤S20,针对每次确定的车辆位置,基于车辆位置确定目标路段;Step S20, for each determined vehicle position, determine the target road segment based on the vehicle position;
本实施例中,参照上述说明,随着时间增长,会依次获取多个车辆位置,例如,分别记作车辆位置1、车辆位置2、车辆位置3,以此类推。In this embodiment, referring to the above description, as time goes by, multiple vehicle locations will be acquired sequentially, for example, respectively recorded as vehicle location 1, vehicle location 2, vehicle location 3, and so on.
容易理解的是,随着车辆位置的变动,车辆所处的路段和车辆周边的路段可能会发生变化,而只有这些路段是车辆正在或可能途经的,因此,可基于车辆位置确定车辆正在途经和/或可能途径的路段,并以这些路段作为目标路段。It is easy to understand that as the position of the vehicle changes, the road segment where the vehicle is located and the road segments surrounding the vehicle may change, and only these road segments are or may be passed by the vehicle. Therefore, it can be determined based on the vehicle position that the vehicle is passing and /or possible road segments, and use these road segments as target road segments.
进一步地,一实施例中,所述目标路段为车辆位置所处的路段。Furthermore, in one embodiment, the target road section is the road section where the vehicle is located.
本实施例中,容易理解的是,高精地图数据是用于车辆导航的,而车辆导航需要基于车辆行驶的路段进行,因此,可直接以车辆位置所处的路段作为目标路段,从而获取目标路段对应的第一高精地图数据。In this embodiment, it is easy to understand that the high-precision map data is used for vehicle navigation, and vehicle navigation needs to be based on the road section where the vehicle is traveling. Therefore, the road section where the vehicle position is located can be directly used as the target road section to obtain the target. The first high-precision map data corresponding to road segments.
进一步地,一实施例中,所述基于车辆位置确定目标路段的步骤包括:Further, in one embodiment, the step of determining the target road segment based on the vehicle position includes:
确定车辆位置所处的第一路段;Determine the first road segment where the vehicle position is located;
检测车辆位置与第一路段的终点的距离是否小于预设距离;Detecting whether the distance between the vehicle position and the end point of the first road section is less than a preset distance;
若车辆位置与第一路段的终点的距离小于预设距离,则以第一路段以及与所述第一路段邻接的路段为目标路段;If the distance between the vehicle position and the end point of the first road segment is less than the preset distance, then the first road segment and the road segments adjacent to the first road segment are used as the target road segment;
若车辆位置与第一路段终点的距离不小于预设距离,则检测是否存在起点与所述车辆位置的距离小于预设距离的第二路段;If the distance between the vehicle position and the end point of the first road section is not less than the preset distance, detecting whether there is a second road section whose starting point and the vehicle position have a distance less than the preset distance;
若存在第二路段,则以第一路段以及第二路段为目标路段。If there is a second road segment, the first road segment and the second road segment are used as the target road segments.
本实施例中,参照图2,图2为本申请地图数据获取方法一实施例中行驶场景示意图。如图2所示,车辆位置(图2中的A点)所处的第一路段为路段1,在图2中以实线展示;若此时车辆位置与路段1的终点(图2中的B点)的距离小于预设距离,则以路段1以及与路段1邻接的路段(即路段2,图2中以虚线展示)为目标路段。In this embodiment, refer to FIG. 2 , which is a schematic diagram of a driving scene in an embodiment of the map data acquisition method of the present application. As shown in Figure 2, the first road section where the vehicle position (point A in Figure 2) is located is road section 1, which is shown as a solid line in Figure 2; if the vehicle position at this time is the same as the end point of road section 1 (point A in Figure 2 If the distance from point B) is less than the preset distance, then road segment 1 and the road segment adjacent to road segment 1 (i.e., road segment 2, shown with a dotted line in Figure 2) are the target road segments.
容易理解的是,与路段1邻接的路段可能有多条,则以路段1以及所有与路段1邻接的路段为目标路段。It is easy to understand that there may be multiple road segments adjacent to road segment 1, so road segment 1 and all road segments adjacent to road segment 1 are the target road segments.
其中,预设距离根据实际需要进行设置,例如设置为200m、500m等,此处不作限制。The preset distance is set according to actual needs, for example, 200m, 500m, etc., and is not limited here.
通过本实施例,以车辆位置所处的第一路段以及与第一路段邻接的路段为目标路段,从而获取目标路段对应的第一高精地图数据,从而得到了车辆在合流、汇入场景时所需要的高精地图数据。Through this embodiment, the first road section where the vehicle is located and the road sections adjacent to the first road section are used as the target road section, thereby obtaining the first high-precision map data corresponding to the target road section, thereby obtaining the information when the vehicle is merging and merging into the scene. The required high-precision map data.
参照图3,图3为本申请地图数据获取方法另一实施例中行驶场景示意图。如图3所示,车辆位置(图3中的A点)所处的第一路段为路段1,在图3中以实线展示;若此时车辆位置与路段1的终点(图3中的B点)的距离不小于预设距离,且路段2(在图3中以虚线展示)的起点(图3中的C点)与车辆位置的距离小于预设距离,则以路段1以及路段2为目标路段。Referring to Figure 3, Figure 3 is a schematic diagram of a driving scene in another embodiment of the map data acquisition method of the present application. As shown in Figure 3, the first road section where the vehicle position (point A in Figure 3) is located is road section 1, which is shown as a solid line in Figure 3; if the vehicle position at this time is different from the end point of road section 1 (point A in Figure 3 The distance between point B) is not less than the preset distance, and the distance between the starting point of road segment 2 (shown as a dotted line in Figure 3) (point C in Figure 3) and the vehicle position is less than the preset distance, then road segment 1 and road segment 2 for the target road section.
容易理解的是,起点与车辆位置的距离小于预设距离的路段可能有多条,则以路段1以及所有起点与车辆位置的距离小于预设距离的路段为目标路段。It is easy to understand that there may be multiple road segments whose distances between the starting point and the vehicle position are less than the preset distance, so road segment 1 and all road segments whose distances between the starting point and the vehicle position are less than the preset distance are the target road segments.
其中,预设距离根据实际需要进行设置,例如设置为200m、500m等,此处不作限制。The preset distance is set according to actual needs, for example, 200m, 500m, etc., and is not limited here.
通过本实施例,以第一路段以及第二路段为目标路段,从而获取目标路段对应的第一高精地图数据,从而得到了车辆在分流、汇出场景时所需要的高精地图数据。Through this embodiment, the first road section and the second road section are used as target road sections to obtain the first high-precision map data corresponding to the target road section, thereby obtaining the high-precision map data required for vehicles to divert and exit scenes.
步骤S30,获取目标路段对应的第一高精地图数据;Step S30, obtaining first high-precision map data corresponding to the target road section;
现有技术中,智能驾驶模块使用的高精地图数据往往是整个区域对应的高精地图数据,包含了整个区域中成百上千条路段的相关信息。而本实施例中,仅获取基于车辆位置确定的目标路段对应的第一高精地图数据,相较于整个区域对应的高精地图数据,在数据量上有较大程度的缩减。In the existing technology, the high-precision map data used by the intelligent driving module is often the high-precision map data corresponding to the entire area, including relevant information of hundreds or thousands of road sections in the entire area. In this embodiment, only the first high-precision map data corresponding to the target road section determined based on the vehicle position is obtained. Compared with the high-precision map data corresponding to the entire area, the amount of data is greatly reduced.
步骤S40,基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新,其中,存储区域中存储的高精地图数据用于被智能驾驶模块调用。Step S40: Update the second high-precision map data stored in the storage area based on the first high-precision map data, where the high-precision map data stored in the storage area is used to be called by the intelligent driving module.
本实施例中,随着智能驾驶功能的开启而开始执行步骤S10及其后续步骤,在智能驾驶功能开启时,可清空存储区域,则针对基于第一次确定的车辆位置所获取的第一高精地图数据1,在执行步骤S40时,由于此时存储区域中已存储的第二高精地图数据为空,则直接将第一高精地图数据1写入存储区域;针对第二次确定的车辆位置所获取的第一高精地图数据2,在执行步骤S40时,此时存储区域已存储的第二高精地图数据即第一高精地图数据1,则基于第一高精地图数据2对第一高精地图数据1进行更新,以此类推。In this embodiment, step S10 and its subsequent steps are executed as the smart driving function is turned on. When the smart driving function is turned on, the storage area can be cleared. Then, for the first highest value obtained based on the vehicle position determined for the first time, Precision map data 1, when step S40 is executed, since the second high-precision map data stored in the storage area is empty at this time, the first high-precision map data 1 is directly written into the storage area; for the second determined The first high-precision map data 2 obtained by the vehicle position, when step S40 is executed, the second high-precision map data stored in the storage area at this time, that is, the first high-precision map data 1, is based on the first high-precision map data 2 Update the first high-precision map data 1, and so on.
其中,更新的方式可以是将第一高精地图数据2新增至存储区域,或是以第一高精地图数据2替换第一高精地图数据1。具体根据实际需要选择更新方式。The update method may be to add the first high-precision map data 2 to the storage area, or to replace the first high-precision map data 1 with the first high-precision map data 2 . Select the update method based on actual needs.
进一步地,一实施例中,步骤S40包括:Further, in one embodiment, step S40 includes:
步骤S401,删除存储区域中已存储的第二高精地图数据;Step S401, delete the second high-precision map data stored in the storage area;
步骤S402,将第一高精地图数据写入存储区域。Step S402: Write the first high-precision map data into the storage area.
本实施例中,以替换的方式对存储区域中已存储的第二高精地图数据进行更新,具体的,先将存储区域中已存储的第二高精地图数据删除,然后将第一高精地图数据写入存储区域。In this embodiment, the second high-precision map data stored in the storage area is updated in a replacement manner. Specifically, the second high-precision map data stored in the storage area is first deleted, and then the first high-precision map data is deleted. Map data is written to the storage area.
进一步地,一实施例中,步骤S40包括:Furthermore, in one embodiment, step S40 includes:
步骤S403,确定在第一高精地图数据中存在但在存储区域中已存储的第二高精地图数据中不存在的待新增数据,确定在存储区域中已存储的第二高精地图数据中存在但在第一高精地图数据中不存在的待删除数据;Step S403, determine the data to be added that exists in the first high-precision map data but does not exist in the second high-precision map data stored in the storage area, and determine the second high-precision map data stored in the storage area. Data to be deleted that exists in but does not exist in the first high-precision map data;
步骤S404,将待删除数据从存储区域中删除,并将待新增数据写入存储区域。Step S404: Delete the data to be deleted from the storage area, and write the data to be added into the storage area.
本实施例中,假设第二高精地图数据为路段1、路段2以及路段3对应的高精地图数据,第一高精地图数据为路段2、路段3以及路段4对应的高精地图数据,则待新增数据为路段4对应的高精地图数据,待删除数据为路段1对应的高精地图数据。在此基础上,仅需将路段1对应的高精地图数据从存储区域中删除,并将路段4对应的高精地图数据写入存储区域。In this embodiment, assuming that the second high-precision map data is the high-precision map data corresponding to road section 1, road section 2, and road section 3, and the first high-precision map data is the high-precision map data corresponding to road section 2, road section 3, and road section 4, then the data to be added is the high-precision map data corresponding to road section 4, and the data to be deleted is the high-precision map data corresponding to road section 1. On this basis, it is only necessary to delete the high-precision map data corresponding to road section 1 from the storage area, and write the high-precision map data corresponding to road section 4 into the storage area.
进一步地,一实施例中,步骤S403包括:Further, in one embodiment, step S403 includes:
将第一高精地图数据包含的路段标识信息与存储区域中已存储的第二高精地图数据包含的路段标识信息进行对比;Compare the road section identification information contained in the first high-precision map data with the road section identification information contained in the second high-precision map data stored in the storage area;
以在第一高精地图数据中存在但在存储区域中已存储的第二高精地图数据中不存在的路段标识信息对应的路段信息作为待新增数据;Use the road segment information corresponding to the road segment identification information that exists in the first high-precision map data but does not exist in the second high-precision map data that has been stored in the storage area as the data to be added;
以在存储区域中已存储的第二高精地图数据中存在但在第一高精地图数据中不存在的路段标识信息对应的路段信息作为待删除数据。The road segment information corresponding to the road segment identification information that exists in the second high-precision map data stored in the storage area but does not exist in the first high-precision map data is used as the data to be deleted.
本实施例中,高精地图数据包括了路段对应的路段信息以及路段标识信息,且不同路段对应不同的路段标识信息。In this embodiment, the high-precision map data includes road section information and road section identification information corresponding to the road section, and different road sections correspond to different road section identification information.
通过将第一高精地图数据包含的路段标识信息与第二高精地图数据包含的路段标识信息进行对比,即可确定哪些路段的路段信息在第一高精地图数据中存在但在第二高精地图数据中不存在,以及哪些路段的路段信息在第二高精地图数据中存在但在第一高精地图数据中不存在,从而确定待新增数据以及待删除数据。By comparing the road section identification information contained in the first high-precision map data with the road section identification information contained in the second high-precision map data, it can be determined which road section information exists in the first high-precision map data but is not present in the second high-precision map data. The data does not exist in the high-precision map data, and which road sections have road segment information that exists in the second high-precision map data but does not exist in the first high-precision map data, thereby determining the data to be added and the data to be deleted.
具体的,可设置数组1和数组2,其中,数组1和数组2初始时均为空。当基于第一次确定的车辆位置获取到第一高精地图数据1时,将第一高精地图数据1包含的路段标识信息放入数组2,将此时数组1和数组2中的元素进行比较,从而确定待新增数据以及待删除数据,然后,以数组2中的元素替换数组1中的元素,并将数组2清空;并在基于第二次确定的车辆位置获取到第一高精地图数据2时,将第一高精地图数据2包含的路段标识信息放入数组2,将此时数组1和数组2中的元素进行比较,从而确定待新增数据以及待删除数据,然后,以数组2中的元素替换数组1中的元素,并将数组2清空,以此类推。Specifically, array 1 and array 2 may be set, wherein array 1 and array 2 are both initially empty. When the first high-precision map data 1 is obtained based on the vehicle position determined for the first time, the road section identification information contained in the first high-precision map data 1 is placed in array 2, and the elements in array 1 and array 2 are compared at this time to determine the data to be added and the data to be deleted, and then the elements in array 1 are replaced with the elements in array 2, and array 2 is cleared; and when the first high-precision map data 2 is obtained based on the vehicle position determined for the second time, the road section identification information contained in the first high-precision map data 2 is placed in array 2, and the elements in array 1 and array 2 are compared at this time to determine the data to be added and the data to be deleted, and then the elements in array 1 are replaced with the elements in array 2, and array 2 is cleared, and so on.
本申请实施例中,按照预设时间间隔确定车辆位置;针对每次确定的车辆位置,基于车辆位置确定目标路段;获取目标路段对应的第一高精地图数据;基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新,其中,存储区域中存储的高精地图数据用于被智能驾驶模块调用。通过本申请本实施例,存储区域中存储的高精地图数据仅与车辆位置对应的目标路段相关,大大缩减了存储区域中存储的高精地图数据的数据量,在此基础上,智能驾驶模块对其进行调用时,数据处理压力较小,从而减少了算力资源的消耗。In the embodiment of the present application, the vehicle position is determined at a preset time interval; for each determined vehicle position, a target road section is determined based on the vehicle position; first high-precision map data corresponding to the target road section is obtained; and second high-precision map data stored in the storage area is updated based on the first high-precision map data, wherein the high-precision map data stored in the storage area is used to be called by the intelligent driving module. Through this embodiment of the present application, the high-precision map data stored in the storage area is only related to the target road section corresponding to the vehicle position, which greatly reduces the amount of high-precision map data stored in the storage area. On this basis, when the intelligent driving module calls it, the data processing pressure is relatively small, thereby reducing the consumption of computing resources.
进一步地,一实施例中,在步骤S30之后,还包括:Further, in one embodiment, after step S30, it also includes:
对第一高精地图数据进行有效性校验;Perform validity verification on the first high-precision map data;
若有效性校验通过,则基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新。If the validity check passes, the second high-precision map data stored in the storage area is updated based on the first high-precision map data.
本实施例中,在基于任一次确定的车辆位置获取到第一高精地图数据后,首先对第一高精地图数据进行有效性校验。其中,有效性校验包括检测第一高精地图数据中是否存在完整的路段信息以及路段信息的时间戳是否有效;若存在完整的路段信息且路段信息的时间戳有效,则确定对第一高精地图数据的有效性校验通过,在此基础上,才进行后续基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新的步骤。In this embodiment, after the first high-precision map data is acquired based on any determined vehicle position, the first high-precision map data is firstly verified for validity. The validity verification includes detecting whether there is complete road section information in the first high-precision map data and whether the timestamp of the road section information is valid; if there is complete road section information and the timestamp of the road section information is valid, it is determined that the validity verification of the first high-precision map data has passed, and on this basis, the subsequent step of updating the second high-precision map data stored in the storage area based on the first high-precision map data is performed.
需要说明的是,对第一高精地图数据进行有效性校验还可以通过其他方式进行,在此不作限制。It should be noted that the validity verification of the first high-precision map data can also be performed through other methods, which are not limited here.
第二方面,本申请实施例还提供一种地图数据获取装置。In a second aspect, an embodiment of the present application also provides a map data acquisition device.
一实施例中,参照图4,图4为本申请地图数据获取装置一实施例的功能模块示意图。如图4所示,地图数据获取装置包括:In one embodiment, refer to FIG. 4 , which is a functional module schematic diagram of an embodiment of the map data acquisition device of the present application. As shown in Figure 4, the map data acquisition device includes:
位置确定模块10,用于按照预设时间间隔确定车辆位置;The position determination module 10 is used to determine the vehicle position according to a preset time interval;
路段确定模块20,用于针对每次确定的车辆位置,基于车辆位置确定目标路段;The road segment determination module 20 is used to determine the target road segment based on the vehicle position for each determined vehicle position;
获取模块30,用于获取目标路段对应的第一高精地图数据;The acquisition module 30 is used to acquire the first high-precision map data corresponding to the target road section;
更新模块40,用于基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新,其中,存储区域中存储的高精地图数据用于被智能驾驶模块调用。The updating module 40 is used to update the second high-precision map data stored in the storage area based on the first high-precision map data, wherein the high-precision map data stored in the storage area is used to be called by the intelligent driving module.
进一步地,一实施例中,所述目标路段为车辆位置所处的路段。Further, in one embodiment, the target road segment is the road segment where the vehicle position is located.
进一步地,一实施例中,路段确定模块20,具体用于:Furthermore, in one embodiment, the road section determination module 20 is specifically configured to:
确定车辆位置所处的第一路段;Determine a first road section where the vehicle is located;
检测车辆位置与第一路段的终点的距离是否小于预设距离;Detecting whether the distance between the vehicle position and the end point of the first road section is less than a preset distance;
若车辆位置与第一路段的终点的距离小于预设距离,则以第一路段以及与所述第一路段邻接的路段为目标路段;If the distance between the vehicle position and the end point of the first road segment is less than the preset distance, then the first road segment and the road segments adjacent to the first road segment are used as the target road segment;
若车辆位置与第一路段终点的距离不小于预设距离,则检测是否存在起点与所述车辆位置的距离小于预设距离的第二路段;If the distance between the vehicle position and the end point of the first road section is not less than the preset distance, detecting whether there is a second road section whose starting point and the vehicle position have a distance less than the preset distance;
若存在第二路段,则以第一路段以及第二路段为目标路段。If there is a second road segment, the first road segment and the second road segment are used as the target road segments.
进一步地,一实施例中,更新模块40,具体用于:Further, in one embodiment, the update module 40 is specifically used for:
删除存储区域中已存储的第二高精地图数据;Delete the second high-precision map data stored in the storage area;
将第一高精地图数据写入存储区域。Write the first high-precision map data into the storage area.
进一步地,一实施例中,更新模块40,具体用于:Further, in one embodiment, the update module 40 is specifically used for:
确定在第一高精地图数据中存在但在存储区域中已存储的第二高精地图数据中不存在的待新增数据,确定在存储区域中已存储的第二高精地图数据中存在但在第一高精地图数据中不存在的待删除数据;Determine the data to be added that exists in the first high-precision map data but does not exist in the second high-precision map data stored in the storage area, and determine that it exists but does not exist in the second high-precision map data stored in the storage area. Data to be deleted that does not exist in the first high-precision map data;
将待删除数据从存储区域中删除,并将待新增数据写入存储区域。Delete the data to be deleted from the storage area and write the data to be added to the storage area.
进一步地,一实施例中,更新模块40,具体用于:Further, in one embodiment, the update module 40 is specifically configured to:
将第一高精地图数据包含的路段标识信息与存储区域中已存储的第二高精地图数据包含的路段标识信息进行对比;Compare the road section identification information contained in the first high-precision map data with the road section identification information contained in the second high-precision map data stored in the storage area;
以在第一高精地图数据中存在但在存储区域中已存储的第二高精地图数据中不存在的路段标识信息对应的路段信息作为待新增数据;Use the road segment information corresponding to the road segment identification information that exists in the first high-precision map data but does not exist in the second high-precision map data that has been stored in the storage area as the data to be added;
以在存储区域中已存储的第二高精地图数据中存在但在第一高精地图数据中不存在的路段标识信息对应的路段信息作为待删除数据。The road segment information corresponding to the road segment identification information that exists in the second high-precision map data stored in the storage area but does not exist in the first high-precision map data is used as the data to be deleted.
进一步地,一实施例中,地图数据获取装置还包括校验模块,用于:Further, in one embodiment, the map data acquisition device further includes a verification module for:
对第一高精地图数据进行有效性校验;Perform validity verification on the first high-precision map data;
更新模块40,还用于若有效性校验通过,则基于第一高精地图数据对存储区域中已存储的第二高精地图数据进行更新。The update module 40 is also configured to update the second high-precision map data stored in the storage area based on the first high-precision map data if the validity check is passed.
其中,上述地图数据获取装置中各个模块的功能实现与上述地图数据获取方法实施例中各步骤相对应,其功能和实现过程在此处不再一一赘述。The functional implementation of each module in the above-mentioned map data acquisition device corresponds to each step in the above-mentioned map data acquisition method embodiment, and its functions and implementation processes are not described one by one here.
第三方面,本申请实施例提供一种地图数据获取设备,地图数据获取设备可以是个人计算机(personal computer,PC)、笔记本电脑、服务器等具有数据处理功能的设备。In a third aspect, embodiments of the present application provide a map data acquisition device. The map data acquisition device may be a personal computer (PC), laptop, server, or other device with data processing functions.
参照图5,图5为本申请实施例方案中涉及的地图数据获取设备的硬件结构示意图。本申请实施例中,地图数据获取设备可以包括处理器、存储器、通信接口以及通信总线。Referring to Figure 5, Figure 5 is a schematic diagram of the hardware structure of the map data acquisition device involved in the embodiment of the present application. In this embodiment of the present application, the map data acquisition device may include a processor, a memory, a communication interface, and a communication bus.
其中,通信总线可以是任何类型的,用于实现处理器、存储器以及通信接口互连。The communication bus can be of any type and is used to interconnect processors, memories and communication interfaces.
通信接口包括输入/输出(input/output,I/O)接口、物理接口和逻辑接口等用于实现地图数据获取设备内部的器件互连的接口,以及用于实现地图数据获取设备与其他设备(例如其他计算设备或用户设备)互连的接口。物理接口可以是以太网接口、光纤接口、ATM接口等;用户设备可以是显示屏(Display)、键盘(Keyboard)等。The communication interface includes input/output (I/O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the map data acquisition device, and the interface used to realize the interconnection between the map data acquisition device and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.
存储器可以是各种类型的存储介质,例如随机存取存储器(randomaccessmemory,RAM)、只读存储器(read-only memory,ROM)、非易失性RAM(non-volatileRAM,NVRAM)、闪存、光存储器、硬盘、可编程ROM(programmable ROM,PROM)、可擦除PROM(erasable PROM,EPROM)、电可擦除PROM(electrically erasable PROM,EEPROM)等。Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory , hard disk, programmable ROM (PROM), erasable PROM (erasable PROM, EPROM), electrically erasable PROM (electrically erasable PROM, EEPROM), etc.
处理器可以是通用处理器,通用处理器可以调用存储器中存储的地图数据获取程序,并执行本申请实施例提供的地图数据获取方法。例如,通用处理器可以是中央处理器(central processing unit,CPU)。其中,地图数据获取程序被调用时所执行的方法可参照本申请地图数据获取方法的各个实施例,此处不再赘述。The processor may be a general-purpose processor, and the general-purpose processor may call the map data acquisition program stored in the memory and execute the map data acquisition method provided by the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). For the method executed when the map data acquisition program is called, reference may be made to various embodiments of the map data acquisition method of the present application, and will not be described again here.
本领域技术人员可以理解,图5中示出的硬件结构并不构成对本申请的限定,可以包括比图示更多或更少的部件,或者组合某些部件,或者不同的部件布置。Those skilled in the art can understand that the hardware structure shown in Figure 5 does not constitute a limitation of the present application, and may include more or fewer components than shown, or combine certain components, or arrange different components.
第四方面,本申请实施例还提供一种计算机可读存储介质。In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium.
本申请计算机可读存储介质上存储有地图数据获取程序,其中所述地图数据获取程序被处理器执行时,实现如上述的地图数据获取方法的步骤。A map data acquisition program is stored on the computer-readable storage medium of the present application. When the map data acquisition program is executed by a processor, the steps of the above map data acquisition method are implemented.
其中,地图数据获取程序被执行时所实现的方法可参照本申请地图数据获取方法的各个实施例,此处不再赘述。The method implemented when the map data acquisition program is executed can refer to the various embodiments of the map data acquisition method of the present application, and will not be repeated here.
需要说明的是,上述本申请实施例序号仅仅为了描述,不代表实施例的优劣。It should be noted that the above serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.
本申请的说明书和权利要求书及上述附图中的术语“包括”和“具有”以及它们任何变形,意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元,而是可选地还包括没有列出的步骤或单元,或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。术语“第一”、“第二”和“第三”等描述,是用于区分不同的对象等,其不代表先后顺序,也不限定“第一”、“第二”和“第三”是不同的类型。The terms "including" and "having" and any variations thereof in the description and claims of this application and the above-described drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes Other steps or units inherent to such processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc. They do not represent a sequence, nor do they limit "first", "second" and "third" are different types.
在本申请实施例的描述中,“示例性的”、“例如”或者“举例来说”等用于表示作例子、例证或说明。本申请实施例中被描述为“示例性的”、“例如”或者“举例来说”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。确切而言,使用“示例性的”、“例如”或者“举例来说”等词旨在以具体方式呈现相关概念。In the description of the embodiments of this application, "exemplary", "such as" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design described as "exemplary," "such as," or "for example" in the embodiments of the present application is not to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "exemplary," "such as," or "for example" is intended to present the concepts in a concrete manner.
在本申请实施例的描述中,除非另有说明,“/”表示或的意思,例如,A/B可以表示A或B;文本中的“和/或”仅仅是一种描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况,另外,在本申请实施例的描述中,“多个”是指两个或多于两个。In the description of the embodiments of this application, unless otherwise stated, "/" means or, for example, A/B can mean A or B; "and/or" in the text is just a way to describe the association of associated objects. Relationship means that there can be three relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiment of this application, " "Plural" means two or more than two.
在本申请实施例描述的一些流程中,包含了按照特定顺序出现的多个操作或步骤,但是应该理解,这些操作或步骤可以不按照其在本申请实施例中出现的顺序来执行或并行执行,操作的序号仅用于区分开各个不同的操作,序号本身不代表任何的执行顺序。另外,这些流程可以包括更多或更少的操作,并且这些操作或步骤可以按顺序执行或并行执行,并且这些操作或步骤可以进行组合。Some of the processes described in the embodiments of this application include multiple operations or steps that appear in a specific order. However, it should be understood that these operations or steps may be performed out of the order in which they appear in the embodiments of this application or in parallel. , the sequence number of the operation is only used to distinguish different operations, the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be performed sequentially or in parallel, and these operations or steps may be combined.
通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件,但很多情况下前者是更佳的实施方式。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中,包括若干指令用以使得一台终端设备执行本申请各个实施例所述的方法。Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product that is essentially or contributes to the existing technology. The computer software product is stored in a storage medium (such as ROM/RAM) as mentioned above. , magnetic disk, optical disk), including several instructions to cause a terminal device to execute the methods described in various embodiments of the present application.
以上仅为本申请的优选实施例,并非因此限制本申请的专利范围,凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本申请的专利保护范围内。The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of the present application may be directly or indirectly used in other related technical fields. , are all equally included in the patent protection scope of this application.
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