CN118168567A

CN118168567A - Map data processing method and device

Info

Publication number: CN118168567A
Application number: CN202211583956.XA
Authority: CN
Inventors: 王敏; 常陈陈
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-12-10
Filing date: 2022-12-10
Publication date: 2024-06-11

Abstract

The application discloses a processing method and a processing device of map data, which are used for converting a data format of a high-precision map into an Open Drive format so as to improve the data compatibility of the high-precision map in different automatic driving application platforms, thereby improving the use convenience of the high-precision map. The method comprises the following steps: acquiring first map data, wherein the first map data corresponds to a first format and comprises at least one of road information, lane information or position information of a target object; and determining a road reference line according to the road information and/or the lane information, and converting the first map data into second map data based on the road reference line, wherein the second map data corresponds to an Open Drive format, and the second map data is used for describing a static road traffic network.

Description

Map data processing method and device

Technical Field

The application relates to the technical field of intelligent network coupling, in particular to a map data processing method and device.

Background

High-precision maps play a vital role in vehicle positioning, vehicle navigation, and automatic driving of vehicles. Currently, the mainstream high-precision map has multiple data formats, but the data format requirements of different autopilot application platforms (such as a driving simulation test (Virtual TEST DRIVE, VTD)) on the high-precision map are different, so that different manufacturers need to convert the data format of the high-precision map when using the high-precision map.

Therefore, the data compatibility of the data format of the existing high-precision map is low, and the use requirements of different automatic driving application platforms are difficult to meet.

Disclosure of Invention

The application provides a map data processing method and device, which are used for converting a data format of a high-precision map into an Open Drive format so as to improve the data compatibility of the high-precision map in different automatic driving application platforms, thereby improving the use convenience of the high-precision map.

In a first aspect, the present application provides a map data processing method, which may be applied to a map data processing apparatus, where the map data processing apparatus may be a cloud device, a road side device, or a terminal device, where the cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server, the road side device is, for example, a road side unit, a software module, a hardware module, or a chip in the road side unit, and the terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle. The method comprises the following steps: acquiring first map data, wherein the first map data corresponds to a first format and comprises at least one of road information, lane information or position information of a target object; determining a road reference line according to the road information and/or the lane information, and converting the first map data into second map data based on the road reference line, wherein the second map data corresponds to an Open Drive format, and the second map data is used for describing a static road traffic network; and outputting the second map data.

In an embodiment of the present application, the first map data includes a detailed geographic position (e.g., coordinate information) corresponding to at least one of road information, lane information, or position information of the target object. Accordingly, the first format may be, for example, xml format or geojson format, which is not limited by the embodiment of the present application. And, the "target object" may be understood as at least one of pedestrians, vehicles, trees, buildings, or traffic signs in a map, etc.

It is understood that the Open Drive is an international format specification of the high-definition map, and the high-definition map in the Open Drive format can be applied to different autopilot application platforms. The high-precision map in the Open Drive format is used for describing elements (such as roads, lanes, intersections, etc.) in a static road traffic network (hereinafter referred to as road network), and expresses the boundary shape of the road network by adopting a curve equation and an offset manner based on a road reference line.

According to the method, the map data processing device can determine the road reference line according to the road information and/or the lane information, and convert the map data in the first format into the map data in the Open Drive format based on the road reference line, so that the data compatibility of the high-precision map in different automatic driving application platforms can be effectively improved, further, users of different automatic driving application platforms do not need to convert the data format of the high-precision map again, and the convenience in use of the high-precision map is improved.

In one possible embodiment, the map data processing device may further send the second map data to the map using device for use by the map using device. It should be noted that, in the embodiment of the present application, the transmission may be performed between devices, for example, may be performed between different cloud devices, or may be performed between different terminal devices, or may be performed between different road end devices. The method can be carried out between the cloud device and the terminal device, between the cloud device and the road end device, and between the terminal device and the road end device. As another example, it may be performed within the device, for example, by sending between components within the device, between modules, between chips, or between modules via a bus or interface. For example, the second map data may be sent in the same cloud device, in the same terminal device, or in the same road-side device. The map using device may be a cloud device, a road end device or a terminal device, where the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, the road end device is, for example, a road side unit, a software module, a hardware module or a chip in the road side unit, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle. The map data processing device and the map data processing device may be disposed on the same device or may be disposed on different devices, and the present application is not limited thereto.

In one possible implementation, the coordinate system in which the road reference line is located is a second coordinate system; the position information of the target object includes a first coordinate of the target object in the first coordinate system, the road information includes a second coordinate of the first road in the first coordinate system, and the lane information includes a third coordinate of the first lane in the first coordinate system; accordingly, the map data processing apparatus converts the first map data into the second map data based on the road reference line, including: and mapping at least one of the first coordinate, the second coordinate or the third coordinate into a second coordinate system based on the road reference line to obtain second map data. It is understood that the second coordinate system corresponds to the Open Drive format, and may be, for example, an s-t coordinate system. In this way, the map data processing device converts the coordinates of at least one of the target object, the road or the lane in the first coordinate system into the second coordinate system based on the road reference line, and flexible conversion of the data format of the high-precision map can be realized.

In one possible embodiment, the road reference line includes a geometric line set including one or more of a cubic polynomial curve, a parametric cubic polynomial curve, a straight line, a spiral line, or an arc line; accordingly, the map data processing apparatus maps the second coordinates into the second coordinate system based on the road reference line, including: and fitting or interpolating the elevation curve and/or the elevation curve of the first road based on the geometric line set and the second coordinates. In embodiments, various implementations of road reference lines are provided such that elevation curves and/or elevation curves of a road may be flexibly fitted or interpolated.

In one possible embodiment, when the road information indicates a left edge line of a first road, the road reference line is the left edge line; or when the road information indicates that the first road comprises a first lane and the lane information indicates that the first lane is the leftmost lane of the first road, the road reference line is a center line or an edge line of the first lane.

In one possible embodiment, the road information indicates a first road and a second road; determining the road reference line according to the road information, including: interpolation processing is carried out on a plurality of sampling points of the first road to obtain a first reference line; interpolation processing is carried out on a plurality of sampling points of the second road to obtain a second reference line; and smoothly connecting the first reference line and the second reference line through a Bezier curve to obtain the road reference line. In the embodiment, the reference lines of the two roads are smoothly connected through the Bezier curve, so that the determined road reference lines are accurate.

In one possible embodiment, the road information indicates a first intersection, the method further comprising: the map data processing device determines the road relation of the first intersection by judging whether the road connected front and back of each road associated with the first intersection belongs to the inner road of the first intersection, and the road relation of the first intersection is used for describing the road structure associated with the first intersection. In this embodiment, the data processing apparatus implements road relation sorting at the first intersection according to the road connected to each road associated with the first intersection.

In one possible embodiment, the road information indicates a first road and a second road, the lane information indicates that the first road includes a first set of lanes, and indicates that the second road includes a second set of lanes. Correspondingly, the map data processing device can also combine corresponding same lanes in the first lane set and the second lane set; and/or deleting the lanes in the first lane set, which do not correspond to any lane in the second lane set. In this way, a combing of lane relationships can be achieved.

In the embodiment of the application, in order to make the data format conversion to obtain the second map data more accurate, special conditions of the lane need to be processed, and the following conditions are described:

Case 1, the first lane set includes a first lane and a second lane; if the first lane is adjacent to the second lane and a gap region exists between the first lane and the second lane, the map data processing device generates a third lane at the gap region.

In case 1, generating a new lane for the gap region can make lane division in the road relationship clearer.

2, If the first lane and the second lane intersect, a virtual boundary of the second lane exists in an intersection area between the first lane and the second lane, and the map data processing device deletes the virtual boundary; or, the virtual boundary of the second road does not exist in the crossing area between the first lane and the second road, the map data processing device establishes a third road, and the second road is split into the third road.

In case 2, lane combing is performed for the intersection region of the first lane and the second lane, so that lane division in the road relationship can be made clearer.

In one possible embodiment, the map data processing device may further acquire a first parameter input by the user, the first parameter being used to indicate at least one of a center point coordinate, a lateral length, or a longitudinal length of the target map; and processing the second map data based on the first parameter to generate a target map. In this embodiment, the map data processing apparatus may acquire a first parameter input by the user and generate a target map satisfying the user's demand based on the first parameter.

In a second aspect, the present application provides a map data processing apparatus. Illustratively, the apparatus includes:

an acquisition unit configured to acquire first map data corresponding to a first format, the first map data including at least one of road information, lane information, or position information of a target object; the processing unit is used for determining a road reference line according to the road information and/or the lane information; and converting the first map data into second map data based on the road reference line; an output unit configured to output the second map data; the second map data corresponds to an Open Drive format, and the second map data is used for describing a static road traffic network.

In a possible embodiment, the map data processing device further comprises an output unit for outputting the second map data.

In one possible implementation, the coordinate system in which the road reference line is located is a second coordinate system; the position information of the target object includes a first coordinate of the target object in the first coordinate system, the road information includes a second coordinate of the first road in the first coordinate system, and the lane information includes a third coordinate of the first lane in the first coordinate system; the processing unit is specifically configured to, when configured to convert the first map data into second map data based on the road reference line: and mapping at least one of the first coordinate, the second coordinate or the third coordinate into a second coordinate system based on the road reference line to obtain second map data. It is understood that the second coordinate system corresponds to the Open Drive format, and may be, for example, an s-t coordinate system.

In one possible embodiment, the road reference line comprises a set of geometric lines comprising one or more of a cubic polynomial curve, a parametric cubic polynomial curve, a straight line, a spiral line, or an arc line; the processing unit is specifically configured to: and fitting or interpolating the elevation curve and/or the elevation curve of the first road based on the geometric line set and the second coordinates.

In a possible embodiment, the processing unit is specifically configured to, when determining the road reference line according to the road information and/or the lane information: when the road information indicates a left edge line of the first road, determining the left edge line as a road reference line; or when the road information indicates that the first road comprises the first road and the lane information indicates that the first lane is the leftmost lane of the first road, determining the center line or the edge line of the first lane as the road reference line.

In another possible embodiment, the road information indicates a first road and a second road; the processing unit is specifically configured to: interpolation processing is carried out on a plurality of sampling points of the first road to obtain a first reference line; interpolation processing is carried out on a plurality of sampling points of the second road to obtain a second reference line; and smoothly connecting the first reference line and the second reference line through a Bezier curve to obtain the road reference line.

In a possible implementation manner, the road information indicates a first intersection, and the processing unit is specifically configured to: and determining the road relation of the first intersection by judging whether the road connected front and back of each road associated with the first intersection belongs to the inner road of the first intersection, wherein the road relation of the first intersection is used for describing the road structure associated with the first intersection.

In one possible embodiment, the road information indicates a first road and a second road, the lane information indicates that the first road includes a first set of lanes, and the second road includes a second set of lanes; the processing unit is further configured to: merging corresponding identical lanes in the first lane set and the second lane set; and/or deleting the lanes in the first lane set, which do not correspond to any lane in the second lane set.

In one possible embodiment, the first set of lanes includes a first lane and a second lane; the processing unit is further configured to: generating a third lane at a gap region between the first lane and the second lane when the first lane and the second lane are adjacent and the gap region exists between the first lane and the second lane; or deleting the virtual boundary when the first lane and the second lane intersect and the intersection area of the first lane and the second lane has the virtual boundary of the second lane; or when the first lane and the second lane cross and the virtual boundary of the second lane does not exist in the crossing area of the first lane and the second lane, a third road is newly built, and the second lane is split into the third road.

In a possible embodiment, the obtaining unit is further configured to: acquiring a first parameter input by a user, wherein the first parameter is used for indicating at least one of center point coordinates, transverse length or longitudinal length of a target map; the processing unit is further configured to: and processing the second map data based on the first parameter to generate the target map.

In a third aspect, the present application provides a map data processing apparatus comprising a processor and a communication interface for receiving signals from other communication apparatuses than the map data processing apparatus and transmitting signals from the processor to the processor or transmitting signals from the processor to the other communication apparatuses than the map data processing apparatus; the processor is configured to implement the method as described in the first aspect and any possible implementation manner of the first aspect by logic circuits or executing code instructions.

In a fourth aspect, the present application provides a map data processing device comprising a processor and a memory, the memory storing a computer program, the processor running the computer program to implement a method as described in the first aspect and any possible implementation manner of the first aspect.

In a fifth aspect, the present application provides a vehicle comprising the map data processing device according to any one of the designs of the second aspect.

In a sixth aspect, the present application provides a server comprising the map data processing device according to any one of the designs of the second aspect.

In a seventh aspect, the present application provides a chip, which may include a processor and an interface, the processor being configured to read instructions through the interface to perform a method according to any one of the above first aspect and any one of the possible implementation manners of the first aspect.

In an eighth aspect, the present application provides a computer readable storage medium storing a computer program, which when executed, implements a method as described in the first aspect and any possible implementation manner of the first aspect.

In a ninth aspect, the application provides a computer program product for implementing a method according to any one of the above-mentioned first aspect and any one of the possible implementation manners of the first aspect, when said computer program product is run on a processor.

The beneficial effects of each of the designs in the second aspect to the ninth aspect are specifically referred to the technical effects that can be achieved by the corresponding designs in the first aspect or the second aspect, and the detailed description is not repeated here.

Descriptions such as "at least one of A, B and C" in embodiments of the present application should be understood to be used either A, B or C alone, or as part or all of A, B and C in any combination.

Drawings

FIG. 1 illustrates a schematic diagram of one possible system architecture to which embodiments of the present application may be applied;

fig. 2 is a flow chart illustrating a map data processing method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of determining a road reference line according to an embodiment of the present application;

FIG. 4 is a schematic diagram of coordinate system transformation in an embodiment of the present application;

fig. 5 is a schematic diagram of a high-precision map according to an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a road relationship determination of a first intersection according to an embodiment of the present application;

FIG. 7 is a schematic diagram of lane relation combing in an embodiment of the application;

FIG. 8 is a schematic view of a scenario in which there is a gap region between lanes in an embodiment of the present application;

FIG. 9 is a schematic view of a lane crossing scenario in an embodiment of the present application;

FIG. 10 is a schematic view of a road relationship combing scenario in an embodiment of the present application;

FIG. 11 is a schematic view of a map slice in an embodiment of the present application;

FIG. 12 is a schematic diagram of a map data processing device according to an embodiment of the present application;

fig. 13 is a second schematic diagram of a map data processing device according to an embodiment of the application.

Detailed Description

In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, "at least one (individual) of a, b, or c" may mean: { a, b, c, a and b, a and c, b and c, a and b and c }. "at least one (a)," of a, b, and c has the same meaning as "at least one (a)," of a, b, or c, "that is, may also mean: { a, b, c, a and b, a and c, b and c, a and b and c }.

And, unless otherwise specified, references to "first," "second," etc. ordinal words of embodiments of the present application are used for distinguishing between multiple objects and not for defining a sequence, timing, priority, or importance of the multiple objects. For example, the first position information and the second position information are only for distinguishing different position information, and are not indicative of the difference in priority, importance, or the like of the two position information.

The following explains some terms related to the embodiments of the present application for easy understanding.

1) A map refers to an electronic map in the form of electronic data, and the map includes a large amount of road section information (such as the level, type, etc. of road sections) which are mutually communicated and other related information.

The road level map can only provide road level navigation information and meets the navigation requirement of a driving route. For example, a road level map may provide navigation information for a current road with several lanes, speed limit information, turn information, route planning, and the like.

Vector maps, such as open source vector maps, include road-level information. The road-level information can provide navigation information for users, and the navigation requirements of driving routes are met. For example, the road-level information may include, but is not limited to, at least one of the number of lanes of the current road, speed limit information of the current road, or turn information.

The high-precision map, also called a high-precision map, includes road-level information and lane-level information. The lane-level information is used for indicating information of lanes in the road network environment, such as lane curvature, lane heading, lane central axis, lane width, lane marking, lane speed limit, lane segmentation, lane merging and the like. In addition, lane line conditions (broken line, solid line, single line, and double line) between lanes, lane line colors (white, yellow), road spacers, spacer materials, road arrows, text contents, positions, and the like may also be included in the lane-level information. Wherein, the high-precision map can be divided into two levels: static high-precision maps and dynamic high-precision maps. The static high-precision map is at the bottom and is generally composed of three vector information of a lane model containing semantic information, a road component (Object), a road attribute, and a feature (feature) layer for multi-sensor positioning. The dynamic high-precision map is built on the basis of the static high-precision map and mainly comprises real-time dynamic information, and not only is information of other traffic participants (such as road congestion conditions, construction conditions, whether traffic accidents exist, traffic control conditions, weather conditions and the like) but also information of the traffic participants (such as traffic lights, crosswalks and the like).

2) The format specification of the high-precision map is used for describing the rules of the high-precision map completely. Some formats (for example, xml format or geojson format) of high-precision map describe road information, lane information, and position information of a target object in the high-precision map based on a global coordinate system. The Open Drive is an international general format specification of the high-precision map, and can be used for describing contents such as roads, lanes, intersections and the like in a static road traffic network (hereinafter referred to as road network), and expresses the boundary shape of the road network in a curve equation and offset manner based on a road reference line.

Among these map elements in the Open Drive format include, but are not limited to: a target object (object), a road (road) element, a road connection (link) element, a reference line (planView) element, an elevation (elevation) element, an elevation (superelevation) element, a lane (line) element, an intersection (Junction) element, and the like.

The target object may be understood as a person and/or an object (e.g., a road sign, a signpost, a height-limiting sign, a ground sign, a signal light, etc.) in the Open Drive map.

Wherein a Road (Road) element is used to describe Road information in the Open Drive map. Attributes corresponding to Road (Road) elements include, but are not limited to: the name (name) of the road, which is used to describe the road as XX street XX road. The length (length) of the road is used to describe the specific length of the road, which is not affected by the elevation. A road Identification (ID) defines a unique Identification of the road. Road type (type) for describing the type of road. Road rules (rule) for marking the basic rules for using the road.

The road connection element is used for describing the connection relation of the road. Attributes corresponding to road connection elements include, but are not limited to: a front link (predecessor), a rear link (successor), and a connection point (contact point). That is, the element is a preceding road and a following road marking the road, so that the connection relationship of the road is clarified. The connection condition includes two kinds: one is a road connection road, so that a front road and a rear road of the current road can be judged directly through the front-rear connection relationship of the current road. The other is a road junction intersection, so the road relationship of the current road at the intersection needs to be combined with the front-rear junction relationship of the current road and the intersection to determine the inner road and the outer road of the intersection.

Wherein the reference line element is used to indicate a road reference line in the Open Drive format high-precision map, and the reference line (planView) element includes a set of geometric lines.

The elevation element is used for describing the elevation change of the road in the same direction of the s axis in the road reference line, namely the fluctuation of the road.

The elevation element is used for describing the change of the road in the same direction of the t axis in the road reference line, namely the transverse slope and the longitudinal slope of the road.

Wherein, the lane element is used for describing the lane in the road. Attributes corresponding to lane elements include, but are not limited to: the id of the lane is used for uniquely identifying the lane. Lane type, which describes the type of lane (e.g., driving lane, sidewalk, etc.). Lane level (level) is a flag for identifying whether the lane adopts an elevation, if the lane level (level) is true, i.e. the lane keeps the level, otherwise the lane adopts the elevation.

The intersection element is used for describing an intersection in the Open Drive format high-precision map.

Because the data format types of the high-precision map are more, different manufacturers need to convert the data format of the high-precision map when using the high-precision map so as to meet the requirement of using the high-precision map. Therefore, the data compatibility of the data format of the existing high-precision map is low, and the use requirements of different automatic driving application platforms are difficult to meet.

In view of the above, the present application provides a map data processing method and apparatus for converting a data format of a high-precision map into an Open Drive format, so as to improve data compatibility of the high-precision map in different autopilot application platforms, thereby improving convenience of use of the high-precision map. The method comprises the following steps: acquiring first map data, wherein the first map data corresponds to a first format and comprises at least one of road information, lane information or position information of a target object; determining a road reference line according to the road information and/or the lane information, and converting the first map data into second map data based on the road reference line; and outputting the second map data. The second map data corresponds to an Open Drive format, and the second map data is used to describe a static road traffic network.

It should be noted that, the scheme in the embodiment of the application can be applied to the internet of vehicles, such as V2X, long term evolution technology (long term evolution-vehicle, LTE-V), vehicle-vehicle (vehicle to vehicle, V2V), and the like. For example, the present application can be applied to a vehicle having a map processing or map using function, or other devices having a map processing or map using function in the vehicle. Such other devices include, but are not limited to: the method provided by the application can be implemented by other sensors such as the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the vehicle-mounted camera. For example, the map may be used for a device for map use functions to implement traffic services. The traffic service of the embodiment of the application can be various automatic driving and auxiliary driving services, such as: and path planning and driving risk early warning for manual driving are provided. The above traffic is by way of example only.

Of course, the solution in the embodiment of the present application may also be used in or provided in other devices with map functions than vehicles. The device with the map function can be an intelligent terminal or a server. The intelligent terminal can be intelligent transportation equipment, intelligent household equipment, robots and the like. Such as, but not limited to, a smart terminal or other sensor such as a controller, chip, radar or camera within a smart terminal, and other components, etc. The server in the embodiment of the application may be a local server or a cloud server, and the server may be deployed in various manners, for example, the server may be a single physical machine, for example, the server may also be a Virtual Machine (VM) loaded on a certain physical server, for example, the server may also be a container (dock) loaded on a certain physical server, and so on. In the following embodiments, the server is taken as a cloud server for exemplary illustration, and the cloud server may also be referred to as a cloud.

Fig. 1 is a schematic diagram of a possible system architecture, which includes a collecting device 110 and a map data processing device 120, according to an embodiment of the present application. Optionally, the system architecture may also include a map use device 130.

The collection device 110 may be a mobile collection device 110, such as a vehicle, or may be an electronic device (e.g., mobile DATA CENTER (MDC) or the like), a vehicle-mounted chip, or a processor in the vehicle, which is mounted on the vehicle. When the acquisition device 110 is a vehicle, the vehicle may communicate directly with the map data processing device 120 or indirectly, for example, by transferring data through an intermediate medium such as a road side unit or a base station. The vehicle may be a vehicle that has contracted with the map data processing device 120 in advance to actively report environmental information during the running of the vehicle, for example, a vehicle that joins in a traffic experience item of the map data processing device 120, for example, a mapping vehicle that accepts an outsourcing request of the map data processing device 120, or the like.

The acquisition device 110 may also be a fixed acquisition device 110, such as a Road Side Unit (RSU) or the like. The RSU may be a device with a communication function installed at one side or both sides of the road. In general, the road side unit can establish a connection with an On Board Unit (OBU) on the vehicle when the vehicle passes through, so as to realize the identification of the vehicle. In the embodiment of the application, the road side unit can also be packaged with modules such as a camera, a radar or a laser emitter and the like with acquisition function, processing function and receiving and transmitting function, and can monitor the road in real time through the modules, and acquire the changed environmental information in time when the road environment changes.

The acquisition device 110 may also be a server, which may be a server provided in a third party authority having a sharing function, for example. In the field of internet of vehicles, third party institutions may typically be set as administrators of transportation systems. The manager of the transportation system has the capability of monitoring each transportation line in the transportation system in real time, so that the traffic situation of each transportation line can be timely known, and certain changes can be made to the traffic mode of the transportation line, such as changing the speed limit of a certain transportation line. The environmental information of the road can also be obtained by a server provided in the third party authority. For another example, the server may be a vehicle networking server, where the vehicle networking server may provide planning and control services for the vehicle networking terminal by maintaining and updating information of the high-definition MAP (high definition MAP, HD MAP), and may also maintain and update information of the MAP to provide navigation services for the vehicle networking terminal.

Taking the example that the acquisition device 110 is located in a vehicle, the acquisition device 110 may be a device having an acquisition function such as a camera function and a sensor function. The acquisition function can be realized by a sensor component such as a vehicle-mounted camera or a vehicle-mounted radar arranged on the acquisition device. The camera device of the vehicle may be a monocular camera, a binocular camera, or the like. The photographing region of the photographing device may be an external environment of the vehicle. The sensing device of the vehicle may include a radar such as a laser radar, a millimeter wave radar, an ultrasonic radar, etc. for acquiring environmental information, and may further include an inertial navigation system (e.g., a global navigation satellite system (global navigation SATELLITE SYSTEM, GNSS), an inertial measurement unit (Inertial measurement unit, IMU)) for acquiring the pose of the vehicle, etc. GNSS may be used to estimate the geographic location of a vehicle. To this end, the GNSS may include a transceiver to estimate the position of the vehicle relative to the earth based on satellite positioning data. In an example, a computer system in a vehicle may use GNSS in conjunction with map data to estimate the roads traveled by the vehicle. The IMU may sense changes in the position and orientation of the vehicle based on inertial acceleration and any combination thereof. In some examples, the combination of sensors in the IMU may include, for example, accelerometers and gyroscopes. The positioning information obtained based on the GNSS is fused with information obtained based on other technologies (such as IMU), and the fused result is taken as the global pose of the current moment of the vehicle. This way of fusing information derived based on GNSS and information derived based on other technologies (e.g., sensors such as IMU) to achieve positioning may be referred to as combined positioning. Of course, the combined positioning can also be matched with the data of the corresponding sensor stored in the high-precision map through the data acquired by other sensors, so that the positioning position of the current lane level of the vehicle can be realized. For example, millimeter wave radar sensors may utilize radio signals to sense objects within the surrounding environment of a vehicle. In some embodiments, millimeter wave radar may be used to sense the speed and/or heading of a target in addition to sensing the target. Lidar may utilize a laser to sense an object in the environment in which the vehicle is located. The sensor may be used to capture multiple images of the surrounding environment of the vehicle. In addition, one or more sensors may be provided for each vehicle, and the number of each sensor may be one or more. The sensor may be mounted on the roof of the vehicle (for example, may be provided at an intermediate position of the roof of the vehicle), the front end of the vehicle, and the like, and the embodiment of the application is not limited to the mounting position and the number of the sensors in each vehicle.

It can be understood that the acquisition device 110 is a system formed by combining a camera device and a sensing device, that is, two devices exist independently, and the two devices are collectively referred to as an acquisition device; or the acquisition device can be a device integrating the camera device and the sensing device; or the acquisition device may be a sensing device or the like having an imaging function. The map data processing device 120 may be a device, a device or a chip having a map data processing function, and may include a physical device such as a host or a processor, a virtual device such as a virtual machine or a container, and a chip or an integrated circuit. For example, the map data processing apparatus 120 may be a cloud device, a road end device, or a terminal device, where the cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server, the road end device is, for example, a road side unit, a software module, a hardware module, or a chip in the road side unit, and the terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle. Taking the map data processing device 120 as a map server as an example, the map server may be a single server or a server cluster composed of a plurality of servers. In the field of internet of vehicles, the server may specifically be a cloud server, which is also called cloud, cloud server, cloud controller, internet of vehicles server, or the like. Cloud servers are a general term for devices or apparatuses having data processing capability, and may include, for example, a host or a processor, or may include a virtual device such as a virtual machine or a container, or may include a chip or an integrated circuit.

The map data processing device 120 may be a vehicle, for example, the acquisition device 110 and the map data processing device 120 are both located in the vehicle, and the vehicle autonomously completes the whole process of image acquisition and map data processing.

The map using apparatus 130 may also be a cloud device, a road end device, or a terminal device, where the cloud device is, for example, a map server, a software module, a hardware module, or a chip in the map server, the road end device is, for example, a road side unit, a software module, a hardware module, or a chip in the road side unit, and the terminal device is, for example, a vehicle, a software module, a hardware module, or a chip in the vehicle.

In one possible implementation, the collecting device 110 may generate a high-precision map in the first format according to the collected environmental information, and send the high-precision map to the map data processing device 120; further, the map data processing device 120 converts the data format of the high-definition map to obtain the high-definition map in the Open Drive format. Alternatively, the map data processing device 120 may send the high-precision map in the Open Drive format to the map using device 130, and the map using device 130 may directly use the high-precision map in the Open Drive format to implement the simulation function test of automatic driving.

Of course, the above description of the map use is given by taking the simulation function test of the dynamic driving as an example, and the map use may be a scene such as the display of a map or the map use in combination with other applications, and the present application is not limited thereto.

It should be understood that the type and number of the collection devices 110 and the number of the map data processing devices 120 are not limited by the number of the map using devices 130, for example, 1 map data processing device may only perform information interaction with 1 collection device (such as a third party server) and 1 map using device, may also perform information interaction with multiple collection devices (such as a road side unit and a crowdsourcing vehicle) and 1 map using device, and may also perform information interaction with multiple collection devices and multiple map using devices. Information interaction between two devices may refer to the two devices interacting directly, either by wire or wirelessly, or indirectly, through one or more other devices. In addition, the system architecture to which the embodiment of the present application is applied may include other devices, such as a terminal device, a network device, and a core network device, besides the acquisition device 110, the map data processing device 120, and the map using device 130, which is not limited to the embodiment of the present application. And any device in the embodiments of the present application may integrate functions into one independent physical unit, or may distribute functions over a plurality of independent physical units, which is not limited to the embodiments of the present application.

Fig. 2 is a flowchart of a map data processing method according to an embodiment of the present application, where the method may be performed by the map data processing device 120 shown in fig. 1, and the method includes:

s201: first map data is acquired.

In an embodiment of the present application, the first map data includes a detailed geographic location (e.g., global coordinate information) corresponding to at least one of road information, lane information, or location information of the target object. And, the "target object" may be understood as at least one of pedestrians, vehicles, trees, buildings, traffic signs, or the like in the map, the road information indicating the type, length, sign, or the like of the road in the high-definition map, and the lane information indicating the type, length, sign, or the like of the lane in the high-definition map.

In the embodiment of the present application, the first map data corresponds to a first format, and the first format may be, for example, xml format, geojson format, or other data format.

In one possible implementation, the map data processing device 120 requests the first map data from the map server.

In another possible embodiment, the vehicle collects the environmental information, generates corresponding first map data according to the environmental information, and transmits the first map data to the map data processing device 120. Accordingly, the map data processing device 120 receives the first map data.

S202: and determining a road reference line according to the road information and/or the lane information.

In one possible embodiment, the road information indicates that the first road includes a first lane, the lane information indicates that the first lane is a leftmost lane of the first road; accordingly, the map data processing device 120 may determine the center line or the edge line of the first lane as the road reference line.

In another possible embodiment, the road information indicates a left edge line of the first road, and accordingly, the map data processing device 120 may determine the left edge line as the road reference line.

Further, in one possible embodiment, the road information indicates a first road and a second road; the map data processing device 120 may determine the road reference line according to the road information, including: interpolation processing is carried out on a plurality of sampling points of a first road to obtain a first reference line; interpolation processing is carried out on a plurality of sampling points of the second road to obtain a second reference line; and smoothly connecting the first reference line and the second reference line through the Bezier curve to obtain the road reference line. In the embodiment, the reference lines of the two roads are smoothly connected through the Bezier curve, so that the determined road reference lines are accurate. As shown in fig. 3, the map data processing device 120 performs interpolation processing on a plurality of sampling points of the first road to obtain a reference line 1; and the map data processing device 120 performs interpolation processing on the plurality of sampling points of the second road to obtain a reference line 2; the map data processing device 120 further connects the reference line 1 and the reference line 2 smoothly by the bezier curve, and can obtain the road reference line.

S203: the first map data is converted into second map data based on the road reference line.

In the embodiment of the application, the second map data corresponds to an Open Drive format, and the second map data is used for describing a static road traffic network.

In the embodiment of the application, the coordinate system where the road reference line is located is a second coordinate system; the position information of the target object comprises a first coordinate of the target object in a first coordinate system, the road information comprises a second coordinate of a first road in the first coordinate system, and the lane information comprises a third coordinate of a second lane in the first coordinate system; accordingly, the map data processing device 120 maps at least one of the first coordinate, the second coordinate, or the third coordinate into the second coordinate system based on the road reference line, and thus obtains the second map data. It is understood that the target object may be, for example, at least one of a traffic guideboard, an indicator light, a pedestrian, a building, etc. in the high-precision map to be formatted, the first road is any one of the roads in the high-precision map to be formatted, and the first lane is any one of the lanes in the high-precision map to be formatted.

Wherein any one of the first, second, and third coordinates may include coordinates of one or more waypoints, the data format of the second coordinate system may be, for example, an s-t coordinate system, and the second coordinate system may include one or more s-t coordinate systems, that is, at least one of road information, lane information, or a target object in the high-definition map may correspond to a different s-t coordinate system. The s-t coordinate system is plotted along the tangential direction of the road reference line from the start point to the end point of the road reference line, fig. 4 shows a schematic diagram of the s-t coordinate system, the first coordinate of the target object is exemplified by the point a (x, y), and the map data processing device 120 maps the first coordinate into the s-t coordinate system, comprising the steps of:

a1, the map data processing device 120 acquires a projection point B of the point A in an s-t coordinate system;

a2, the map data processing device 120 determines a relation coefficient of an s-t coordinate system according to at least 2 sampling points on a road reference line;

A3, the map data processing device 120 solves the slope s at the projection point B according to the relation coefficient;

a4, the map data processing device 120 determines the positive and negative of t according to the slope s at the projection point B.

In one possible embodiment, the road reference line includes a geometric line set including one or more of a cubic polynomial curve, a parametric cubic polynomial curve, a straight line, a spiral line, or an arc line; accordingly, the map data processing device 120 maps the second coordinates into the second coordinate system based on the road reference line, including: and fitting or interpolating the elevation curve and/or the elevation curve of the first road based on the geometric line set and the second coordinates. In this way, various implementations of the road reference line are provided such that the elevation curve and/or the elevation curve of the road may be flexibly fitted. Similarly, the map data processing device 120 maps the third coordinate into the second coordinate system based on the road reference line may be: and fitting the boundary of the first lane based on the geometric line set and the third coordinate.

S204: and outputting the second map data.

It will be appreciated that step S204 is optional. That is, the map data processing device 120 may select to output or not to output the second map data after obtaining the second map data.

In the map data processing method shown in fig. 2, the map data processing device 120 may determine a road reference line according to the road information and/or the lane information, and convert the map data in the first format into the map data in the Open Drive format based on the road reference line, so that the data compatibility of the high-precision map in different autopilot application platforms can be effectively improved, and further, users of different autopilot application platforms do not need to perform conversion processing again on the data format of the high-precision map, thereby improving the convenience of use of the high-precision map. For ease of understanding, fig. 5 shows a schematic diagram of an actual road, a high-precision map in a first format, and a high-precision map in an Open Drive format, where the high-precision map in the first format includes information of the actual road and dynamic information (e.g., traffic state, etc.) around the road, and the high-precision map in the Open Drive format includes only road structures in a static road network, as shown in fig. 5.

In the embodiment of the application, before converting the format of the high-precision map, the road topology connection relationship in the high-precision map needs to be carded. The road topology connection relationship relates to a road relationship, an intersection relationship and a lane relationship, and the carding process of the road relationship, the intersection relationship and the lane relationship is described below.

And (3) carding road relations:

In one possible implementation, the map data processing device 120 may determine the front road and the rear road of the first road according to the front-rear connection relationship of the first road, so as to implement the road relationship management. The first road is any road in the high-precision map to be formatted, that is, a similar road relation carding operation can be realized for any road in the high-precision map to be formatted.

Crossing relation carding:

In one possible embodiment, the map data processing device 120 may determine the road relationship of the first intersection by determining whether the road connected to each of the roads associated with the first intersection in front of and behind belongs to the inner road of the first intersection. Thus, road relation carding of the first intersection can be realized. The first intersection is any intersection in the high-precision map to be formatted, that is, similar intersection relation carding operation can be realized for any intersection in the high-precision map to be formatted.

Fig. 6 shows a possible schematic diagram of the first intersection, in fig. 6, the roads associated with the first intersection include roads 1 to 11, so when the map data processing device 120 is configured to comb the road relationship of the first road, it is necessary to determine the inner road and the outer road of the first road according to the front-back connection relationship between the roads 1 to 11. For example, the following roads of road 2 are road 8, road 9, and road 10, then road 8, road 9, and road 10 are the inner roads of the first intersection; and, the front road of the road 3 has a road 9 and a road 11, so the road 9 and the road 11 are the inner road of the first intersection, and the rest of the roads belong to the outer road of the intersection.

Lane relation carding:

In one possible embodiment, the road information indicates a first road and a second road; the lane information is used for indicating that the first road comprises a first lane set and indicating that the second road comprises a second lane set; accordingly, the map data processing device 120 may merge the corresponding same lanes in the first lane set and the second lane set; and/or deleting the lanes in the first lane set, which do not correspond to any lane in the second lane set. Therefore, the lane relation is combed, and the lanes are clearer. The first road and the second road are any two roads in the high-precision map to be formatted, that is, similar lane relation carding operation can be realized for any two roads in the high-precision map to be formatted.

FIG. 7 shows a schematic diagram of a comb of lane relationships for a first road and a second road, in FIG. 7, the first road-1 includes lane Lane_id_1, lane Lane_id_2, lane Lane_id_3, and lane Lane_id_4, and the second road-2 includes lane Lane_id_11, lane Lane_id_22, and lane Lane_id_33; wherein, the lane lane_id_1 and the lane lane_id_11 are overlapped, the map data processing device 120 merges the lane lane_id_1 and the lane lane_id_11; the lane lane_id_2 and the lane lane_id_22 coincide, and the map data processing apparatus 120 merges the lane lane_id_2 and the lane lane_id_22; the lane lane_id_3 and the lane lane_id_33 coincide, and the map data processing apparatus 120 merges the lane lane_id_3 and the lane lane_id_33; and there is no lane in the second road-2 that coincides with the lane lane_id_4, the map data processing apparatus 120 deletes the lane lane_id_4.

Furthermore, in the process of carding the lane relationship, special conditions of lanes can be processed, and the following conditions are described:

In case 1, the set of lanes in the high-precision map to be format-converted includes a first lane and a second lane; if the first lane is adjacent to the second lane and a gap area exists between the first lane and the second lane, the map data processing device 120 generates a third lane corresponding to the gap area, and obtains a road relationship after the second update of the first road junction. Therefore, the lane is combed aiming at the gap area between the first lane and the second lane, so that lane division in the road relationship is clearer, and the road relationship of the first intersection is more accurate.

As shown in fig. 8, the first lane is exemplified by lane 1, the second lane is exemplified by lane 2, and if there is a gap region between lane 1 and lane 2, the map data processing device 120 generates a new lane (i.e., a third lane) at the gap region.

In case 2, the lane set in the high-precision map to be format-converted includes a first lane and a second lane; if the first lane and the second lane intersect, a virtual boundary of the third lane exists in the intersection area of the first lane and the second lane, and the map data processing device 120 deletes the virtual boundary. Or if the first lane and the second lane intersect, the intersection area of the first lane and the second lane does not have a virtual boundary of the second lane, and the map data processing device 120 creates a third road and splits the second lane into the third road. Therefore, the lane is combed aiming at the intersection area of the first lane and the second lane, so that lane division in the road relation is clearer, and the road relation of the first intersection is more accurate.

As shown in fig. 9 (a), the map data processing device 120 deletes the virtual boundary of the lane 2 when the first road is exemplified by the road 1, the first lane is exemplified by the lane 1, the second lane is exemplified by the lane 2, the lane 1 and the lane 2 intersect, and the virtual boundary of the lane 2 exists in the lane 1, and a lane diagram as shown in fig. 9 (b) can be obtained. Or as shown in fig. 9 (c), if the virtual boundary of the lane 2 exists in the lane 1 (i.e. the actual boundary of the lane 2 exists), the map data processing device 120 creates the road 2, and splits the lane 2 into the road 2, so as to obtain the lane diagram shown in fig. 9 (d).

For ease of understanding, the following describes the carding process of the lane relationship further taking road 1 as an example in connection with fig. 10. In fig. 10, the road combing process includes:

s101, it is determined whether the lane 1 and the lane 2 in the road 1 intersect.

It should be understood that the map data processing device 120 performs steps S102 to S104 when the lane 1 and the lane 2 in the road 1 intersect; the map data processing device 120 performs steps S105 to S109 when the lane 1 and the lane 2 in the road 1 do not intersect.

S102, if the lane 1 and the lane 2 intersect, judging whether the road 1 is an intersection road or not.

And S103, if the road 1 is an intersection road, the lane 2 does not have a virtual boundary, the road 3 is newly built, and the lane 2 is split into the road 3.

And S104, if the road 1 is not an intersection road, the virtual boundary exists in the lane 2, and the virtual boundary is deleted.

S105, if the lane 1 and the lane 2 do not intersect, judging whether the boundary between the lane 1 and the lane 2 is overlapped.

S106, if the boundary between the lane 1 and the lane 2 is coincident, adding the lane 2 to the back of the lane 1.

S107, if the lane 1 and the lane 2 do not overlap, whether the right side of the lane 1 is a virtual boundary is judged.

S108, deleting the virtual boundary if the right side of the lane 1 is the virtual boundary.

S109, if the right side of the lane 1 is not the virtual boundary, creating a lane 3 in front of the left side of the lane 1.

In one possible implementation, the map data processing device 120 may further obtain a first parameter input by the user, where the first parameter is used to indicate at least one of a center point coordinate, a lateral length, or a longitudinal length of the target map; a target map is generated based on the first parameter and the second map data. Thus, the determined target map meets the user requirement. As can be seen from the foregoing description, the second map data corresponds to the Open Drive format, and the map corresponding to the second map data is an Open Drive map, so the map data processing apparatus 120 may slice the Open Drive map based on the first parameter, so as to reduce the range of the Open Drive map, and facilitate the user to find the target road in the Open Drive map. When the first parameter includes the target center point (x, y), the lateral length l, and the longitudinal length w, the map data processing apparatus slices the Open Drive map based on the first parameter, and the resulting target map may be as shown in fig. 11.

In one possible implementation, the map data processing device 120 may also send the second map data to the map using device for use by the map using device. It should be noted that, in the embodiment of the present application, the transmission may be performed between devices, for example, may be performed between different cloud devices, or may be performed between different terminal devices, or may be performed between different road end devices. The method can be carried out between the cloud device and the terminal device, between the cloud device and the road end device, and between the terminal device and the road end device. As another example, it may be performed within the device, for example, by sending between components within the device, between modules, between chips, or between modules via a bus or interface. For example, the second map data may be sent in the same cloud device, in the same terminal device, or in the same road-side device. The map using device may be a cloud device, a road end device or a terminal device, where the cloud device is, for example, a map server, a software module, a hardware module or a chip in the map server, the road end device is, for example, a road side unit, a software module, a hardware module or a chip in the road side unit, and the terminal device is, for example, a vehicle, a software module, a hardware module or a chip in the vehicle. The map data processing device 120 and the map using device 130 may be disposed on the same device or may be disposed on different devices, and the present application is not limited thereto.

It should be noted that the names of the above information are merely examples, and any information may change the names thereof along with the evolution of the communication technology, and no matter how the names change, the information falls within the protection scope of the present application as long as the meaning of the information is the same as that of the information of the present application.

According to the foregoing method, fig. 12 shows a schematic structural diagram of a map data processing device provided in an embodiment of the present application, and as shown in fig. 12, the device may be a map server, a collection device, a vehicle, or a chip or a circuit, for example, may be a chip or a circuit that may be disposed in a map server, a collection device, a vehicle, and may be, for example, a map server, a collection device, a vehicle according to any one of the present application.

As shown in fig. 12, the map data processing device 120 may include:

An acquisition unit 1201 configured to acquire first map data corresponding to a first format, the first map data including at least one of road information, lane information, or position information of a target object; a processing unit 1202 for determining a road reference line according to the road information and/or the lane information; and converting the first map data into second map data based on the road reference line; an output unit 1203 configured to output the second map data; the second map data corresponds to an Open Drive format, and the second map data is used for describing a static road traffic network.

In a possible embodiment, the map data processing device further comprises an output unit 1203, the output unit 1203 being configured to output the second map data.

In one possible implementation, the coordinate system in which the road reference line is located is a second coordinate system; the position information of the target object includes a first coordinate of the target object in the first coordinate system, the road information includes a second coordinate of the first road in the first coordinate system, and the lane information includes a third coordinate of the first lane in the first coordinate system; the processing unit 1202, when configured to convert the first map data into second map data based on the road reference line, is specifically configured to: and mapping at least one of the first coordinate, the second coordinate or the third coordinate into a second coordinate system based on the road reference line to obtain second map data. It is understood that the second coordinate system corresponds to the Open Drive format, and may be, for example, an s-t coordinate system.

In one possible embodiment, the road reference line comprises a set of geometric lines comprising one or more of a cubic polynomial curve, a parametric cubic polynomial curve, a straight line, a spiral line, or an arc line; the processing unit 1202 is specifically configured to: and fitting or interpolating the elevation curve and/or the elevation curve of the first road based on the geometric line set and the second coordinates.

In a possible implementation manner, the processing unit 1202 is specifically configured to, when determining the road reference line according to the road information and/or the lane information: when the road information indicates a left edge line of the first road, determining the left edge line as a road reference line; or when the road information indicates that the first road comprises the first road and the lane information indicates that the first lane is the leftmost lane of the first road, determining the center line or the edge line of the first lane as the road reference line.

In another possible embodiment, the road information indicates a first road and a second road; the processing unit 1202 is specifically configured to: interpolation processing is carried out on a plurality of sampling points of the first road to obtain a first reference line; interpolation processing is carried out on a plurality of sampling points of the second road to obtain a second reference line; and smoothly connecting the first reference line and the second reference line through a Bezier curve to obtain the road reference line.

In a possible implementation manner, the road information indicates a first intersection, and the processing unit 1202 is specifically configured to: and determining the road relation of the first intersection by judging whether the road connected front and back of each road associated with the first intersection belongs to the inner road of the first intersection, wherein the road relation of the first intersection is used for describing the road structure associated with the first intersection.

In one possible embodiment, the road information indicates a first road and a second road, the lane information indicates that the first road includes a first set of lanes, and the second road includes a second set of lanes; the processing unit 1202 is further configured to: merging corresponding identical lanes in the first lane set and the second lane set; and/or deleting the lanes in the first lane set, which do not correspond to any lane in the second lane set.

In one possible embodiment, the first set of lanes includes a first lane and a second lane; the processing unit 1202 is further configured to: generating a third lane at a gap region between the first lane and the second lane when the first lane and the second lane are adjacent and the gap region exists between the first lane and the second lane; or deleting the virtual boundary when the first lane and the second lane intersect and the intersection area of the first lane and the second lane has the virtual boundary of the second lane; or when the first lane and the second lane cross and the virtual boundary of the second lane does not exist in the crossing area of the first lane and the second lane, a third road is newly built, and the second lane is split into the third road.

In a possible implementation manner, the acquiring unit 1201 is further configured to: acquiring a first parameter input by a user, wherein the first parameter is used for indicating at least one of center point coordinates, transverse length or longitudinal length of a target map; the processing unit 1202 is further configured to: and processing the second map data based on the first parameter to generate the target map.

Fig. 13 shows a schematic structural diagram of another map data processing device according to an embodiment of the present application, where the map data processing device 1300 includes a transceiver 1301, a processor 1302, and a transceiver 1303, and may further include a bus system, where the transceiver 1301, the processor 1302, and the transceiver 1303 may be connected through the bus system.

It should be appreciated that the processor 1302 may be a chip. For example, the processor 1302 may be a field programmable gate array (field programmable GATE ARRAY, FPGA), an Application Specific Integrated Chip (ASIC), a system on chip (SoC), a central processing unit (central processor unit, CPU), a network processor (network processor, NP), a digital signal processing circuit (DIGITAL SIGNAL processor, DSP), a microcontroller (micro controller unit, MCU), a programmable controller (programmable logic device, PLD) or other integrated chip.

In implementation, the steps of the methods described above may be performed by integrated logic circuitry in hardware or instructions in software in processor 1302. The steps of a method disclosed in connection with an embodiment of the present application may be embodied directly in a hardware processor, or in a combination of hardware and software modules in the processor 1302. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the transceiver 1303, and the processor 1302 reads information in the transceiver 1303, and performs the steps of the method in combination with hardware thereof.

It should be noted that the processor 1302 in the embodiments of the present application may be an integrated circuit chip with signal processing capability. In implementation, the steps of the above method embodiments may be implemented by integrated logic circuits of hardware in a processor or instructions in software form. The processor may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, or discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.

It will be appreciated that the transceiver 1303 in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an erasable programmable ROM (erasable PROM), an electrically erasable programmable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (STATIC RAM, SRAM), dynamic random access memory (DYNAMIC RAM, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (double DATA RATE SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

The application also provides a vehicle comprising the map data processing device according to the above embodiment.

The present application also provides a server including the map data processing apparatus according to the above embodiment.

The present application also provides a chip that may include a processor and an interface, the processor being configured to read instructions through the interface to perform the method as described in the above embodiments.

The present application also provides a computer readable storage medium storing a computer program which, when executed, implements a method as described in the above embodiments.

The application also provides a computer program product for implementing the method according to the above embodiments when said computer program product is run on a processor.

The application also provides a system comprising the map data processing device and the map using device, wherein the map data processing device can be a map server, a map acquisition device or a vehicle or a component in the corresponding device, such as a chip. The map use apparatus may be a vehicle, a map server, or a map acquisition device, or a component in a corresponding device, e.g. a chip. The map data processing device generates a map according to the map generation method according to any one of the above embodiments and transmits the map to the map using device, and the map using device performs a map update operation or displays the position information or assists driving decisions according to the map using method according to any one of the above embodiments.

The above-described embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (e.g., a solid-state disk (solid-state drive STATE DRIVE, SSD)), or the like.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A method of processing map data, comprising:

Acquiring first map data, wherein the first map data corresponds to a first format, and the first map data comprises at least one of road information, lane information or position information of a target object;

Determining a road reference line according to the road information and/or the lane information;

Converting the first map data into second map data based on the road reference line; the second map data corresponds to an Open Drive format, and is used for describing a static road traffic network;

and outputting the second map data.

2. The method of claim 1, wherein the coordinate system in which the road reference line is located is a second coordinate system; the position information of the target object comprises a first coordinate of the target object in a first coordinate system, the road information comprises a second coordinate of a first road in the first coordinate system, and the lane information comprises a third coordinate of a first lane in the first coordinate system;

The converting the first map data into second map data based on the road reference line includes:

And mapping at least one of the first coordinate, the second coordinate or the third coordinate into the second coordinate system based on the road reference line to obtain the second map data.

3. The method of claim 2, wherein the road reference line comprises a set of geometric lines comprising one or more of a cubic polynomial curve, a parametric cubic polynomial curve, a straight line, a spiral line, or an arc line;

Mapping the second coordinate into the second coordinate system based on the road reference line includes:

and fitting or interpolating an elevation curve and/or an elevation curve of the first road based on the geometric line set and the second coordinates.

4. A method according to any one of claims 1-3, wherein the road reference line is a left side edge line of a first road when the road information indicates the left side edge line; or alternatively

When the road information indicates that a first road includes a first lane and the lane information indicates that the first lane is a leftmost lane of the first road, the road reference line is a center line or an edge line of the first lane.

5. The method of any of claims 1-4, wherein the link information indicates a first link and a second link;

Determining the road reference line according to the road information, including:

Interpolation processing is carried out on a plurality of sampling points of the first road to obtain a first reference line;

interpolation processing is carried out on a plurality of sampling points of the second road to obtain a second reference line;

and smoothly connecting the first reference line and the second reference line through a Bezier curve to obtain the road reference line.

6. The method of any one of claims 1-5, wherein the road information indicates a first intersection, the method further comprising:

And determining the road relation of the first intersection by judging whether the road connected front and back of each road associated with the first intersection belongs to the inner road of the first intersection, wherein the road relation of the first intersection is used for describing the road structure associated with the first intersection.

7. The method of any of claims 1-6, wherein the road information indicates a first road and a second road, the lane information indicates that the first road comprises a first set of lanes, and indicates that the second road comprises a second set of lanes;

The method further comprises the steps of:

Merging corresponding identical lanes in the first lane set and the second lane set; and/or the number of the groups of groups,

And deleting the lanes in the first lane set, which do not correspond to any lane in the second lane set.

8. The method of claim 7, wherein the first set of lanes includes a first lane and a second lane;

The method further comprises the steps of:

if the first lane is adjacent to the second lane and a gap area exists between the first lane and the second lane, generating a third lane at the gap area; or alternatively

If the first lane and the second lane intersect, and a virtual boundary of the second lane exists in an intersection area of the first lane and the second lane, deleting the virtual boundary; or, the virtual boundary of the second lane does not exist in the intersection area of the first lane and the second lane, a third road is newly built, and the second lane is split into the third road.

9. The method of any one of claims 1-8, wherein the method further comprises:

acquiring a first parameter input by a user, wherein the first parameter is used for indicating at least one of center point coordinates, transverse length or longitudinal length of a target map;

And processing the second map data based on the first parameter to generate the target map.

10. A map data processing apparatus, characterized by comprising:

An acquisition unit configured to acquire first map data corresponding to a first format, the first map data including at least one of road information, lane information, or position information of a target object;

The processing unit is used for determining a road reference line according to the road information and/or the lane information; and converting the first map data into second map data based on the road reference line; the second map data corresponds to an Open Drive format, and is used for describing a static road traffic network;

and an output unit for outputting the second map data.