WO2017161475A1 - 生成电子地图及规划路线的方法和设备 - Google Patents

生成电子地图及规划路线的方法和设备 Download PDF

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Publication number
WO2017161475A1
WO2017161475A1 PCT/CN2016/076824 CN2016076824W WO2017161475A1 WO 2017161475 A1 WO2017161475 A1 WO 2017161475A1 CN 2016076824 W CN2016076824 W CN 2016076824W WO 2017161475 A1 WO2017161475 A1 WO 2017161475A1
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WIPO (PCT)
Prior art keywords
positioning
assistance information
map
electronic map
information
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PCT/CN2016/076824
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English (en)
French (fr)
Inventor
张毅
李辉
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华为技术有限公司
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Publication date
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Priority to PCT/CN2016/076824 priority Critical patent/WO2017161475A1/zh
Publication of WO2017161475A1 publication Critical patent/WO2017161475A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • Embodiments of the present invention relate to the field of electronic maps, and in particular, to a method and an apparatus for generating an electronic map and planning a route in the field of electronic maps.
  • Electronic map-based services such as Automated Driving and Location Based Service (LBS) put forward high requirements for positioning accuracy and speed.
  • LBS Automated Driving and Location Based Service
  • the object of the existing electronic map service is human.
  • the service object of the electronic map may become a machine, and adding more detailed and accurate information in the electronic map is the key to improving the navigation application service.
  • the navigation function in the original map cannot be used by the user to know the positioning capability in the planned path. For some special paths, such as tunnels and high-precision positioning techniques under the viaduct will be invalid, which will cause the self-driving vehicle to be stopped. Therefore, the self-driving vehicle cannot select a driving route that satisfies the positioning accuracy requirement according to the original map.
  • the method and device for generating an electronic map and a planned route provided by the embodiments of the present invention add positioning auxiliary information to the electronic map, which is beneficial to planning a route according to the positioning auxiliary information.
  • a method for generating an electronic map includes: the map information collecting device collects positioning auxiliary information in a predetermined area, where the positioning auxiliary information is used to indicate that the map information collecting device is current in the predetermined area. At least one positioning manner supported by the location and a highest positioning accuracy of each of the at least one positioning manner; acquiring an original map of the predetermined area; and correspondingly positioning the positioning assistance information with the positioning assistance information in the original map The same geographical location is used to integrate the map information, and an electronic map with the added auxiliary information is generated.
  • the method further includes: receiving the location update assistance information at the first location in the predetermined area;
  • the positioning accuracy of the positioning mode characterized by the positioning update assistance information has higher accuracy than the highest positioning accuracy of the positioning mode characterized by the positioning assistance information at the first position; the positioning at the first position
  • the auxiliary information is replaced with the positioning update auxiliary information.
  • the accuracy of the positioning accuracy in the electronic map can be ensured, and the accuracy of the electronic map can be further improved, thereby improving the accuracy of the route planning.
  • the number of the positioning manners represented by the positioning update assistance information is represented by the positioning assistance information in the first location
  • the number of positioning methods is large.
  • the accuracy of the positioning method in the electronic map can be ensured, and the accuracy of the electronic map can be further improved, thereby improving the accuracy of the route planning.
  • the positioning assistance information includes: positioning assistance information of a Global Positioning System (GPS),
  • GPS Global Positioning System
  • the positioning assistance information of the GPS includes the highest positioning accuracy of the map collection device for positioning by using the satellite at the current location.
  • the positioning assistance information of the GPS may further include real-time dynamics of the satellite, satellite, and GPS used at the current location. Positioning accuracy, carrier phase difference (Real-time kinematic, referred to as "RTK”) parameters.
  • RTK carrier phase difference
  • the positioning assistance information may further include: positioning assistance information of Wireless Fidelity ("WiFi"), where the positioning assistance information of the WiFi may include: a highest positioning accuracy of the WiFi positioning at the current location, Fingerprint information, etc.
  • WiFi Wireless Fidelity
  • the map information collecting device collects the positioning assistance information in the predetermined area, including: the map information collecting device is in the predetermined area
  • the positioning assistance information is collected by the auxiliary positioning sensor according to the at least one positioning manner supported by the map information collecting device.
  • the auxiliary positioning sensor is used to collect the positioning auxiliary information, and the auxiliary positioning sensor can Including laser radar, laser range finder, etc., the positioning of auxiliary information is collected by high-precision auxiliary positioning equipment, which can further ensure the accuracy of positioning auxiliary information.
  • a method for planning a route in an electronic map comprising: determining a starting location and an ending location in the electronic map, the electronic map containing positioning assistance information, the positioning assistance information being used to indicate At least one positioning mode supported at a current position in the electronic map and a highest positioning accuracy of each of the at least one positioning manner; obtaining the starting position to the end point according to the positioning assistance information in the electronic map N routes of the location, N is greater than or equal to 1; calculating, according to the positioning assistance information on the N routes, a target positioning precision value of each of the N routes according to a preset algorithm; selecting the N routes The route with the highest target accuracy value is the best planned route.
  • the mobile terminal can determine N routes from the starting position to the ending position according to the positioning requirement and the positioning assistance information, and determine the optimal planned route according to the highest target positioning accuracy value, which can improve the planning.
  • the accuracy of the positioning on the route is the most important route.
  • the determining the start position and the end position in the electronic map includes: receiving a first instruction, where the first instruction may be sent by the mobile terminal, where the first instruction is used And indicating the starting position and the ending position; determining the starting position and the ending position in the electronic map according to the first instruction.
  • the first instruction may be a first instruction sent by the mobile terminal, that is, the user may input information of a starting location and an ending location on the mobile terminal.
  • N routes can be planned for the user according to the information of the user's input start position and terminal position.
  • the geographic location that the mobile terminal is about to reach may be determined in the preset area according to the current traveling speed of the mobile terminal and the direction of the driving path, where the first instruction may be information of the received location of the user input that is to be reached.
  • the positioning manner adopted by the geographic location to be reached is determined according to the geographic location and the positioning assistance information.
  • the mobile terminal may start the positioning device in advance according to the positioning manner adopted by the geographic location to be reached. In this way, the search satellite or the access positioning base station can be speeded up, and all the positioning devices can be prevented from being scanned for the full frequency band, the power consumption can be reduced, the positioning start time can be shortened, the positioning parameters can be predicted, and the starting speed of the positioning can be further improved.
  • the determining, according to the positioning assistance information on the N routes, each route of the N routes according to a preset algorithm Target positioning accuracy values including: based on each of the N routes The weighting value of the highest positioning accuracy of each of the at least one positioning manner determines the target positioning accuracy value of each of the N routes.
  • an apparatus for generating an electronic map for performing the method of any of the above first aspect or any of the possible implementations of the first aspect comprises means for performing the method of any of the above-described first aspect or any of the possible implementations of the first aspect.
  • an apparatus for planning a route in an electronic map for performing the method of any of the above-described second aspect or any of the possible implementations of the second aspect comprises means for performing the method of any of the above-described second aspect or any of the possible implementations of the second aspect.
  • an apparatus for generating an electronic map comprising: a receiver, a transmitter, a memory, a processor, and a bus system.
  • the receiver, the transmitter, the memory and the processor are connected by the bus system, the memory is for storing instructions for executing the instructions stored by the memory to control the receiver to receive signals and control the sending
  • the transmitter transmits a signal, and when the processor executes the memory stored instructions, the execution causes the processor to perform the method of the first aspect or any of the possible implementations of the first aspect.
  • an apparatus for planning a route in an electronic map comprising: a receiver, a transmitter, a memory, a processor, and a bus system.
  • the receiver, the transmitter, the memory and the processor are connected by the bus system, the memory is for storing instructions for executing the instructions stored by the memory to control the receiver to receive signals and control the sending
  • the transmitter transmits a signal, and when the processor executes the memory stored instructions, the execution causes the processor to perform the method of any of the second aspect or any of the possible implementations of the second aspect.
  • a seventh aspect a computer readable medium for storing a computer program, the computer program comprising instructions for performing the method of the first aspect or any of the possible implementations of the first aspect.
  • a computer readable medium for storing a computer program comprising instructions for performing the method of the second aspect or any of the possible implementations of the second aspect.
  • FIG. 1 is a schematic diagram of a method for generating an electronic map according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of an apparatus for generating an electronic map according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an apparatus for planning a route in an electronic map according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another apparatus for generating an electronic map according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of another apparatus for planning a route in an electronic map according to an embodiment of the present invention.
  • the mobile device can be an onboard computer, a drone computer, a high speed mobile device, a train control device, a mobile phone, a tablet personal computer, a media player.
  • the present invention a laptop computer, a personal digital assistant (PDA), a personal computer (Personal Computer), a mobile Internet device (Mobile Internet Device), or a wearable device such as a smart watch, etc.
  • PDA personal digital assistant
  • Mobile Internet Device mobile Internet Device
  • wearable device such as a smart watch
  • FIG. 1 is a schematic diagram of a method for generating an electronic map according to an embodiment of the present invention.
  • the method 100 includes:
  • the map information collecting device collects positioning auxiliary information in a predetermined area, where the positioning auxiliary information is used to indicate at least one positioning manner supported by the map information collecting device at a current position in the predetermined area, and the at least one positioning manner. The highest positioning accuracy of each positioning method;
  • the positioning assistance information and the positioning assistance information are merged with the map information in the same geographic location corresponding to the original map, and an electronic map with the positioning assistance information added is generated.
  • the map information collecting device collects the positioning auxiliary information in a predetermined area
  • the map server may acquire the original map of the predetermined area
  • the map server merges the positioning auxiliary information with the corresponding geographical position in the original map to generate
  • An electronic map including positioning assistance information is provided to facilitate routing according to the electronic map.
  • the map server may define the positioning assistance information, such as the positioning mode, the positioning accuracy, the visible star list of the GPS/Beidou, the almanac, the real-time status of the satellite or the positioning base station, and the carrier phase difference (Real) -time kinematic, referred to as "RTK" parameters, etc.
  • the positioning assistance information such as the positioning mode, the positioning accuracy, the visible star list of the GPS/Beidou, the almanac, the real-time status of the satellite or the positioning base station, and the carrier phase difference (Real) -time kinematic, referred to as "RTK" parameters, etc.
  • the map server may divide the positioning assistance information into information with a long update period and dynamic information with a short update period, and the update period of the information with a long update period may be 3 to 6 months, for example, the information may be The positioning method, the positioning accuracy, the visible star list of the GPS/Beidou, etc., the almanac, etc.; the update period is short as the real-time status of the satellite or the positioning base station, the RTK parameter, etc., and the implementation of the present invention is not limited thereto.
  • the mobile terminal can use the electronic map online after the electronic map is generated, and the mobile terminal can also download and save the electronic map to the local use on the network side, which is not limited in the embodiment of the present invention.
  • the electronic map may include positioning assistance information of all geographic locations in the original map, such as whether all geographic locations can be located, a positioning manner of a geographical location that can be located, and the like; the electronic map may also include the original map.
  • the positioning assistance information of a part of the geographic location is not limited thereto.
  • the at least one positioning method may be: Global Navigation Satellite System (GNSS), GNSS system including Global Positioning System (GPS), Beidou system, Glonass system, Galileo System, etc.) positioning, mobile network base station positioning, WiFi positioning, radio frequency identification (Radio Frequency Identification (RFID) positioning), ultra wideband (UWB) positioning.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • GPS Beidou system
  • Glonass system Galileo System
  • WiFi positioning radio frequency identification
  • UWB ultra wideband
  • the positioning assistance information of the GPS positioning may include: real-time dynamics of the satellite, accuracy of the GPS positioning, RTK parameters, etc.
  • the auxiliary information of the mobile network base station positioning may include: the number of base stations in the vicinity of the geographical location, the real-time status of the base station, and the positioning of the base station.
  • the accuracy and the like; the auxiliary information of the WiFi positioning may include: the accuracy of the WiFi positioning in the geographic location, the fingerprint information, and the like,
  • the positioning assistance information may be processed and saved in a layer of the original map, or the positioning assistance information may be vectorized. For example, planning, demarcating, and generating vector area information of the collected positioning assistance information.
  • Each area information may include: location, location mode, positioning parameters, parameters of each satellite or base station, positioning accuracy, and the like.
  • the positioning assistance information can also be saved to the layer of the original map using the raster model.
  • Electronic maps are composed of multiple layers, such as base maps, road layers, and buildings. Layers, etc. Other layers may include satellite layers, traffic condition layers, 3D layers, and the like.
  • the electronic map also includes innovative layers such as temperature distribution maps, business circle maps, indoor layers, and street view layers.
  • the positioning auxiliary information layer may be newly added to the layer of the existing map, and the positioning auxiliary information may be saved in the layer of the existing map.
  • the embodiment of the present invention is not limited thereto.
  • the map information collecting device in S110 may be a map data collecting vehicle, and the data collecting vehicle may save the positioning auxiliary information in a map original database;
  • the map information collecting device (such as a map data collecting vehicle) may include more High-precision positioning equipment, such as Global Navigation Satellite System (GNSS) equipment supporting differential RTK, inertial navigation, and equipment supporting mobile network positioning.
  • GNSS Global Navigation Satellite System
  • the method further includes: receiving the positioning update assistance information at the first location in the predetermined area; the positioning update auxiliary information is represented by The positioning accuracy of the positioning mode has higher accuracy than the highest positioning accuracy of the positioning mode characterized by the positioning assistance information at the first position; the positioning assistance information at the first position is replaced with the positioning update Supplementary information.
  • the positioning update assistance information indicates that the number of positioning modes is greater than the number of positioning modes represented by the positioning assistance information in the first location.
  • the location server may receive the location update assistance information in the first location, where the location update assistance information may indicate that the location accuracy of the first location mode on the current first location is greater than the first location in the original electronic map.
  • the positioning accuracy is high, and the positioning assistance information can be replaced with the positioning update auxiliary information to further ensure the accuracy of the positioning accuracy.
  • the positioning assistance information in the first location represents two positioning modes
  • the mobile terminal reaches the first location, three positioning modes can be searched, and the three positioning modes include the foregoing two positioning modes, and the mobile terminal Another positioning method can be reported to the positioning server, and the positioning server updates the positioning auxiliary information.
  • the map server may receive the positioning report information that includes the positioning accuracy of the first positioning mode after the mobile terminal performs the positioning by using the first positioning manner, and the mobile terminal may report the positioning report information to the map.
  • the server and the map server may compare the highest precision difference between the first positioning manner reported by the mobile terminal and the first positioning mode represented by the positioning assistance information in the electronic map, and if the difference is greater than the set precision threshold, The map server determines the positioning accuracy of the first positioning mode reported by the vehicle as the highest positioning accuracy of the first positioning mode.
  • the first positioning manner determined by the mobile terminal according to the positioning assistance information of the electronic map is
  • the four available satellites may search for five available positioning satellites when actually using the first positioning mode to locate at the current location, and the mobile terminal may send the information of the five satellites to the map server.
  • the mobile terminal when the mobile terminal performs positioning according to the first positioning manner, when the mobile terminal uses the first positioning manner to locate an error, the mobile terminal generates a positioning error report and sends the report to the map server, where the map server updates the electronic according to the error report.
  • the positioning auxiliary information in the map can ensure the accuracy of the positioning auxiliary information in real time, and further improve the accuracy of planning the route by using the positioning auxiliary information.
  • the map server may update the positioning assistance information of the electronic map according to a certain credibility rule, for example, the credibility rule may be: the location report information reported by the authenticated mobile terminal; or at least two mobile terminals report the same
  • the positioning report information can be updated to locate the positioning assistance information; or the error report reported by the dedicated mobile device (such as a surveying vehicle, a taxi of the authentication protocol) can update the positioning assistance information.
  • the positioning assistance information includes: positioning assistance information of the global positioning system GPS, and the positioning assistance information of the GPS includes the highest positioning accuracy of the map collecting device for positioning by using the satellite at the current position.
  • the positioning assistance information of the GPS may further include a satellite, a real-time dynamic of the satellite, a GPS positioning accuracy, a carrier-phase difference (RTK) parameter, and the like used at the current location.
  • the positioning assistance information may also include: wireless fidelity (“WiFi”) positioning assistance information, where the positioning assistance information of the WiFi may include: a highest positioning accuracy of the WiFi positioning at the current location,
  • WiFi wireless fidelity
  • the map information collecting device collects the positioning assistance information in the predetermined area, and the map information collecting device uses the auxiliary positioning in the predetermined area according to the at least one positioning manner supported by the map information collecting device.
  • the sensor collects the positioning assistance information.
  • the map information collecting device supports various satellite positioning systems such as GPS and Beidou, and also supports Continuously Operating Reference Stations (CORS) and Precise Point Positioning (referred to as “Precise Point Positioning”).
  • PPP Precise Point Positioning
  • SBAS satellite-based augmentation system
  • the data acquisition vehicle is equipped with a high-precision inertial navigation system, which can maintain the accuracy of a period of time when it is unable to locate.
  • Data acquisition vehicles usually have a variety of auxiliary positioning sensors such as laser radar, laser range finder, and wheel speed sensor.
  • the auxiliary positioning sensor may be a laser radar, a laser range finder, a wheel speed sensor, or the like.
  • the method for generating an electronic map acquires a positioning auxiliary letter And merging the positioning auxiliary information with the acquired original map to generate an electronic map with the added positioning auxiliary information, so as to prepare a route according to the electronic map, and update the auxiliary information according to the positioning reported by the mobile terminal. Update location assistance information to ensure the accuracy of the location assistance information in the electronic map.
  • FIG. 2 illustrates a method 200 for planning a route in an electronic map according to an embodiment of the present invention.
  • the method may be performed by a map server or may be performed by a navigation device, which is not limited by the embodiment of the present invention.
  • the method 200 includes :
  • the map server can determine N routes from the starting position to the ending position according to the positioning requirement and the positioning assistance information, and determine the best planned route among the N routes according to the highest target positioning accuracy value.
  • the planned route can be determined according to the positioning accuracy, and the accuracy of the positioning on the planned route can be improved.
  • the positioning manner on the planned route can be determined according to the requirement of the positioning accuracy.
  • the positioning method with the highest accuracy can be selected to determine the optimal planning route, and the positioning method with the positioning accuracy meeting a certain threshold can be selected to determine the best positioning method.
  • the embodiment of the present invention does not limit this.
  • the positioning manner adopted at the current location and/or the location to be reached may also be determined according to the positioning assistance information in the electronic map.
  • the determining the starting position and the ending position in the electronic map comprises: receiving a first instruction, where the first instruction is sent by the mobile terminal, the first instruction is used to indicate the starting position and The end position; determining the starting position and the ending position in the electronic map according to the first instruction.
  • the first instruction may be a first instruction sent by the mobile terminal to the map server, that is, the user may input information about the start location and the end location on the mobile terminal, and the mobile terminal sends the first instruction to the map server.
  • the map server identifies the first instruction.
  • the mobile terminal supports GPS positioning and mobile network base station positioning in the current first location, and the accuracy of the mobile network base station positioning in the first geographic location is higher than that of the GPS positioning, but the mobile terminal cannot search for nearby base stations.
  • the mobile terminal can be located in the first position by using the GPS technology with poor positioning accuracy and the positioning of the mobile network base station.
  • the embodiment of the present invention is only a preferred embodiment according to the highest precision positioning method, and at least one positioning method can also be used.
  • Other positioning assistance information is used for positioning, such as selecting a positioning mode according to the current real-time status of the base station or the satellite, and the embodiment of the present invention is not limited thereto.
  • the geographic location that the mobile terminal is to reach may be determined in the preset area according to the current traveling speed of the mobile terminal and the direction of the driving path, where the first instruction may be a geographic location that the mobile terminal receives the user input and is about to arrive.
  • the mobile terminal sends the first instruction to the map server, and the map server determines, according to the geographic location to be reached and the location assistance information, a positioning manner adopted by the geographic location to be reached.
  • the mobile terminal may adopt the geographic location according to the geographic location to be reached.
  • the positioning mode starts the positioning device in advance, and of course the positioning device is a positioning device supported by the mobile terminal.
  • the search satellite or the access positioning base station can be speeded up, and all the positioning devices can be prevented from being scanned for the full frequency band, the power consumption can be reduced, the positioning start time can be shortened, the positioning parameters can be predicted, and the starting speed of the positioning can be further improved.
  • calculating, according to the positioning assistance information on the N routes, a target positioning precision value of each of the N routes according to a preset algorithm including: according to each of the N routes The weighting value of the highest positioning accuracy of each of the at least one positioning manner determines the target positioning accuracy value of each of the N routes.
  • the map server or the navigation device may plan multiple paths for the user to select, such as the shortest path and the shortest time.
  • the positioning auxiliary information is added to the electronic map, so that the electronic map will plan N routes for the user to select according to the user's requirements for positioning accuracy.
  • the weighting value of the highest positioning accuracy of each positioning manner on each of the N routes determines the target positioning accuracy on each route, and the route with the highest target positioning accuracy or the target positioning accuracy meeting a certain threshold may be selected as the optimal planned route.
  • any one of the N routes may be selected, which is not limited by the embodiment of the present invention.
  • the self-driving vehicle may select the route with the highest target positioning accuracy and the driving route of the most self-driving vehicle, thereby further improving the positioning.
  • the accuracy is not limited by the embodiment of the present invention.
  • the method for planning a route in an electronic map is electronically
  • the positioning auxiliary information in the figure determines a plurality of routes from the starting position to the ending position, calculates the target positioning accuracy of the plurality of routes, and selects the route with the highest target positioning accuracy value as the optimal planned route.
  • the positioning auxiliary information can also be updated to ensure the accuracy of the positioning auxiliary information in the electronic map in real time, and the positioning accuracy can be further improved.
  • the map server may also determine the positioning mode used by the next location of the mobile terminal according to the auxiliary information, and can predict the positioning parameters, and the mobile terminal can start the positioning device in advance to improve the access speed of the positioning, and can also prevent all the positioning devices of the mobile terminal from being fully enabled. Can reduce the power consumption of the positioning device.
  • FIG. 3 shows an apparatus for generating an electronic map according to an embodiment of the present invention.
  • the apparatus 300 includes:
  • the collecting module 310 is configured to collect positioning auxiliary information in a predetermined area, where the positioning auxiliary information is used to indicate at least one positioning manner supported by the map information collecting device at a current position in the predetermined area, and the at least one positioning manner The highest positioning accuracy of each positioning method;
  • An obtaining module 320 configured to acquire an original map of the predetermined area
  • the processing module 330 is configured to perform the mapping information fusion between the positioning assistance information collected by the collection module 310 and the same geographic location in the original map acquired by the obtaining module 320, and generate the added location information.
  • An electronic map of auxiliary information is configured to perform the mapping information fusion between the positioning assistance information collected by the collection module 310 and the same geographic location in the original map acquired by the obtaining module 320, and generate the added location information.
  • the apparatus 300 further includes: a receiving module, configured to receive, after the processing module 330 generates the electronic map that adds the positioning assistance information, the location update in the first location in the predetermined area. Auxiliary information; the positioning accuracy of the positioning mode characterized by the positioning update assistance information has higher accuracy than the highest positioning accuracy of the positioning mode characterized by the positioning assistance information at the first position; the processing module 330 further And the method is: replacing the positioning assistance information on the first location with the positioning update assistance information received by the receiving module.
  • the positioning update assistance information indicates that the number of positioning modes is greater than the number of positioning modes represented by the positioning assistance information in the first location.
  • the positioning assistance information includes: positioning assistance information of the global positioning system GPS, and the positioning assistance information of the GPS includes the highest positioning accuracy of the map collecting device for positioning by using the satellite at the current position.
  • the collecting module 310 is configured to: collect the positioning auxiliary information by using the auxiliary positioning sensor according to the at least one positioning manner supported by the map information collecting device in the predetermined area.
  • FIG. 4 illustrates an apparatus for planning a route in an electronic map according to an embodiment of the present invention
  • Apparatus 400 includes:
  • a determining module 410 configured to determine a starting location and an ending location in the electronic map, where the electronic map includes positioning assistance information, where the positioning assistance information is used to indicate at least one positioning manner supported by the current location in the electronic map And a highest positioning accuracy of each of the at least one positioning manner;
  • the obtaining module 420 is configured to acquire, according to the positioning assistance information, the N routes determined by the determining module 410 to the end position in the electronic map, where N is greater than or equal to 1;
  • the processing module 430 is configured to calculate a target positioning precision value of each of the N routes according to a preset algorithm according to the positioning assistance information on the N routes acquired by the acquiring module 420.
  • the processing module 430 is further configured to select, in the N routes, the route with the highest target positioning accuracy value calculated by the processing module 430 as the optimal planned route.
  • the device 400 further includes: a receiving module, configured to receive a first instruction, where the first instruction is used to indicate the starting position and the ending position; the determining module 410 is specifically configured to: according to the receiving module The received first instruction determines the starting position and the ending position in an electronic map.
  • the processing module 430 is specifically configured to determine, according to a weighting value of a highest positioning accuracy of each of the at least one positioning manners on each of the N routes, in the N routes.
  • the target positioning accuracy value for each route is specifically configured to determine, according to a weighting value of a highest positioning accuracy of each of the at least one positioning manners on each of the N routes, in the N routes.
  • FIG. 5 illustrates an apparatus 500 for generating an electronic map, which may be, for example, a map server, the apparatus 500 including a receiver 510, a processor 520, a transmitter 530, a memory 540, and a bus system 550.
  • the receiver 510, the processor 520, the transmitter 530 and the memory 540 are connected by a bus system 550 for storing instructions for executing instructions stored in the memory 540 to control the receiver 510.
  • a signal is received and the transmitter 530 is controlled to send an instruction.
  • the receiver 510 is configured to receive positioning assistance information collected in a predetermined area, where the positioning assistance information is used to indicate at least one positioning manner supported by the map information collecting device at a current location in the predetermined area, and the at least one The highest positioning accuracy of each positioning mode in the positioning mode; the processor 520 is configured to acquire the original map of the predetermined area; the processor 520 is further configured to use the positioning auxiliary information and the positioning auxiliary information to be the same in the original map.
  • the geographic location performs map information fusion to generate an electronic map with the positioning assistance information added.
  • the transmitter 530 can send the generated electronic map to the mobile terminal.
  • the receiver 510 is configured to: after the generating the electronic map with the added positioning auxiliary information, receive the positioning update assistance information at the first location in the predetermined area; the positioning update auxiliary information is characterized by The positioning accuracy of the positioning mode has higher accuracy than the highest positioning accuracy of the positioning mode characterized by the positioning assistance information at the first position; the processor 520 is further configured to: The positioning assistance information is replaced with the positioning update assistance information.
  • the positioning update assistance information indicates that the number of positioning modes is greater than the number of positioning modes represented by the positioning assistance information in the first location.
  • the positioning assistance information includes: positioning assistance information of the global positioning system GPS, and the positioning assistance information of the GPS includes the highest positioning accuracy of the map collecting device for positioning by using the satellite at the current position.
  • the receiver 510 is configured to: receive, by using the auxiliary positioning sensor, the positioning auxiliary information according to the at least one positioning manner supported by the map information collecting device in the predetermined area.
  • the apparatus 500 may be specifically the mobile terminal in the foregoing embodiment, and may be used to perform various steps and/or processes corresponding to the mobile terminal in the foregoing method embodiments.
  • the memory 540 can include read only memory and random access memory and provide instructions and data to the processor 520.
  • a portion of the memory 540 may also include a non-volatile random access memory.
  • the memory 540 can also store information of the device type.
  • the processor 520 can be configured to execute instructions stored in the memory 540, and when the processor executes the instructions, the processor can perform the various steps corresponding to the user authentication server in the above method embodiments.
  • FIG. 6 shows an apparatus 600 for providing a route in an electronic map, which may be, for example, a map server or a navigation device, which is not limited by the embodiment of the present invention.
  • the device 600 includes a receiver 610 and a processor. 620. Transmitter 630, memory 640, and bus system 650.
  • the receiver 610, the processor 620, the transmitter 630, and the memory 640 are connected by a bus system 650 for storing instructions for executing instructions stored in the memory 640 to control the receiver 610.
  • a signal is received and the transmitter 630 is controlled to send an instruction.
  • the processor 620 is configured to determine a starting location and an ending location in the electronic map, where the electronic map includes positioning assistance information, where the positioning assistance information is used to indicate at least one positioning supported by the current location in the electronic map. And each of the at least one positioning method The processor 620 is further configured to acquire N routes of the starting position to the end position according to the positioning assistance information in the electronic map, where N is greater than or equal to 1; the processor 620 is further configured to use the N according to the N The positioning assistance information on the route is used to calculate the target positioning accuracy value of each of the N routes according to a preset algorithm; the processor 620 is further configured to select, in the N routes, the route with the highest target positioning accuracy value as the route The best planned route, optionally, the transmitter 630 is configured to send the best planned route to the mobile terminal.
  • the receiver 610 is configured to receive a first instruction, where the first instruction is used to indicate the start position and the end position; the processor 620 is specifically configured to: in the electronic map according to the first instruction Determine the starting position and the ending position.
  • the processor 620 is specifically configured to determine, according to the weighting value of the highest positioning accuracy of each of the at least one positioning manners on each of the N routes, the N routes. The target positioning accuracy value for each route.
  • the device 600 may be specifically the mobile terminal in the foregoing embodiment, and may be used to perform various steps and/or processes corresponding to the mobile terminal in the foregoing method embodiment.
  • the memory 640 can include read only memory and random access memory and provide instructions and data to the processor 620.
  • a portion of the memory 640 can also include a non-volatile random access memory.
  • the memory 640 can also store information of the device type.
  • the processor 620 can be configured to execute instructions stored in the memory 640, and when the processor executes the instructions, the processor can perform the various steps corresponding to the user authentication server in the above method embodiments.
  • the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • each step of the above method may be completed by an integrated logic circuit of hardware in a processor or an instruction in a form of software.
  • the steps of the method disclosed in connection with the embodiments of the present invention may be Directly implemented as a hardware processor execution, or a combination of hardware and software modules in the processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in a memory, and the processor executes instructions in the memory, in combination with hardware to perform the steps of the above method. To avoid repetition, it will not be described in detail here.
  • the disclosed systems, devices, and methods may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, or an electrical, mechanical or other form of connection.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold as a separate product When sold or used, it can be stored on a computer readable storage medium.
  • the technical solution of the present invention contributes in essence or to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a USB flash drive, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a disk or a CD.
  • ROM Read-Only Memory
  • RAM Random Access Memory

Abstract

一种生成电子地图及规划路线的方法和设备，该生成电子地图的方法包括：地图信息采集设备在预定区域内采集定位辅助信息，定位辅助信息用于指示地图信息采集设备在预定区域内的当前位置上支持的至少一种定位方式以及至少一种定位方式中每种定位方式的最高定位精度(S110)；获取预定区域的原始地图(S120)；将定位辅助信息与所述定位辅助信息在所述原始地图中对应的相同地理位置进行地图信息融合，生成新增有所述定位辅助信息的电子地图(S130)。这样，通过地图采集设备采集定位辅助信息，并将该定位辅助信息与获取到的原始地图进行地图信息融合，生成新增有定位辅助信息的电子地图，以便于根据该电子地图规划路线。

Description

生成电子地图及规划路线的方法和设备 技术领域
本发明实施例涉及电子地图领域，尤其涉及电子地图领域中生成电子地图及规划路线的方法和设备。
背景技术
电子地图在人们的生活中占着越来越重要的位置，同时随着导航应用的广泛普及，定位的准确性直接影响着导航应用的水平和服务质量。
自动驾驶和移动位置服务(Location Based Service，简称“LBS”)等基于电子地图的服务，对定位的精度和速度提出了较高的要求。并且现有的电子地图服务的对象是人，随着自动驾驶技术的出现，电子地图的服务对象可能会成为机器，在电子地图中增加更详细准确的信息是提高导航应用服务的关键。
用户在原有地图中通过导航应用无法获知规划路径中的定位能力，对一些特殊路径，例如隧道、高架桥下高精度的定位技术手段会失效，这样会使得自动驾驶的车辆被迫停止。因此，自动驾驶车辆无法根据原有地图选择满足定位精度要求的行驶路线。
发明内容
本发明实施例提供的生成电子地图及规划路线的方法和设备，在电子地图中新增有定位辅助信息，有利于根据定位辅助信息规划路线。
第一方面，提供了一种生成电子地图的方法，该方法包括：地图信息采集设备在预定区域内采集定位辅助信息，该定位辅助信息用于指示该地图信息采集设备在该预定区域内的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式的最高定位精度；获取该预定区域的原始地图；将该定位辅助信息与该定位辅助信息在该原始地图中对应的相同地理位置进行地图信息融合，生成新增有该定位辅助信息的电子地图。
这样，通过采集定位辅助信息，并将该定位辅助信息与获取到的原始地图进行地图信息融合，生成新增有定位辅助信息的电子地图，以便于根据该电子地图规划路线，进一步可以提高自动驾驶车辆利用电子地图进行定位的 准确性。
在第一方面的第一种可能的实现方式中，在该生成新增有定位辅助信息的电子地图之后，该方法还包括：接收该预定区域内的第一位置上的定位更新辅助信息；该定位更新辅助信息所表征的定位方式的定位精度与该第一位置上的定位辅助信息所表征的定位方式的该最高定位精度相比具有更高的准确性；将该第一位置上的该定位辅助信息替换为该定位更新辅助信息。
通过对定位辅助信息的中的定位精度更新，可以确保电子地图中定位精度的准确性，进一步提高电子地图的准确性，从而可以提高路线规划的准确性。
结合第一方面的上述可能的实现方式，在第一方面的第二种可能的实现方式中，该定位更新辅助信息所表征的定位方式的数量比该第一位置上的该定位辅助信息所表征的定位方式的数量多。
通过对定位辅助信息的中的定位方式的更新，可以确保电子地图中定位方式的准确性，进一步提高电子地图的准确性，从而可以提高路线规划的准确性。
结合第一方面的上述可能的实现方式，在第一方面的第三种可能的实现方式中，该定位辅助信息包括：全球定位系统(Global Positioning System，简称“GPS”)的定位辅助信息，该GPS的定位辅助信息包括该地图采集设备在当前位置上利用卫星进行定位的最高定位精度，可选地，GPS的定位辅助信息还可以包括在当前位置上所采用的卫星、卫星的实时动态、GPS定位的精度、载波相位差分(Real-time kinematic，简称“RTK”)参数等。
这样，利用GPS定位辅助信息所包括的最高定位精度进行路线的规划，可以提高移动终端在该规划路线上利用GPS进行定位的准确性。
可选地，该定位辅助信息还可以包括：无线保真(Wireless Fidelity，简称“WiFi”)的定位辅助信息，该WiFi的定位辅助信息可以包括：在当前位置上的WiFi定位的最高定位精度、指纹信息等。
结合第一方面的上述可能的实现方式，在第一方面的第四种可能的实现方式中，该地图信息采集设备在预定区域内采集定位辅助信息，包括：该地图信息采集设备在该预定区域内根据该地图信息采集设备支持的该至少一种定位方式利用辅助定位传感器采集该定位辅助信息。
利用辅助定位传感器对定位辅助信息进行采集，该辅助定位传感器可以 包括激光雷达、激光测距仪等，通过高精度的辅助定位设备对定位辅助信息的采集，进一步可以确保定位辅助信息准确性。
第二方面，提供了一种在电子地图中规划路线的方法，该方法包括：在该电子地图中确定起始位置和终点位置，该电子地图中含有定位辅助信息，该定位辅助信息用于指示该电子地图中的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式的最高定位精度；在该电子地图中根据该定位辅助信息获取该起始位置到该终点位置的N条路线，N大于或等于1；根据该N条路线上的定位辅助信息按照预设算法计算该N条路线中的每条路线的目标定位精度值；在该N条路线中选择该目标定位精度值最高的路线作为最佳规划路线。
这样，定位精度和电子地图结合后，移动终端可以根据定位需求和定位辅助信息确定从起始位置到终点位置的N条路线，根据最高的目标定位精度值确定最佳规划路线，能够提高该规划路线上定位的准确性。
在第二方面的第一种可能的实现方式中，该在电子地图中确定起始位置和终点位置，包括：接收第一指令，该第一指令可以是移动终端发送的，该第一指令用于指示该起始位置和该终点位置；根据该第一指令在电子地图中确定该起始位置和该终点位置。
可选地，该第一指令可以是移动终端发送的第一指令，即用户可以在移动终端上输入起始位置和终点位置的信息。这样，可以根据用户的输入的起始位置和终端位置的信息为用户规划出N条路线。
可选地，可以根据移动终端的当前的行驶速度和行驶路径方向在预设区域内确定移动终端将要到达的地理位置，该第一指令可以是接收到的用户输入的将要到达的位置的信息，根据将要到达地理位置和定位辅助信息确定将要到达的地理位置采用的定位方式，可选地，移动终端可以根据将要到达的地理位置所采用的定位方式提前启动定位设备。这样，可以加快搜索卫星或接入定位基站，能够避免所有定位设备的开启来进行全频段的扫描，能够降低功耗，缩短定位启动时间，预知定位参数，进一步可以提高定位的启动速度。
结合第二方面的上述可能的实现方式，在第二方面的第二种可能的实现方式中，该根据该N条路线上的定位辅助信息按照预设算法计算该N条路线中的每条路线的目标定位精度值，包括：根据该N条路线中每条路线上的 该至少一种定位方式中每种定位方式的最高定位精度的加权值确定该N条路线中每条路线的该目标定位精度值。
第三方面，提供了一种生成电子地图的设备，用于执行上述第一方面或第一方面的任意可能的实现方式中的方法。具体地，该装置包括用于执行上述第一方面或第一方面的任意可能的实现方式中的方法的单元。
第四方面，提供了一种在电子地图中规划路线的设备，用于执行上述第二方面或第二方面的任意可能的实现方式中的方法。具体地，该装置包括用于执行上述第二方面或第二方面的任意可能的实现方式中的方法的单元。
第五方面，提供了一种生成电子地图的设备，该设备包括：接收器、发送器、存储器、处理器和总线系统。其中，该接收器、该发送器、该存储器和该处理器通过该总线系统相连，该存储器用于存储指令，该处理器用于执行该存储器存储的指令，以控制接收器接收信号，并控制发送器发送信号，并且当该处理器执行该存储器存储的指令时，该执行使得该处理器执行第一方面或第一方面的任意可能的实现方式中的方法。
第六方面，提供了一种在电子地图中规划路线的设备，该设备包括：接收器、发送器、存储器、处理器和总线系统。其中，该接收器、该发送器、该存储器和该处理器通过该总线系统相连，该存储器用于存储指令，该处理器用于执行该存储器存储的指令，以控制接收器接收信号，并控制发送器发送信号，并且当该处理器执行该存储器存储的指令时，该执行使得该处理器执行第二方面或第二方面的任意可能的实现方式中的方法。
第七方面，提供了一种计算机可读介质，用于存储计算机程序，该计算机程序包括用于执行第一方面或第一方面的任意可能的实现方式中的方法的指令。
第八方面，提供了一种计算机可读介质，用于存储计算机程序，该计算机程序包括用于执行第二方面或第二方面的任意可能的实现方式中的方法的指令。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付 出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的生成电子地图的方法示意图；
图2是本发明实施例提供的在电子地图中规划路线的方法；
图3是本发明实施例提供的生成电子地图的设备示意图；
图4是本发明实施例提供的在电子地图中规划路线的设备示意图；
图5是本发明实施例提供的又一生成电子地图的设备示意图；
图6是本发明实施例提供的又一在电子地图中规划路线的设备示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。
本发明实施例的技术方案可以应用于所有移动设备，例如移动设备可以是车载电脑、无人机电脑、高速移动装置、列车控制装置、移动电话、平板个人电脑(Tablet Personal Computer)、媒体播放器、笔记本电脑(Laptop Computer)、个人数字助理(personal digital assistant，PDA)、个人计算机(Personal Computer)、移动上网装置(Mobile Internet Device)或智能手表等可穿戴式设备(Wearable Device)等，本发明实施例对此不作限定。
图1示出了根据本发明实施例提供的生成电子地图的方法示意图，该方法100包括：
S110，地图信息采集设备在预定区域内采集定位辅助信息，该定位辅助信息用于指示该地图信息采集设备在该预定区域内的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式的最高定位精度；
S120，获取该预定区域的原始地图；
S130，将该定位辅助信息与该定位辅助信息在该原始地图中对应的相同地理位置进行地图信息融合，生成新增有该定位辅助信息的电子地图。
具体而言，地图信息采集设备在预定的区域内采集定位辅助信息，地图服务器可以获取该预定区域的原始地图，并且地图服务器将定位辅助信息与该原始地图中对应的相同地理位置进行合并，生成包括定位辅助信息的电子地图，以便于根据该电子地图规划路线。
可选地，地图服务器可以定义该定位辅助信息，如该定位辅助信息可以包括定位方式、定位精度、GPS/北斗等的可见星列表、历书、卫星或定位基站的实时状态、载波相位差分(Real-time kinematic，简称“RTK”)参数等。
可选地，地图服务器可以将该定位辅助信息分为更新周期长的信息和更新周期短的动态信息，该更新周期长的信息的更新周期如可以为3至6个月，如这些信息可以是定位方式、定位精度、GPS/北斗等的可见星列表、历书等；该更新周期短如可以是卫星或定位基站的实时状态、RTK参数等，本发明实施不限于此。
应理解，生成电子地图之后移动终端可以在线使用该电子地图，移动终端也可以在网络侧将该电子地图下载保存到本地进行使用，本发明实施例对此不作限制。
可选地，该电子地图可以包括该原始地图中所有地理位置的定位辅助信息，如所有地理位置能否定位，能定位的地理位置的定位方式等；该电子地图也可以包括该原始地图中的部分地理位置的定位辅助信息，本发明实施例不限于此。
应理解，该至少一种定位方式可以是：全球卫星导航系统(GlobalNavigation Satellite System，简称“GNSS”，GNSS系统包括全球定位系统(Global Positioning System，简称“GPS”)、北斗系统、Glonass系统、Galileo系统等)定位、移动网络基站定位、WiFi定位、射频识别(Radio Frequency Identification，简称“RFID”)定位、超宽带(Ultra Wideband，简称“UWB”)定位等。例如，GPS定位的定位辅助信息可以包括：卫星的实时动态、GPS定位的精度、RTK参数等；移动网络基站定位的辅助信息可以包括：地理位置附近的基站数量、基站的实时状态、基站的定位精度等；WiFi定位的辅助信息可以包括：地理位置中的WiFi定位的精度、指纹信息等，本发明实施例对此不作限制。
可选地，在S110之后，可以将该定位辅助信息进行处理保存到原始地图的图层中，也可以对该定位辅助信息进行矢量化处理。如对采集的定位辅助信息进行规划、划定范围、生成矢量区域信息。每个区域信息可以包括：能否定位、定位方式、定位参数、每个卫星或基站的参数、定位精度等。
可选地，也可以对定位辅助信息使用栅格模型保存到原始地图的图层中。电子地图均由多个图层组成，基本图层如可以是底图、道路图层、建筑 图层等。其他图层可以包括卫星图层、交通状况图层、三维图层等。电子地图还包括气温分布图、商圈分布图、室内图层、街景图层等创新图层。本发明实施例可以在现有地图的图层中新增加定位辅助信息层，也可以将该定位辅助信息保存到现有地图的图层中，本发明实施例不限于此。
可选地，在S110中的地图信息采集设备可以是地图数据采集车，该数据采集车可以将该定位辅助信息保存到地图原始数据库中；地图信息采集设备(如地图数据采集车)可以包含多种高精度定位设备，如支持差分RTK的全球卫星导航系统(Global Navigation Satellite System，简称“GNSS”)设备、惯导、支持移动网络定位的设备。
作为一个可选实施例，在该生成新增有定位辅助信息的电子地图之后，该方法还包括：接收该预定区域内的第一位置上的定位更新辅助信息；该定位更新辅助信息所表征的定位方式的定位精度与该第一位置上的定位辅助信息所表征的定位方式的该最高定位精度相比具有更高的准确性；将该第一位置上的该定位辅助信息替换为该定位更新辅助信息。
作为一个可选实施例，该定位更新辅助信息所表征的定位方式的数量比该第一位置上的该定位辅助信息所表征的定位方式的数量多。
具体来说，定位服务器可以接收该第一位置上的定位更新辅助信息，该定位更新辅助信息可以表示当前第一位置上的第一定位方式的定位精度比原来电子地图中的第一位置上的定位精度高，可以将定位辅助信息替换为定位更新辅助信息，进一步确保定位精度的准确性。同时，若第一位置上的定位辅助信息表征了两种定位方式，当移动终端到第一位置时可以搜索到三种定位方式，该三种定位方式包括前述的两种定位方式，则移动终端可以将另外一种定位方式上报给定位服务器，定位服务器对定位辅助信息进行更新。
更具体地，地图服务器可以接收移动终端在第一位置上利用第一定位方式进行定位后生成包括有该第一定位方式的定位精度的定位报告信息，移动终端可以将该定位报告信息上报给地图服务器，地图服务器可以比较该移动终端上报的第一定位方式与电子地图中的定位辅助信息所表征的第一定位方式的定位最高精度的差值，若该差值大于设定的精度阈值，则该地图服务器将该车载上报的第一定位方式的定位精度确定为该第一定位方式的最高定位精度。
可选地，移动终端根据电子地图的定位辅助信息确定的第一定位方式有 四颗可用卫星，在实际利用该第一定位方式在当前位置进行定位时，该移动终端可能会搜索到五颗可用定位卫星，该移动终端可以将该五颗卫星的信息发送给地图服务器。可选地，在移动终端根据第一定位方式进行定位时，当该移动终端利用该第一定位方式定位错误时，移动终端生成定位错误报告，并向地图服务器发送，地图服务器根据错误报告更新电子地图中的定位辅助信息，能够保证定位辅助信息实时的准确性，进一步能够提高了采用该定位辅助信息进行规划路线的准确性。可选地，地图服务器可以根据一定可信度规则更新电子地图的定位辅助信息，如该可信度规则可以是：认证过的移动终端上报的定位报告信息；或者至少两个移动终端上报同样的定位报告信息才可更新定位辅助信息；或者专用移动装置(如测绘车、鉴定协议的出租车)上报的错误报告则可更新定位辅助信息。
作为一个可选实施例，该定位辅助信息包括：全球定位系统GPS的定位辅助信息，该GPS的定位辅助信息包括该地图采集设备在当前位置上利用卫星进行定位的最高定位精度。可选地，GPS的定位辅助信息还可以包括在当前位置上所采用的卫星、卫星的实时动态、GPS定位的精度、载波相位差分(Real-time kinematic，简称“RTK”)参数等。可选地，该定位辅助信息也可以包括：无线保真(Wireless Fidelity，简称“WiFi”)的定位辅助信息，该WiFi的定位辅助信息可以包括：在当前位置上的WiFi定位的最高定位精度、指纹信息等，本发明实施例对此不作限定。
作为一个可选实施例，该地图信息采集设备在预定区域内采集定位辅助信息，包括：该地图信息采集设备在该预定区域内根据该地图信息采集设备支持的该至少一种定位方式利用辅助定位传感器采集该定位辅助信息。
应理解，地图信息采集设备支持GPS、北斗等多种卫星定位系统，也支持连续运行卫星定位服务综合系统(Continuously Operating Reference Stations，简称“CORS”)、精密单点定位(Precise Point Positioning，简称“PPP”)、星基增强系统(Satellite-Based Augmentation System简称“SBAS”)等卫星定位的差分改正系统，并且数据采集车安装有高精度惯导系统，可在无法定位时维持一段时间的精度，数据采集车通常还有激光雷达、激光测距仪、轮速传感器等多种辅助定位传感器。该辅助定位传感器可以是激光雷达、激光测距仪、轮速传感器等。
因此，本发明实施例提供的生成电子地图的方法，通过采集定位辅助信 息，并将该定位辅助信息与获取到的原始地图进行地图信息融合，生成新增有定位辅助信息的电子地图，以便于根据该电子地图规划路线，并且可以根据移动终端上报的定位更新辅助信息更新定位辅助信息，以确保电子地图中定位辅助信息的准确性。
图2示出了根据本发明实施例提供的在电子地图中规划路线的方法200，该方法可以由地图服务器执行，也可以由导航装置执行，本发明实施例对此不作限定，该方法200包括：
S210，在该电子地图中确定起始位置和终点位置，该电子地图中含有定位辅助信息，该定位辅助信息用于指示该电子地图中的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式的最高定位精度；
S220，在该电子地图中根据该定位辅助信息获取该起始位置到该终点位置的N条路线，N大于或等于1；
S230，根据该N条路线上的定位辅助信息按照预设算法计算该N条路线中的每条路线的目标定位精度值；
S240，在该N条路线中选择该目标定位精度值最高的路线作为最佳规划路线。
这样，定位精度和电子地图结合后，地图服务器可以根据定位需求和定位辅助信息确定从起始位置到终点位置的N条路线，根据最高的目标定位精度值在N条路线中确定最佳规划路线，可以根据定位精度确定规划路线，能够提高该规划路线上定位的准确性。
应理解，可以根据对定位精度的需求来确定规划路线上的定位方式，如可以选择精度最高的定位方式确定最佳规划路线，也可以选择定位精度满足某一特定的阈值的定位方式确定最佳规划路线等，本发明实施例对此不作限制。可选地，也可以根据电子地图中的定位辅助信息确定在当前位置和/或将要到达的位置所采用的定位方式。
作为一个可选实施例，该在电子地图中确定起始位置和终点位置，包括：接收第一指令，该第一指令可以是移动终端发送的，该第一指令用于指示该起始位置和该终点位置；根据该第一指令在电子地图中确定该起始位置和该终点位置。可选地，该第一指令可以是移动终端发送给地图服务器的第一指令，即用户可以在移动终端上输入起始位置和终点位置的信息，移动终端将该第一指令发送给地图服务器，地图服务器对该第一指令进行识别。
作为一个例子，该移动终端在当前的第一位置支持GPS定位和移动网络基站定位，在第一地理位置移动网络基站定位的精度比GPS定位的精度高，但是该移动终端搜索不到附近的基站，移动终端在该第一位置可以采用定位精度相对移动网络基站定位较差的GPS技术进行定位，本发明实施例根据定位最高精度选择定位方式只是一个优选实施例，也可以采用至少一种定位方式的其他的定位辅助信息进行定位，如根据当前基站或卫星实时状态来选择定位方式，本发明实施例不限于此。
可选地，可以根据移动终端当前的行驶速度和行驶路径方向在预设区域内确定移动终端将要到达的地理位置，该第一指令可以是移动终端接收到的用户输入的将要到达的地理位置，移动终端将该第一指令发送给地图服务器，地图服务器根据将要到达地理位置和定位辅助信息确定将要到达的地理位置采用的定位方式，可选地，移动终端可以根据将要到达的地理位置所采用的定位方式提前启动定位设备，当然该定位设备是移动终端所支持的定位设备。这样，可以加快搜索卫星或接入定位基站，能够避免所有定位设备的开启来进行全频段的扫描，能够降低功耗，缩短定位启动时间，预知定位参数，进一步可以提高定位的启动速度。
作为一个可选实施例，根据该N条路线上的定位辅助信息按照预设算法计算该N条路线中的每条路线的目标定位精度值，包括：根据该N条路线中每条路线上的该至少一种定位方式中每种定位方式的最高定位精度的加权值确定该N条路线中每条路线的该目标定位精度值。
具体地，根据现有的地图规划行驶路径时，用户在输入起始地和目的地时，地图服务器或导航装置会为用户规划处多条路径供用户选择，如距离最短的路径、时间最短的路径、换乘最少的路径等，用户根据需要选择路径，本发明实施例在电子地图中新增有定位辅助信息，这样电子地图会根据用户对定位精度的需求规划出N条路线供用户进行选择，该N条路线上每条路线上的定位方式的最高定位精度的加权值确定每条路线上目标定位精度，可以选择目标定位精度最高的或者目标定位精度满足特定阈值的路线作为最佳规划路线，可选地，也可以选择N条路线中的任一条路线，本发明实施例对此不作限制，如自动驾驶车辆可以选择目标定位精度最高的路线最为自动驾驶车辆的行驶路线，进一步可以提高定位的准确性。
因此，本发明实施例提供的在电子地图中规划路线的方法，通过电子地 图中的定位辅助信息，确定起始位置到终点位置的多条路线，并计算出多条路线的目标定位精度，选择目标定位精度值最高的路线作为最佳规划路线。也可以对定位辅助信息进行更新，实时的保证电子地图中定位辅助信息的准确性，进一步可以提高定位的准确性。地图服务器也可以根据辅助信息确定移动终端下一位置所采用的定位方式，能够预知定位参数，移动终端可以提前启动定位设备，提高定位的接入速度，也可以避免移动终端所有的定位设备全部开启，可以降低定位设备的功耗。
图3示出了根据本发明实施例提供的生成电子地图的设备，该设备300包括：
采集模块310，用于在预定区域内采集定位辅助信息，该定位辅助信息用于指示该地图信息采集设备在该预定区域内的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式的最高定位精度；
获取模块320，用于获取该预定区域的原始地图；
处理模块330，用于将该采集模块310采集到的该定位辅助信息与该定位辅助信息在该获取模块320获取的该原始地图中对应的相同地理位置进行地图信息融合，生成新增有该定位辅助信息的电子地图。
作为一个可选实施例，该装置300还包括，接收模块，用于在该处理模块330生成该生成新增有定位辅助信息的电子地图之后，接收该预定区域内的第一位置上的定位更新辅助信息；该定位更新辅助信息所表征的定位方式的定位精度与该第一位置上的定位辅助信息所表征的定位方式的该最高定位精度相比具有更高的准确性；该处理模块330还用于：将该第一位置上的该定位辅助信息替换为该接收模块接收到的该定位更新辅助信息。
作为一个可选实施例，该定位更新辅助信息所表征的定位方式的数量比该第一位置上的该定位辅助信息所表征的定位方式的数量多。
作为一个可选实施例，该定位辅助信息包括：全球定位系统GPS的定位辅助信息，该GPS的定位辅助信息包括该地图采集设备在当前位置上利用卫星进行定位的最高定位精度。
作为一个可选实施例，该采集模块310具体用于：在该预定区域内根据该地图信息采集设备支持的该至少一种定位方式利用辅助定位传感器采集该定位辅助信息。
图4示出了根据本发明实施例提供的在电子地图中规划路线的设备，该 设备400包括：
确定模块410，用于在该电子地图中确定起始位置和终点位置，该电子地图中含有定位辅助信息，该定位辅助信息用于指示该电子地图中的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式的最高定位精度；
获取模块420，用于在该电子地图中根据该定位辅助信息获取该确定模块410确定的该起始位置到该终点位置的N条路线，N大于或等于1；
处理模块430，用于根据该获取模块420获取的该N条路线上的定位辅助信息按照预设算法计算该N条路线中的每条路线的目标定位精度值；
该处理模块430还用于在该N条路线中选择该处理模块430计算的该目标定位精度值最高的路线作为最佳规划路线。
作为一个可选实施例，该设备400还包括：接收模块，用于接收第一指令，该第一指令用于指示该起始位置和该终点位置；该确定模块410具体用于：根据接收模块接收的该第一指令在电子地图中确定该起始位置和该终点位置。
作为一个可选实施例，该处理模块430具体用于：根据该N条路线中每条路线上的该至少一种定位方式中每种定位方式的最高定位精度的加权值确定该N条路线中每条路线的该目标定位精度值。
图5示出了本发明实施例提供生成电子地图的设备500，该装置例如可以是地图服务器，该装置500包括接收器510、处理器520、发送器530、存储器540和总线系统550。其中，接收器510、处理器520、发送器530和存储器540通过总线系统550相连，该存储器540用于存储指令，该处理器520用于执行该存储器540存储的指令，以控制该接收器510接收信号，并控制该发送器530发送指令。
其中，接收器510用于接收在预定区域内采集的定位辅助信息，该定位辅助信息用于指示该地图信息采集设备在该预定区域内的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式的最高定位精度；处理器520用于获取该预定区域的原始地图；处理器520还用于将该定位辅助信息与该定位辅助信息在该原始地图中对应的相同地理位置进行地图信息融合，生成新增有该定位辅助信息的电子地图，可选地，该发送器530可以将生成的电子地图发送给移动终端。
作为一个可选实施例，接收器510用于在该生成新增有定位辅助信息的电子地图之后，接收该预定区域内的第一位置上的定位更新辅助信息；该定位更新辅助信息所表征的定位方式的定位精度与该第一位置上的定位辅助信息所表征的定位方式的该最高定位精度相比具有更高的准确性；该处理器520还用于：将该第一位置上的该定位辅助信息替换为该定位更新辅助信息。
作为一个可选实施例，该定位更新辅助信息所表征的定位方式的数量比该第一位置上的该定位辅助信息所表征的定位方式的数量多。
作为一个可选实施例，该定位辅助信息包括：全球定位系统GPS的定位辅助信息，该GPS的定位辅助信息包括该地图采集设备在当前位置上利用卫星进行定位的最高定位精度。
作为一个可选实施例，该接收器510具体用于：接收在该预定区域内根据该地图信息采集设备支持的该至少一种定位方式利用辅助定位传感器采集该定位辅助信息。
应理解，装置500可以具体为上述实施例中的移动终端，并且可以用于执行上述方法实施例中与移动终端对应的各个步骤和/或流程。可选地，该存储器540可以包括只读存储器和随机存取存储器，并向处理器520提供指令和数据。存储器540的一部分还可以包括非易失性随机存取存储器。例如，存储器540还可以存储设备类型的信息。该处理器520可以用于执行存储器540中存储的指令，并且该处理器执行该指令时，该处理器可以执行上述方法实施例中与用户认证服务器对应的各个步骤。
应理解，图5描述的本发明实施例的装置能够实现上述方法的各个步骤，为避免重复，此处不再详述。
图6示出了本发明实施例提供在电子地图中规划路线的设备600，该装置例如可以是地图服务器或导航装置，本发明实施例对此不作限制，该装置600包括接收器610、处理器620、发送器630、存储器640和总线系统650。其中，接收器610、处理器620、发送器630和存储器640通过总线系统650相连，该存储器640用于存储指令，该处理器620用于执行该存储器640存储的指令，以控制该接收器610接收信号，并控制该发送器630发送指令。
其中，处理器620用于在该电子地图中确定起始位置和终点位置，该电子地图中含有定位辅助信息，该定位辅助信息用于指示该电子地图中的当前位置上支持的至少一种定位方式以及该至少一种定位方式中每种定位方式 的最高定位精度；处理器620还用于在该电子地图中根据该定位辅助信息获取该起始位置到该终点位置的N条路线，N大于或等于1；处理器620还用于根据该N条路线上的定位辅助信息按照预设算法计算该N条路线中的每条路线的目标定位精度值；该处理器620还用于在该N条路线中选择该目标定位精度值最高的路线作为最佳规划路线，可选地，该发送器630用于将该最佳规划路线发送给移动终端。
作为一个可选实施例，接收器610用于接收第一指令，该第一指令用于指示该起始位置和该终点位置；该处理器620具体用于：根据该第一指令在电子地图中确定该起始位置和该终点位置。
作为一个可选实施例，该处理器620具体用于：根据该N条路线中每条路线上的该至少一种定位方式中每种定位方式的最高定位精度的加权值确定该N条路线中每条路线的该目标定位精度值。
应理解，装置600可以具体为上述实施例中的移动终端，并且可以用于执行上述方法实施例中与移动终端对应的各个步骤和/或流程。可选地，该存储器640可以包括只读存储器和随机存取存储器，并向处理器620提供指令和数据。存储器640的一部分还可以包括非易失性随机存取存储器。例如，存储器640还可以存储设备类型的信息。该处理器620可以用于执行存储器640中存储的指令，并且该处理器执行该指令时，该处理器可以执行上述方法实施例中与用户认证服务器对应的各个步骤。
应理解，图6描述的本发明实施例的装置能够实现上述方法的各个步骤，为避免重复，此处不再详述。
应理解，在本发明实施例中，处理器可以是中央处理单元(Central Processing Unit，CPU)，处理器还可以是其他通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
应理解，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。
在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。结合本发明实施例所公开的方法的步骤可以 直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器执行存储器中的指令，结合其硬件完成上述方法的步骤。为避免重复，这里不再详细描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例中描述的各方法步骤和单元，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各实施例的步骤及组成。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。本领域普通技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电的，机械的或其它的形式连接。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本发明实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销 售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分，或者该技术方案的全部或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一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，简称为“ROM”)、随机存取存储器(Random Access Memory，简称为“RAM”)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (18)

  1. 一种生成电子地图的方法，其特征在于，所述方法包括：
    地图信息采集设备在预定区域内采集定位辅助信息，所述定位辅助信息用于指示所述地图信息采集设备在所述预定区域内的当前位置上支持的至少一种定位方式以及所述至少一种定位方式中每种定位方式的最高定位精度；
    获取所述预定区域的原始地图；
    将所述定位辅助信息与所述定位辅助信息在所述原始地图中对应的相同地理位置进行地图信息融合，生成新增有所述定位辅助信息的电子地图。
  2. 根据权利要求1所述的方法，其特征在于，在所述生成新增有定位辅助信息的电子地图之后，所述方法还包括：
    接收所述预定区域内的第一位置上的定位更新辅助信息；所述定位更新辅助信息所表征的定位方式的定位精度与所述第一位置上的定位辅助信息所表征的定位方式的所述最高定位精度相比具有更高的准确性；
    将所述第一位置上的所述定位辅助信息替换为所述定位更新辅助信息。
  3. 根据权利要求2所述的方法，其特征在于，所述定位更新辅助信息所表征的定位方式的数量比所述第一位置上的所述定位辅助信息所表征的定位方式的数量多。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述定位辅助信息包括：
    全球定位系统GPS的定位辅助信息，所述GPS的定位辅助信息包括所述地图采集设备在当前位置上利用卫星进行定位的最高定位精度。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述地图信息采集设备在预定区域内采集定位辅助信息，包括：
    所述地图信息采集设备在所述预定区域内根据所述地图信息采集设备支持的所述至少一种定位方式利用辅助定位传感器采集所述定位辅助信息。
  6. 一种在电子地图中规划路线的方法，其特征在于，所述方法包括：
    在所述电子地图中确定起始位置和终点位置，所述电子地图中含有定位辅助信息，所述定位辅助信息用于指示所述电子地图中的当前位置上支持的至少一种定位方式以及所述至少一种定位方式中每种定位方式的最高定位精度；
    在所述电子地图中根据所述定位辅助信息获取所述起始位置到所述终点位置的N条路线，N大于或等于1；
    根据所述N条路线上的定位辅助信息按照预设算法计算所述N条路线中的每条路线的目标定位精度值；
    在所述N条路线中选择所述目标定位精度值最高的路线作为最佳规划路线。
  7. 根据权利要求6所述的方法，其特征在于，所述在电子地图中确定起始位置和终点位置，包括：
    接收第一指令，所述第一指令用于指示所述起始位置和所述终点位置；
    根据所述第一指令在电子地图中确定所述起始位置和所述终点位置。
  8. 根据权利要求6或7所述的方法，其特征在于，所述根据所述N条路线上的定位辅助信息按照预设算法计算所述N条路线中的每条路线的目标定位精度值，包括：
    根据所述N条路线中每条路线上的所述至少一种定位方式中每种定位方式的最高定位精度的加权值确定所述N条路线中每条路线的所述目标定位精度值。
  9. 一种生成电子地图的设备，其特征在于，所述设备包括：
    采集模块，用于在预定区域内采集定位辅助信息，所述定位辅助信息用于指示所述地图信息采集设备在所述预定区域内的当前位置上支持的至少一种定位方式以及所述至少一种定位方式中每种定位方式的最高定位精度；
    获取模块，用于获取所述预定区域的原始地图；
    处理模块，用于将所述采集模块采集到的定位辅助信息与所述定位辅助信息在所述获取模块获取的所述原始地图中对应的相同地理位置进行地图信息融合，生成新增有所述定位辅助信息的电子地图。
  10. 根据权利要求9所述的设备，其特征在于，所述设备还包括：
    接收模块，用于在所述处理模块生成所述新增有定位辅助信息的所述电子地图之后，接收所述预定区域内的第一位置上的定位更新辅助信息；所述定位更新辅助信息所表征的定位方式的定位精度与所述第一位置上的定位辅助信息所表征的定位方式的所述最高定位精度相比具有更高的准确性；
    所述处理模块还用于：将所述第一位置上的所述定位辅助信息替换为所述接收模块接收到的定位更新辅助信息。
  11. 根据权利要求10所述的设备，其特征在于，所述定位更新辅助信息所表征的定位方式的数量比所述第一位置上的所述定位辅助信息所表征的定位方式的数量多。
  12. 根据权利要求10或11所述的设备，其特征在于，所述定位辅助信息包括：
    全球定位系统GPS的定位辅助信息，所述GPS的定位辅助信息包括所述地图采集设备在当前位置上利用卫星进行定位的最高定位精度。
  13. 根据权利要求9至12中任一项所述的设备，其特征在于，所述采集模块具体用于：
    在所述预定区域内根据所述地图信息采集设备支持的所述至少一种定位方式利用辅助定位传感器采集所述定位辅助信息。
  14. 一种在电子地图中规划路线的设备，其特征在于，所述设备包括：
    确定模块，用于在所述电子地图中确定起始位置和终点位置，所述电子地图中含有定位辅助信息，所述定位辅助信息用于指示所述电子地图中的当前位置上支持的至少一种定位方式以及所述至少一种定位方式中每种定位方式的最高定位精度；
    获取模块，用于在所述电子地图中根据所述定位辅助信息获取所述确定模块确定的所述起始位置到所述终点位置的N条路线，N大于或等于1；
    处理模块，用于根据所述获取模块获取的所述N条路线上的定位辅助信息按照预设算法计算所述N条路线中的每条路线的目标定位精度值；
    所述处理模块还用于在所述N条路线中选择所述处理模块计算的目标定位精度值最高的路线作为最佳规划路线。
  15. 根据权利要求14所述的设备，其特征在于，所述设备还包括：
    接收模块，用于接收第一指令，所述第一指令用于指示所述起始位置和所述终点位置；
    所述确定模块具体用于：根据所述接收模块接收的所述第一指令在电子地图中确定所述起始位置和所述终点位置。
  16. 根据权利要求14或15所述的设备，其特征在于，所述处理模块具体用于：
    根据所述N条路线中每条路线上的所述至少一种定位方式中每种定位方式的最高定位精度的加权值确定所述N条路线中每条路线的所述目标定 位精度值。
  17. 一种生成电子地图的设备，其特征在于，包括存储器和处理器以及总线，所述存储器与所述处理器通过所述总线连接通信，所述存储器存储有程序和指令，所述处理器调用所述存储器中的程序和指令，用于执行如权利要求1至5中任一项所述方法。
  18. 一种在电子地图中规划路线的设备，其特征在于，包括存储器和处理器以及总线，所述存储器与所述处理器通过所述总线连接通信，所述存储器存储有程序和指令，所述处理器调用所述存储器中的程序和指令，用于执行如权利要求6至8中任一项所述方法。
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