CN109655072B - Map generation method and device - Google Patents
Map generation method and device Download PDFInfo
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- CN109655072B CN109655072B CN201811290066.3A CN201811290066A CN109655072B CN 109655072 B CN109655072 B CN 109655072B CN 201811290066 A CN201811290066 A CN 201811290066A CN 109655072 B CN109655072 B CN 109655072B
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- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The embodiment of the application provides a map generation method and device, wherein the method comprises the following steps: receiving configuration information from the second server, the configuration information including: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map; and sending a first storage path and a second storage path to a third server, so that the third server acquires input data of the third server according to the first storage path and acquires output data of the third server according to the second storage path, wherein the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, the input data and the output data of the third server are used for generating the map, and the third server is used for data operation in the operation stage. The map generation method and device provided by the embodiment of the application can stably and efficiently generate the map.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a map generation method and device.
Background
The automated driving map is an indispensable part of automated driving technology, and therefore generation of the automated driving map is an important factor for implementation of automated driving.
The map generation includes a plurality of operation stages, and how to make each operation stage smoothly proceed to generate a map stably and efficiently, especially an automatic driving map is a technical problem to be solved urgently.
Disclosure of Invention
The embodiment of the application provides a map generation method and device, which can generate a map stably and efficiently.
In a first aspect, an embodiment of the present application provides a map generation method, which is applied to a first server, and includes:
receiving configuration information from a second server, the configuration information comprising: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
and sending a first storage path and a second storage path to a third server, so that the third server obtains input data of the third server according to the first storage path, and obtains output data of the third server according to the second storage path, wherein the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, the input data and the output data of the third server are used for generating the map, and the third server is a server used for data operation in the current operation stage.
In one possible design, the current operation phase is not the first operation phase for generating the map, and the data storage server corresponding to each input storage path and the data storage server corresponding to each output storage path are located in the same distributed file system.
In one possible design, the current operation phase is a last operation phase for generating a map, and the generated map is included in the output data.
In one possible design, the current operation stage is a first operation stage for generating a map, and the input data is raw data for generating the map, wherein the raw data includes position data of a collected vehicle and point cloud data collected by the collected vehicle.
In a second aspect, an embodiment of the present application provides a map generation method, which is applied to a second server, and includes:
generating configuration information, the configuration information comprising: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
sending the configuration information to a first server so that the first server sends a first storage path and a second storage path to a third server according to the configuration information; the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, and the third server is a server used for data operation in the current operation stage.
In a third aspect, an embodiment of the present application provides a map generation method, which is applied to a third server, and includes:
receiving a first storage path and a second storage path from a first server, wherein the first storage path generates a path in each input storage path of input data of a current operation stage of a map, the second storage path is a path in each output storage path of output data of the current operation stage, and each input storage path and each output storage path are sent to the first server by the second server;
acquiring input data of the third server according to the first storage path;
performing operation processing on input data of the third server to obtain output data of the third server;
and sending the output data of the third server to the equipment corresponding to the second storage path.
In a fourth aspect, an embodiment of the present application provides an apparatus for generating a map, including:
a receiving module, configured to receive configuration information from a second server, where the configuration information includes: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
a sending module, configured to send a first storage path and a second storage path to a third server, so that the third server obtains input data of the third server according to the first storage path, and obtains output data of the third server according to the second storage path, where the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, the input data and the output data of the third server are used to generate the map, and the third server is a server used for data operation in the current operation stage.
In a fifth aspect, an embodiment of the present application provides an apparatus for generating a map, including:
a generating module configured to generate configuration information, the configuration information including: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
the sending module is used for sending the configuration information to the first server so that the first server sends the first storage path and the second storage path to the third server according to the configuration information; the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, and the third server is a server used for data operation in the current operation stage.
In a sixth aspect, an embodiment of the present application provides an apparatus for generating a map, including:
the receiving module is used for receiving a first storage path and a second storage path from a first server, wherein the first storage path generates a path in each input storage path of input data of a current operation stage of a map, the second storage path is a path in each output storage path of output data of the current operation stage, and each input storage path and each output storage path are sent to the first server by the second server;
the acquisition module is used for acquiring the input data of the third server according to the first storage path;
the operation module is used for performing operation processing on the input data of the third server to obtain output data of the third server;
and the sending module is used for sending the output data of the third server to the equipment corresponding to the second storage path.
In a seventh aspect, an embodiment of the present application provides a readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method according to any one of the first aspect is performed.
In an eighth aspect, the present invention provides a readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method according to the second aspect is executed.
In a ninth aspect, the present application provides a readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method of the third aspect is executed.
In a tenth aspect, an embodiment of the present application provides a server, including: a processor coupled with a memory;
the memory is used for storing a computer program;
the processor is configured to invoke a computer program stored in the memory to implement the method of any of the first aspects.
In an eleventh aspect, an embodiment of the present application provides a server, including: a processor coupled with a memory;
the memory is used for storing a computer program;
the processor is configured to invoke a computer program stored in the memory to implement the method of the second aspect.
In a twelfth aspect, an embodiment of the present application provides a server, including: a processor coupled with a memory;
the memory is used for storing a computer program;
the processor is configured to invoke a computer program stored in the memory to implement the method of the third aspect.
In a thirteenth aspect, an embodiment of the present application provides a system, including: a server according to a tenth aspect, a server according to an eleventh aspect and a server according to a twelfth aspect.
In a fourteenth aspect, an embodiment of the present application provides a system, including: the apparatus of the fourth aspect, the apparatus of the fifth aspect and the apparatus of the sixth aspect.
According to the method and the device, the configuration information of each storage path including the input data and each storage path including the output data of the current operation stage is sent to the first server, and then the first server distributes the storage path including the input data and the storage path including the output data of the third server used for data operation in the current operation stage to the third server, so that the third server used for data operation in the current operation stage can quickly and accurately acquire the input data and store the output data, and the process of generating the map is stable and efficient.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a diagram of a system architecture provided by an embodiment of the present application;
FIG. 2 is an interaction diagram of a map generation method provided in an embodiment of the present application;
FIG. 3 is a method for obtaining map accuracy according to an embodiment of the present disclosure;
fig. 4 is a first schematic structural diagram of a map generation apparatus provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram ii of a map generation apparatus provided in an embodiment of the present application;
fig. 6 is a schematic structural diagram three of a map generation apparatus provided in the embodiment of the present application;
fig. 7 is a schematic structural diagram of a server according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple. The terms "first," "second," and the like in this application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The data operation and the data processing in the present application have the same meaning.
In the generation process of the map, a plurality of operation stages are provided, and the computing environment of each operation stage may be different. The computing environment may be, for example: the data processing is in a parallel or serial form; if the data is parallel, the number of parallel processes, a server cluster for data processing and the like.
Under the condition that the computing environments of two adjacent computing stages are different, if the input data of the next computing stage is obtained from the server for data computing in the previous computing stage, the input data may be very complicated and even difficult to implement, so that the map generation efficiency is low and unstable. It is understood that the output data of the previous operation stage is the input data of the next operation stage.
In order to solve the above technical problem, the method in the present embodiment is proposed.
FIG. 1 is a diagram of a system architecture provided by an embodiment of the present application; referring to fig. 1, the system architecture includes at least a first server 11, a second server 12, and a plurality of third servers 13.
The map generation comprises a plurality of operation stages, for the current operation stage, the second server 12 sends configuration information related to the current operation stage to the first server 11, the first server 11 sends information related to each third server 13 in the configuration information to the corresponding third server 13, the third server 13 is a server used for data operation in the current operation stage, and the third server performs data operation according to the information received from the first server to finally obtain the map.
The system architecture of this embodiment may further include a distributed file system based on the system architecture shown in fig. 1, where the distributed file system includes a plurality of data storage servers.
The technical means shown in the present application will be described in detail below with reference to specific examples. It should be noted that the following embodiments may be combined with each other, and the description of the same or similar contents in different embodiments is not repeated.
Fig. 2 is an interaction diagram of a map generation method provided in an embodiment of the present application, and referring to fig. 2, the method of the embodiment includes:
step S201, the second server generates configuration information, where the configuration information includes: and generating each input storage path of the input data and each output storage path of the output data of the current operation stage of the map.
Specifically, the current operation phase of the present embodiment is any one of a plurality of operation phases for generating a map.
The map generation system is provided with a second server, the second server generates configuration information of the current operation stage, and the configuration information comprises: and generating each input storage path of the input data and each output storage path of the output data of the current operation stage of the map.
The input data of the current operation stage may be stored in a plurality of files, and the respective file paths of the plurality of files storing the input data of the current operation stage constitute the respective input storage paths of the input data of the current operation stage. The output data of the current operation stage may be stored in a plurality of files, and the respective file paths of the plurality of files storing the output data of the current operation stage constitute respective output storage paths of the output data of the current operation stage.
First, the present operation stage is the first operation stage, and the input data, each input storage path of the input data, each output storage path of the output data, and each output storage path of the output data in the first operation stage will be described.
The raw data for generating the map is collected by a collection vehicle, and the raw data can be input data of a first operation stage. Wherein the raw data comprises: collecting position data of a vehicle and collecting point cloud data collected by the vehicle; further, the raw data may also include: image data collected by the vehicle is collected. If the raw data comprises image data collected by the collection vehicle, a high-precision map can be generated.
The raw data may be stored in a distributed file system or in a server.
When the collection vehicle acquires original data, the collected data in the preset time duration can be stored in one file, and if the data collected by the collection vehicle in continuous N preset time durations are required to be collected when a map is generated at present, the input data of the first operation stage comprises the data in the N files. Such as: the data collected every 1min is stored in a file, and if the data collected by the vehicle in 1000min is required to be collected when the map is generated currently, the input data of the first operation stage comprises the data in 1000 files.
In one scheme, the data of the N files may be processed as follows: the position data of the collected vehicles in the N files are extracted to obtain a first position data set, and then the position data of the collected vehicles collected in the corresponding preset time duration in each file is replaced by the first position data set to obtain N new files. At this time, the input data of the first operation stage includes the data in the N new files. The file path corresponding to each of the N new files is each input storage path of the input data of the first operation stage.
If the parallel operation is performed by adopting N third servers in the first operation stage, each third server performs data operation on data of one file included in the N new files to obtain output data, if the output data of each third server is stored in one file, N files for storing the output data are obtained, and the file paths corresponding to the N files for storing the output data are the output storage paths of the output data in the first operation stage.
Further, in order to further reduce the complexity of acquiring the input data of each operation stage, a distributed file storage system may be provided in the map generation system, and the output data of each operation stage is stored in the distributed file storage system. Because the output data of the previous operation stage is the output data of the next operation stage, that is, if the current operation stage is not the first operation stage, the input data and the output data of the current operation stage are both stored in the same distributed file system.
If the raw data can be stored in one distributed file system, the distributed file system storing the raw data (data in the N files) or the processed raw data (data in the N new files) is different from the distributed file system storing the output data of each operation stage.
It can be understood that, if the current operation phase is the last operation phase for generating the map, the generated map is included in the output data of the current operation phase.
Step S202, the second server sends the configuration information to the first server.
Specifically, after the second server generates the configuration information of the current operation stage, the configuration information is sent to the first server.
The first server is a server which receives the configuration information of the current operation stage and distributes each input storage path and each output storage path included in the received configuration information to a third server used for data operation in the current operation stage.
The first servers corresponding to each operation stage may be the same server, or the first servers corresponding to at least two operation stages are different.
Step S203, the first server sends a first storage path and a second storage path to a third server, where the first storage path is a path in the input storage paths, and the second storage path is a path in the output storage paths.
Specifically, the first server determines, according to the computing environment of the current operation stage, a storage path sent to each third server used for data operation in the current operation stage, where the storage path sent to each third server includes a first storage path of input data of the third server and a second storage path of output data of the third server, and obviously, the first storage path is a path in each input storage path, and the second storage path is a path in each output storage path.
For example, the number of the third servers used for data operation in the current operation stage is M, and the M third servers perform data operation in parallel, the first server determines a first storage path of input data of each of the M third servers from each input storage path of the input data in the current operation stage, and determines a second storage path of output data of each of the M third servers from each output storage path of the output data in the current operation stage. For each third server, the first server sends the respective first and second storage paths to that third server.
Step S204, the third server obtains the input data of the third server according to the first storage path.
Specifically, the third server obtains the input data of the third server from the device indicated by the first storage path. Wherein the device indicated by the first storage path may be a data storage server in the first distributed file system.
In step S205, the third server calculates the input data of the third server to obtain the output data of the third server.
Specifically, the method for the third server to calculate the input data of the third server refers to an algorithm related to a current calculation stage for generating a map in the prior art, which is not described in detail in this embodiment.
And step S206, the third server sends the output data of the third server to the storage device corresponding to the second storage path.
Specifically, after the obtained output data, the third server sends the obtained output data to the storage device corresponding to the second storage path for storage according to the device where the file indicated by the second storage path is located (i.e., the storage device corresponding to the second storage path), that is, the path of the file where the output data of the third server is located is the second storage path. The storage device corresponding to the second storage path may be a device in the first distributed file system.
It can be understood that each storage path of the input data of the next operation stage of the current operation stage is each storage path of the output data of the current operation stage.
The map generation method of the embodiment includes: the second server generates configuration information, the configuration information comprising: each input storage path of input data and each output storage path of output data in the current operation stage; the current operation stage is any one of a plurality of operation stages for generating the map; the second server sends configuration information to the first server; the first server sends a first storage path and a second storage path to a third server, wherein the first storage path is a path in each storage path of the input data, and the second storage path is a path in each output storage path of the output data; the third server acquires input data of the third server according to the first storage path; the third server calculates the input data of the third server to obtain the output data of the third server; and the third server sends the output data of the third server to the equipment corresponding to the second storage path. That is, in the method of this embodiment, the first server sends the configuration information of each storage path including the input data and each storage path including the output data of the current operation stage to the first server, and then the first server distributes the storage path including the input data and the storage path including the output data of the third server used for data operation in the current operation stage to the third server, so that the third server used for data operation in the current operation stage can quickly and accurately acquire the input data and the storage output data, and the process of generating the map is stable and efficient.
After a map is generated, the accuracy of the map needs to be known in order to know whether the map is available. The method for obtaining the map accuracy of the present application is described below with reference to the embodiment shown in fig. 3. Fig. 3 is a method for obtaining map accuracy according to an embodiment of the present application, where an executing entity of the present application may be a device for obtaining map accuracy, and referring to fig. 3, the method according to the present embodiment includes:
step S301, a target map is obtained, wherein the target map is obtained according to first original data collected by a collection vehicle in a first time period.
Specifically, the process of obtaining the target map may be as follows:
the second server sends first configuration information to the first server, wherein the first configuration information comprises a storage path of the target map. The first server of the present embodiment is different from the first server in the previous implementation.
For the first configuration information, the first configuration information may include not only the storage path of the target map in this embodiment, but also the storage path of another target map, where the acquisition time period of the original data corresponding to the other target map is different from that of the original data corresponding to the target map in this embodiment. The target map in this embodiment may be a map obtained according to first raw data collected by a collection vehicle in a first time period. The first original data comprise self position data collected by a collection vehicle in a first time period and collected point cloud data.
The duration of the first time period herein may be 1.0min, 0.5min, 2min, etc., and is not limited in this embodiment.
And after receiving the first configuration information, the first server acquires the target map according to the storage path of the target map included in the first configuration information, and sends the target map to the device for acquiring the map accuracy. The device for obtaining map accuracy receives the target map.
Step S302, acquiring calibration data of a target map, wherein the calibration data comprises position data of a collected vehicle and point cloud data collected by the collected vehicle corresponding to a first time period, the position data of the collected vehicle and the point cloud data collected by the collected vehicle corresponding to a second time period, and the position data of the collected vehicle and the point cloud data collected by the collected vehicle corresponding to a third time period; the second time period is the last time period adjacent to the first time period, and the third time period is the next time period adjacent to the first time period.
Specifically, the process of acquiring the verification data is as follows: and the second server sends second configuration information to the third server, wherein the second configuration information comprises a storage path of the check data. And the third server sends the storage path of the verification data to the device for obtaining the map accuracy, and the device for obtaining the map accuracy obtains the verification data according to the storage path of the verification data. The second configuration information may further include a storage path of the verification data corresponding to another target map, and at this time, the third server may send the storage path of the corresponding verification data to the corresponding device for obtaining the map accuracy.
The third server in this embodiment is different from the third server in the previous embodiment, and the first server and the third server may be the same or different.
The verification data is explained below.
In a first operation stage of generating the map, after the position data of the collected vehicle in the collected first original data is synchronized with the collected point cloud data, the position data of the collected vehicle corresponding to a first time period and the point cloud data collected by the collected vehicle are obtained. Similarly, after the position data of the collected vehicle in the collected second original data is synchronized with the collected point cloud data, the position data of the collected vehicle and the point cloud data collected by the collected vehicle corresponding to the second time period are obtained, and the second original data is the original data collected by the collected vehicle in the second time period. Similarly, after the position data of the collected vehicle in the third original data and the collected point cloud data are synchronized, the position data of the collected vehicle corresponding to the third time period and the point cloud data collected by the collected vehicle are obtained, and the third original data is the original data collected by the collected vehicle in the third time period.
The step of synchronizing the position data of the collected vehicle in the collected first original data with the collected point cloud data includes: and acquiring the position data of the collected vehicle when the point cloud data is collected according to the position data of the collected vehicle in the first original data. If the time for acquiring the position data of the vehicle is different from the time for acquiring the point cloud data, converting the position data of the vehicle, which is originally acquired in the first original data, into the position data of the vehicle, which is acquired when the point cloud data is acquired; it can be understood that the acquisition time of each point cloud data in the first raw data corresponds to the position data of one converted acquired vehicle. That is to say, the position data of the collected vehicle and the point cloud data collected by the collected vehicle corresponding to the first time period comprise: the system comprises point cloud data collected in a first time period and position data of a collected vehicle when the point cloud data is collected. The position data of the collection vehicle and the point cloud data collected by the collection vehicle corresponding to the second time period comprise: point cloud data collected in the second time period, and position data of the collected vehicle when the point cloud data is collected. The position data of the collection vehicle and the point cloud data collected by the collection vehicle corresponding to the third time period comprise: point cloud data collected in a third time period, and position data of a collected vehicle when the point cloud data is collected.
And step S303, acquiring the accuracy of the target map according to the verification data.
The method for acquiring the accuracy of the map can be as follows: the method comprises the steps of obtaining position data of a collected vehicle in check data corresponding to a position in a target map, matching point cloud data in the check data corresponding to the position data of the collected vehicle with points in the target map, and determining accuracy according to a matching result. The position data and the point cloud data of the collected vehicle at the same collecting time correspond to each other.
In the embodiment, the data used for generating the map is sent to the server, and the data in the previous time period and the data in the next time period of the data used for generating the map are sent to the server, so that the problem that the data in the previous time period and the data in the next time period of the data used for generating the map are needed when the accuracy of the current map is verified is solved, the accuracy efficiency of the acquired map is higher, and the accuracy precision of the acquired map is higher.
Fig. 4 is a first schematic structural diagram of a map generation apparatus provided in an embodiment of the present application, and as shown in fig. 4, the apparatus of the present embodiment may include: a receiving module 41 and a transmitting module 42;
a receiving module 41, configured to receive configuration information from the second server, where the configuration information includes: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
a sending module 42, configured to send a first storage path and a second storage path to a third server, so that the third server obtains input data of the third server according to the first storage path, and obtains output data of the third server according to the second storage path, where the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, the input data and the output data of the third server are used to generate the map, and the third server is a server used for data operation in the current operation stage.
The apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 5 is a schematic structural diagram of a second map generation apparatus provided in an embodiment of the present application, and as shown in fig. 5, the apparatus of the present embodiment may include: a generating module 51 and a sending module 52.
A generating module 51, configured to generate configuration information, where the configuration information includes: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
a sending module 52, configured to send the configuration information to a first server, so that the first server sends a first storage path and a second storage path to a third server according to the configuration information; the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, and the third server is a server used for data operation in the current operation stage.
The apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 6 is a schematic structural diagram of a third apparatus for generating a map provided in an embodiment of the present application, and as shown in fig. 6, the apparatus of the present embodiment may include: a receiving module 61, an obtaining module 62, an operation module 63 and a sending module 64;
a receiving module 61, configured to receive a first storage path and a second storage path from a first server, where the first storage path generates a path in each input storage path of input data in a current operation stage of a map, the second storage path is a path in each output storage path of output data in the current operation stage, and each input storage path and each output storage path are sent by the second server to the first server;
an obtaining module 62, configured to obtain input data of the third server according to the first storage path;
an operation module 63, configured to perform operation processing on input data of the third server to obtain output data of the third server;
and a sending module 64, configured to send the output data of the third server to the device corresponding to the second storage path.
The apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.
Fig. 7 is a schematic structural diagram of a server provided in an embodiment of the present application, and referring to fig. 7, the server of the present embodiment includes: a processor 71, said processor 71 coupled with a memory 72;
the memory 72 is used for storing a computer program;
the processor 71 is configured to call the computer program stored in the memory 72 to implement the method corresponding to the first server in the above method embodiment.
It should be understood that in the embodiments of the present application, the processor 72 may be a CPU, and the processor 72 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or any conventional processor or the like.
The memory 71 may include a read-only memory and a random access memory, and provides instructions and data to the processor 72. The memory 71 may also include a non-volatile random access memory. For example, the memory 71 may also store information of the device type.
The memory 71 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and direct bus RAM (DR RAM).
The bus 73 may include a power bus, a control bus, a status signal bus, and the like, in addition to the data bus. But for clarity of illustration the various buses are labeled as bus 73 in the figures.
An embodiment of the present application further provides a server, including: a processor coupled with a memory; the memory is used for storing a computer program; the processor is configured to call the computer program stored in the memory to implement the method corresponding to the second server in the foregoing method embodiment. The specific implementation is the same as the embodiment shown in fig. 7, and is not described here again.
An embodiment of the present application further provides a server, including: a processor coupled with a memory; the memory is used for storing a computer program; the processor is configured to call the computer program stored in the memory to implement the method corresponding to the third server in the foregoing method embodiment. The specific implementation is the same as the embodiment shown in fig. 7, and is not described here again.
Wherein the computer program may also be stored in a memory external to the server.
The embodiment of the present application provides a readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method corresponding to the first server in the above method embodiment is executed.
The embodiment of the present application provides a readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method corresponding to the second server in the above method embodiment is executed.
The embodiment of the present application provides a readable storage medium, which includes a program or instructions, and when the program or instructions are run on a computer, the method corresponding to the third server in the above method embodiment is executed.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the embodiments of the present application, and are not limited thereto; although the embodiments of the present application have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the embodiments of the present application.
Claims (12)
1. A map generation method is applied to a first server and is characterized by comprising the following steps:
receiving configuration information from a second server, the configuration information comprising: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
and sending a first storage path and a second storage path to a third server, so that the third server obtains input data of the third server according to the first storage path, and obtains output data of the third server according to the second storage path, wherein the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, the input data and the output data of the third server are used for generating the map, and the third server is a server used for data operation in the current operation stage.
2. The method of claim 1, wherein the current computation phase is not a first computation phase for generating a map, and wherein the data storage server corresponding to each input storage path and the data storage server corresponding to each output storage path are located in a same distributed file system.
3. The method according to claim 1 or 2, wherein the current operation phase is a last operation phase for generating a map, and the generated map is included in the output data.
4. The method of claim 1, wherein the current operational stage is a first operational stage of generating a map, and the input data is raw data for generating the map, the raw data including position data of a captured vehicle and point cloud data of the captured vehicle.
5. A map generation method is applied to a second server and is characterized by comprising the following steps:
generating configuration information, the configuration information comprising: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
sending the configuration information to a first server so that the first server sends a first storage path and a second storage path to a third server according to the configuration information; the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, and the third server is a server used for data operation in the current operation stage.
6. A map generation method is applied to a third server and is characterized by comprising the following steps:
receiving a first storage path and a second storage path from a first server, wherein the first storage path is a path in each input storage path of input data of a current operation stage for generating a map, the second storage path is a path in each output storage path of output data of the current operation stage, and each input storage path and each output storage path are sent to the first server by the second server;
acquiring input data of the third server according to the first storage path;
performing operation processing on input data of the third server to obtain output data of the third server;
and sending the output data of the third server to the equipment corresponding to the second storage path.
7. An apparatus for generating a map, comprising:
a receiving module, configured to receive configuration information from a second server, where the configuration information includes: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
a sending module, configured to send a first storage path and a second storage path to a third server, so that the third server obtains input data of the third server according to the first storage path, and obtains output data of the third server according to the second storage path, where the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, the input data and the output data of the third server are used to generate the map, and the third server is a server used for data operation in the current operation stage.
8. An apparatus for generating a map, comprising:
a generating module configured to generate configuration information, the configuration information including: generating each input storage path of input data and each output storage path of output data in the current operation stage of the map;
a sending module, configured to send the configuration information to a first server, so that the first server sends a first storage path and a second storage path to a third server according to the configuration information; the first storage path is a path in each input storage path, the second storage path is a path in each output storage path, and the third server is a server used for data operation in the current operation stage.
9. An apparatus for generating a map, comprising:
the receiving module is used for receiving a first storage path and a second storage path from a first server, wherein the first storage path is a path in each input storage path of input data of a current operation stage for generating a map, the second storage path is a path in each output storage path of output data of the current operation stage, and each input storage path and each output storage path are transmitted to the first server by the second server;
the acquisition module is used for acquiring input data according to the first storage path;
the operation module is used for performing operation processing on the input data to obtain output data;
and the sending module is used for sending the output data to the equipment corresponding to the second storage path.
10. A readable storage medium, characterized by comprising a program or instructions for performing the method of any of claims 1 to 4 or the method of claim 5 or the method of claim 6 when said program or instructions are run on a computer.
11. A server, comprising: a processor coupled with a memory;
the memory is used for storing a computer program;
the processor is configured to invoke a computer program stored in the memory to implement the method of any one of claims 1 to 4 or the method of claim 5 or the method of claim 6.
12. A system, comprising: the apparatus of claim 7, the apparatus of claim 8, and the apparatus of claim 9.
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| CN201811290066.3A CN109655072B (en) | 2018-10-31 | 2018-10-31 | Map generation method and device |
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| CN103729257B (en) * | 2012-10-16 | 2017-04-12 | 阿里巴巴集团控股有限公司 | Distributed parallel computing method and system |
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