CN110083668B - Data management system, management method, terminal and storage medium for high-precision map - Google Patents
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Abstract
The invention provides a data management system, a management method, a terminal and a storage medium of a high-precision map, comprising the following steps: the map data splicing and fusing module comprises a local map list, a connection relation list between the local maps and the local map, and a coordinate conversion relation list in the map connection relation; the local map database comprises a scene grid map, a local map subdirectory scene map, a road line characteristic module, an intersection characteristic module, a virtual traffic indication module, a virtual traffic rule module and an interest point characteristic module; the scene map is divided into a plurality of local maps, the accurate splicing of the local maps is realized through the coordinate conversion relation, and the ordered management and classification of the indoor multi-layer, cross-layer, underground multi-layer and underground high-precision map data are realized. And loading a local map near the terminal and traffic identification information and traffic rule information contained in the local map according to the terminal positioning position, so that the loading capacity and the calculated amount of the terminal are reduced.
Description
Technical Field
The present invention relates to the field of automotive electronics, and in particular, to a data management system, a management method, a terminal, and a storage medium for a high-precision map.
Background
The fine map is used as an electronic map and comprises space vector data and attribute information, wherein the space vector data is a carrier of the attribute information of the electronic map. The traditional electronic map manufacturing method adopts a method for abstracting and extracting space vector data based on raster data or utilizes a GPS and a robot positioning and tracking device to record and collect the space position and visual field information of a region to process and produce space vector data. Such fine maps do not meet the requirements of L4 or even L5 level autopilot.
The high-precision map not only contains space vector data but also contains a plurality of semantic information, the map can report meanings of different colors on traffic lights, the speed limit of a road and the position of a left-turn lane can be indicated, one of important characteristics of the high-precision map is precision, navigation on a mobile phone can only reach meter-level precision, and the high-precision map can reach centimeter-level precision, so that the high-precision map is very important for an unmanned vehicle. Maintaining these maps updated is a significant task and the survey fleet needs to continually verify and update high-precision maps. In addition, these map accuracies can reach several centimeters, which is the highest level of map making accuracy. The high-precision map is specially designed for the unmanned vehicle and comprises road definition, intersections, traffic signals, lane rules and other elements for automobile navigation.
The existing high-precision map has the following defects: the lack of geometric topological relation, the lack of spatial graph topological inspection causes more errors such as overlapping and displacement among graphs, and causes larger deviation between the position of an object on a map and the actual position, and accurate positioning service is difficult to realize. The precision of the acquired data determines the precision of the produced space vector data, and the requirements of the urban road network intensive and complex structure, cross-layer, underground and other complex buildings on the high-precision electronic map cannot be met.
Disclosure of Invention
In order to solve the above and other potential technical problems, the invention provides a data management system, a management method, a terminal and a storage medium for a high-precision map, wherein a scene map is divided into a plurality of local maps, the local maps are accurately spliced through a coordinate conversion relation, and the ordered management and classification of indoor multi-layer, cross-layer, underground and underground multi-layer high-precision map data are realized. And loading a local map near the terminal and traffic identification information and traffic rule information contained in the local map according to the terminal positioning position, so that the loading capacity and the calculated amount of the terminal are reduced.
A data management system for a high-precision map, comprising:
the map data splicing and fusing module comprises one or more of a local map list, a connection relation list between the local map and the local map, a road connection topological relation list in local map connection and a coordinate conversion relation list in map connection;
the local map database comprises one or more of a scene grid map, a local map subdirectory scene map, a road line feature module, an intersection feature module, a virtual traffic indication module, a virtual traffic rule module and an interest point feature module;
the management service module queries one or more of a scene grid map, a local map subdirectory scene map, a road line characteristic module, a cross point characteristic module, a virtual traffic indication module, a virtual traffic rule module and an interest point characteristic module under the scene map number required by the call instruction from the root directory according to the positioning information and the call instruction of the application layer.
Further, the file folder organization mode of the map data splicing and fusing module data is that a first-level root directory, a map data splicing and fusing directory and a local map directory are arranged under the first-level root directory, a local map directory is arranged under the local map directory, and a local map subdirectory scene map directory is arranged under the local map directory. When inquiring, the local map data is positioned in: root/localaps/[ Area ]/[ sub Area ]/[ files ]. The intermediate data structure of the ShapeFile data package of the map xxx. The data may be edited by ArcGIS software or QGIS software.
Further, the file list in the map fusion folder mapconnection is: localmaplist. MapJuction.dbf; mapconnection. Transformation. The data sets for the respective descriptions of these four data files are shown in Table 1 below:
| LocalMapList.dbf | local map list |
| MapJunction.dbf | One-to-one connection relationship between local maps |
| MapConnection.dbf | Road connection topology in local map connections |
| Transformation.dbf | Coordinate conversion relation in map connection relation |
TABLE 1
Further, the local map list data is a directory of a local map [ localmap ]. This dataset describes some of the metadata information for each local map as shown in table 2 below:
TABLE 2
In this layer, localMapID is the unique ID of the local map in the gallery. The area code and the subarea code are names of map scenes and local maps (local sub-scenes), and are generally identified by english abbreviations. Path is a relative Path of local map data, such as faw/a5.ZLevel is floor information, an integer with sign. IsRamp is a channel attribute and ID, and when IsRamp is-1, the local map is a non-channel, and when it is a positive integer, it is a channel number ID. When the same channel is cut into two partial maps, the ramp numbers represented by IsRamp in the two partial maps should be the same.
Further, the connection relationship list [ mapjunction. Dbf ] between the partial maps describes the connection relationship between two partial maps having a connection relationship with each other, as shown in the following table 3:
TABLE 3 Table 3
Here, the two partial maps have a connected relation of two by two regardless of the direction in which the partial maps are connected. The ID in table 3 is a unique number of map links. LocalMap1/2 is the ID of two local maps. TransID is a spatial conversion relation between map links, the spatial conversion relation is that LocalMap1 is converted into LocalMap2, and in calculation, the conversion from LocalMap2 to LocalMap1 is inverse operation of matrix conversion.
Further, the road connection topology list [ mapconnection. Dbf ] in the local map connection describes the connected road topology between two interconnected local maps, as shown in table 4 below:
TABLE 4 Table 4
The map connection data describes the road communication topological relation between the local maps, and can be abstracted into two pieces of information.
First, direction [ Direction ], direction=1: forward LocalMap1- > LocalMap2 direction= -1: reverse LocalMap2- > LocalMap1.
Second, start [ from road ] and arrival segment [ ToRoad ],
if the direction is forward, the starting road section is a road section in LocalMap1, and the ending road section is a road section in LocalMap 2;
if the direction is reverse, the start road segment is the road segment in LocalMap2 and the end road segment is the road segment in LocalMap1.
From rddir and ToRdDir describe whether the direction of travel of the vehicle and the direction of datamation of the road section agree or agree, respectively, in this road connection topology.
Further, the coordinate transformation relation list in the map connection relation map space coordinate transformation matrix [ transformation. Dbf ] describes the coordinate transformation relation between two connected local maps through a transformation matrix of 4x4, as shown in the following table:
in two dimensions, the linear transformation can be represented by a transformation matrix, and a matrix of 4x4 is used to coordinate scaling, rotation, translation operations of space points, and the coordinates allow translation, rotation, scaling, perspective projection and the like to be represented as a general vector operation of multiplying the matrix and the vector. The sequences of such operations may be multiplied by a single matrix to achieve a simple and efficient coordinate transformation.
For example, in coordinate transformation computation, the positions of two connected partial maps are related in a 4X4 matrix based on the connection point between them. In the simplest case, this is the same as in cartesian coordinates. For a point (x, y, z) in space, the point where the line intersects the plane is (x, y, z). In homogeneous coordinates, the point (x, y, z) is denoted (xw, yw, zw, w), and the point that the point transforms into the new coordinate system is denoted (xw, yw, zw), so the coordinate system transformation can be calculated by a matrix.
A data management method of a high-precision map, comprising:
the management service module queries one or more of a scene grid map, a local map and a local map subdirectory scene map under a scene map number required by the calling instruction from the root directory according to the positioning information and the calling instruction of the application layer positioning module or the perception module, and queries the scene information required by the calling instruction of the application layer positioning module or the perception module;
the management service module inquires traffic information required by the application layer path planning module from one or more of a road line feature module, an intersection feature module, a virtual traffic indication module and a virtual traffic rule module under the root directory according to the positioning information and an application layer path planning module calling instruction.
Further, when the positioning module or the sensing module queries the local map under the scene map number and the local map sub-directory scene map required by the call instruction from the root directory, one or more of a local map list, a connection relation list between the local map and a coordinate conversion relation list in the map connection relation are required to be queried, so as to obtain accurate positioning and sensing judgment.
Further, the path planning module combines the positioning information of the positioning module, the moving/static object information of the sensing scene of the sensing module, and the traffic information comprehensively obtained by the road line characteristic module, the intersection characteristic module, the virtual traffic indication module and the virtual traffic rule module to output to the path planning module.
Furthermore, the management service module realizes interaction and communication of the positioning module, the perception module, the path planning module and the database of the high-precision map through the interest point feature module.
A database of high-precision maps, comprising:
the map data splicing and fusing module comprises one or more of a local map list, a connection relation list between the local map and the local map, a road connection topological relation list in local map connection and a coordinate conversion relation list in map connection;
the local map database comprises one or more of a scene grid map, a local map subdirectory scene map, a road line feature module, an intersection feature module, a virtual traffic indication module, a virtual traffic rule module and an interest point feature module.
Further, the database of the high-precision map may be algorithmically serialized and compressed into a binary format by a compiler. This compiled software runs in a Windows environment. The navidataCompile.exe executable is run, specifying the input arcGis data path and the output navigation binary path in SourcePath and DesPath. The compiling software algorithm compiles and sequences the data on the data structure and outputs binary format HDMap map data used by the vehicle machine and the mobile phone.
A terminal device such as a smart phone that can execute the data management method of the high-precision map described above or a vehicle-mounted terminal control device that can execute the data management method program of the high-precision map described above.
A server comprising a data management method for implementing the above-described high-precision map and/or a data management system of the high-precision map.
A computer storage medium for storing a software program corresponding to the data management method of the high-precision map and/or a data management system of the high-precision map.
As described above, the present invention has the following advantageous effects:
the scene map is divided into a plurality of local maps, the accurate splicing of the local maps is realized through the coordinate conversion relation, and the ordered management and classification of the indoor multi-layer, cross-layer, underground multi-layer and underground high-precision map data are realized. And loading a local map near the terminal and traffic identification information and traffic rule information contained in the local map according to the terminal positioning position, so that the loading capacity and the calculated amount of the terminal are reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a map management system according to the present invention.
Fig. 2 is a schematic diagram of a map management system according to another embodiment of the present invention.
Fig. 3 is a schematic diagram of a connection index between partial maps according to another embodiment.
Fig. 4 is a schematic diagram of a data structure of a local map directory in another embodiment.
Fig. 5 is a schematic diagram of a data structure of a local map in another embodiment.
Fig. 6 shows a diagram of a grid map of the present invention.
Fig. 7 shows a diagram of a cross-layer parking map in another embodiment of the invention.
Fig. 8 shows a schematic diagram of a partial map.
Fig. 9 shows a folder organization of data under a root directory of a high-precision map management system.
Fig. 10 is a schematic diagram showing an interaction relationship between the map data splicing and fusion module and the local map.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or otherwise, used in the practice of the invention, are not intended to be critical to the essential characteristics of the invention, but are intended to fall within the spirit and scope of the invention. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
With reference to figures 1 to 10 of the drawings,
a data management system for a high-precision map, comprising:
the map data splicing and fusing module comprises one or more of a local map list, a connection relation list between the local map and the local map, a road connection topological relation list in local map connection and a coordinate conversion relation list in map connection;
the local map database comprises one or more of a scene grid map, a local map subdirectory scene map, a road line feature module, an intersection feature module, a virtual traffic indication module, a virtual traffic rule module and an interest point feature module;
the management service module queries one or more of a scene grid map, a local map subdirectory scene map, a road line characteristic module, a cross point characteristic module, a virtual traffic indication module, a virtual traffic rule module and an interest point characteristic module under the scene map number required by the call instruction from the root directory according to the positioning information and the call instruction of the application layer.
Further, the file folder organization mode of the map data splicing and fusing module data is that a first-level root directory, a map data splicing and fusing directory and a local map directory are arranged under the first-level root directory, a local map directory is arranged under the local map directory, and a local map subdirectory scene map directory is arranged under the local map directory. When inquiring, the local map data is positioned in: root/localaps/[ Area ]/[ sub Area ]/[ files ]. The intermediate data structure of the ShapeFile data package of the map xxx. The data may be edited by ArcGIS software or QGIS software.
Further, the file list in the map fusion folder mapconnection is: localmaplist. MapJuction.dbf; mapconnection. Transformation. The data sets for the respective descriptions of these four data files are shown in Table 1 below:
| LocalMapList.dbf | local map list |
| MapJunction.dbf | One-to-one connection relationship between local maps |
| MapConnection.dbf | Road connection topology in local map connections |
| Transformation.dbf | Coordinate conversion relation in map connection relation |
TABLE 1
Further, the local map list data is a directory of a local map [ localmap ]. This dataset describes some of the metadata information for each local map as shown in table 2 below:
TABLE 2
In this layer, localMapID is the unique ID of the local map in the gallery. The area code and the subarea code are names of map scenes and local maps (local sub-scenes), and are generally identified by english abbreviations. Path is a relative Path of local map data, such as faw/a5.ZLevel is floor information, an integer with sign. IsRamp is a channel attribute and ID, and when IsRamp is-1, the local map is a non-channel, and when it is a positive integer, it is a channel number ID. When the same channel is cut into two partial maps, the ramp numbers represented by IsRamp in the two partial maps should be the same.
Further, the connection relationship list [ mapjunction. Dbf ] between the partial maps describes the connection relationship between two partial maps having a connection relationship with each other, as shown in the following table 3:
TABLE 3 Table 3
Here, the two partial maps have a connected relation of two by two regardless of the direction in which the partial maps are connected. The ID in table 3 is a unique number of map links. LocalMap1/2 is the ID of two local maps. TransID is a spatial conversion relation between map links, the spatial conversion relation is that LocalMap1 is converted into LocalMap2, and in calculation, the conversion from LocalMap2 to LocalMap1 is inverse operation of matrix conversion.
Further, the road connection topology list [ mapconnection. Dbf ] in the local map connection describes the connected road topology between two interconnected local maps, as shown in table 4 below:
TABLE 4 Table 4
The map connection data describes the road communication topological relation between the local maps, and can be abstracted into two pieces of information.
First, direction [ Direction ], direction=1: forward LocalMap1- > LocalMap2 direction= -1: reverse LocalMap2- > LocalMap1.
Second, start [ from road ] and arrival segment [ ToRoad ],
if the direction is forward, the starting road section is a road section in LocalMap1, and the ending road section is a road section in LocalMap 2;
if the direction is reverse, the start road segment is the road segment in LocalMap2 and the end road segment is the road segment in LocalMap1.
From rddir and ToRdDir describe whether the direction of travel of the vehicle and the direction of datamation of the road section agree or agree, respectively, in this road connection topology.
Further, the coordinate transformation relation list in the map connection relation map space coordinate transformation matrix [ transformation. Dbf ] describes the coordinate transformation relation between two connected local maps through a transformation matrix of 4x4, as shown in the following table:
in two dimensions, the linear transformation can be represented by a transformation matrix, and a matrix of 4x4 is used to coordinate scaling, rotation, translation operations of space points, and the coordinates allow translation, rotation, scaling, perspective projection and the like to be represented as a general vector operation of multiplying the matrix and the vector. The sequences of such operations may be multiplied by a single matrix to achieve a simple and efficient coordinate transformation.
For example, in coordinate transformation computation, the positions of two connected partial maps are related in a 4X4 matrix based on the connection point between them. In the simplest case, this is the same as in cartesian coordinates. For a point (x, y, z) in space, the point where the line intersects the plane is (x, y, z). In homogeneous coordinates, the point (x, y, z) is denoted (xw, yw, zw, w), and the point that the point transforms into the new coordinate system is denoted (xw, yw, zw), so the coordinate system transformation can be calculated by a matrix.
A data management method of a high-precision map, comprising:
the management service module queries one or more of a scene grid map, a local map and a local map subdirectory scene map under a scene map number required by the calling instruction from the root directory according to the positioning information and the calling instruction of the application layer positioning module or the perception module, and queries the scene information required by the calling instruction of the application layer positioning module or the perception module;
the management service module inquires traffic information required by the application layer path planning module from one or more of a road line feature module, an intersection feature module, a virtual traffic indication module and a virtual traffic rule module under the root directory according to the positioning information and an application layer path planning module calling instruction.
Further, when the positioning module or the sensing module queries the local map under the scene map number and the local map sub-directory scene map required by the call instruction from the root directory, one or more of a local map list, a connection relation list between the local map and a coordinate conversion relation list in the map connection relation are required to be queried, so as to obtain accurate positioning and sensing judgment.
Further, the path planning module combines the positioning information of the positioning module, the moving/static object information of the sensing scene of the sensing module, and the traffic information comprehensively obtained by the road line feature module, the intersection feature module, the virtual traffic indication module, the virtual traffic rule module and the interest point feature module to output to the path planning module.
Furthermore, the management service module realizes interaction and communication of the positioning module, the perception module, the path planning module and the database of the high-precision map through the interest point feature module.
A database of high-precision maps, comprising:
the map data splicing and fusing module comprises one or more of a local map list, a connection relation list between the local map and the local map, a road connection topological relation list in local map connection and a coordinate conversion relation list in map connection;
the local map database comprises one or more of a scene grid map, a local map subdirectory scene map, a road line feature module, an intersection feature module, a virtual traffic indication module, a virtual traffic rule module and an interest point feature module.
Further, the database of the high-precision map may be algorithmically serialized and compressed into a binary format by a compiler. This compiled software runs in a Windows environment. The navidataCompile.exe executable is run, specifying the input arcGis data path and the output navigation binary path in SourcePath and DesPath. The compiling software algorithm compiles and sequences the data on the data structure and outputs binary format HDMap map data used by the vehicle machine and the mobile phone.
A terminal device such as a smart phone that can execute the data management method of the high-precision map described above or a vehicle-mounted terminal control device that can execute the data management method program of the high-precision map described above.
As a preferred embodiment, the present embodiment further provides a terminal device, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack-mounted server, a blade server, a tower server, or a rack-mounted server (including an independent server, or a server cluster formed by a plurality of servers) that can execute a program, or the like. The terminal device of this embodiment includes at least, but is not limited to: a memory, a processor, and the like, which may be communicatively coupled to each other via a system bus. It should be noted that a terminal device having a component memory, a processor, but it should be understood that not all of the illustrated components are required to be implemented, and that alternative methods of data management of high-precision maps may implement more or fewer components.
A server comprising a data management method for implementing the above-described high-precision map and/or a data management system of the high-precision map.
As a preferred embodiment, the memory (i.e., readable storage medium) includes flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory may also be an external storage device of a computer device, such as a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card) or the like, which are provided on the computer device. Of course, the memory may also include both internal storage units of the computer device and external storage devices. In this embodiment, the memory is typically used to store an operating system installed on the computer device and various types of application software, such as data management method program codes of the high-precision map in the embodiment, and the like. In addition, the memory can be used to temporarily store various types of data that have been output or are to be output.
A computer-readable storage medium having stored thereon a computer program, characterized by: the program, when executed by the processor, implements the steps in the data management method for a high-precision map described above.
The present embodiment also provides a computer-readable storage medium such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by a processor, performs the corresponding functions. The computer-readable storage medium of the present embodiment is for storing a high-precision map-based data management method program, which when executed by a processor, implements the high-precision map data management method in the high-precision map data management method embodiment.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims of this invention, which are within the skill of those skilled in the art, be included within the spirit and scope of this invention.
Claims (9)
1. A data management system for a high-precision map, comprising:
the map data splicing and fusing module comprises a local map list, a connection relation list between the local map and the local map, a road connection topological relation list in local map connection and a coordinate conversion relation list in map connection relation;
the local map and the local map connection relation list describe the connection relation between two local maps with connection relation, and the connection relation between the local maps comprises at least one of local map communication ID, local map ID and coordinate conversion ID corresponding to the local map ID;
the coordinate conversion relation list in the map connection relation describes the coordinate conversion relation between two connected local maps through a conversion matrix, and the coordinate conversion relation list comprises local map connection IDs and values of all elements in the coordinate conversion matrix;
the local map database comprises a scene grid map, a local map subdirectory scene map and a point of interest feature module; and at least one of a road line feature module, an intersection feature module, a virtual traffic indication module and a virtual traffic rule module;
the management service module queries a scene grid map, a local map subdirectory scene map and an interest point feature module under a scene map number required by an application layer call instruction from the root directory according to the positioning information and the application layer call instruction; inquiring at least one of a road line characteristic module, a cross point characteristic module, a virtual traffic indication module and a virtual traffic rule module;
when the local map under the scene map number and the local map subdirectory scene map required by the call instruction are queried from the root directory, one or more of a local map list, a connection relation list between the local map and a coordinate conversion relation list in the connection relation of the query map are required to be queried so as to obtain accurate positioning and perception judgment.
2. The data management system of the high-precision map according to claim 1, wherein the local map list data is a local map directory of one local map, and describes metadata information describing each local map, the metadata information including one or more of a local map ID, a map scene name, a name of a local map within a map scene, a local map data path, a floor, and a channel ID.
3. The data management system of the high-precision map according to claim 1, wherein the road connection topology relationship list in the partial map connection describes a connected road topology relationship between two interconnected partial maps, the topology relationship including one or more of a partial map connection ID, connection direction information, a partial map link ID, a connection link ID in the starting partial map, a connection link ID in the arriving partial map, and a connection link direction in the starting partial map.
4. A database of high-precision maps, comprising:
the map data splicing and fusing module comprises a local map list, a connection relation list between the local map and the local map, a road connection topological relation list in local map connection and a coordinate conversion relation list in map connection relation;
the local map database comprises a scene grid map, a local map subdirectory scene map and a point of interest feature module; and at least one of a road line feature module, an intersection feature module, a virtual traffic indication module and a virtual traffic rule module;
the local map and the local map connection relation list describe the connection relation between two local maps with connection relation, and the connection relation between the local maps comprises at least one of local map communication ID, local map ID and coordinate conversion ID corresponding to the local map ID;
the coordinate conversion relation list in the map connection relation describes the coordinate conversion relation between two connected local maps through a conversion matrix, and the coordinate conversion relation list comprises local map connection IDs and values of all elements in the coordinate conversion matrix.
5. A data management method of a high-precision map, comprising:
the management service module queries one or more of a scene grid map, a local map and a local map subdirectory scene map under a scene map number required by the calling instruction from the root directory according to the positioning information and the calling instruction of the application layer positioning module or the perception module, and queries the scene information required by the calling instruction of the application layer positioning module or the perception module; when the positioning module or the perception module queries the local map under the scene map number and the local map sub-directory scene map required by the call instruction from the root directory, one or more of a local map list, a connection relation list between the local map and a coordinate conversion relation list in the map connection relation are required to be queried so as to obtain accurate positioning and perception judgment;
the management service module inquires traffic information required by the application layer path planning module from one or more of a road line feature module, an intersection feature module, a virtual traffic indication module and a virtual traffic rule module under the root directory according to the positioning information and an application layer path planning module calling instruction.
6. The method according to claim 5, wherein the path planning module combines the positioning information of the positioning module, the moving/stationary object information of the sensing scene of the sensing module, and the traffic information comprehensively obtained by the road line feature module, the intersection feature module, the virtual traffic indication module, the virtual traffic rule module, and the interest point feature module to output to the path planning module.
7. A server comprising a data management system for implementing a high precision map as claimed in any of the preceding claims 5-6 and/or a high precision map as claimed in any of the claims 1-3 or a server carrying a database as claimed in claim 4.
8. A terminal device, characterized by: the terminal device is a vehicle-mounted terminal control device for scheduling a data management system of a high-precision map according to any one of claims 1 to 3.
9. A computer-readable storage medium having stored thereon a computer program, characterized by: the program being adapted to perform the steps of the method of any of claims 5-6 when executed by a processor.
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| CN111982139B (en) * | 2020-07-21 | 2022-07-12 | 北京五一视界数字孪生科技股份有限公司 | Road connection relation determining method and device, storage medium and electronic equipment |
| CN112050820B (en) * | 2020-09-02 | 2024-05-07 | 平安科技（深圳）有限公司 | Road matching method, device, electronic equipment and readable storage medium |
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