CN112966065B - Navigation map data management method, device and storage medium - Google Patents
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Abstract
The invention discloses a navigation map data management method, which is characterized in that a git is used as an organization form of a bottom data relationship to create a git folder, and the created git folder is used as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; the whole limit link and the structure and the corresponding content contained in the whole limit link are inserted into the git warehouse, and the navigation map data are stored and managed based on the git warehouse, so that the defect that a general map storage database is used for storing the navigation map is overcome, and the convenience of data storage and the efficiency of data reading are improved.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a navigation map data management method, apparatus, and storage medium.
Background
In the prior art, the management of map information is simply based on a management method of a database, a user can only insert a piece of K-V record when needing to insert specified data, but in a navigation map, one piece of data is often used for calculating another piece of data and then inserted into the database, if the effect of a grid map which is input by the same laser radar point cloud and calculated by different algorithms needs to be compared, the whole database is required to be traversed to determine the grid map with a parent as a key of the laser radar point cloud, the efficiency is too low, the list structure cannot reflect the dependency relationship among the data, and the method is quite inconvenient when needing to check the whole stored tree structure. Another approach is to edit the son attribute of the parent class, which represents the key of the grid map calculated by the lidar, each time the grid map insertion is completed, but still fails to reflect the dependency relationship between the data. In addition, for the convenience of application, the data of the whole chain such as the laser radar point cloud and the data of another type calculated by the grid map are required to maintain the same name, when the name of the chain data is required to be changed, the processing of the database is very complex, a plurality of additional attributes are often added to the record, and a plurality of data corresponding to the attributes are not used when being stored in the database, so that the memory waste is caused.
Disclosure of Invention
Aiming at the defect that a general map storage database is not suitable for using a navigation map, the invention provides a data management method, equipment and storage medium of the navigation map based on git, which are specially used for the navigation map.
In a first aspect, the present invention provides a navigation map data management method.
The navigation map data management method includes: creating a git folder by taking git as an organization form of a bottom data relationship, and taking the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; and inserting the whole limit link, the structure contained in the whole limit link and the corresponding content into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
In a second aspect, the present invention provides a navigation map data management apparatus.
The navigation map data management apparatus includes: the database creation module is used for creating a git folder by adopting git as an organization form of a bottom data relationship, and taking the created git folder as a git warehouse for storing navigation map data; the data insertion module is used for importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; inserting the whole commit link and the structure and corresponding content contained in the whole commit link into the git warehouse; and the data management module is used for storing and managing the navigation map data based on the git warehouse.
In a third aspect, the present invention provides an electronic device.
The electronic device comprises a memory and a processor, wherein a data management program capable of running on the processor is stored in the memory, and the navigation map data management method is executed when the data management program is run by the processor.
In a fourth aspect, the present invention provides a computer-readable storage medium.
The computer-readable storage medium has stored thereon a data management program that is executed by one or more processors to implement the steps of the navigation map data management method.
According to the navigation map data management method, the navigation map data management equipment and the storage medium, the git folder is created by adopting the git as an organization form of the bottom data relationship, and the created git folder is used as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; the whole limit link and the structure and the corresponding content contained in the whole limit link are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing the navigation map is overcome, the dependence relationship among the navigation map data is intuitively reflected, the whole tree structure corresponding to the navigation map can be conveniently and rapidly displayed, the performance verification of different links and different algorithms can be conveniently carried out, meanwhile, the designated data required by a user can be rapidly positioned through preset branch link names, and the convenience of data storage and the data reading efficiency are improved; furthermore, because the git is adopted as the organization form of the bottom data relationship, the requirement of the distributed database is also realized, and the data storage efficiency is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings: FIG. 1 is a flow chart of an embodiment of a navigation map data management method of the present invention.
Fig. 2 is a schematic link structure diagram of an embodiment of a commit single link in the navigation map data management method of the present invention.
FIG. 3 is a tree structure diagram of an embodiment of a tree structure of a commit link in the navigation map data management method of the present invention.
Fig. 4 is a functional block diagram of an embodiment of the navigation map data management apparatus of the present invention.
Fig. 5 is a schematic view of an internal structure of an embodiment of the electronic device of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The invention provides a navigation map data management method, equipment and a storage medium, which solve the defect that a general map storage database is not suitable for navigation map use; for example, when a general map storage database is used for storing navigation maps, the dependency relationship between navigation map data cannot be intuitively reflected, the data reading efficiency is low, verification of different algorithm performances of the original data cannot be conveniently and rapidly performed, and the same name maintenance cannot be performed on the whole link.
FIG. 1 is a flow chart of an embodiment of a navigation map data management method of the present invention; in the embodiment illustrated in fig. 1, the navigation map data management method of the present invention may be implemented as steps S10 to S30 described below.
And S10, creating a git folder by adopting git as an organization form of the underlying data relationship, and taking the created git folder as a git warehouse for storing navigation map data.
In the embodiment of the invention, with respect to the storage of navigation map data, git is adopted as an organization form of a bottom data relationship; the git is an open-source distributed version control system, and any larger or smaller item can be processed rapidly and efficiently, so that the data access efficiency can be improved when the storage and the reading of navigation map data are processed. When in use, the git folder is firstly created, and the created git folder is used as a git warehouse for storing navigation map data. An important basis is provided for the subsequent operation of the whole git warehouse in a non-code form by any instruction of the git.
And step S20, importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link.
And step S30, inserting the whole limit link, the structure contained in the whole limit link and the corresponding content into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
When the navigation map data is imported into the created git warehouse, the navigation map data is imported in the form of a byte stream list, when the appointed data is read later, the byte stream list is obtained, and when the appointed data is read, the data is analyzed according to the data storage form. In one embodiment, the minimum unit git-commit may be used as a unit for data insertion, where the inserted content is the navigation map data to be inserted, and the corresponding commit link is obtained after insertion. And storing the whole limit link, the structure contained in the whole limit link and the corresponding content into a built git warehouse, so that the stored navigation map data are stored and managed based on the git warehouse after the navigation map data are stored.
In one embodiment, "step S20, the navigation map data to be inserted into the git warehouse is imported in the form of a byte stream list, which becomes a commit link" of the embodiment of fig. 1 may be implemented as follows.
According to a preset insertion unit (such as a minimum unit git-commit) and commitMsg corresponding to the insertion data, importing the navigation map data in the form of a byte stream list according to a commit content structure of a corresponding fixed item and an attribute content structure of a non-fixed item to form a corresponding commit link; wherein, commitMsg includes: at least one attribute of an attribute content structure constituting the non-fixed item, and a description file, raw data, feature information, pose and map information, and a semantic map constituting a commit content structure of the fixed item.
For example, in a specific application scenario, according to commitMsg, the sequence of the description file MANIFESTS, the original Data Raw Data, the Feature information Feature, the pose and map information Pose And Map, the semantic map SEMANTIC MAP, the Attribute attribute_1, the Attribute attribute_2 … … and the Attribute attribute_n is organized into the git-commit link; the description file MANIFESTS, the original Data Raw Data, the Feature information Feature, the pose and map information Pose And Map, and the semantic map SEMANTIC MAP are fixed items, and the subsequent attributes attribute_1 and attribute_2 … attribute_n are non-fixed items. The link structure of the single link is shown in fig. 2, which is a schematic diagram of the link structure of an embodiment of the single link of the commit in the navigation map data management method of the present invention.
In the embodiment of the present invention, the description file MANIFESTS may be understood as: the content describing the commit of this link is a file describing the condition of the subsequent link in the form of xml, which needs to describe the content structure corresponding to the subsequent fixed commit (description file MANIFESTS, raw Data, feature information Feature, pose and map information Pose And Map, semantic map SEMANTIC MAP), and the content structure corresponding to the subsequent non-fixed items (such as attributes attribute_1, attribute_2 … attribute_n). In practical application, in order to ensure stability of data storage, a corresponding description file MANIFESTS may be configured before the corresponding link is temporarily undetermined; and typically, the description file MANIFESTS is not allowed to change for a preset period of time (e.g., 1-2 years). The Raw Data can be understood as Data corresponding to the point cloud of the laser radar, etc., or Raw Data acquired by other modes. In addition, the semantic map SEMANTIC MAP may be represented in an aspect of an aspect GML; of course, the corresponding semantic map may also be described in other forms according to specific needs.
In one embodiment, "step S20, the navigation map data to be inserted into the git warehouse is imported in the form of a byte stream list, which becomes a commit link" of the embodiment of fig. 1 may also be implemented according to the following technical means.
And importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a plurality of blobs, corresponding the blobs to a tree structure according to corresponding data storage relations, and generating corresponding commit links according to the tree structure.
Further, in one embodiment, according to the storage relationship of the navigation map data, a corresponding branch link may be generated on any commit link.
Further, in one embodiment, the generation of the corresponding branch link on any commit link according to the storage relationship of the navigation map data may be implemented according to the following technical means.
Generating a corresponding branch link on any one commit link according to the storage relation of the navigation map data, and configuring the last git-refs of all the branch links to point to the last node of the branch link, wherein the name of the last node is the branch name corresponding to the branch link; and forming a git-tree corresponding to the tree structure by the complete structure corresponding to all the commit links under the same root directory.
For example, in a specific application scenario, a branch may be generated on any commit link, where the subsequent commit is calculated from the commit, and in the last git-refs of all links, that is, the last elastic file system RESILIENT FILE SYSTEMS, the last node of the link will be pointed to, and the name of the last node pointed to by the last git-refs is the branch name branch_name corresponding to the branch link. The above-mentioned complete link structures under the same directory form a git tree structure, as shown in fig. 3, and fig. 3 is a tree structure schematic diagram of an implementation mode of a tree structure git-tree composed of commit links in the navigation map data management method of the present invention. In the embodiment shown in fig. 3, since the root is the root of all data, the root in the embodiment of the present invention does not store any navigation map data.
In one embodiment, "step S30, storing and managing the navigation map data based on the git repository" of the embodiment illustrated in fig. 1 may be implemented according to the following technical means.
Receiving a git instruction for operating the whole git warehouse in a non-code mode by using the git instruction, acquiring an operation task corresponding to the git instruction, executing the operation task and outputting a task execution result.
In the embodiment of the invention, based on the created git warehouse, any instruction of the git can be adopted to operate the whole git warehouse in a non-code mode. For example, in a specific application scenario, a "git k-all" instruction may be used to print the tree structure of the entire git warehouse; when the system receives a 'git k-all' instruction, the tree structure of the whole git warehouse is printed by acquiring an operation task corresponding to the instruction, and then the corresponding printing operation is executed and a corresponding task execution result is output. Further, the task execution result may be fed back to the corresponding terminal, or an execution record of all operation tasks may be kept for viewing.
In one embodiment, "step S30, storing and managing the navigation map data based on the git repository" in the embodiment of fig. 1 may also be implemented according to the following technical means.
Receiving an operation instruction for searching the data of the designated branch link, acquiring a branch name corresponding to the branch link according to the operation instruction, and positioning to the last node of the corresponding branch link; and finding out the branch link data designated by the operation instruction according to the last node positioned and the corresponding commitMsg, and returning to a byte stream list corresponding to the branch link data.
In a specific application scenario, for example, when data corresponding to a specified branch link branch needs to be searched, the end of the specified branch link branch, that is, the last node of the specified branch link branch, can be quickly located by utilizing the git; and then according to commitMsg corresponding to the last node, the corresponding appointed data can be quickly found. In the embodiment of the invention, the form of the byte stream list is adopted when the navigation map data is stored in the git warehouse, so that when the designated navigation map data is read from the git warehouse, the data which is also obtained by reading and is expressed in the form of the byte stream list can be analyzed according to the form when the navigation map data is stored in the git warehouse.
The invention relates to a navigation map data management method, which is characterized in that a git is used as an organization form of a bottom data relationship to create a git folder, and the created git folder is used as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; the whole limit link and the structure and the corresponding content contained in the whole limit link are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing the navigation map is overcome, the dependence relationship among the navigation map data is intuitively reflected, the whole tree structure corresponding to the navigation map can be conveniently and rapidly displayed, the performance verification of different links and different algorithms can be conveniently carried out, meanwhile, the designated data required by a user can be rapidly positioned through preset branch link names, and the convenience of data storage and the data reading efficiency are improved; furthermore, because the git is adopted as the organization form of the bottom data relationship, the requirement of the distributed database is also realized, and the data storage efficiency is improved.
Corresponding to the navigation map data management method provided by the above embodiment, the embodiment of the present invention further provides a navigation map data management device. As shown in fig. 4, in the embodiment shown in fig. 4, the navigation map data management apparatus includes a database creation module 101, a data insertion module 102, and a data management module 103.
Wherein the database creation model 101 is configured to: and creating a git folder by taking the git as an organization form of the underlying data relationship, and taking the created git folder as a git warehouse for storing navigation map data.
The data insertion module 102 is configured to: importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; and inserting the whole commit link and the structure and corresponding content contained in the whole commit link into the git warehouse.
The data management module 103 is configured to: and storing and managing the navigation map data based on the git warehouse.
It should be noted that the embodiments corresponding to the above device items and the method embodiments belong to the same concept, the specific implementation process of the embodiment is detailed in the method embodiments, and the technical features in the method embodiments are correspondingly applicable to the device item embodiments, which are not described herein again.
The invention relates to a navigation map data management device, which creates a git folder by adopting git as an organization form of a bottom data relationship, and takes the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; the whole limit link and the structure and the corresponding content contained in the whole limit link are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing the navigation map is overcome, the dependence relationship among the navigation map data is intuitively reflected, the whole tree structure corresponding to the navigation map can be conveniently and rapidly displayed, the performance verification of different links and different algorithms can be conveniently carried out, meanwhile, the designated data required by a user can be rapidly positioned through preset branch link names, and the convenience of data storage and the data reading efficiency are improved; furthermore, because the git is adopted as the organization form of the bottom data relationship, the requirement of the distributed database is also realized, and the data storage efficiency is improved.
The invention also provides an electronic device which can store and manage the corresponding navigation map data according to the navigation map information management method shown in fig. 1. As shown in fig. 5, fig. 5 is a schematic view of the internal structure of an embodiment of the electronic device of the present invention.
In this embodiment, the electronic device 1 may be a PC (Personal Computer ), or may be a terminal device such as a smart phone, a tablet computer, or a portable computer. The electronic device 1 comprises at least a memory 11, a processor 12, a communication bus 13, and a network interface 14.
The memory 11 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a hard disk of the electronic device 1. The memory 11 may in other embodiments also be an external storage device of the electronic device 1, such as a plug-in hard disk provided on the electronic device 1, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), etc. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used not only for storing application software installed in the electronic device 1 and various types of data, such as codes of the data management program 01, but also for temporarily storing data that has been output or is to be output.
Processor 12 may in some embodiments be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip for executing program code or processing data stored in memory 11, such as for executing data management program 01 or the like.
The communication bus 13 is used to enable connection communication between these components.
The network interface 14 may optionally comprise a standard wired interface, a wireless interface (e.g. WI-FI interface), typically used to establish a communication connection between the electronic device 1 and other electronic devices.
Optionally, the electronic device 1 may further comprise a user interface, which may comprise a Display (Display), an input unit such as a Keyboard (Keyboard), and a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like. The display may also be referred to as a display screen or display unit, as appropriate, for displaying information processed in the electronic device 1 and for displaying a visual user interface.
Fig. 5 shows only the electronic device 1 with the components 11-14 and the data management program 01, it will be understood by those skilled in the art that the structure shown in fig. 5 does not constitute a limitation of the electronic device 1, and may include fewer or more components than shown, or may combine certain components, or a different arrangement of components.
Based on the description of the above embodiments, in the embodiment of the electronic device 1 shown in fig. 5, the data management program 01 is stored in the memory 11; the data management program 01 stored on the memory 11 is executable on the processor 12, and the data management program 01 when executed by the processor 12 implements the steps of: creating a git folder by taking git as an organization form of a bottom data relationship, and taking the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; and inserting the whole limit link, the structure contained in the whole limit link and the corresponding content into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
It should be noted that the above device embodiments and method embodiments belong to the same concept, the specific implementation process of the device embodiments is detailed in the method embodiments, and technical features in the method embodiments are correspondingly applicable to the device embodiments, which are not repeated herein.
According to the electronic equipment, the git folder is created by adopting the git as an organization form of the bottom data relationship, and the created git folder is used as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; the whole limit link and the structure and the corresponding content contained in the whole limit link are inserted into the git warehouse, the navigation map data are stored and managed based on the git warehouse, the defect that a general map storage database is used for storing the navigation map is overcome, the dependence relationship among the navigation map data is intuitively reflected, the whole tree structure corresponding to the navigation map can be conveniently and rapidly displayed, the performance verification of different links and different algorithms can be conveniently carried out, meanwhile, the designated data required by a user can be rapidly positioned through preset branch link names, and the convenience of data storage and the data reading efficiency are improved; furthermore, because the git is adopted as the organization form of the bottom data relationship, the requirement of the distributed database is also realized, and the data storage efficiency is improved.
In addition, the embodiment of the invention also provides a computer readable storage medium.
The computer-readable storage medium has stored thereon a data management program executable by one or more processors to perform operations comprising: creating a git folder by taking git as an organization form of a bottom data relationship, and taking the created git folder as a git warehouse for storing navigation map data; importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; and inserting the whole limit link, the structure contained in the whole limit link and the corresponding content into the git warehouse, and storing and managing the navigation map data based on the git warehouse.
It should be noted that, the computer readable storage medium embodiment and the method embodiment of the present invention belong to the same concept, the specific implementation process of the computer readable storage medium embodiment is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the medium embodiment, which is not repeated herein.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A navigation map data management method, characterized in that the navigation map data management method comprises:
Creating a git folder by taking git as an organization form of a bottom data relationship, and taking the created git folder as a git warehouse for storing navigation map data;
Importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link;
inserting the whole limit link and the structure and corresponding content contained in the whole limit link into the git warehouse, and storing and managing the navigation map data based on the git warehouse;
The navigation map data to be inserted into the git warehouse is imported in the form of a byte stream list to become a commit link, comprising:
According to a preset insertion unit and commitMsg corresponding to the insertion data, importing the navigation map data in the form of a byte stream list according to a corresponding commit content structure of a fixed item and an attribute content structure of a non-fixed item to form a corresponding commit link;
Wherein, commitMsg includes: at least one attribute of an attribute content structure constituting the non-fixed item, and a description file, raw data, feature information, pose and map information, and a semantic map constituting a commit content structure of the fixed item.
2. The navigation map data management method according to claim 1, wherein the navigation map data to be inserted into the git warehouse is imported in the form of a byte stream list to become a commit link, comprising:
And importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a plurality of blobs, corresponding the blobs to a tree structure according to corresponding data storage relations, and generating corresponding commit links according to the tree structure.
3. The navigation map data management method according to claim 2, characterized in that the navigation map data management method further comprises:
and generating corresponding branch links on any commit link according to the storage relation of the navigation map data.
4. The navigation map data management method according to claim 3, wherein said generating a corresponding branch link on any commit link according to a stored relationship of said navigation map data comprises:
Generating a corresponding branch link on any one commit link according to the storage relation of the navigation map data, and configuring the last git-refs of all the branch links to point to the last node of the branch link, wherein the name of the last node is the branch name corresponding to the branch link;
and forming a git-tree corresponding to the tree structure by the complete structure corresponding to all the commit links under the same root directory.
5. The navigation map data management method according to any one of claims 1 to 4, characterized in that the storing and managing of the navigation map data based on the git warehouse includes:
Receiving a git instruction for operating the whole git warehouse in a non-code mode by using the git instruction, acquiring an operation task corresponding to the git instruction, executing the operation task and outputting a task execution result.
6. The navigation map data management method according to any one of claims 1 to 4, characterized in that the storing and managing of the navigation map data based on the git warehouse includes:
Receiving an operation instruction for searching the data of the designated branch link, acquiring a branch name corresponding to the branch link according to the operation instruction, and positioning to the last node of the corresponding branch link;
And finding out the branch link data designated by the operation instruction according to the last node positioned and the corresponding commitMsg, and returning to a byte stream list corresponding to the branch link data.
7. A navigation map data management apparatus, characterized in that the navigation map data management apparatus comprises:
The database creation module is used for creating a git folder by adopting git as an organization form of a bottom data relationship, and taking the created git folder as a git warehouse for storing navigation map data;
The data insertion module is used for importing the navigation map data to be inserted into the git warehouse in the form of a byte stream list to form a commit link; inserting the whole commit link and the structure and corresponding content contained in the whole commit link into the git warehouse;
The data management module is used for storing and managing the navigation map data based on the git warehouse;
The data insertion module is further configured to introduce the navigation map data in a form of a byte stream list according to a preset insertion unit and commitMsg corresponding to the insertion data, and according to a commit content structure of a corresponding fixed item and an attribute content structure of a non-fixed item, to form a corresponding commit link;
Wherein, commitMsg includes: at least one attribute of an attribute content structure constituting the non-fixed item, and a description file, raw data, feature information, pose and map information, and a semantic map constituting a commit content structure of the fixed item.
8. An electronic device comprising a memory and a processor, wherein the memory has stored thereon a data management program executable on the processor, which when executed by the processor, performs the navigation map data management method of any one of claims 1 to 6.
9. A computer-readable storage medium having stored thereon a data management program that is executed by one or more processors to implement the steps of the navigation map data management method of any of claims 1 to 6.
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