CN114088082B - Map data processing method and device - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
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- G01C21/3819—Road shape data, e.g. outline of a route
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—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
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3837—Data obtained from a single source
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3859—Differential updating map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
- G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
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Abstract
The embodiment of the invention provides a method and a device for processing map data, wherein the method comprises the following steps: acquiring map data; establishing a spherical coordinate system according to the first semantic elements in the map data, and determining one or more second semantic elements in the map data according to the spherical coordinate system; establishing a plurality of height layers; determining the height layer to which the one or more second semantic elements belong, and determining projection information of the one or more second semantic elements projected to the height layer to which the one or more second semantic elements belong; and generating description information for the first semantic element according to the projection information. According to the embodiment of the invention, the optimization of the description of the semantic elements is realized, the description information of the first semantic elements is generated by combining the second semantic elements, the description content of the semantic elements is increased, the accuracy of a semantic map is improved, and the automatic driving capability is further improved.
Description
Technical Field
The present invention relates to the field of map technologies, and in particular, to a method and an apparatus for processing map data.
Background
In the automatic driving technology, such as an automatic parking system (Automated Parking System, APS), a semantic map is an important component, plays an important role in positioning, reference line generation, path planning and the like, and is usually constructed by a large number of semantic elements, but the description of the semantic elements in the prior art is insufficient, the accuracy of the semantic map is affected, and further, the automatic driving is limited.
Disclosure of Invention
In view of the above problems, there is provided a method and apparatus for processing map data, which overcomes or at least partially solves the above problems, comprising:
a method of processing map data, the method comprising:
acquiring map data;
establishing a spherical coordinate system according to the first semantic elements in the map data, and determining one or more second semantic elements in the map data according to the spherical coordinate system;
establishing a plurality of height layers;
determining the height layer to which the one or more second semantic elements belong, and determining projection information of the one or more second semantic elements projected to the height layer to which the one or more second semantic elements belong;
descriptive information for the first semantic element is generated from the projection information.
Optionally, establishing a spherical coordinate system according to the first semantic element in the map data includes:
taking the position of a first semantic element in map data as a sphere center, and establishing a spherical coordinate system;
determining one or more second semantic elements in the map data according to the spherical coordinate system, including:
in the map data, one or more second semantic elements located within a range of a preset length as a radius in a spherical coordinate system are determined.
Optionally, each height layer corresponds to a circular range with a predetermined length as a radius.
Optionally, determining projection information of the one or more second semantic elements onto the height layer to which they belong includes:
for one or more second semantic elements, determining coordinate information of the second semantic elements under a spherical coordinate system, and determining corresponding weight information of the second semantic elements;
and determining projection information of one or more second semantic elements projected to the height layer to which the second semantic elements belong according to the coordinate information and the weight information.
Optionally, the weight information corresponding to each second semantic element is associated with its corresponding semantic element type.
Optionally, generating the description information for the first semantic element according to the projection information includes:
generating matrix information according to the corresponding projection information for each height layer;
and generating description information aiming at the first semantic element according to the matrix information corresponding to the plurality of height layers.
Optionally, for each height layer, generating matrix information according to the corresponding projection information includes:
acquiring angular resolution and radius resolution;
for each height layer, matrix information is generated from the angular resolution, the radial resolution, and the projection information.
A map data processing apparatus, the apparatus comprising:
the map data acquisition module is used for acquiring map data;
the semantic element determining module is used for establishing a spherical coordinate system according to the first semantic elements in the map data and determining one or more second semantic elements in the map data according to the spherical coordinate system;
the height layer establishing module is used for establishing a plurality of height layers;
the element projection module is used for determining the height layer to which one or more second semantic elements belong and determining projection information of the one or more second semantic elements projected to the height layer to which the one or more second semantic elements belong;
and the descriptive information generation module is used for generating descriptive information aiming at the first semantic element according to the projection information.
An electronic device comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing a method of processing map data as described above.
A computer-readable storage medium on which a computer program is stored which, when executed by a processor, implements a method of processing map data as described above.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, the map data is acquired, the spherical coordinate system is established according to the first semantic elements in the map data, one or more second semantic elements in the map data are determined according to the spherical coordinate system, a plurality of height layers are established, the one or more second semantic elements are determined to be the height layers, the projection information of the one or more second semantic elements projected to the height layers to which the one or more second semantic elements are attached is determined, and then the description information for the first semantic elements is generated according to the projection information, so that the optimization of the description of the semantic elements is realized, the description information of the first semantic elements is generated by combining the second semantic elements, the description content of the semantic elements is increased, the accuracy of the semantic map is improved, and the automatic driving capability is further improved.
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In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the description of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1a is a flowchart illustrating a map data processing method according to an embodiment of the present invention;
FIG. 1b is a schematic diagram of a spherical coordinate system according to an embodiment of the present invention;
FIG. 1c is a schematic diagram of matrix information generation according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating another method for processing map data according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating another method for processing map data according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating another method for processing map data according to an embodiment of the present invention;
fig. 5 is a block diagram of a map data processing device according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1a, a flowchart illustrating steps of a map data processing method according to an embodiment of the present invention may specifically include the following steps:
step 101, map data is acquired.
The map data may be a semantic map, for example, may be a semantic map for a parking lot, and the map data may include a plurality of semantic elements.
Step 102, a spherical coordinate system is established according to the first semantic elements in the map data, and one or more second semantic elements in the map data are determined according to the spherical coordinate system.
After the map data is obtained, the first semantic element can be determined from the map data, and can be any semantic element in the map data or can be a semantic element of a specified type in the map data, wherein the specified type of semantic element can be determined according to importance, and the principle mainly follows is that the first semantic element is representative and easy to distinguish in the map data, for example, the first semantic element can be a semantic element of a parking lot entrance type.
After determining the first semantic element, a spherical coordinate system may be established according to the position of the first semantic element, and then one or more second semantic elements may be determined based on the spherical coordinate system, where the second semantic elements may be any semantic elements in the map data except the first semantic element, or may be semantic elements of a specified type except the first semantic element, for example, the second semantic elements may be parking spaces, parking lot entrances, and parking lot exits in a semantic map of a parking lot.
In an embodiment of the present invention, establishing a spherical coordinate system according to a first semantic element in map data may include: and establishing a spherical coordinate system by taking the position of the first semantic element in the map data as the sphere center.
In order to ensure the position of the subsequent projection of different semantic elements in the height layer, the spherical coordinate system needs to meet the rotation invariance, namely the coordinate systems obtained in different directions at the same place are identical, and the spherical coordinate system can be established by taking the position of the first semantic element as the sphere center.
Accordingly, determining one or more second semantic elements in the map data according to the spherical coordinate system may include: in the map data, one or more second semantic elements located within a range of a preset length as a radius in a spherical coordinate system are determined.
Since the spherical coordinate system uses the position of the first semantic element as the sphere center, the sphere with the preset length as the radius can be determined from the sphere center, and the sphere shown in fig. 1b is the range with the preset length r as the radius, so that one or more second semantic elements with the positions within the range can be determined.
Step 103, establishing a plurality of height layers;
in a part of the scenes, such as a scene of a multi-layer parking lot, which relates to a plurality of height layers, the plurality of height layers can be divided under a spherical coordinate system according to predefined height information, so that the distinguishability of the finally generated description information can be improved.
In an example, each height layer may correspond to a circular range with a radius of a preset length, and the circles corresponding to each height layer are parallel to each other, as shown by I in FIG. 1b 1 、I 2 、I 3 I.e. three height layers.
Step 104, determining the height layer to which the one or more second semantic elements belong, and determining projection information of the one or more second semantic elements projected to the height layer to which the one or more second semantic elements belong.
For each second semantic element, the height layer to which the second semantic element belongs can be determined, and then the projection information of the height layer to which the second semantic element belongs can be projected.
In an embodiment of the present invention, determining projection information of one or more second semantic elements projected to a height layer to which the second semantic elements belong may include:
for one or more second semantic elements, determining coordinate information of the second semantic elements under a spherical coordinate system, and determining corresponding weight information of the second semantic elements; and determining projection information of one or more second semantic elements projected to the height layer to which the second semantic elements belong according to the coordinate information and the weight information.
After the spherical coordinate system is established, the coordinate information of one or more second semantic elements under the spherical coordinate system can be determined based on the spherical coordinate system, and then the second semantic elements can be projected to the height layer to which the second semantic elements belong according to the coordinate information, wherein the essence of the second semantic elements can be that a point in space is projected to a point on a plane where the height layer is located.
Moreover, in order to embody the distinction between different semantic elements, when the projection information is generated, the weight information of the second semantic elements may be combined, and the weight information corresponding to each second semantic element may be associated with the corresponding semantic element type, which may be determined according to the obtained semantic element type.
Step 105, generating description information for the first semantic element according to the projection information.
After the projection information is obtained, the projection information corresponding to each height layer can be summarized, so that the description information aiming at the first semantic element is obtained.
In an embodiment of the present invention, step 105 may include:
generating matrix information according to the corresponding projection information for each height layer; and generating description information aiming at the first semantic element according to the matrix information corresponding to the plurality of height layers.
Specifically, the projection information corresponding to the height layer may be converted into matrix information, and then all the matrix information corresponding to the height layer may be summarized, so as to obtain description information for the first semantic element.
In an embodiment of the present invention, for each height layer, generating matrix information according to corresponding projection information may include:
acquiring angular resolution and radius resolution; for each height layer, matrix information is generated from the angular resolution, the radial resolution, and the projection information.
For each height layer, since the height layer corresponds to a circular range with a preset length as a radius, the angle resolution and the radius resolution corresponding to the height layer can be obtained, and after the angle resolution and the radius resolution are obtained, matrix information can be generated according to the angle resolution, the radius resolution and projection information.
As shown in fig. 1c, the left side is a circular range corresponding to each height layer, which can establish a circular polar coordinate, so as to obtain an angular resolution, a radial resolution, and an angular resolution of 90 degrees, and a radial resolution of 1/2radius, where a triangle in the circular range is projection information, and has a specific coordinate range, as shown in fig. 1c, the right side is converted matrix information, which is a matrix of m rows and n columns, where n=2, m=4, and a specific conversion process is as follows:
since the angular resolution is 90 degrees and 4 90 degrees form 360 degrees, the number m of rows of the matrix can be determined to be 4, and since the radius resolution is 1/2radius,2 1/2radius are 1radius, the number n of columns of the matrix can be determined to be 2, and then an m row n column matrix with n=2 and m=4 can be established, and then the matrix is converted into an m row n column matrix according to the position of the projection information in the circular polar coordinate (such as a triangle in the circular range on the left side of fig. 1 c), and data x corresponding to the position of the projection information is obtained in the matrix, so as to obtain matrix information.
In the embodiment of the invention, the map data is acquired, the spherical coordinate system is established according to the first semantic elements in the map data, one or more second semantic elements in the map data are determined according to the spherical coordinate system, a plurality of height layers are established, the one or more second semantic elements are determined to be the height layers, the projection information of the one or more second semantic elements projected to the height layers to which the one or more second semantic elements are attached is determined, and then the description information for the first semantic elements is generated according to the projection information, so that the optimization of the description of the semantic elements is realized, the description information of the first semantic elements is generated by combining the second semantic elements, the description content of the semantic elements is increased, the accuracy of the semantic map is improved, and the automatic driving capability is further improved.
Referring to fig. 2, a flowchart illustrating steps of a map data processing method according to an embodiment of the present invention may specifically include the following steps:
in step 201, map data is acquired.
Step 202, taking the position of the first semantic element in the map data as a sphere center, establishing a spherical coordinate system, and determining one or more second semantic elements in the spherical coordinate system within a range with a preset length as a radius in the map data.
Step 203, establishing a plurality of height layers; wherein each height layer corresponds to a circular range with a preset length as a radius.
Step 204, determining, for the one or more second semantic elements, the associated height layer, and determining projection information of the one or more second semantic elements projected onto the associated height layer.
In step 205, descriptive information for the first semantic element is generated based on the projection information.
It should be noted that, for the detailed description of step 201 to step 205, reference may be made to the descriptions of step 101 to step 105 above.
Referring to fig. 3, a step flowchart of a map data processing method according to an embodiment of the present invention may specifically include the following steps:
in step 301, map data is acquired.
Step 302, a spherical coordinate system is established according to the first semantic elements in the map data, and one or more second semantic elements in the map data are determined according to the spherical coordinate system.
In step 303, a plurality of height layers are established.
Step 304, for one or more second semantic elements, determining the belonging elevation layer.
Step 305, for one or more second semantic elements, determining coordinate information of the second semantic elements in a spherical coordinate system, and determining corresponding weight information of the second semantic elements; wherein the weight information corresponding to each second semantic element is associated with its corresponding semantic element type.
And 306, determining projection information of one or more second semantic elements projected to the height layer to which the second semantic elements belong according to the coordinate information and the weight information.
Step 307, generating description information for the first semantic element according to the projection information.
It should be noted that, for the detailed description of step 301 to step 307, reference may be made to the descriptions of step 101 to step 105 above.
Referring to fig. 4, a step flowchart of a map data processing method according to an embodiment of the present invention may specifically include the following steps:
in step 401, map data is acquired.
Step 402, a spherical coordinate system is established according to the first semantic elements in the map data, and one or more second semantic elements in the map data are determined according to the spherical coordinate system.
In step 403, a plurality of height layers are established.
Step 404, determining, for the one or more second semantic elements, the associated height layer, and determining projection information of the one or more second semantic elements projected onto the associated height layer.
Step 405, for each height layer, generating matrix information according to the corresponding projection information.
In one embodiment of the present invention, step 405 may include:
acquiring angular resolution and radius resolution; for each height layer, matrix information is generated from the angular resolution, the radial resolution, and the projection information.
And step 406, generating description information for the first semantic element according to the matrix information corresponding to the plurality of height layers.
It should be noted that, for the detailed description of step 401 to step 205, reference may be made to the descriptions of step 101 to step 105 above.
In an embodiment of the present invention, after generating the description information, the method may further include the following steps:
1, determining a third semantic element matched with the first semantic element according to the description information of the first semantic element.
In the autopilot technology, in order to improve the autopilot capability, map data may be acquired for map fusion, where the map data may be a semantic map and have a repeated portion to be fused, for example, the map data may include multiple map data to be fused between maps, where the multiple map data are map data for the same area, or may be single map data to be self-fused in a map, where the single map data has multiple acquisition results for the same area.
For example, in an automatic parking system, in order to improve the parking success rate of the automatic parking system, map data may be acquired for map fusion, where the map data may be a plurality of map data for the same parking lot, or may be single map data for the same parking lot, and the single map data has multiple acquisition results for the same location.
In the map data, description information can be set in advance for part or all of semantic elements, the description information can describe environment information under different semantics, when map fusion is carried out, a first semantic element can be determined from the description information, the description information of the first semantic element can be obtained, and then a third semantic element matched with the first semantic element can be determined from the map data according to the description information, namely, a repeated part to be fused in the map data.
For example, in the case of a plurality of map data, a first semantic element may be determined from one map data, and a third semantic element that matches the first semantic element may be determined from the other map data.
As another example, in the case of a single map data, a first semantic element may be determined from one acquisition of the same region and a third semantic element may be determined from other acquisitions of the same region.
In an embodiment of the present invention, a semantic element of a specified type may be determined according to importance, so as to construct description information of the semantic element of the specified type, and mainly follow the principle that the description information is representative and easy to distinguish in map data, and then the first semantic element may be a semantic element of the specified type, for example, the first semantic element may be a semantic element of a parking lot entry type.
In an embodiment of the present invention, determining, according to the description information of the first semantic element, a third semantic element that matches the first semantic element may include:
acquiring description information of a plurality of candidate semantic elements, and respectively determining the similarity of the description information of a first semantic element and the description information of the plurality of candidate semantic elements; and determining a third semantic element matched with the first semantic element according to the similarity.
In a specific implementation, a plurality of candidate semantic elements which are preliminarily matched with the first semantic element can be determined from the map data, for example, the semantic element with the distance from the first semantic element within a preset distance range can be used as the candidate semantic element, and of course, other semantic elements with description information in the map data can also be used as the candidate semantic element.
After the candidate semantic elements are determined, descriptive information of each candidate semantic element can be obtained, further descriptive information of the first semantic element and descriptive information of the candidate semantic elements can be compared, similarity between the descriptive information of the first semantic element and the descriptive information of the candidate semantic elements is calculated, and after the similarity is obtained, a third semantic element matched with the first element can be determined from the plurality of candidate semantic elements according to the similarity.
In one example, the similarity may be calculated using the following formula:
wherein I is i Represents the ith semantic element (e.g., it may be the ithA semantic element) of the document,mean value representing the ith descriptive information, I j Descriptive information representing the jth semantic element (e.g. it may be a candidate semantic element,),/>Representing the mean value of the description information of the jth semantic element, sim_score represents the similarity of the description information of the ith semantic element and the jth semantic element.
In an embodiment of the present invention, determining a third semantic element matching the first semantic element according to the similarity may include:
determining candidate semantic elements with similarity larger than preset similarity; acquiring element attribute information of candidate semantic elements with similarity larger than preset similarity; and determining a third semantic element matched with the first semantic element from candidate semantic elements with similarity larger than preset similarity according to the element attribute information.
After the similarity is determined, candidate semantic elements with the similarity being greater than the preset similarity can be determined, and in the case that only one candidate semantic element with the similarity being greater than the preset similarity exists, the candidate semantic element can be directly used as a third semantic element.
Under the condition that the candidate semantic elements with the similarity larger than the preset similarity have two or more than two, the first semantic element and the element attribute information of the two or more than two candidate semantic elements can be further acquired, the candidate semantic elements with the same or similar element attribute information as the first semantic element are determined from the two or more than two candidate semantic elements by adopting a geometric verification mode of the element attribute information, and the candidate semantic elements are used as third semantic elements matched with the first semantic element.
For example, the element attribute information may include an element type of the semantic element, and may further include a distance, a direction, semantic information around the semantic element, and the like of the semantic element on the path.
2, fusing the map data according to the first semantic element and the third semantic element.
After the first semantic element and the third semantic element are determined, the repeated part in the map data is determined, and then the first semantic element and the third semantic element can be fused, namely the repeated part in the map data is fused, so that the fused map data is obtained.
In an embodiment of the present invention, fusing map data according to the first semantic element and the third semantic element may include:
according to the first semantic element and the third semantic element, position adjustment is carried out on the semantic element in the map data, and a matched path object is determined from the map data after position adjustment; and fusing the matched path objects in the map data.
After determining the third semantic element matched with the first semantic element, the position of the semantic element in the map data can be adjusted, for example, the position can be optimized by adopting a least square optimization element, and the same semantic element can be adjusted to the same position, so that the same place on the map is overlapped as much as possible.
Because the position adjustment is performed, the matched path object (link), namely the path object corresponding to the same path, can be determined from the map data after the position adjustment according to the position and the length of the path, the similarity degree of semantic elements contained in the path and other information, and then the matched path objects in the map data can be fused.
In an embodiment of the present invention, performing position adjustment on the semantic elements in the map data according to the first semantic element and the third semantic element may include:
according to the constraint between the first semantic element and the third semantic element, carrying out position adjustment on the first semantic element and/or the third semantic element; and carrying out position adjustment on other semantic elements in the map data based on the first semantic element and/or the third semantic element after the position adjustment.
Because the third semantic element and the first semantic element are repeated parts in the map data, if two semantic elements aiming at the same parking lot entrance exist constraint between the first semantic element and the third semantic element, if the first semantic element and the third semantic element are constrained at the same position, the position of the first semantic element and/or the third semantic element can be adjusted according to the constraint between the first semantic element and the third semantic element and by combining with the inherent topological constraint of the map, if the position of the third semantic element can be adjusted by taking the first semantic element as a reference, the position of the first semantic element can be adjusted by taking the third semantic element as a reference, and the position of the first semantic element and the third semantic element can be adjusted by taking the position midpoint of the first semantic element and the third semantic element as a reference.
After the position of the matched semantic elements is adjusted, the matched semantic elements between different maps are in the same position, and constraint exists between other semantic elements in the map data and the first semantic element and the third semantic element, if the relative distance between the other semantic elements is fixed no matter the position is adjusted, the position of the other semantic elements in the map data can be adjusted by taking the first semantic element and/or the third semantic element after the position adjustment as a reference.
In an embodiment of the present invention, the method may further include:
and storing the path objects which are not matched with other path objects in the fused map data.
Under some scenes, due to the limitation of map data acquisition, a certain path object may exist in a certain map data in a plurality of map data, or a certain path object is acquired in a certain time in a single map data, and then in the map data, a path object which cannot be matched with other path objects, namely, a non-repeated part in the map data, exists, and the path object can be stored in the fused map data, so that the non-repeated part in the map data can be expanded.
In one example, after fusing the map data, the map data may be checked, if the check passes, the fused map data may be output, and if the check fails, an error prompt may be made to correct.
The map data are obtained, the description information of the first semantic element in the map data is determined, the third semantic element matched with the first semantic element is determined according to the description information of the first semantic element, the description information of the first semantic element is generated according to projection information of one or more second semantic elements projected to a height layer to which the first semantic element belongs, the one or more second semantic elements are determined according to the spherical coordinate system according to the first semantic element, and then the map data are fused according to the first semantic element and the third semantic element, so that optimization of map fusion is achieved, repeated parts in the map data can be found through setting of the description information, accuracy of the found repeated parts can be guaranteed, map fusion effect is improved, and automatic driving capability is improved.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 5, a schematic structural diagram of a map data processing device according to an embodiment of the present invention may specifically include the following modules:
the map data obtaining module 501 is configured to obtain map data.
The semantic element determining module 502 is configured to establish a spherical coordinate system according to a first semantic element in the map data, and determine one or more second semantic elements in the map data according to the spherical coordinate system.
The height layer establishment module 503 is configured to establish a plurality of height layers.
An element projection module 504, configured to determine, for one or more second semantic elements, a height layer to which the second semantic elements belong, and determine projection information of the one or more second semantic elements projected to the height layer to which the second semantic elements belong.
The description information generating module 505 is configured to generate description information for the first semantic element according to the projection information.
In an embodiment of the present invention, the semantic element determination module 502 may include:
the spherical coordinate system establishment sub-module is used for establishing a spherical coordinate system by taking the position of the first semantic element in the map data as the sphere center.
And the spherical coordinate system determination element sub-module is used for determining one or more second semantic elements positioned in the spherical coordinate system within the range with the preset length as the radius in the map data.
In an embodiment of the present invention, each height layer corresponds to a circular range with a predetermined length as a radius.
In one embodiment of the present invention, the element projection module 504 may include:
the weight information determining sub-module is used for determining coordinate information of one or more second semantic elements in a spherical coordinate system and determining corresponding weight information of the second semantic elements.
And the weight determination projection submodule is used for determining projection information of one or more second semantic elements projected to the height layer to which the second semantic elements belong according to the coordinate information and the weight information.
In an embodiment of the present invention, the weight information corresponding to each second semantic element is associated with its corresponding semantic element type.
In an embodiment of the present invention, the description information generating module 505 may include:
and the matrix information generation sub-module is used for generating matrix information according to the corresponding projection information for each height layer.
And the matrix generation descriptive information sub-module is used for generating descriptive information for the first semantic element according to the matrix information corresponding to the plurality of height layers.
In an embodiment of the present invention, the matrix information generating sub-module may include:
and the resolution unit is used for acquiring the angular resolution and the radius resolution.
And a combined resolution generation matrix information unit for generating matrix information according to the angular resolution, the radial resolution, and the projection information for each height layer.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the computer program implementing the above map data processing method when executed by the processor.
An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements a method of processing map data as above.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has described in detail the method and apparatus for processing map data, and specific examples have been presented herein to illustrate the principles and embodiments of the present invention, the above examples being provided only to assist in understanding the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (8)
1. A method of processing map data, the method comprising:
acquiring map data;
establishing a spherical coordinate system according to the first semantic elements in the map data, and determining one or more second semantic elements in the map data according to the spherical coordinate system;
establishing a plurality of height layers;
determining the height layer to which the one or more second semantic elements belong, and determining projection information of the one or more second semantic elements projected to the height layer to which the one or more second semantic elements belong;
generating description information for the first semantic element according to the projection information;
wherein, the establishing a spherical coordinate system according to the first semantic element in the map data includes:
taking the position of the first semantic element in the map data as a sphere center, and establishing a spherical coordinate system;
the determining one or more second semantic elements in the map data according to the spherical coordinate system comprises:
determining one or more second semantic elements located within a range of a preset length as a radius in the spherical coordinate system in the map data;
wherein the generating, according to the projection information, the description information for the first semantic element includes:
generating matrix information according to the corresponding projection information for each height layer;
and generating description information aiming at the first semantic element according to the matrix information corresponding to the plurality of height layers.
2. The method of claim 1, wherein each height layer corresponds to a circular extent having a radius of the predetermined length.
3. The method according to any of claims 1-2, wherein said determining projection information of the one or more second semantic elements projected to the height layer to which they belong comprises:
for the one or more second semantic elements, determining coordinate information of the one or more second semantic elements in the spherical coordinate system, and determining corresponding weight information of the one or more second semantic elements;
and determining projection information of the one or more second semantic elements projected to the height layer to which the second semantic elements belong according to the coordinate information and the weight information.
4. A method according to claim 3, wherein the weight information corresponding to each second semantic element is associated with its corresponding semantic element type.
5. The method of claim 1, wherein generating matrix information from the corresponding projection information for each height layer comprises:
acquiring angular resolution and radius resolution;
for each height layer, matrix information is generated from the angular resolution, the radial resolution, and the projection information.
6. A processing apparatus of map data, characterized in that the apparatus comprises:
the map data acquisition module is used for acquiring map data;
the semantic element determining module is used for establishing a spherical coordinate system according to the first semantic elements in the map data and determining one or more second semantic elements in the map data according to the spherical coordinate system;
the height layer establishing module is used for establishing a plurality of height layers;
the element projection module is used for determining the height layer to which the one or more second semantic elements belong aiming at the one or more second semantic elements, and determining projection information of the one or more second semantic elements projected to the height layer to which the one or more second semantic elements belong;
the descriptive information generation module is used for generating descriptive information aiming at the first semantic element according to the projection information;
wherein, the semantic element determining module comprises:
the spherical coordinate system establishing submodule is used for establishing a spherical coordinate system by taking the position of the first semantic element in the map data as the sphere center;
a spherical coordinate system determining element sub-module for determining one or more second semantic elements located within a range of a preset length as a radius in the spherical coordinate system in the map data;
the description information generation module comprises:
the matrix information generation sub-module is used for generating matrix information according to the corresponding projection information for each height layer;
and the matrix generation descriptive information sub-module is used for generating descriptive information for the first semantic element according to the matrix information corresponding to the plurality of height layers.
7. An electronic device comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements the method of processing map data according to any one of claims 1 to 5.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method of processing map data according to any one of claims 1 to 5.
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