CN114440905B - Method and device for constructing intermediate layer, electronic equipment and storage medium - Google Patents
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Abstract
The embodiment of the invention discloses a method and a device for constructing an intermediate layer, electronic equipment and a storage medium. The method comprises the following steps: obtaining map data of at least one target map for providing map support for the automatic driving system, determining topological relations among construction elements of a predetermined middle layer based on the map data of each target map, determining attribute information for describing attributes of each construction element in the map data, and constructing the middle layer corresponding to a standard data format of the automatic driving system based on the topological relations and each attribute information. According to the technical scheme provided by the embodiment of the invention, various map data can be converted into the middle layer corresponding to the standard data format, so that the automatic driving platform is compatible with various high-precision maps at the same time, and the convenience of acquiring the map data is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of information processing, in particular to a method and a device for constructing an intermediate layer, electronic equipment and a storage medium.
Background
The high-precision map plays an important role in the aspects of geofence judgment, beyond-sight perception, high-precision positioning, driving planning decision and the like of the automatic driving vehicle. Currently, when an automatic driving process of a vehicle is performed using a high-precision map, it is generally necessary to create a map interface corresponding to the high-precision map used based on the high-precision map used, and acquire map data via the map interface.
However, the data formats of map data in high-precision maps constructed by different vendors are different, and the prior art cannot be compatible with normal use of the multi-source high-precision maps in automatic driving, so that a map interface of automatic driving application software cannot be flattened, ecology of the multiple vendors is difficult to construct, and convenience in using the high-precision maps by an automatic driving system is reduced.
Disclosure of Invention
The embodiment of the invention provides a method, a device, electronic equipment and a storage medium for constructing an intermediate layer, which are used for converting various map data into the intermediate layer corresponding to a standard data format, and are compatible with various high-precision maps at the same time on an automatic driving platform, so that the convenience for acquiring the map data is improved.
In a first aspect, an embodiment of the present invention provides a method for constructing an intermediate layer, including:
Acquiring map data of at least one target map for providing map support for an automatic driving system, and determining a topological relation among construction elements of a predetermined middle layer based on the map data of each target map;
determining attribute information for describing the attribute of each construction element in the map data;
and constructing an intermediate layer corresponding to a standard data format of the automatic driving system based on the topological relation and the attribute information.
In a second aspect, an embodiment of the present invention further provides an apparatus for constructing an intermediate layer, where the apparatus includes:
the system comprises a topology relation determining module, a map information processing module and a map information processing module, wherein the topology relation determining module is used for acquiring map data of at least one target map for providing map support for an automatic driving system and determining a topology relation among construction elements of a predetermined middle layer based on the map data of each target map;
A determination attribute information module for determining attribute information for describing attributes of the respective construction elements in the map data;
And constructing an intermediate layer module, which is used for constructing an intermediate layer corresponding to the standard data format of the automatic driving system based on the topological relation and the attribute information.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
storage means for storing one or more programs,
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method for building an intermediate layer provided by any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the method for constructing an intermediate layer provided in any embodiment of the present invention.
According to the method for constructing the middle layer, provided by the embodiment of the invention, at least one map data of a target map for providing map support for an automatic driving system is obtained, the topological relation among the construction elements of the predetermined middle layer is determined based on the map data of each target map, the attribute information for describing the attribute of each construction element is determined in the map data, and the middle layer corresponding to the standard data format of the automatic driving system is constructed based on the topological relation and each attribute information. The middle layer constructed by the embodiment of the invention can convert various map data into the middle layer corresponding to the standard data format, realizes compatibility with various high-precision maps on an automatic driving platform, and improves the convenience of acquiring the map data.
In addition, the device for constructing the intermediate layer, the electronic equipment and the storage medium provided by the invention correspond to the method and have the same beneficial effects.
Drawings
For a clearer description of embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described, it being apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a flowchart of a method for constructing an intermediate layer according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a road according to an embodiment of the present invention;
FIG. 3 is a block diagram of an apparatus for constructing an intermediate layer according to an embodiment of the present invention;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
Example 1
Fig. 1 is a flowchart of a method for constructing an intermediate layer according to an embodiment of the present invention. The method can be executed by a device for constructing the intermediate layer, the device can be realized by software and/or hardware, and the device can be configured in a terminal and/or a server to realize the method for constructing the intermediate layer in the embodiment of the invention.
As shown in fig. 1, the method of this embodiment may specifically include:
s101, acquiring map data of at least one target map for providing map support for an automatic driving system, and determining a topological relation among construction elements of a predetermined middle layer based on the map data of each target map.
In a specific implementation, two or more high-precision maps can be used for providing map support for an automatic driving system, and then map data of the two or more maps can be acquired simultaneously; only map data of a map uniquely designated for use by the user may be acquired. The target map may be a third party high-precision map, and the intermediate layer is constructed by acquiring map data of the target map to provide road information for the autopilot system.
Optionally, obtaining map data of at least one target map for providing map support for an autopilot system includes: and carrying out partition operation on the target map according to a preset partition principle to obtain each regional map of the target map, and respectively obtaining regional map data of the regional map.
In particular, road networks are often complex during autonomous driving of the vehicle. In order to obtain the map data of the target map more quickly, the map can be divided based on the difference of areas in the map, and only the map data in the corresponding block need to be loaded each time. In addition, the scaling degree of the map to be loaded can be determined according to the requirement on road information in the driving process, the loading data amount corresponding to the scaling degree is further determined, and the loading operation is performed on the regional map data of the current regional map in the target map according to the loading data amount.
Further, the building elements of the intermediate layers that are established may be predetermined. Illustratively, the construction elements include roads, lane groups, lane boundaries, traffic signs, and the like. The intermediate layer can be determined based on the topological relation among the construction elements and the attribute information of the construction elements.
Optionally, the construction element comprises a road, lanes, a lane group consisting of lanes, and lane branches of the lane group; wherein determining a topological relation among construction elements of a predetermined intermediate layer based on map data of each target map comprises: based on map data of each target map, a first topological relation among roads, lane groups and lanes in the middle layer and a second topological relation among lane branches are determined.
Specifically, each road may be composed of a plurality of lanes, and lane information contained in the same section of road forms a lane group. Fig. 2 is a schematic diagram of a road provided in an embodiment of the present invention, as shown in fig. 2, the road may be divided into A, B and C segments according to a preset dividing rule, where A0, A1, A2 form a lane group a, B0, B1, B2 form a lane group B, C0, C1, C2, and C3 form a lane group C, and the lane group a, the lane group B, and the lane group C form the road.
Specifically, a first topological relationship between roads, lane groups, and lanes in the intermediate layer may be determined based on map data of each target map. The topological relation is used for describing the position connection relation among the construction elements of the middle layer. For example, the topological relation may be determined from two dimensions of directions, for example, two directions are respectively a driving direction and a perpendicular direction of the driving direction, or two directions are respectively a longitude direction and a latitude direction of the map, or two dimensions of directions are determined according to east-west direction and north-south direction in the map, which is not limited in the embodiment of the present invention.
Optionally, the first topological relation comprises a first lateral topological relation, the first lateral topological relation comprises a topological relation in a direction perpendicular to a driving direction of the road, and the middle layer comprises a road layer, a lane group layer and a lane layer.
Optionally, determining the first topological relation among the road, the lane group and the lanes in the middle layer based on the map data of each target map includes: determining lane configuration entries corresponding to the lane models, and respectively acquiring lane data corresponding to the lane configuration entries in the map data; establishing a road layer, a lane group layer and a lane layer, and determining a first mapping relation between a road layer identifier of the road layer and a road identifier in lane data; determining a second mapping relation between the lane group layer mark of the lane group layer and the lane group mark in the lane data and a third mapping relation between the lane layer mark of the lane layer and the lane mark in the lane data; and determining a first transverse topological relation of the middle layer based on the position relation, the first mapping relation, the second mapping relation and the third mapping relation in the perpendicular direction of the driving direction among the roads and the lane groups and among the lane groups and the lanes in the lane data.
Specifically, the target map generally includes road structure models such as a lane model, a lane connection attribute model, a branch model, and a road identification model. And establishing different configuration inlets for the data of different models in the map data, and acquiring the data of the corresponding models through the different configuration inlets. When determining a first topological relation among roads, lane groups and lanes, map data among roads, lane groups and lanes need to be acquired. For example, lane configuration entries corresponding to the lane models may be determined, and lane data corresponding to each lane configuration entry may be obtained from the map data.
Further, the road layer, the lane group layer and the lane layer in the intermediate layer may be established, and the identifiers of the road layer, the lane group layer and the lane layer may be set respectively, and the identifiers may be layer numbers of the road layer, the lane group layer and the lane layer. And acquiring the road, the lane group and the lane identification of the lane data in the target map, and determining a first mapping relation between the road layer identification of the road layer and the road identification in the lane data, a second mapping relation between the lane group layer identification of the lane group layer and the lane group identification in the lane data and a third mapping relation between the lane layer identification of the lane layer and the lane identification in the lane data.
Specifically, based on the map data of the target map, the positional relationship between each road and lane group, and between the lane group and the lane in the map in the direction perpendicular to the traveling direction can be determined. As shown in fig. 2, the positional relationship in the vertical direction may be such that A0, A1, A2 constitute a lane group a, B0, B1, B2 constitute a lane group B, and C0, C1, C2, and C3 constitute a lane group C. Based on the actual position relationship and the first, second and third mapping relationships, the first transverse topological relationship of the road layer, the lane group layer and the lane layer in the middle layer can be determined.
Further, the first topological relation further comprises a first longitudinal topological relation, and the first longitudinal topological relation comprises a topological relation in the driving direction of the road; wherein after determining the first lateral topological relation of the intermediate layer, further comprises: determining a road starting position and a road ending position of each road based on the lane data, and determining a lane group starting position and a lane group ending position of each lane group; and determining a first longitudinal topological relation of the middle layer based on the road starting position, the road ending position, the lane group starting position, the lane group ending position, the first mapping relation, the second mapping relation and the third mapping relation.
As shown in fig. 2, the first transverse topological relation can determine which elements in the lane group are formed by elements in the direction perpendicular to the driving direction, and the first longitudinal topological relation can determine the connection relation of the elements in the driving direction, such as how the lane group a, the lane group B and the lane group C are connected in fig. 2. And determining the road starting position and the road ending position of each road according to the lane data of the target map, determining the connection relation between each lane group in the target map according to the road starting position and the road ending position, and determining the first longitudinal topological relation based on the mapping relation between the target map and the middle layer. When the road start position is the same as the road end position of the other road, the current road is explained to be connected with the other road, and the other road is ahead of the current road. For example, the first longitudinal topological relation may be that the road end position of the lane group a layer in the intermediate layer is connected with the road start position of the lane group B layer, and the road end position of the lane group B layer is connected with the road start position of the lane group C layer.
Optionally, determining a second topological relation between lane branches in the intermediate layer includes: determining branch configuration inlets corresponding to the branch models, and respectively acquiring branch data corresponding to each branch configuration inlet in the map data; determining a mapping relation between each lane branch and the road based on the branch data and the lane data; and determining a branch starting position and a branch ending position of each lane branch in the branch data, and determining a second topological relation of the middle layer based on the mapping relation between the lane branches and the road, the branch starting position and the branch ending position.
In a specific implementation, each lane group may have a lane branch with an included angle between the driving direction of each lane in the current lane group, and in order to ensure the integrity of the road information in the middle layer, a second topological relation needs to be established for the lane branch. The branch data may be acquired through a branch configuration entry in the map data corresponding to the branch model, and the second topological relation may be determined based on the branch data.
Further, the second topological relation can also be determined from two directional dimensions. And determining a branch starting position and a branch ending position of each lane branch in the branch data, and determining a second topological relation of the middle layer based on the mapping relation between the lane branches and the road, the branch starting position and the branch ending position.
S102, determining attribute information for describing the attribute of each construction element in the map data.
In particular implementations, attribute information may be used to describe each build element. For example, for a road element, the attribute information may be information of an expressway, a road position, a road speed limit value, a road altitude, a road stop line, and the like. For the lane elements, the attribute information may be information of a lane width, a lane direction, or the like. The attribute information of the traffic sign element can be information such as sign shape, sign meaning and the like. By means of the attribute information, the situation of the construction element can be more vividly and specifically understood.
And S103, constructing an intermediate layer corresponding to the standard data format of the automatic driving system based on the topological relation and the attribute information.
In particular, the road information in the intermediate layer may be represented in a standard data format readable by the autopilot system. Based on the topological relation among the construction elements, determining the structure of the intermediate layer, and establishing connection between the construction elements and the attribute information, thereby completing the establishment of the intermediate layer.
Optionally, after constructing the intermediate layer corresponding to the standard data format of the autopilot system based on the topological relation and the attribute information, the method further includes: detecting whether the map data of the target map is updated or not; if yes, acquiring update data of the map data, and determining construction elements corresponding to the update data in the middle layer; based on the update data, attribute information of the construction element corresponding to the update data is modified.
Specifically, in order to improve timeliness and accuracy of the created intermediate layer, whether the map data of the target map is updated or not can be detected regularly, and if so, the intermediate layer can be updated simultaneously based on the updated data of the map data. Further, whether the current updated object is a construction element or attribute information can be determined based on the update data, and if the current updated object is a construction element, the construction element and/or the topological relation in the intermediate layer can be modified based on the update data; if the attribute information is updated, the original attribute information is replaced by the updated attribute information.
According to the method for constructing the middle layer, provided by the embodiment of the invention, at least one map data of a target map for providing map support for an automatic driving system is obtained, the topological relation among the construction elements of the predetermined middle layer is determined based on the map data of each target map, the attribute information for describing the attribute of each construction element is determined in the map data, and the middle layer corresponding to the standard data format of the automatic driving system is constructed based on the topological relation and each attribute information. The middle layer constructed by the embodiment of the invention can convert various map data into the middle layer corresponding to the standard data format, realizes compatibility with various high-precision maps on an automatic driving platform, and improves the convenience of acquiring the map data.
Example two
The foregoing describes in detail the embodiments corresponding to the method for constructing the intermediate layer, and in order to make the technical solution of the method further clear to those skilled in the art, specific application scenarios are given below.
The embodiment of the invention illustrates the construction method of the intermediate layer by taking ADAIS V3 as an example of a data format adopted by the target map. It should be noted that, map elements in the ADASIS V3 data format are stored under the directory of the profile message. Therefore, the embodiment of the invention can complete the construction process of the intermediate layer by converting the information in the configuration file message.
In order to make the information acquisition more rapid and accurate, the target map can be segmented and graded in advance, namely the map is divided according to areas, only the information in the corresponding block is needed to be loaded when the map is loaded each time, and in addition, images with different data volumes are loaded according to different requirements and zoom degrees.
Specifically, the data buffer of the ADASIS V3 generally employs a region-by-region acquisition method when acquiring map data of a target map. Therefore, the ADAIS V3 data buffer area can be queried in real time, and whether the data buffer area is empty or not is detected; if the map data is empty, the map data is not stored currently, and the detection can be repeated at the next moment; if the data is not empty, further judging whether the data exists in the configuration file message directory, and if the data does not exist, repeating the detection; if so, reading the first map data of the head of the configuration file message buffer. At least one configuration entry message structure exists in each configuration file message, and at least one attribute information is recorded in each configuration entry. Map data corresponding to the configuration type may be queried through the configuration portal based on the configuration type. Exemplary configuration types include a lane model, a lane connection attribute model, a branch model, a road identification model, and the like.
Further, configuration entries corresponding to the lane models can be determined, for each configuration entry, the change mode attribute of the configuration entry is checked, when the change mode attribute is a creation mode, two layers of a road and a lane group are respectively created, mapping relations between layer numbers of the two layers and lane numbers, starting positions and ending positions recorded in an ADAIS V3 are respectively established, and then the mapping relations are sequentially stored in containers of the mapping tables of the respective layers according to the values of the starting positions. Thus, the topological relation between the layer numbers of the road layers and the layer numbers of the lane group layers in the middle layer can be determined. And converting the attribute in the road information into the attribute of each lane in the lane layer for the road information of a plurality of lanes in the lane model. When the lane layer is built, based on the attribute information of lanes and lane groups in the map data, attribute binding is built between the lane layer and the lane group layer, and the corresponding lane number, the start position, the end position and other information of the lanes can be queried through the lane groups. And correspondingly newly creating a road layer, a lane group layer and a plurality of lane layers for each configuration entry with the lane model, determining the topological relation between the road layer and the transverse direction of a section of road in the actual driving scene, and finishing attribute information inquiry and updating based on the topological relation.
And after the topology relation is determined to be completed for all the configuration entries of the lane model in the configuration file message detected each time, obtaining a road layer, a lane group layer and a lane layer which meet the transverse topology relation among a section of road. Further, a longitudinal topological relation between the road areas can be established. Specifically, the mapping table between the layer number of the road layer and the lane number, the starting position and the ending position can be self-checked. The logic of the self-check is that the road disconnection phenomenon on the same lane can not occur in the ADASS V3 historical cache data. For the road layers on the same lane, the magnitude sequence of the values of the initial positions can be determined based on the respective layer mapping tables stored in the containers, and the road layers are filled with the front connecting road and the rear connecting road according to the magnitude sequence of the values of the initial positions, so that the longitudinal topological relation of the road layers is constructed.
Further, all configuration entries with the type of branching model are determined in the configuration file message. And acquiring branch data, determining the layer number of a road corresponding to the branch in a layer number mapping table of a pre-stored road layer according to the corresponding lane number, the starting position value and the ending position value recorded in the branch data for each branch, determining the road layer corresponding to the next branch connected with the current branch on the lane according to the rear road number of the branch, and determining the front-rear connection relation of the branch in the road layer. Thus, all road layers establish front-back topological connection relations. The longitudinal topological relation of the lane group layer is built similar to the road layer, and the topological relation is obtained by building a mapping table of layer numbers, lane numbers, starting positions and ending positions and then building a front-back connection relation, and detailed description is omitted here.
After the road layer and the lane group layer establish the transverse topological relation, the transverse topological relation between lanes needs to be established. And determining the type of the configuration file message as a configuration entry of the lane connection attribute, and acquiring lane connection attribute information. And determining the lane group corresponding to each lane in the layer number mapping table of the lane group based on the lane connection attribute for the lane number, the starting position and the ending position of each type configuration entrance. And determining the serial numbers of the subsequent lane groups of the lanes based on the lane connection attribute, and determining the transverse topological relation between the lanes according to the transverse topological relation of the lane group layer and the serial numbers of the subsequent lane groups. Further, for two continuous lane groups with the same number of lanes, the topological relation between the lanes can be determined based on the topological relation between the two continuous lane groups, so that the establishment of the topological relation of the road layer, the lane group layer and the lane layer is completed.
In a specific implementation, when the change mode attribute of the lane model is update, determining a lane group needing to update data based on the update data of the target map. Searching all lane layers corresponding to the lane groups needing to be updated based on a pre-stored layer number mapping table of the lane groups, and updating layer attributes of the lane layers.
According to the method for constructing the middle layer, the map data can be determined from the data format of the target map, the transverse topological relation and the longitudinal topological relation of the middle layer are determined based on the map data, and the middle layer is constructed based on the topological relation, so that the method for constructing the middle layer is compatible with various high-precision maps on an automatic driving platform, and the convenience for acquiring the map data is improved.
Example III
Fig. 3 is a block diagram of an apparatus for constructing an intermediate layer according to an embodiment of the present invention, where the apparatus is configured to execute the method for constructing an intermediate layer according to any of the foregoing embodiments. The device and the method for constructing the intermediate layer in the above embodiments belong to the same inventive concept, and reference may be made to the embodiment of the method for constructing the intermediate layer for details which are not described in detail in the embodiment of the device for constructing the intermediate layer. The device specifically can include:
a determining topological relation module 10, configured to obtain map data of at least one target map for providing map support for the autopilot system, and determine a topological relation between construction elements of a predetermined middle layer based on the map data of each target map;
A determination attribute information module 11 for determining attribute information for describing attributes of the respective construction elements in the map data;
An intermediate layer module 12 is configured to construct an intermediate layer corresponding to a standard data format of the autopilot system based on the topology and the attribute information.
On the basis of any optional technical scheme in the embodiment of the invention, optional construction elements comprise roads, lanes, lane groups formed by lanes and lane branches of the lane groups; wherein,
The determine topology relationship module 10 includes:
the topological relation determining unit is used for determining a first topological relation among roads, lane groups and lanes in the middle layer and a second topological relation among lane branches based on map data of each target map.
On the basis of any optional technical scheme in the embodiment of the invention, optionally, the first topological relation comprises a first transverse topological relation, the first transverse topological relation comprises a topological relation in a direction perpendicular to the driving direction of the road, and the middle layer comprises a road layer, a lane group layer and a lane layer; wherein,
Determining a topological relation unit, comprising:
The lane data determining unit is used for determining lane configuration inlets corresponding to the lane models and respectively acquiring lane data corresponding to the lane configuration inlets from the map data; establishing a road layer, a lane group layer and a lane layer, and determining a first mapping relation between a road layer identifier of the road layer and a road identifier in lane data; determining a second mapping relation between the lane group layer mark of the lane group layer and the lane group mark in the lane data and a third mapping relation between the lane layer mark of the lane layer and the lane mark in the lane data; and determining a first transverse topological relation of the middle layer based on the position relation, the first mapping relation, the second mapping relation and the third mapping relation in the perpendicular direction of the driving direction among the roads and the lane groups and among the lane groups and the lanes in the lane data.
On the basis of any optional technical scheme in the embodiment of the invention, optionally, the first topological relation further comprises a first longitudinal topological relation, and the first longitudinal topological relation comprises a topological relation in the driving direction of the road; the determining a topological relation unit further comprises:
determining a longitudinal topological relation, namely determining a road starting position and a road ending position of each road based on lane data after determining a first transverse topological relation of the middle layer, and determining a lane group starting position and a lane group ending position of each lane group; and determining a first longitudinal topological relation of the middle layer based on the road starting position, the road ending position, the lane group starting position, the lane group ending position, the first mapping relation, the second mapping relation and the third mapping relation.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the determining topology relation module 10 includes:
Determining a branch data unit, which is used for determining a branch configuration inlet corresponding to the branch model, and respectively acquiring branch data corresponding to each branch configuration inlet in the map data; determining a mapping relation between each lane branch and the road based on the branch data and the lane data; and determining a branch starting position and a branch ending position of each lane branch in the branch data, and determining a second topological relation of the middle layer based on the mapping relation between the lane branches and the road, the branch starting position and the branch ending position.
On the basis of any optional technical scheme in the embodiment of the present invention, optionally, the determining topology relation module 10 includes:
and the dividing target map unit is used for carrying out partition operation on the target map according to a preset dividing principle to obtain each regional map of the target map and respectively obtaining regional map data of the regional map.
On the basis of any optional technical scheme in the embodiment of the invention, the method further comprises the following steps:
The updating module is used for detecting whether the map data of the target map is updated or not after an intermediate layer corresponding to the standard data format of the automatic driving system is constructed based on the topological relation and the attribute information; if yes, acquiring update data of the map data, and determining construction elements corresponding to the update data in the middle layer; based on the update data, attribute information of the construction element corresponding to the update data is modified.
The device for constructing the middle layer provided by the embodiment of the invention can realize the following method: obtaining map data of at least one target map for providing map support for the automatic driving system, determining topological relations among construction elements of a predetermined middle layer based on the map data of each target map, determining attribute information for describing attributes of each construction element in the map data, and constructing the middle layer corresponding to a standard data format of the automatic driving system based on the topological relations and each attribute information. The middle layer constructed by the embodiment of the invention can convert various map data into the middle layer corresponding to the standard data format, realizes compatibility with various high-precision maps on an automatic driving platform, and improves the convenience of acquiring the map data.
It should be noted that, in the embodiment of the apparatus for constructing an intermediate layer, each unit and module included in the apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding function can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Example IV
Fig. 4 is a block diagram of an electronic device according to an embodiment of the present invention. Fig. 4 shows a block diagram of an exemplary electronic device 20 suitable for use in implementing the embodiments of the present invention. The electronic device 20 shown is merely an example and should not be construed to limit the functionality and scope of use of embodiments of the present invention in any way.
As shown in fig. 4, the electronic device 20 is in the form of a general purpose computing device. Components of electronic device 20 may include, but are not limited to: one or more processors or processing units 201, a system memory 202, and a bus 203 that connects the various system components (including the system memory 202 and the processing units 201).
Bus 203 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 20 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 20 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 202 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 204 and/or cache memory 205. The electronic device 20 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 206 may be used to read from or write to non-removable, nonvolatile magnetic media. A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk such as a CD-ROM, DVD-ROM, or other optical media may be provided. In these cases, each drive may be coupled to bus 203 through one or more data medium interfaces. Memory 202 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
A program/utility 208 having a set (at least one) of program modules 207 may be stored in, for example, memory 202, such program modules 207 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 207 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 20 may also communicate with one or more external devices 209 (e.g., keyboard, pointing device, display 210, etc.), one or more devices that enable a user to interact with the electronic device 20, and/or any devices (e.g., network card, modem, etc.) that enable the electronic device 20 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 211. Also, electronic device 20 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 212. As shown, network adapter 212 communicates with other modules of electronic device 20 over bus 203. It should be appreciated that other hardware and/or software modules may be used in connection with electronic device 20, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 201 executes various functional applications and data processing by running programs stored in the system memory 202.
The electronic equipment provided by the invention can realize the following method: obtaining map data of at least one target map for providing map support for the automatic driving system, determining topological relations among construction elements of a predetermined middle layer based on the map data of each target map, determining attribute information for describing attributes of each construction element in the map data, and constructing the middle layer corresponding to a standard data format of the automatic driving system based on the topological relations and each attribute information. The middle layer constructed by the embodiment of the invention can convert various map data into the middle layer corresponding to the standard data format, realizes compatibility with various high-precision maps on an automatic driving platform, and improves the convenience of acquiring the map data.
Example five
Embodiments of the present invention provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method of constructing an intermediate layer, the method comprising:
Obtaining map data of at least one target map for providing map support for the automatic driving system, determining topological relations among construction elements of a predetermined middle layer based on the map data of each target map, determining attribute information for describing attributes of each construction element in the map data, and constructing the middle layer corresponding to a standard data format of the automatic driving system based on the topological relations and each attribute information. The middle layer constructed by the embodiment of the invention can convert various map data into the middle layer corresponding to the standard data format, realizes compatibility with various high-precision maps on an automatic driving platform, and improves the convenience of acquiring the map data.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the above method operations, and may also perform the related operations in the method for constructing an intermediate layer provided in any embodiment of the present invention.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. The construction method of the intermediate layer is characterized by comprising the following steps:
Acquiring map data of at least one target map for providing map support for an automatic driving system, and determining a topological relation among construction elements of a predetermined middle layer based on the map data of each target map; wherein the construction element comprises at least one of a road, a lane group, a lane boundary, and a traffic sign;
the acquiring map data of at least one target map for providing map support for an autopilot system includes:
Partitioning the target map according to a preset partitioning principle to obtain each regional map of the target map, and respectively obtaining regional map data of the regional map;
determining attribute information for describing the attribute of each construction element in the map data;
Constructing an intermediate layer corresponding to a standard data format of an automatic driving system based on the topological relation and the attribute information;
the determining a topological relation among the construction elements of the predetermined middle layer based on the map data of each target map comprises the following steps:
A first topological relation among the roads, the lane groups and the lanes in the intermediate layer and a second topological relation among the lane branches are determined based on the map data of each target map.
2. The method of claim 1, wherein the first topological relation comprises a first lateral topological relation comprising a topological relation in a direction perpendicular to a direction of travel of the road, the intermediate layer comprising a road layer, a lane group layer, and a lane layer; wherein,
The determining, based on the map data of each of the target maps, a first topological relation among the road, the lane group, and the lanes in the intermediate layer includes:
determining lane configuration entries corresponding to the lane models, and respectively acquiring lane data corresponding to the lane configuration entries from the map data;
establishing a road layer, a lane group layer and a lane layer, and determining a first mapping relation between a road layer identifier of the road layer and a road identifier in the lane data;
determining a second mapping relation between a lane group layer identifier of the lane group layer and a lane group identifier in the lane data, and a third mapping relation between the lane layer identifier of the lane layer and a lane identifier in the lane data;
The first lateral topological relation of the middle layer is determined based on the position relation, the first mapping relation, the second mapping relation and the third mapping relation between each road and the lane group in the lane data, the position relation between the lane group and the lanes in the perpendicular direction of the driving direction.
3. The method of claim 2, wherein the first topological relationship further comprises a first longitudinal topological relationship comprising a topological relationship in a direction of travel of the roadway; wherein after said determining said first lateral topological relation of said intermediate layer, further comprises:
determining a road start position and a road end position of each road based on the lane data, and determining a lane group start position and a lane group end position of each lane group;
And determining the first longitudinal topological relation of the middle layer based on the road starting position, the road ending position, the lane group starting position, the lane group ending position, the first mapping relation, the second mapping relation and the third mapping relation.
4. The method of claim 2, wherein determining a second topological relationship between the lane branches in the intermediate layer comprises:
determining a branch configuration inlet corresponding to a branch model, and respectively acquiring branch data corresponding to each branch configuration inlet in the map data;
Determining a mapping relationship between each lane branch and the road based on the branch data and the lane data;
and determining a branch starting position and a branch ending position of each lane branch in the branch data, and determining the second topological relation of the middle layer based on the mapping relation between the lane branches and the road, the branch starting position and the branch ending position.
5. The method according to claim 1, further comprising, after constructing an intermediate layer corresponding to a standard data format of an automated driving system based on the topological relation and each of the attribute information:
detecting whether the map data of the target map is updated;
If yes, acquiring update data of the map data, and determining construction elements corresponding to the update data in the middle layer;
and modifying attribute information of a construction element corresponding to the update data based on the update data.
6. An apparatus for constructing an intermediate layer, comprising:
The system comprises a topology relation determining module, a map information processing module and a map information processing module, wherein the topology relation determining module is used for acquiring map data of at least one target map for providing map support for an automatic driving system and determining a topology relation among construction elements of a predetermined middle layer based on the map data of each target map; wherein the construction element comprises at least one of a road, a lane group, a lane boundary, and a traffic sign;
The module for determining topological relation comprises:
The dividing target map unit is used for carrying out partition operation on the target map according to a preset dividing principle to obtain each regional map of the target map and respectively obtaining regional map data of the regional map;
A determination attribute information module for determining attribute information for describing attributes of the respective construction elements in the map data;
The middle layer building module is used for building a middle layer corresponding to the standard data format of the automatic driving system based on the topological relation and the attribute information;
the topology relation determining module is further configured to:
Based on map data of each target map, a first topological relation among roads, lane groups and lanes in the middle layer and a second topological relation among lane branches are determined.
7. An electronic device, comprising:
one or more processors;
A memory for storing one or more programs;
When executed by the one or more processors, causes the one or more processors to implement the method of building an intermediate layer as recited in any of claims 1-5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a method of constructing an intermediate layer according to any of claims 1-5.
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