CN118196321A - Map rendering method and device, electronic equipment and computer readable storage medium - Google Patents
Map rendering method and device, electronic equipment and computer readable storage medium Download PDFInfo
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Abstract
The application discloses a map rendering method and device, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring current attitude data and vehicle height of a vehicle and a target identification result of the vehicle; predicting the target height by using a preset target height prediction model according to the current attitude data of the vehicle, the vehicle height and the target recognition result; correcting the predicted target height by using the high-precision map data to obtain a corrected target height; and carrying out map rendering according to the corrected target height. According to the method, on one hand, the influence of the bump condition of the own vehicle on the target height prediction is considered, and the target height is predicted more accurately by combining the attitude information of the own vehicle and the target information of the other vehicle recognized by the own vehicle, so that the accuracy of a rendering result is improved; on the other hand, the road information in the high-precision map is utilized to further correct the predicted target height, so that the rendering result is more accurate, and the sense of reality and the reliability of the rendering effect are further improved.
Description
Technical Field
The present application relates to the field of map rendering technologies, and in particular, to a map rendering method and apparatus, an electronic device, and a computer readable storage medium.
Background
In the fields of automatic driving, virtual simulation and the like, the elevation data of a high-precision map is very important to the rendering of a scene where an automatic driving vehicle is located. However, the height of the identified surrounding vehicle target may be affected by the bump condition of the vehicle itself, resulting in some error in the target height.
The traditional elevation data rendering method often ignores the influence of the bumping condition of the vehicle on the target height, so that a certain error exists in the rendering result. Some methods attempt to correct the target height by modeling the motion state of the vehicle, but have problems of low accuracy, high complexity, and the like.
Disclosure of Invention
The embodiment of the application provides a map rendering method and device, electronic equipment and a computer readable storage medium, so as to improve the accuracy of map rendering.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a map rendering method, where the map rendering method includes:
Acquiring current attitude data and vehicle height of a vehicle and a target identification result of the vehicle;
predicting a target height by using a preset target height prediction model according to the current attitude data of the vehicle, the vehicle height and the target recognition result;
correcting the predicted target height by using the high-precision map data to obtain a corrected target height;
and carrying out map rendering according to the corrected target height.
Optionally, the target recognition result includes a relative height of the target and the own vehicle, a speed of the target and a type of the target, and the predicting the target height by using a preset target height prediction model according to the current gesture data of the own vehicle, the own vehicle height and the target recognition result includes:
inputting the current attitude data of the self-vehicle, the self-vehicle height, the relative height of the target and the self-vehicle and the speed of the target into the preset target height prediction model to obtain a first target height predicted by the preset target height prediction model;
and determining a second target height according to the first target height and the type of the target.
Optionally, the determining the second target height according to the first target height and the type of the target comprises:
Acquiring a preset height of the target according to the type of the target;
determining a weight corresponding to the preset height of the target and a weight corresponding to the first target height according to the type of the target;
And determining the second target height according to the preset height and the corresponding weight of the target and the first target height and the corresponding weight.
Optionally, the high-precision map data includes road section type and terrain data, and the correcting the predicted target height by using the high-precision map data, to obtain the corrected target height includes:
Correcting the predicted target height by using the road section type to obtain a corrected first target height;
And correcting the corrected first target height by utilizing the terrain data to obtain a corrected second target height.
Optionally, the correcting the predicted target height by using the road section type, and obtaining the corrected first target height includes:
Acquiring the current position of the own vehicle;
Determining the road section type of the road section where the own vehicle is located according to the current position of the own vehicle and the road section type in the high-precision map data;
and correcting the predicted target height according to the road section type of the road section where the own vehicle is located, and obtaining the corrected first target height.
Optionally, the correcting the predicted target height according to the road section type of the road section where the own vehicle is located, and obtaining the corrected first target height includes:
if the road section type of the road section where the own vehicle is located is an uphill road section, a first correction strategy is adopted to correct the predicted target height, and the corrected first target height is obtained;
And if the road section type of the road section where the own vehicle is located is a downhill road section, adopting a second correction strategy to correct the predicted target height, and obtaining the corrected first target height.
Optionally, the target recognition result of the own vehicle further includes a relative position of the target and the own vehicle, and the correcting the corrected first target height by using the terrain data to obtain a corrected second target height includes:
Determining the current position of the target according to the current position of the own vehicle and the relative position of the target and the own vehicle;
Determining road height data corresponding to the target according to the current position of the target and the topographic data in the high-precision map data;
and correcting the corrected first target height by utilizing the road height data corresponding to the target to obtain the corrected second target height.
In a second aspect, an embodiment of the present application further provides a map rendering device, where the map rendering device includes:
the acquisition unit is used for acquiring current attitude data and the height of the own vehicle and a target identification result of the own vehicle;
the prediction unit is used for predicting the target height by using a preset target height prediction model according to the current gesture data of the vehicle, the vehicle height and the target recognition result;
The correction unit is used for correcting the predicted target height by using the high-precision map data to obtain a corrected target height;
and the rendering unit is used for performing map rendering according to the corrected target height.
In a third aspect, an embodiment of the present application further provides an electronic device, including:
A processor; and
A memory arranged to store computer executable instructions which, when executed, cause the processor to perform any of the methods described hereinbefore.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform any of the methods described above.
The above at least one technical scheme adopted by the embodiment of the application can achieve the following beneficial effects: the map rendering method of the embodiment of the application firstly obtains the current attitude data of the own vehicle, the height of the own vehicle and the target recognition result of the own vehicle; then, according to the current attitude data of the vehicle, the vehicle height and a target recognition result, predicting the target height by using a preset target height prediction model; then, correcting the predicted target height by using the high-precision map data to obtain a corrected target height; and finally, map rendering is carried out according to the corrected target height. According to the map rendering method, on one hand, the influence of the bump condition of the own vehicle on the target height prediction is considered, and the target height is predicted more accurately by combining the attitude information of the own vehicle and the target information of the other vehicle recognized by the own vehicle, so that the accuracy of a rendering result is improved; on the other hand, the road information in the high-precision map is utilized to further correct the predicted target height, so that the rendering result is more accurate, and the sense of reality and the reliability of the rendering effect are further improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a map rendering method according to an embodiment of the present application;
Fig. 2 is a schematic structural diagram of a map rendering device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
The embodiment of the application provides a map rendering method, as shown in fig. 1, and provides a flow diagram of the map rendering method in the embodiment of the application, wherein the map rendering method at least comprises the following steps S110 to S140:
step S110, current attitude data and the height of the own vehicle and a target recognition result of the own vehicle are obtained.
When the map rendering is carried out, the current attitude data and the height of the vehicle are required to be acquired firstly, wherein the vehicle can be any vehicle with an automatic driving function in a road, the attitude data of the vehicle can be calculated by a vehicle-mounted sensor of the vehicle in combination with an attitude estimation algorithm, and can comprise a pitch angle, a course angle and the like of the vehicle. The vehicle height refers to the absolute height information of the vehicle, and belongs to parameters which can be determined in advance.
In addition, information of other surrounding vehicle targets perceived by the own vehicle is needed to be obtained, and similarly, vehicle-mounted sensors of the own vehicle such as a camera, a laser radar and the like can be utilized to carry out perception recognition on the vehicle targets around the own vehicle by combining a target recognition algorithm so as to obtain information such as positions, speeds and the like of the surrounding vehicle targets.
It should be noted that, for the above-mentioned gesture estimation algorithm and the target detection algorithm, those skilled in the art can flexibly determine the gesture estimation algorithm and the target detection algorithm in combination with the prior art, which is not described herein.
And step S120, predicting the target height by using a preset target height prediction model according to the current gesture data of the vehicle, the vehicle height and the target recognition result.
According to the embodiment of the application, through analyzing the influence factors of the target height estimation, the mode of learning the target height by utilizing the historical data can be utilized to train a prediction model for predicting the target height. Specifically, the target height prediction model may be built by analyzing historical vehicle data including information of the relative height of the own vehicle to the other vehicle, the speed of the other vehicle, the height of the own vehicle, the pitch angle, and the like, which are recognized by the own vehicle, so that the target height can be predicted more accurately. Of course, how to train is specifically determined by those skilled in the art, and the present model such as convolutional neural network can be flexibly determined, which is not specifically limited herein.
And step S130, correcting the predicted target height by using the high-precision map data to obtain the corrected target height.
The target height predicted by the preset target height prediction model mainly considers the influence of the bump of the vehicle on the target height, and does not consider the actual condition of the road where the vehicle is currently located, so the embodiment of the application further considers the road information provided in the high-precision map data, and further corrects the target height predicted by the steps by utilizing the high-precision map data, thereby obtaining more accurate target height.
And step S140, map rendering is carried out according to the corrected target height.
After the corrected target height is obtained, the target can be rendered according to the corrected target height, and in addition, elements such as roads, terrains and the like in the high-precision map can be rendered.
According to the map rendering method, on one hand, the influence of the bump condition of the own vehicle on the target height prediction is considered, and the target height is predicted more accurately by combining the attitude information of the own vehicle and the target information of the other vehicle recognized by the own vehicle, so that the accuracy of a rendering result is improved; on the other hand, the road information in the high-precision map is utilized to further correct the predicted target height, so that the rendering result is more accurate, and the sense of reality and the reliability of the rendering effect are further improved.
In some embodiments of the present application, the target recognition result includes a relative altitude of the target and the own vehicle and a speed of the target, and a type of the target, and predicting the target altitude using a preset target altitude prediction model according to the current pose data of the own vehicle and the own vehicle altitude and the target recognition result includes: inputting the current attitude data of the self-vehicle, the self-vehicle height, the relative height of the target and the self-vehicle and the speed of the target into the preset target height prediction model to obtain a first target height predicted by the preset target height prediction model; and determining a second target height according to the first target height and the type of the target.
The object identification result of the embodiment of the application mainly comprises the relative height of the object and the own vehicle, the speed of the object and the type of the object. When the target height is predicted, the current attitude data of the own vehicle, the height of the own vehicle, the relative height of the target and the own vehicle and the speed of the target can be used as the input of a target height prediction model, and the model can directly output the absolute height information of the predicted target, namely the first target height.
The types of the targets defined by the embodiment of the application can be different types of cars, bars, midbars, buses, trucks and the like, and vehicles of different types have different sizes, so that errors of target heights perceived by the vehicles are different, and therefore, the embodiment of the application can further consider the influence of the target types when determining the target heights, and further reduce the errors of the target heights directly output by the model by utilizing the difference processing of the different target types.
In some embodiments of the application, the determining the second target height from the first target height and the type of the target comprises: acquiring a preset height of the target according to the type of the target; determining a weight corresponding to the preset height of the target and a weight corresponding to the first target height according to the type of the target; and determining the second target height according to the preset height and the corresponding weight of the target and the first target height and the corresponding weight.
When the first target height of the foregoing embodiment is corrected by using the target type, the embodiment of the present application may first obtain the preset height of the target corresponding to the target type according to the identified target type, for example, the preset height of the car is 1.5m, the preset height of the truck is 5m, and the second target height is determined by combining the preset height of the target and the target height directly predicted by the model.
Specifically, in consideration of different target height errors corresponding to different types of vehicles such as small vehicles and trucks, different weights can be further given to the preset height and the model predicted height on the basis of the predicted target height, and the final target height in the prediction stage is calculated through a weighted summation mode. For example, for a higher vehicle such as a truck, a greater impact may be placed on the target height, and thus a higher weight may be placed on the preset height of the truck, and for a lower vehicle such as a car, a relatively lesser impact may be placed on the target height, and thus a higher weight may be placed on the predicted target height.
By way of further example, assuming the currently identified vehicle type is a truck, the truck height identified by the model is 3.8m, and the preset height of the truck is 4m, then the truck height identified by the model may be given a weight of 0.4, and the preset height of the truck may be given a weight of 0.6, and then the truck height is finally calculated as: 3.8m0.4+4m0.6=3.92 m.
In some embodiments of the present application, the high-precision map data includes road segment type and terrain data, and the correcting the predicted target height by using the high-precision map data, to obtain the corrected target height includes: correcting the predicted target height by using the road section type to obtain a corrected first target height; and correcting the corrected first target height by utilizing the terrain data to obtain a corrected second target height.
The high-precision map data for correcting the target height mainly comprises road section types and terrain data, wherein the road section types can refer to whether each road section is an ascending road section, a descending road section or a road section, and the terrain data can refer to road elevation data of terrains such as mountains, rivers and the like.
When the target height of the embodiment is corrected, the road section type can be utilized to properly compensate the target height to a certain extent, wherein the main compensation is the absolute height of the target, and the corresponding compensation strategies are different in different road section types, so that the more accurate target height is obtained.
On the basis of correcting the target height by using the road section type, the corrected target height can be further corrected by using the terrain data, wherein the terrain data mainly corrects the relation between the target height and the ground elevation data, namely, the binding relation between the target height and the road elevation data is established, and map rendering can be directly carried out according to the binding relation, so that the process of correcting the target height is simplified, and the complexity and the cost of map rendering are reduced.
In some embodiments of the present application, the correcting the predicted target height by using the road segment type, to obtain the corrected first target height includes: acquiring the current position of the own vehicle; determining the road section type of the road section where the own vehicle is located according to the current position of the own vehicle and the road section type in the high-precision map data; and correcting the predicted target height according to the road section type of the road section where the own vehicle is located, and obtaining the corrected first target height.
When the road segment type is used for correcting the target height, the current position of the own vehicle can be acquired first, then the road segment type of the road segment where the own vehicle is currently located, such as an ascending road segment or a descending road segment, is found from the high-precision map data based on the current position of the own vehicle, and finally the target height predicted in the embodiment is corrected according to the road segment type of the road segment where the own vehicle is currently located.
In some embodiments of the present application, the correcting the predicted target height according to the road type of the road where the own vehicle is located, to obtain the corrected first target height includes: if the road section type of the road section where the own vehicle is located is an uphill road section, a first correction strategy is adopted to correct the predicted target height, and the corrected first target height is obtained; and if the road section type of the road section where the own vehicle is located is a downhill road section, adopting a second correction strategy to correct the predicted target height, and obtaining the corrected first target height.
The embodiment of the application corrects the target height by using the road section type mainly aims at correcting the influence of the fluctuation change of the road section on the predicted target height of the own vehicle, so that the method mainly comprises two cases, namely, the correction of an ascending road section and the correction of a descending road section. For an uphill road section, the predicted target height may be corrected by adopting a first correction strategy, for example, a certain value may be appropriately added to the height of the front vehicle target. For downhill road sections, a second correction strategy may be employed to correct the predicted target height, which may be, for example, a suitable reduction of the height of the front vehicle target by a certain value. Of course, the specific correction value can be flexibly set by those skilled in the art according to actual requirements, and is not specifically limited herein.
In some embodiments of the present application, the target recognition result of the own vehicle further includes a relative position of the target and the own vehicle, and the correcting the corrected first target height by using the terrain data to obtain a corrected second target height includes: determining the current position of the target according to the current position of the own vehicle and the relative position of the target and the own vehicle; determining road height data corresponding to the target according to the current position of the target and the topographic data in the high-precision map data; and correcting the corrected first target height by utilizing the road height data corresponding to the target to obtain the corrected second target height.
When the terrain data is utilized to correct the height of the target, the current position of the own vehicle can be acquired firstly, the current position of the target can be calculated according to the current position of the own vehicle and the relative position of the target and the own vehicle identified by the own vehicle, the terrain where the target is located and the corresponding road height data are found and determined in the high-precision map data based on the current position of the target, the road height data corresponding to the target are bound with the corrected target height in the embodiment, so that the corrected second target height is obtained, and map rendering is performed based on the corrected second target height.
In some embodiments of the present application, since the own vehicle moves in real time, the target height and its binding relationship with the road elevation data can be dynamically adjusted according to the real-time road condition and vehicle state and the real-time recognized surrounding vehicle targets, so as to ensure the accuracy and stability of the rendering result.
The embodiment of the present application further provides a map rendering device 200, as shown in fig. 2, and provides a schematic structural diagram of the map rendering device in the embodiment of the present application, where the map rendering device 200 includes: an acquisition unit 210, a prediction unit 220, a correction unit 230, and a rendering unit 240, wherein:
an obtaining unit 210, configured to obtain current gesture data and a vehicle height of the vehicle and a target recognition result of the vehicle;
A prediction unit 220, configured to predict a target height by using a preset target height prediction model according to the current attitude data of the own vehicle, the own vehicle height, and the target recognition result;
A correction unit 230, configured to correct the predicted target height by using the high-precision map data, so as to obtain a corrected target height;
And a rendering unit 240 for performing map rendering according to the corrected target height.
In some embodiments of the present application, the target recognition result includes a relative altitude of the target and the own vehicle, a speed of the target, and a type of the target, and the prediction unit 220 is specifically configured to: inputting the current attitude data of the self-vehicle, the self-vehicle height, the relative height of the target and the self-vehicle and the speed of the target into the preset target height prediction model to obtain a first target height predicted by the preset target height prediction model; and determining a second target height according to the first target height and the type of the target.
In some embodiments of the present application, the prediction unit 220 is specifically configured to: acquiring a preset height of the target according to the type of the target; determining a weight corresponding to the preset height of the target and a weight corresponding to the first target height according to the type of the target; and determining the second target height according to the preset height and the corresponding weight of the target and the first target height and the corresponding weight.
In some embodiments of the present application, the high-precision map data includes road segment type and terrain data, and the correction unit 230 is specifically configured to: correcting the predicted target height by using the road section type to obtain a corrected first target height; and correcting the corrected first target height by utilizing the terrain data to obtain a corrected second target height.
In some embodiments of the present application, the correction unit 230 is specifically configured to: acquiring the current position of the own vehicle; determining the road section type of the road section where the own vehicle is located according to the current position of the own vehicle and the road section type in the high-precision map data; and correcting the predicted target height according to the road section type of the road section where the own vehicle is located, and obtaining the corrected first target height.
In some embodiments of the present application, the correction unit 230 is specifically configured to: if the road section type of the road section where the own vehicle is located is an uphill road section, a first correction strategy is adopted to correct the predicted target height, and the corrected first target height is obtained; and if the road section type of the road section where the own vehicle is located is a downhill road section, adopting a second correction strategy to correct the predicted target height, and obtaining the corrected first target height.
In some embodiments of the present application, the target recognition result of the own vehicle further includes a relative position of the target and the own vehicle, and the correction unit 230 is specifically configured to: determining the current position of the target according to the current position of the own vehicle and the relative position of the target and the own vehicle; determining road height data corresponding to the target according to the current position of the target and the topographic data in the high-precision map data; and correcting the corrected first target height by utilizing the road height data corresponding to the target to obtain the corrected second target height.
It can be understood that the map rendering device can implement the steps of the map rendering method provided in the foregoing embodiments, and the relevant explanation about the map rendering method is applicable to the map rendering device, which is not repeated herein.
Fig. 3 is a schematic structural view of an electronic device according to an embodiment of the present application. Referring to fig. 3, at the hardware level, the electronic device includes a processor, and optionally an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (PERIPHERAL COMPONENT INTERCONNECT, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 3, but not only one bus or type of bus.
And the memory is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the map rendering device on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:
Acquiring current attitude data and vehicle height of a vehicle and a target identification result of the vehicle;
predicting a target height by using a preset target height prediction model according to the current attitude data of the vehicle, the vehicle height and the target recognition result;
correcting the predicted target height by using the high-precision map data to obtain a corrected target height;
and carrying out map rendering according to the corrected target height.
The method performed by the map rendering device disclosed in the embodiment of fig. 1 of the present application may be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The electronic device may also execute the method executed by the map rendering device in fig. 1, and implement the functions of the map rendering device in the embodiment shown in fig. 1, which is not described herein again.
The embodiment of the present application also proposes a computer-readable storage medium storing one or more programs, the one or more programs including instructions, which when executed by an electronic device comprising a plurality of application programs, enable the electronic device to perform a method performed by the map rendering apparatus in the embodiment shown in fig. 1, and specifically for performing:
Acquiring current attitude data and vehicle height of a vehicle and a target identification result of the vehicle;
predicting a target height by using a preset target height prediction model according to the current attitude data of the vehicle, the vehicle height and the target recognition result;
correcting the predicted target height by using the high-precision map data to obtain a corrected target height;
and carrying out map rendering according to the corrected target height.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (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 apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, 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.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A map rendering method, wherein the map rendering method comprises:
Acquiring current attitude data and vehicle height of a vehicle and a target identification result of the vehicle;
predicting a target height by using a preset target height prediction model according to the current attitude data of the vehicle, the vehicle height and the target recognition result;
correcting the predicted target height by using the high-precision map data to obtain a corrected target height;
and carrying out map rendering according to the corrected target height.
2. The map rendering method of claim 1, wherein the target recognition result includes a relative height of a target and a host vehicle and a speed of the target and a type of the target, and the predicting the target height using a preset target height prediction model according to the current pose data of the host vehicle and the host vehicle height and the target recognition result includes:
inputting the current attitude data of the self-vehicle, the self-vehicle height, the relative height of the target and the self-vehicle and the speed of the target into the preset target height prediction model to obtain a first target height predicted by the preset target height prediction model;
and determining a second target height according to the first target height and the type of the target.
3. The map rendering method of claim 2, wherein the determining a second target height from the first target height and the type of the target comprises:
Acquiring a preset height of the target according to the type of the target;
determining a weight corresponding to the preset height of the target and a weight corresponding to the first target height according to the type of the target;
And determining the second target height according to the preset height and the corresponding weight of the target and the first target height and the corresponding weight.
4. The map rendering method of claim 1, wherein the high-precision map data includes road segment type and terrain data, and the correcting the predicted target height using the high-precision map data, the obtaining the corrected target height includes:
Correcting the predicted target height by using the road section type to obtain a corrected first target height;
And correcting the corrected first target height by utilizing the terrain data to obtain a corrected second target height.
5. The map rendering method of claim 4, wherein the correcting the predicted target height using the link type, to obtain the corrected first target height comprises:
Acquiring the current position of the own vehicle;
Determining the road section type of the road section where the own vehicle is located according to the current position of the own vehicle and the road section type in the high-precision map data;
and correcting the predicted target height according to the road section type of the road section where the own vehicle is located, and obtaining the corrected first target height.
6. The map rendering method of claim 5, wherein the correcting the predicted target height according to the road segment type of the road segment where the own vehicle is located, to obtain the corrected first target height comprises:
if the road section type of the road section where the own vehicle is located is an uphill road section, a first correction strategy is adopted to correct the predicted target height, and the corrected first target height is obtained;
And if the road section type of the road section where the own vehicle is located is a downhill road section, adopting a second correction strategy to correct the predicted target height, and obtaining the corrected first target height.
7. The map rendering method of any one of claims 4 to 6, wherein the target recognition result of the own vehicle further includes a relative position of the target and the own vehicle, and the correcting the corrected first target height by using the terrain data to obtain the corrected second target height includes:
Determining the current position of the target according to the current position of the own vehicle and the relative position of the target and the own vehicle;
Determining road height data corresponding to the target according to the current position of the target and the topographic data in the high-precision map data;
and correcting the corrected first target height by utilizing the road height data corresponding to the target to obtain the corrected second target height.
8. A map rendering device, wherein the map rendering device comprises:
the acquisition unit is used for acquiring current attitude data and the height of the own vehicle and a target identification result of the own vehicle;
the prediction unit is used for predicting the target height by using a preset target height prediction model according to the current gesture data of the vehicle, the vehicle height and the target recognition result;
The correction unit is used for correcting the predicted target height by using the high-precision map data to obtain a corrected target height;
and the rendering unit is used for performing map rendering according to the corrected target height.
9. An electronic device, comprising:
A processor; and
A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the map rendering method of any of claims 1 to 7.
10. A computer readable storage medium storing one or more programs, which when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the map rendering method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410392725.3A CN118196321A (en) | 2024-04-02 | 2024-04-02 | Map rendering method and device, electronic equipment and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410392725.3A CN118196321A (en) | 2024-04-02 | 2024-04-02 | Map rendering method and device, electronic equipment and computer readable storage medium |
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| CN118196321A true CN118196321A (en) | 2024-06-14 |
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| CN202410392725.3A Pending CN118196321A (en) | 2024-04-02 | 2024-04-02 | Map rendering method and device, electronic equipment and computer readable storage medium |
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| Country | Link |
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| CN (1) | CN118196321A (en) |
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- 2024-04-02 CN CN202410392725.3A patent/CN118196321A/en active Pending
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