CN108225344A - A kind of map system, generation and application method and its application - Google Patents
A kind of map system, generation and application method and its application Download PDFInfo
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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Abstract
Map system provided in an embodiment of the present invention, generation and application method and its application, the map system include：Raster data image；The raster data image includes：The description information of at least one picture and the picture；At least one of picture element includes holding up mark, the upright projection point for holding up mark on ground location and the mark associated with subpoint holded up mark and set on administrative road, and the description information is used to describe the type and feature for holding up mark.This map system, it is identified convenient for automatic Pilot computer, whether there is the mark holded up around can quickly judging, and determine the administrative road range of the mark holded up, the safety of automatic Pilot is further improved, and reduces the development difficulty and cost of the other technologies such as image identification, sensor, middle control.The embodiment of the present invention also provides the generation of map system and application method and its application.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of map system, generation and application method and its application.
Background technology
With the development that chip technology, artificial intelligence and image identify, automobile auxiliary or automatic Pilot technology have become
One of most popular technology in the world today.At present, the manufacturer for having automotive field proposes the unmanned technical research of oneself
With the planning of operation.
Automatic Pilot is other with " high-precision map ", and there are two directions：
1st, chip manufacturer proposes, has the automatic Pilot technology of learning functionality, the technology is by allowing vehicle voluntarily to analyze road
Planar condition realizes automatic Pilot, it is intended to " robot " technology.
2nd, system and integrated manufacturer propose, based on self-adaption cruise system, by high-precision map sum number it is believed that breath carries out
Automatic Pilot, it is intended to " robot vehicle " technology.
The presence of high-precision map not only promotes the safety of vehicle, additionally aid reduce image identification, sensor, in
The exploitation complexity and cost of control etc..
At present, accurately the storage of diagram data is stored with the form of vector data, such as：The side of road and fare
Boundary and center line are all come what is stored with a series of line, areal coordinate (x, y, z).It has the following disadvantages：
1st, vector data processing and fabricating flow is complicated and various, and the production cycle is long；The road that can not adapt to quickly change is repaiied
Build situation；
2nd, topological correlation is strong between the data of vector data, and deblocking cutting and local updating are difficult；Can not quickly it divide
Map datum is sent out to each car terminals；
3rd, GPU parallel computations can not directly be used；Cause Unmanned Systems' reaction time long；
It 4th, can not be directly using intelligent algorithms such as image knowledges；Unmanned Systems is caused, which to develop complexity, to be increased.
Also there is the scheme using picture storage map datum, such as the Baidu map of webpage version, Google Maps are exactly by lattice
The picture map of reticular tissue.But this map is only used for manually browsing.
Invention content
In view of the above problems, it is proposed that the present invention overcomes the above problem in order to provide one kind or solves at least partly
State a kind of map system, generation and application method and its application of problem.
In a first aspect, the embodiment of the present invention provides a kind of map system, including：Raster data image；
The raster data image includes：The description information of at least one picture and the picture；The picture is included extremely
A few element；The element includes holding up mark, described hold up indicates upright projection point on ground location and described
Hold up the mark associated with subpoint that is set on administrative road of mark, the description information is for describing described to hold up mark
The type and feature of will.
In one embodiment, the element further includes one or more of：Track, track medium line, track sideline,
Road boundary, signal lamp, pavement, road periphery object.
In one embodiment, the description information further includes：The description information of the picture itself and the picture
The description information of middle element and the component attributes；
The picture description information of itself includes one or more of：Longitude and latitude, the benchmark height above sea level of the picture
Degree, maximum height difference, picture/mb-type, the precision of the offset of picture and picture.
In one embodiment, all pictures are stored according to identical geographic direction in the map system.
In one embodiment, it is stored in the map system according to identical geographical location one or more
Picture and its description information；Storage is overlapped between one above picture.
In one embodiment, the map system includes at least one R-tree structures, and the R-tree structures include
The data block of at least one raster data image；The data block includes the description information of at least one picture and the picture.
Second aspect, the embodiment of the present invention provide a kind of generation method of map system, including：
The map datum of acquisition is converted into raster data image；The raster data image includes：At least one picture
With the description information of the picture；The picture includes at least one element；The element includes holding up mark, described holds up mark
Aim at the point of the upright projection on ground location and it is described hold up mark set on administrative road it is associated with subpoint
Mark, the description information are used to describe the type and feature for holding up mark；
The raster data image is stored into generation map system.
In one embodiment, it is described that the map datum of acquisition is converted into raster data image, including：
The picture is analyzed, determines the attribute of the element and element in the picture；
Description information is generated according to the attribute of the element and element；
By the picture and description information generation raster data image.
The third aspect, the embodiment of the present invention provide a kind of application method of map system, including：
Raster data image in map datum system in preset range is obtained according to the destination of setting；
Read the description information of at least one picture included in the raster data image and the picture；
The result of reading is fed back.
In one embodiment, the description of at least one picture and the picture for reading the raster data image
Information, including：
According to the picture, the description information of the picture itself and the element in the picture and the element are read
Including hold up mark, upright projection point of the mark on ground location and the mark of holding up holded up in administrative road
The mark associated with subpoint of upper setting.
Fourth aspect, it is automatic in vehicle that the embodiment of the present invention provides a kind of any system as described in above-described embodiment
Application in driving.
The advantageous effect of above-mentioned technical proposal provided in an embodiment of the present invention includes at least：
A kind of map system provided in an embodiment of the present invention, generation and application method and its application, the map system packet
It includes：Raster data image；The raster data image includes：The description information of at least one picture and the picture；The figure
Piece includes at least one element；The element includes holding up mark, the upright projection point for holding up mark on ground location
And the mark associated with subpoint holded up mark and set on administrative road, the description information are used to describe institute
State the type and feature for holding up mark.Wherein picture represents the map in the range of default longitude and latitude.This map system utilizes grid
Image stores data, and the data of acquisition are converted to image grid data, and process flow is simple, and topological correlation is weak between picture,
Data are divided and local updating is easy, and support GPU parallel computations when data volume is especially big；What raster data image provided
The element of at least one picture includes holding up mark, described hold up upright projection point of the mark on ground location and described erect
The mark associated with subpoint that mark is set on administrative road is played, is identified convenient for automatic Pilot computer, it can be quick
Whether there is the mark holded up around judging and determine the administrative road range of the mark holded up, further improve and drive automatically
The safety sailed and the development difficulty and cost for reducing the other technologies such as image identification, sensor, middle control.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention is described in further detail.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Example is applied together for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings：
Figure 1A is the crossing map schematic diagram of a reality provided in an embodiment of the present invention；
Figure 1B is the grating image schematic diagram of Figure 1A provided in an embodiment of the present invention；
Fig. 2 is the mark grating image schematic diagram provided in an embodiment of the present invention holded up；
Fig. 3 is map system structure diagram provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the generation method of map system provided in an embodiment of the present invention；
Fig. 5 is the number provided in an embodiment of the present invention for acquiring track data, camera Video data and laser radar cloud
Raster data image schematic diagram is converted into according to by preset mode；
Fig. 6 is a kind of block diagram of the generating means of map system provided in an embodiment of the present invention；
Fig. 7 is a kind of flow chart of the application method of map system provided in an embodiment of the present invention；
Fig. 8 is a kind of block diagram of the use device of map system provided in an embodiment of the present invention.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects being described in detail in claims, of the invention.
An embodiment of the present invention provides a kind of map system, including raster data image；The raster data image is included extremely
The description information of a few picture and above-mentioned picture, the picture include at least one element；The element include hold up mark,
The upright projection point of the mark on ground location and described holding up that mark sets on administrative road with projection holded up
The associated mark of point, the description information are used to describe the type and feature for holding up mark.Wherein picture represents default
Map in the range of longitude and latitude.
The map system that the embodiment of the present disclosure provides comes relative to common navigation electronic map universal in the prior art
It says, is a kind of high-precision map.Common map of navigation electronic be towards driver, for the map datum that driver uses, and
Map system provided in this embodiment is Machine oriented, can be for map datum that autonomous driving vehicle uses.It is so-called high-precision
Map, the absolute coordinate precision higher of one side high-precision electronic map are spent, absolute coordinate precision refers to some mesh on map
Precision between mark and the things in the true external world.On the other hand, the Traffic Information member contained by high-precision map
Element is more rich and careful.The absolute coordinate precision of common map of navigation electronic is about at 10 meters or so, due to being that auxiliary drives
Member does navigation and uses, and the outer positioning accuracy plus GPS device is also at 10 meters or so.And apply the high-precision in automatic Pilot field
Map needs accurately to know oneself position on the way, often vehicle from the track on road serrated edge and side also with regard to tens centimetres
Left and right, so the absolute precision of high-precision map generally all can be and lateral in the precision within sub-meter grade, that is, 1 meter
Relative accuracy (for example, relative positional accuracy of track and track, track and lane line) wants higher toward contact.Common navigation electricity
Sub- map can depict road, and high-precision map can not only describe road, but will depict how many vehicle on a road
Road can truly reflect the practical pattern of road.
In the present embodiment, it such as can be sign label above road or the mark of road both sides to hold up mark
Will label, such as drive vehicle on the way, including the used all information of holding up mark related with the road.
The type of mark is such as including caution sign, prohibitory sign, Warning Mark, speed(-)limit sign, such as caution sign
It is characterized in alerting vehicle, pedestrian pays attention to the mark of road ahead location at risk, and Warning Mark is characterized in, such as can refer to
Show that vehicle, pedestrian advance, transmit road direction, place, range information etc., can also be provide tourist attractions direction, distance or
It is that notice road construction area passes through.The embodiment of the present disclosure does not limit this.
It is the truth at practical crossing referring for example to shown in Figure 1A；Map system provided in an embodiment of the present invention includes
Raster data image, with reference to shown in Figure 1B, being the raster data image map of the truth at practical crossing in Figure 1A, including
The description information of at least one picture and the picture, the geographical location at the ranging from practical crossing of the picture.It is wherein above-mentioned
The form of picture can be TIFF, BMP, PCX, JPEG etc., and the present embodiment does not limit picture using which kind of form.With reference to figure
Each grid represents a pixel in 1B, and pixel color value or gray scale represent road relevant information or feature in map.Color
The road relevant information of value or gray value in can be corresponded by preset mapping relations, and the embodiment of the present disclosure is to this
It does not limit.
It, can be administrative in the mark holded up in the picture when element is the mark holded up in the present embodiment
In the range of, associated identification point is set according to the subpoint vertical on picture of the mark holded up.With reference to shown in Fig. 2,
The mark holded up in figure is " children crossing ", sets mark on the nigh lane center of the mark, represents on this track
Traveling is required for that children crossing, these marks can also represent nearby there is the mark holded up in turn.
Raster data image proposed by the present invention be a kind of computer available for automatic Pilot it is identifiable using picture as
The accurately diagram data of main carriers.The image credit of the map system, such as can be satellite image image, United States Geological
The digital elevation model (Digital Elevation Model, DEM) of investigation bureau (USGS), can also be by aerophotograph or other
The digitized image that remotely-sensed data is prepared or the image by the acquisition of customized data collecting vehicle etc., this public affairs
Embodiment is opened not limit this.The image or image data that aforesaid way is got are all close to the pixel of grating image, institute
With the raster data image in processing cost embodiment, image processing flow is simple, is opened up between the picture of raster data image
It is weaker to flutter association, map datum segmentation and local updating are easier, and are supported at figure when image data amount is especially big
Device (Graphics Processing Unit, GPU) parallel computation, the embodiment of the present invention are managed, the description information in picture is convenient for
Computer is identified and is understood, and can quickly judge whether surrounding has the mark holded up and determine the administrative road of the mark holded up
Road range, such as can realize in automatic Pilot to the accurate perception of road conditions, further improve automatic Pilot safety and
Reduce the development difficulty and cost of the other technologies such as image identification, sensor, middle control.
In the present embodiment, description information can be the machine language of computer identification, such as 2 system language；Can also be
Other language are being converted to computer-readable language；The type of description information storage, can be digitized text, also may be used
To be picture format, the language and type of embodiment of the present disclosure description information do not limit, other can realize retouching for above-mentioned function
Predicate is sayed.
In one embodiment, the description information, including：At least one element and element included in the picture
Component attributes.
In one embodiment, with reference to shown in Figure 1B and Fig. 2, above-mentioned picture element further includes one or more of：Vehicle
Road, track medium line, track sideline, road boundary, pavement marker, signal lamp, pavement, road periphery object, the mark holded up
Will, abrupt slope, crossings on different level and the parallel road for having difference in height.
Wherein pavement marker, for example can be speed(-)limit sign, zebra crossing, leading line being imprinted on road surface etc.；It is perpendicular
The mark risen, for example be roadside " no tooting " mark, " children crossing " mark etc.；Abrupt slope represents acclive road,
Upward trend or downhill path etc.；Crossings on different level expression, road surface road, viaduct etc.；There is the parallel road of difference in height, such as can
To be main and side road, for wherein main road than bypass height above sea level, main road is overhead bridge, and bypass is then parallel to the road of ground surface of overpass.
The embodiment of the present disclosure does not limit the type of above-mentioned element.
In one embodiment, foregoing description information further includes：The description information of above-mentioned picture itself and above-mentioned picture
The description information of middle element and above-mentioned component attributes；
The above-mentioned picture description information of itself includes one or more of：The longitude and latitude of picture entirety, picture are whole
Benchmark height above sea level, difference in height information are retouched such as the accuracy data of maximum height difference, picture/mb-type, the offset of picture and picture
It states.
Longitude and latitude range is expressed using the longitude and latitude of lower-left and upper right；The range size that picture represents can also be different.
Benchmark height above sea level represents the difference in height on somewhere and sea level in picture；Maximum Elev is poor, represents：Picture intermediate altitude is most
Difference between the element of high element and height above sea level minimum (can be negative value)；Picture/mb-type, for example can be according to storage lattice
Formula 1 to 24 is by compressed format, and occupancy disk space is less, and has the advantages that compression and full color；Picture
Offset represents picture on longitude or latitude relative to the offset of actual geographic position；The precision of picture, represents picture
The length for the actual geographic position that pixel represents and width etc..Such as：Raster data image, which is based on picture, can be divided into three classes data：
Basic map data, altitude information and the flag data holded up.Wherein basic map data is such as defined as：In track, track
Between line, track sideline, road boundary, pavement marker, signal lamp, pavement, road periphery object；Altitude information, expression abrupt slope,
The height parameter of crossings on different level and the parallel road for having difference in height；The flag data holded up, represent upper pavement surface sign board and
The sign board of road both sides.
The picture that raster data image in the present invention includes can use the difference on color or gray scale chart pictorial map will
The attribute of element and element；Such as element is：The map objects such as track, track sideline, road boundary, pavement.It is corresponding to want
The attribute of element refers to：Curb or crash barrier etc. when track is solid line or dotted line, road boundary.
The element of three classes data and component attributes or feature in the map of part are enumerated below by table one：
Table one
In one embodiment, it when above-mentioned element is abrupt slope, crossings on different level or has the parallel road of difference in height, corresponds to
Description information further include height description information, these altitude informations can be supplied to computer for carrying out the calculating gradient, and
Power and speed of vehicle etc. is adjusted according to the gradient；These altitude informations are also provided to navigation system use, remind driver
Pay attention to road height situation etc..
In one embodiment, when above-mentioned element is crossings on different level road, for the ease of passing through altitude data table
Up to the cross reference of crossings on different level road, each layer of road can be stored separately in a picture, these pictures can also
Overlapped storage, the altitude information description in picture can be in one picture of individualism, can also be with above-mentioned basic map
Data merge in storage a to picture.
In one embodiment, the flag data holded up can be in one picture of individualism, can also be with above-mentioned base
Plinth map datum merges in storage a to picture.
In one embodiment, the top of the picture of the raster data image represents preset direction, such as preset
Direction is direct north, in order to improve the combined efficiency of this map system, according to identical geographic direction between picture and picture
Storage.
In one embodiment, in the map datum system according to identical geographical location storage there are one or one with
On picture and its description information；Storage is overlapped between one above picture.Such as the multilayer in same address is high
The plurality of pictures of different height road in bridge formation may be used aforesaid way storage, facilitate identification.
In the present embodiment, different elements can be respectively stored in different pictures, such as can be basic map
Data and altitude information are stored in a picture, basic map data and the flag data holded up can also be stored in one
In picture, basic map data, altitude information and the flag data holded up can also be stored in same picture, the disclosure
Embodiment does not limit this.
Such as 2 256 color shade figures can be used to store map datum, with reference to shown in table two：
Table two
What picture 1 represented in above-mentioned table two is basic map data (lane boundary line, track etc.), and what picture 2 represented is
Altitude information.Description information can include data all in above-mentioned table two.
Such as 1 65536 color shade figure can also be used to store map datum, with reference to shown in table three：
Table three
What picture 1 represented in above-mentioned table three is that basic map data and altitude information merge into a picture, similary to describe
Information can include all data in above-mentioned table three.
In one embodiment, above-mentioned map system includes at least one R-tree structures, and the R-tree structures include
The data block of at least one raster data image；Data block includes the description information of at least one picture and the picture.
Such as this map system can include one or more R-tree structures, support space querying and quickly read, one
A R-tree structures can include one or more data blocks.The efficiency of inquiry and reading can be improved using R-tree structures.
This map system can also use other types storage or the other structures of tree structure；Such as set, linear junction
Structure, figure shape structure etc., the present embodiment does not limit this.
In the present embodiment, above-mentioned raster data image can be stored as to multiple data blocks, each data block represents certain
Part or all of map in the range of longitude and latitude；Data block includes the description information of at least one picture and the picture, each
The longitude and latitude range size that data block represents can be different, and foregoing description information can be stored using picture, can also use it
He stores mode, automatic Pilot computer is facilitated to identify and read, the embodiment of the present disclosure does not also limit this.
Referring additionally to shown in Figure 1B, in order to enhance display effect, the route features in Figure 1B are (such as：Track medium line, vehicle
Road sideline etc.) it is expressed using multiple pixel wides, map system provided in this embodiment is in actual storage raster data image
When, it can be stored using a pixel wide, while accurate expression is ensured, further less occupancy disk is empty
Between.
For example, shown in embodiment of the present disclosure reference Fig. 3, for example it is image data to be collected by data, by picture number
It is raster data image according to processing, including basic map data, altitude information and the flag data holded up, by the prior art
Such as image recognition technology, obtain description information.By above-mentioned three kinds of data according to preset longitude and latitude range be stored as one or
Multiple data blocks facilitate computer to read and inquire.
According to the second aspect of the embodiment of the present disclosure, the present invention also provides a kind of generation method of map system, references
Shown in Fig. 4, including S401~S402：
S401, the map datum of acquisition is converted into raster data image；The raster data image includes：It is at least one
The description information of picture and the picture；The picture includes at least one element；The element include hold up mark, it is described erect
Rise upright projection point of the mark on ground location and it is described hold up mark set on administrative road it is related to subpoint
The mark of connection, the description information are used to describe the type and feature for holding up mark；
S402, the raster data image is stored to generation map system.
In one embodiment, step S401 may be embodied as：The picture is analyzed, is determined in the picture
The attribute of element and element；Description information is generated according to the attribute of the element and element；By the picture and the description
Information generates raster data image.
In the present embodiment, the map datum of acquisition can for example include track data, camera Video data and laser thunder
Data acquired up to cloud etc. are not limited to the acquisition source of any map datum, and with reference to shown in Fig. 5, track data is such as
It can be global positioning system (Global Positioning System, GPS) track data；
With reference to the data that shown in Fig. 5, GPS track data, camera Video data and laser radar cloud are acquired, by pre-
If mode be converted into raster data image.
The preset mode can be internal point broadcast algorithm of the prior art, plural integral algorithm, scanning algorithm
Deng the embodiment of the present disclosure does not also limit this.By transformed raster data image, using processing, image identification etc.,
It is equipped with description information again, can be used for navigation system, it can also be readable for automatic steering computer.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of generating means of map system, due to the dress
The principle for putting solved problem is similar to a kind of generation method of map system of previous embodiment, therefore the implementation of the device can be with
Referring to the implementation of preceding method, overlaps will not be repeated.
Following is a kind of generating means of map system provided in an embodiment of the present invention, can be used for performing above-mentioned map system
The generation method embodiment of system.
With reference to shown in Fig. 6, above device includes：
Modular converter 601, for the map datum of acquisition to be converted into raster data image；The raster data image packet
It includes：The description information of at least one picture and the picture；The picture includes at least one element；The element includes holding up
Mark, it is described hold up upright projection point of the mark on ground location and it is described it is holding up that mark sets on administrative road with
The associated mark of subpoint, the description information are used to describe the type and feature for holding up mark；
Generation module 602, for the raster data image to be stored generation map system.
In one embodiment, above-mentioned modular converter 601, with reference to shown in Fig. 6, including：Determination sub-module 6011, for pair
The picture is analyzed, and determines the attribute of the element and element in the picture；
Submodule 6012 is generated, for generating description information and according to the attribute of the element and element for by described in
Picture and description information generation raster data image.
According to the third aspect of the embodiment of the present disclosure, the embodiment of the present invention provides a kind of application method of map system, ginseng
According to shown in Fig. 7, including：
S701, the raster data image in map datum system in preset range is obtained according to the destination of setting；
S702, the description information for reading at least one picture included in the raster data image and the picture；
S703, the result of reading is fed back.
In the present embodiment, according to the destination of setting, the road in the range of route between departure place and destination is obtained
The raster data image of information reads the description information of at least one of raster data image picture and above-mentioned picture, then
The result of reading is fed back to such as be automatic Pilot system or navigation map system, can also be driving vehicle
Driver etc..The embodiment of the present disclosure does not limit this.
In one embodiment, in step S702, at least one picture for reading the raster data image and institute
The description information of picture is stated, including：
According to the picture, read the description information of the picture itself and read element in the picture and described
What element included holds up mark, the upright projection point for holding up mark on ground location and the mark of holding up administrative
The mark associated with subpoint set on road.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of use device of map system, due to the dress
The principle for putting solved problem is similar to a kind of application method of map system of previous embodiment, therefore the implementation of the device can be with
Referring to the implementation of preceding method, overlaps will not be repeated.
Following is a kind of use device of map system provided in an embodiment of the present invention, can be used for performing above-mentioned map system
The application method embodiment of system.
With reference to shown in Fig. 8, above device includes：
Acquisition module 801, for obtaining the grid map in map datum system in preset range according to the destination of setting
As data；
Read module 802, for reading at least one picture included in the raster data image and the picture
Description information；
Feedback module 803, for by the result read feed back.
In one embodiment, the read module 802 is additionally operable to according to the picture, reads the picture itself
What description information and element in the picture and the element included holds up mark, the mark of holding up on ground location
Upright projection point and described hold up the mark associated with subpoint that is set on administrative road of mark.
About the device in above-described embodiment, wherein modules perform the concrete mode of operation in related this method
Embodiment in be described in detail, explanation will be not set forth in detail herein.
According to the fourth aspect of the embodiment of the present disclosure, the present invention also provides a kind of cartographic informations as in above-described embodiment
The application in Vehicular automatic driving field of system.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention
The shape of computer program product that usable storage medium is implemented on (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of map system, which is characterized in that including：Raster data image；
The raster data image includes：The description information of at least one picture and the picture；The picture includes at least one
A element；The element includes holding up mark, described hold up indicates upright projection point on ground location and described hold up
Indicate the mark associated with subpoint that is set on administrative road, the description information is for describing described to hold up mark
Type and feature.
2. the system as claimed in claim 1, which is characterized in that the element further includes one or more of：Track, track
Medium line, track sideline, road boundary, signal lamp, pavement, road periphery object.
3. system as claimed in claim 2, which is characterized in that the description information further includes：The picture description of itself
Element and the description information of the component attributes in information and the picture；
The picture description information of itself includes one or more of：The longitude and latitude of the picture, benchmark height above sea level, most
Big height is poor, the precision of the offset of picture/mb-type, picture and picture.
4. the system as claimed in claim 1, which is characterized in that all pictures are according to identical geography side in the map system
To storage.
5. system as claimed in claim 4, which is characterized in that be stored in the map system according to identical geographical location
One or more picture and its description information；Storage is overlapped between one above picture.
6. the system as claimed in claim 1, which is characterized in that the map system includes at least one R-tree structures, institute
State the data block that R-tree structures include at least one raster data image；The data block includes at least one picture and described
The description information of picture.
7. a kind of generation method of map system, which is characterized in that including：
The map datum of acquisition is converted into raster data image；The raster data image includes：At least one picture and institute
State the description information of picture；The picture includes at least one element；The element is including holding up mark, the mark of holding up exists
Upright projection point and the mark associated with subpoint holded up mark and set on administrative road on ground location,
The description information is used to describe the type and feature for holding up mark；
The raster data image is stored into generation map system.
8. the method for claim 7, which is characterized in that described that the map datum of acquisition is converted into grating image number
According to, including：
The picture is analyzed, determines the attribute of the element and element in the picture；
Description information is generated according to the attribute of the element and element；
By the picture and description information generation raster data image.
9. a kind of application method of map system, which is characterized in that including：
Raster data image in map datum system in preset range is obtained according to the destination of setting；
Read the description information of at least one picture included in the raster data image and the picture；
The result of reading is fed back.
It is 10. a kind of such as application of the claim 1-6 any one of them systems in Vehicular automatic driving.
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| CN201611197027.XA CN108225344A (en) | 2016-12-22 | 2016-12-22 | A kind of map system, generation and application method and its application |
| PCT/CN2017/110702 WO2018113451A1 (en) | 2016-12-22 | 2017-11-13 | Map data system, method for generating and using same, and application thereof |
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| CN201611197027.XA CN108225344A (en) | 2016-12-22 | 2016-12-22 | A kind of map system, generation and application method and its application |
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