CN114234986A - Map data processing method and device - Google Patents
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Abstract
The embodiment of the invention provides a method and a device for processing map data, wherein the method comprises the following steps: in the running process of the vehicle, responding to a trigger event, and starting a target vehicle-mounted application; determining target map data from the obtained original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application; and calling the target application data under the condition of starting the target vehicle-mounted application. By the embodiment of the invention, the map data are processed to obtain the application data required by the vehicle-mounted application when the vehicle-mounted application is started, so that diversified applications can be realized through the map data, and the map use experience of a user is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method and a device for processing map data.
Background
Maps play an important role in the driving of vehicles, for example, navigation through on-board maps provides users with accurate driving routes.
At present, a map applied by a vehicle is a map data packet provided by a supplier, and the vehicle can store the received map data packet into the vehicle for a user to use after the map data packet is restored into the map.
The vehicle-mounted map generally shows the general distribution of the paths, intersections, landmark buildings and the like for the user, but the user cannot directly acquire specific information of the paths and intersections from the vehicle-mounted map, for example, speed limit information of road sections, curvature of the paths and the like, so that the application of the vehicle-mounted map is limited, and the use experience of the map is reduced.
Disclosure of Invention
In view of the above problems, it is proposed to provide a method and apparatus for processing map data that overcomes or at least partially solves the above problems, comprising:
a method of processing map data, the method comprising:
in the running process of the vehicle, responding to a trigger event, and starting a target vehicle-mounted application;
determining target map data from the obtained original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application;
and calling the target application data under the condition of starting the target vehicle-mounted application.
Optionally, the determining target map data from the acquired original map data includes:
determining a type of data required for the target vehicle application;
and determining target map data corresponding to the data type from the acquired original map data.
Optionally, the processing the target map data includes:
determining a target data processing mode required by the target vehicle-mounted application;
and processing the target map data according to the target data processing mode.
Optionally, the storing the target map data in a target linked list formed by a plurality of linked list nodes arranged in sequence, and the processing the target map data includes:
determining a current linked list node corresponding to the positioning information of the vehicle in the target linked list;
and traversing the map data stored by the nodes of the plurality of linked lists in the target linked list by taking the node of the current linked list as a starting point.
Optionally, the traversing data stored in a plurality of link table nodes in the target link table includes:
acquiring first speed limit data stored in a current linked list node, wherein the first speed limit data is a speed limit starting point of a first speed limit road section;
when the pointer of the target linked list deviates backwards, acquiring second speed limit data of a next linked list node;
judging whether the first speed limit data is the same as the second speed limit data or not;
and when the first speed limit data and the second speed limit data are judged to be different, taking the second speed limit data as a speed limit terminal of the first speed limit road section and a speed limit starting point of the second speed limit road section.
Optionally, the original map data is data in a local map, and further includes:
acquiring a map data packet corresponding to positioning information of a vehicle, wherein the map data packet comprises intersection map data and road section map data;
determining a plurality of connected map nodes based on the positioning information and the intersection map data;
and constructing a local map according to the plurality of connected map nodes and the road section map data.
Optionally, the method further comprises:
determining a road section mark of a road section where the vehicle is located according to the positioning information of the vehicle in the driving process of the vehicle;
querying the section mark in the original map data;
and when the road segment mark is inquired, determining target map data from the acquired original map data.
An apparatus for processing map data, the apparatus comprising:
the vehicle-mounted application starting module is used for responding to a trigger event in the running process of the vehicle and starting the target vehicle-mounted application;
the target application data determining module is used for determining target map data from the obtained original map data and processing the target map data to obtain target application data required by the target vehicle-mounted application;
and the target application data calling module is used for calling the target application data under the condition of starting the target vehicle-mounted application.
A vehicle comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implementing a method of processing map data as claimed in any one of the preceding claims.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements a method of processing map data as claimed in any one of the preceding claims.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, in the vehicle driving process, the target vehicle-mounted application is started in response to the trigger event, the target map data is determined from the obtained original map data and is processed to obtain the target application data required by the target vehicle-mounted application, and the target application data is called under the condition of starting the target vehicle-mounted application, so that the map data is processed to obtain the application data required by the vehicle-mounted application when the vehicle-mounted application is started, the diversified application is realized through the map data, and the map using experience of a user is improved.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart illustrating steps of a method for processing map data according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of another method for processing map data according to an embodiment of the present invention;
FIG. 3a is a flowchart illustrating steps of another method for processing map data according to an embodiment of the present invention;
FIG. 3b is a diagram illustrating a map data process according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating steps of another method for processing map data according to an embodiment of the present invention;
FIG. 5a is a flowchart illustrating steps of another method for processing map data according to an embodiment of the present invention;
FIG. 5b is a schematic diagram of a tree structure according to an embodiment of the present invention;
FIG. 5c is a diagram illustrating a linked list structure according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a map data processing apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a method for processing map data according to an embodiment of the present invention is shown, which may specifically include the following steps:
in the running process of the vehicle, when a trigger event is detected, the target vehicle-mounted application can be started in response to the trigger event, wherein the trigger event can be an operation of starting the target vehicle-mounted application by a user, or the trigger event generated by the vehicle and used for starting the target vehicle-mounted application, for example, the operation of starting the target vehicle-mounted application by the user can be an operation of starting functions such as intelligent speed limit and automatic curve cruise, and the target vehicle-mounted application can be an application function in the vehicle, such as a speed limit function, associated with a map.
the vehicle can obtain original map data from the position of a storage map such as a vehicle end or a cloud end, and can determine target map data from the original map data by performing data filtering processing on the original map data, wherein the target map data are map data required by a target vehicle-mounted application to realize an application function of the target vehicle-mounted application.
After the target map data is obtained, the target map data can be processed, so that target application data required by the target vehicle-mounted application can be obtained.
For example, the speed limit data in the map data is processed to obtain the speed limit starting point of each speed limit section, and the speed limit end point is application data capable of directly guiding the user to run.
And 103, calling the target application data under the condition of starting the target vehicle-mounted application.
After the target application data are obtained, the target application data can be called through a preset interface under the condition that the target vehicle-mounted application is started.
In an embodiment of the present invention, the method further includes:
104, determining a road section mark of a road section where the vehicle is located according to the positioning information of the vehicle in the driving process of the vehicle;
in practical application, in the driving process of a vehicle, the positioning information of the vehicle can be obtained, so that the road section mark of the current road section of the vehicle can be obtained, wherein the road section mark can be serial number information of the road section and used for representing the road section, the road section marks of different road sections are different, and the road section can be distinguished from other road sections through the road section mark.
Step 105, inquiring the road section mark in the original map data;
after determining the link marker, the link marker may be looked up in the acquired original map data to check whether the link exists in the acquired original map.
And 106, when the road segment mark is inquired, executing the step of determining target map data from the acquired original map data.
When the road section mark is inquired in the original map data, the fact that the related data of the current road section of the vehicle exists in the original map data can be determined, so that the obtained original map data are effective map data, the target map data can be further determined from the original map data, and the target application data can be obtained through the target map data, so that the vehicle-mounted application can be supported to call the target application data.
In the embodiment of the invention, the target vehicle-mounted application is started in response to the trigger event in the driving process of the vehicle, the target map data is determined from the obtained original map data, the target map data is processed to obtain the target application data required by the target vehicle-mounted application, and the target application data is called under the condition of starting the target vehicle-mounted application, so that the map data is processed to obtain the application data required by the vehicle-mounted application when the vehicle-mounted application is started, diversified applications can be realized through the map data, and the map use experience of a user is improved.
Referring to fig. 2, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
the data type of the map data required by the target vehicle application can be determined according to the map data required by different vehicle-mounted applications, wherein the data type can comprise: data of intersection type, data of link type, data of intersection shape type, etc.
The original map data can include various types of data, such as intersection type data, road section type data, intersection shape type data and the like, and the original map data can be subjected to data filtering according to the data type required by the target vehicle-mounted application to determine target map data corresponding to the data type.
The data filtering is carried out on the original map data through the data type, so that the data processing amount can be reduced, and the processing efficiency of the map data is improved.
step 205, under the condition that the target vehicle-mounted application is started, calling the target application data.
In an embodiment of the invention, in the running process of a vehicle, a target vehicle-mounted application is started in response to a trigger event, a data type required by the target vehicle application is determined, target map data corresponding to the data type is determined from the obtained original map data, the target map data is processed to obtain target application data required by the target vehicle-mounted application, and the target application data is called under the condition of starting the target vehicle-mounted application, so that the application data required by the vehicle-mounted application is obtained by processing the map data when the vehicle-mounted application is started, diversified applications are realized through the map data, and the map use experience of a user is improved.
Referring to fig. 3a, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
data processing modes aiming at different map data can be preset in the vehicle, the data processing modes required by different vehicle-mounted applications are different, and the data processing mode required by the target vehicle-mounted application can be determined when the target vehicle-mounted application is started.
after the data processing mode is determined, the target map data can be correspondingly processed according to the data processing mode, so that target application data required by the target vehicle-mounted application can be obtained.
In an example, the data processing manner may be an operator, as shown in fig. 3b, which is a schematic diagram of map data processing,
after the map data is screened, the map data can be determined according to different operators, in fig. 3b, operators corresponding to the target vehicle-mounted application are operators 1, 2, operator n and the like, wherein the operator 1 is an operator for processing speed limit information, the operator 2 is an operator for processing a road type, and the operator n is an operator for processing a road curvature, and after the map data is processed by the operators, the obtained data can be cached in a map information set so as to be convenient for an upper-layer application to call.
And 305, calling the target application data under the condition of starting the target vehicle-mounted application.
In the embodiment of the invention, in the running process of the vehicle, the target vehicle-mounted application is started in response to the trigger event, and the target map data is determined from the acquired original map data. The method comprises the steps of determining a target data processing mode required by the target vehicle-mounted application, processing the target map data according to the target data processing mode to obtain target application data required by the target vehicle-mounted application, achieving the purpose that when the vehicle-mounted application is started, the map data are processed to obtain application data required by the vehicle-mounted application, facilitating the realization of diversified application through the map data, and improving map use experience of a user.
Referring to fig. 4, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
The vehicle can obtain original map data from map storage positions of a vehicle end or a cloud end and the like, and can determine target map data from the original map data by performing data filtering processing on the original map data, wherein the target map data are map data required by a target vehicle-mounted application to realize an application function of the target vehicle-mounted application, and the target map data can be stored in a target linked list formed by a plurality of linked list nodes which are sequentially arranged.
after determining the target map data, the target map data stored in the target linked list needs to be analyzed. The current positioning information of the vehicle can be determined firstly, then the coordinates of the positioning information are inquired in the target linked list to match the linked list nodes, and the inquired linked list nodes are used as the current linked list nodes.
after the current linked list node is determined, the current linked list node can be used as a starting point to traverse a plurality of linked list nodes contained in the target linked list, and the map data stored in the linked list nodes are traversed, so that target application data required by the target vehicle-mounted application can be obtained.
In an embodiment of the present invention, the target vehicle-mounted application is a vehicle-mounted application for speed limit, and step 404 includes the following sub-steps:
sub-step 4041, acquiring first speed limit data stored in a current linked list node, wherein the first speed limit data is a speed limit starting point of a first speed limit road section;
in practical application, the target vehicle-mounted application may be a vehicle-mounted application for speed limitation, and after determining the current linked list node according to the positioning information, the first speed limitation data stored in the current linked list node may be acquired. And the first speed limit data can be used as the speed limit starting point of the first speed limit section.
Sub-step 4042, when the pointer of the target linked list shifts backwards, acquiring the second speed limit data of the next linked list node;
when the pointer of the target linked list is shifted backwards, the second speed limit data can be acquired according to the order of the linked list nodes.
Substep 4043, determining whether the first speed limit data and the second speed limit data are the same;
and a substep 4044, when it is determined that the first speed limit data is not the same as the second speed limit data, using the second speed limit data as a speed limit end point of the first speed limit section and a speed limit start point of the second speed limit section.
And when the first speed limit data is different from the second speed limit data, the second speed limit data can be used as a speed limit terminal of the first speed limit road section and a speed limit starting point of the second speed limit road section, and when the pointer of the target link list is continuously shifted backwards, the next link list node is traversed until the pointer points to the null.
And when the first speed limit data is the same as the second speed limit data, traversing the next linked list node until the pointer points to null when the pointer of the target linked list continuously shifts backwards.
In one embodiment of the invention, in the vehicle driving process, a target vehicle-mounted application is started in response to a trigger event, and target map data are determined from the acquired original map data; the target map data is stored in a target linked list formed by a plurality of linked list nodes which are sequentially arranged, and the current linked list node corresponding to the positioning information of the vehicle is determined in the target linked list; traversing map data stored by a plurality of linked list nodes in the target linked list by taking the current linked list node as a starting point to obtain target application data required by the target vehicle-mounted application; under the condition that the target vehicle-mounted application is started, the target application data are called, so that the application data required by the vehicle-mounted application are obtained by processing the map data when the vehicle-mounted application is started, diversified applications are conveniently realized through the map data, and the map use experience of a user is improved.
Referring to fig. 5a, a flowchart illustrating steps of another map data processing method according to an embodiment of the present invention is shown, which may specifically include the following steps:
in one example, the map data packet may be data sent to the CAN bus by a third party.
The map DATA packet may include POSITION DATA (POSITION), section map DATA (SEGMENT), intersection map DATA (STUB), road shape information (PROFILE), metadata (META-DATA), etc., wherein:
the location data may include: path number, offset (offset), speed, relative direction to the road, current lane, confidence level, timestamp (timestamp), etc.
The section map data may include: route number, highway class, type (e.g., major roads, turntables, parking lots, etc.), road composition (e.g., highway, single-double lane, etc.), speed limit, number of lanes, direction, (signs for tunnels, bridges, branches, emergency lanes, calculated routes, service areas, and complex intersections), etc.
Intersection map data (like intersections between SEGMENTs) may include: the route number, the number of sub-routes, the turn angle (the angle to the next road segment), the probability of being an intersection, the road type and composition, the number of lanes in forward and reverse directions, the turning point (turning to another road), whether the intersection is complex, and the like.
The road shape information may include: path number, profile type, profile sequence points (for interpolation of locations within the segment), curvature (higher order interpolation), etc.
The metadata may include: country code, region (state county) code, driver's seat (left, right), speed unit, protocol size version, hardware version, map Provider, map version, Horizon Provider compatibility, and mode information.
In practical application, the map can provide great convenience for a user to drive the vehicle, and the vehicle can obtain the map which can be applied by the vehicle by acquiring an external map data packet and processing the map data packet. The map data packet may be a map of the world or map data of a certain region.
In the driving process of the vehicle, the area concerned by the user is road information in a certain range in front of and behind the vehicle, other road conditions except a driving route do not need to be concerned, and in practical application, the map can be used only by completely restoring the received map data packet into a global map, so that the data processing amount is large, a large number of map areas which do not need to be concerned by the user are constructed, and further, the occupied storage space of the map is large.
In order to reduce the processing amount of a map reduction process and reduce the storage amount of map data, a vehicle CAN determine the positioning information of the vehicle, so that a map data packet corresponding to the positioning information CAN be obtained from a vehicle CAN bus according to the positioning information, the map data packet comprises map data within a certain range of the front and back distances of the current position of the vehicle, for example, a supplier Gandy map CAN provide-0.5 km to 2.0km of Advanced Driver Assistance System (Adas) map data for the vehicle, and the accuracy of the Adas map is 1 m; thus, a partial map can be constructed from the received map data packet to reduce the data processing amount.
In one example, a System Control Unit (SCU) in a vehicle may be configured to process a map data packet received by the vehicle, and the processing may include processing the map data packet into a local map for storage, and analyzing the local map, so that the analyzed data is applied to vehicle driving.
Because the data information quantity in the map data packet received by the vehicle is large, and the hardware resource of the system controller used for processing the map data in the vehicle is limited, when the condition that the vehicle is in a working condition with insufficient memory is detected, the received map data packet can be preferentially stored in the system controller.
The system controller of the vehicle may be provided with a map module for processing map data packets, which may include a storage layer and a resolution layer.
The storage layer CAN receive the CAN data (map data packet), so that the received CAN data is stored, the analysis layer CAN obtain the data stored in the storage layer, the stored data is analyzed through the analysis module of the analysis layer, and finally a map cache (i.e., an analysis result) is obtained, the analysis layer of the map module CAN output the analysis result to an application layer formed by Adas applications, and in the application layer, information provided by the map module CAN be applied to Adaptive Cruise Control (ACC), Lane Centering Control (LCC), Speed limit fusion of Speed Limit Function (SLF), and the like.
For example, the speed limit value of the driving road section or the road section to be driven is obtained through the analysis result, and the speed limit result of the road is combined with the visual recognition, so that the highest driving speed meeting the regulation can be obtained through fusion, and the vehicle can not exceed the highest driving speed and pass through the road section.
In addition, automatic curve cruising can be realized according to the curve curvature data of the road obtained by the analysis result of the map module.
intersection map data for each intersection may be included in the map data packet; the vehicle can approach each intersection and each road section in the driving process, so that a local map in the driving process of the vehicle can be constructed according to the intersections and the road sections.
The intersection map data can be used for determining a plurality of map nodes in a local map, the map nodes can store the map data of corresponding intersections, after vehicle positioning information is determined and intersection map data is obtained, the map nodes can be determined according to the positioning information, and intersections corresponding to two connected map nodes are two intersections on the same road section.
In an example, the step 502 may include the following sub-steps:
in substep 5021, when the local map is constructed for the first time, map data which are matched with the positioning information and aim at the target intersection are determined in the intersection map data;
after the map data packet is obtained, when a map is established for the first time, the map data aiming at the target intersection can be determined by searching in the intersection map data according to the positioning information, the target intersection can be an intersection near the vehicle positioning, and the target intersection can be an intersection positioned behind the vehicle on the road section where the vehicle is located by taking the current advancing direction of the vehicle as the driving front.
Substep 5022, creating a root node and storing the map data of the target intersection in the root node;
when the local map is created for the first time, the root node can be created first, and the obtained map data of the target intersection is stored in the root node, so that the assignment of the root node is realized, and the root node corresponds to the real target intersection.
Substep 5023, based on the root node and the intersection map data, determines a plurality of connected map nodes.
After the root node is determined, the extension can be started based on the root node, other map nodes are determined in sequence according to the intersection map data, and the map nodes can be connected with one another.
Specifically, an intersection through which the vehicle is going to pass is determined according to a current path of the vehicle and a root node, map data for the intersection is determined in intersection map data, a map node connected with the root node is created, and the map node connected with the root node is assigned according to the determined map data for the intersection.
In an example, the step 502 may further include the following sub-steps:
in the substep 5024, when the local map is not constructed for the first time, a first map node matched with the vehicle in the local map is determined according to the positioning information; the first map node is used for storing map data aiming at the first intersection in the intersection map data;
in the running process of the vehicle, new map data packets can be continuously acquired according to the positioning of the vehicle, a local map is constructed according to the map data packets, and the local map can be updated according to the latest acquired map data packets when the local map is not constructed for the first time.
The vehicle can determine a matched first map node in the created local map according to the vehicle positioning information, the first map node can be used for storing map data aiming at a first intersection in the intersection map data, the first intersection is an intersection passed by the vehicle recently or an intersection nearest to the rear of the vehicle, the current position of the vehicle is a road section connected with the first intersection, and the first map node can be a root node or a map node established behind the root node.
Substep 5025, determining map data for a second intersection in the intersection map data according to the first map node, wherein the second intersection is an intersection adjacent to the first intersection;
after the first map node is determined, map data of a second intersection through which the vehicle is going to pass can be determined in the intersection map data, and the first intersection and the second intersection are two adjacent intersections on the current road section of the vehicle.
Sub-step 5026, creating a second map node connected to the first map node and storing map data for the second intersection in the second map node.
After the first map node is determined, the second map node connected with the first map node can be created, so that the second map node can be assigned according to the map data of the second intersection, according to the method for adding the map node, the third node connected with the second map node can be continuously created and assigned, and the like, so that a plurality of connected map nodes can be obtained.
After the map nodes are determined, a local map can be constructed according to the map nodes and the road section map data, so that the vehicle can run according to the local map.
Specifically, in the local map, the map nodes correspond to intersections in real roads, and the map nodes may be connected to each other through connecting lines, where the connecting lines are equivalent to road segments of the real roads, so as to form a tree structure as shown in fig. 5b, where the identifiers such as A, B, C, D, E and # indicate tree nodes on the tree structure, the tree nodes in the tree structure are map nodes, intersection map data may be stored in the map nodes, and the connecting lines between the map nodes may be used to store road segment map data.
Wherein, a crossing can point to main path (main path) and sub path (sub path) simultaneously, and tree nodes can be divided into 3 types: root Node, Normal Node, and Cross Node, wherein the Cross Node can point to the next Path.
Each intersection node stores map data of all road segments in the next Path (Path), road shape information, and the like.
In addition, to prevent a path from jumping erroneously, intersection nodes may store a path at a level higher than the current path in the tree structure. For example: the path number (PathId) of the current path is 17; the path with the path number 9 (PathId) of the previous path is buffered until the next path is switched or the offset distance is greater than the predetermined distance (e.g., 500 m).
In one example, when a vehicle starts Adaptive Cruise Control (ACC), intelligent speed limit, automatic curve Cruise and other functions, a local map constructed and stored by the vehicle may be acquired and analyzed to obtain application data and guide the vehicle to run.
For example, after intelligent speed limiting, a constructed real-time constructed local map can be analyzed to obtain road section speed limiting data, and speed limiting control is performed on the vehicle according to the speed limiting data.
In one example, step 503 includes the following sub-steps:
substep 5031, creating a target linked list corresponding to a plurality of connected map nodes;
in practical application, a certain distance exists between a map node and the map node, the map node can correspond to a road section between two intersections in reality, and road section map data is map data related to the road section between the map node and the map node, so that after the map node is determined, an object linked list for storing the road section map data can be created between the connected map nodes.
Sub-step 5032, the road section map data is stored on the linked list nodes of the target linked list in sequence to construct the local map.
There may be a plurality of linked list nodes connected in sequence on the target linked list, and the road segment map data may be stored in sequence on the corresponding linked list nodes, as shown in fig. 5c, a linked list structure, which is a bi-directional linked list (i.e., a double linked list).
The road section data in the map data packet, such as road section map data (Segment), road shape information (including road curvature, slope, longitude and latitude, altitude, traffic sign, etc.), can be distinguished according to the path number, and the road section data with matching path numbers (i.e. the road section data belonging to the same road section) is stored in the doubly linked list in order with a linear structure.
During storage, the links may be sorted according to offset (offset) of the link data, as shown in fig. 5c, the head may represent a first link node of the link, and then the link data with offsets of 10m, 20m, 30m, 40m, and 50m from the head are sequentially stored in the link, and the bidirectional link may support operations such as forward and reverse traversal, dynamic insertion/deletion, and the like.
In an embodiment of the present invention, step 503 further includes the sub-steps of:
in sub-step 5033, the target linked list created in the local map is updated during the driving of the vehicle.
In practical application, as the vehicle runs, a new target linked list is continuously created to store new road section map data, and the previously created linked list is positioned farther and farther from the vehicle in real time, the data stored in the previously created linked list becomes obsolete data, so that the target linked list created in the local map can be updated in real time in the running process of the vehicle, and the updating mode can include generating a new linked list or deleting an old linked list.
In an example, the intersection map data stored in the linked list may include an offset, where the offset is used to indicate a distance between the vehicle real-time location and each intersection, and when the offset exceeds a preset offset, the linked list in the local map may be updated, and linked list data with an offset that is not satisfactory is deleted.
In the embodiment of the invention, the local map is constructed in the vehicle driving process, the constructed local map is stored, and when the target vehicle-mounted application is started, the local map can be analyzed, and the map data is processed into the application data, so that the application data can be called, the map data processing process is simplified, the map data memory is less, and diversified applications can be realized through the local map.
It is noted that, for simplicity of explanation, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 6, a schematic structural diagram of a processing apparatus for map data according to an embodiment of the present invention is shown, which may specifically include the following modules:
the vehicle-mounted application starting module 601 is used for responding to a trigger event in the running process of a vehicle and starting a target vehicle-mounted application;
a target application data determining module 602, configured to determine target map data from the acquired original map data, and process the target map data to obtain target application data required by the target vehicle-mounted application;
and a target application data calling module 603, configured to call the target application data when the target vehicle-mounted application is started.
In an embodiment of the present invention, the target application data determining module 602 may include:
a data type determination submodule for determining a data type required by the target vehicle application;
and the data filtering submodule is used for determining target map data corresponding to the data type from the acquired original map data.
In an embodiment of the present invention, the target application data determining module 602 may further include:
the data processing mode determining submodule is used for determining a target data processing mode required by the target vehicle-mounted application;
and the map data processing submodule is used for processing the target map data according to the target data processing mode.
In an embodiment of the present invention, the target map data is stored in a target linked list formed by a plurality of linked list nodes arranged in sequence, and the target application data determining module 602 may further include:
the current linked list node determining submodule is used for determining a current linked list node corresponding to the positioning information of the vehicle in the target linked list;
and the linked list node traversing submodule is used for traversing the map data stored by the linked list nodes in the target linked list by taking the current linked list node as a starting point.
In an embodiment of the present invention, the target vehicle-mounted application is a vehicle-mounted application for speed limitation, and the linked list node traversal submodule includes:
the device comprises a first speed limit data acquisition unit, a second speed limit data acquisition unit and a speed limit control unit, wherein the first speed limit data acquisition unit is used for acquiring first speed limit data stored in a current linked list node, and the first speed limit data is a speed limit starting point of a first speed limit road section;
the second speed limit data acquisition unit is used for acquiring second speed limit data of a next linked list node when the pointer of the target linked list deviates backwards;
the speed limit data judging unit is used for judging whether the first speed limit data is the same as the second speed limit data;
and the speed limit data judging unit is used for taking the second speed limit data as a speed limit terminal of the first speed limit road section and a speed limit starting point of the second speed limit road section when judging that the first speed limit data is different from the second speed limit data.
In an embodiment of the present invention, the original map data is data in a local map, and further includes:
the map data packet acquisition submodule is used for acquiring a map data packet corresponding to the positioning information of the vehicle, wherein the map data packet comprises intersection map data and road section map data;
the map node determining submodule is used for determining a plurality of connected map nodes based on the positioning information and the intersection map data;
and the local map building submodule is used for building a local map according to the plurality of connected map nodes and the road section map data.
In an embodiment of the present invention, the method further includes:
the road section mark determining module is used for determining the road section mark of the road section where the vehicle is located according to the positioning information of the vehicle in the driving process of the vehicle;
the road section mark inquiring module is used for inquiring the road section mark in the original map data;
and the execution module is used for executing the determination of the target map data from the acquired original map data when the road segment mark is inquired.
In the embodiment of the invention, the target vehicle-mounted application is started in response to the trigger event in the driving process of the vehicle, the target map data is determined from the obtained original map data, the target map data is processed to obtain the target application data required by the target vehicle-mounted application, and the target application data is called under the condition of starting the target vehicle-mounted application, so that the map data is processed to obtain the application data required by the vehicle-mounted application when the vehicle-mounted application is started, the diversified application is realized through the map data, and the map using experience of a user is improved.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the processing method of the map data as above.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the processing method of the map data as above.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the 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.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, 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 terminal 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 terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the true scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and the device for processing map data provided above are described in detail, and a specific example is applied herein to illustrate the principle and the implementation of the present invention, and the above description of the embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and as described above, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for processing map data, the method comprising:
in the running process of the vehicle, responding to a trigger event, and starting a target vehicle-mounted application;
determining target map data from the obtained original map data, and processing the target map data to obtain target application data required by the target vehicle-mounted application;
and calling the target application data under the condition of starting the target vehicle-mounted application.
2. The method of claim 1, wherein determining the target map data from the obtained raw map data comprises:
determining a type of data required for the target vehicle application;
and determining target map data corresponding to the data type from the acquired original map data.
3. The method according to claim 1 or 2, wherein the processing the target map data comprises:
determining a target data processing mode required by the target vehicle-mounted application;
and processing the target map data according to the target data processing mode.
4. The method of claim 1, wherein the target map data is stored in a target linked list comprised of a plurality of linked list nodes arranged in sequence, and wherein processing the target map data comprises:
determining a current linked list node corresponding to the positioning information of the vehicle in the target linked list;
and traversing the map data stored by the plurality of linked list nodes in the target linked list by taking the current linked list node as a starting point.
5. The method of claim 4, wherein the target vehicle application is a vehicle application for speed limiting, and wherein traversing the data stored in the plurality of link list nodes in the target link list comprises:
acquiring first speed limit data stored in a current linked list node, wherein the first speed limit data is a speed limit starting point of a first speed limit road section;
when the pointer of the target linked list deviates backwards, acquiring second speed limit data of a next linked list node;
judging whether the first speed limit data is the same as the second speed limit data or not;
and when the first speed limit data is judged to be different from the second speed limit data, taking the second speed limit data as a speed limit terminal of the first speed limit road section and a speed limit starting point of the second speed limit road section.
6. The method of claim 1, 2 or 4, wherein the raw map data is data in a local map, further comprising:
obtaining a map data packet corresponding to positioning information of a vehicle, wherein the map data packet comprises intersection map data and road section map data;
determining a plurality of connected map nodes based on the positioning information and the intersection map data;
and constructing a local map according to the plurality of connected map nodes and the road section map data.
7. The method of claim 1, further comprising:
determining a road section mark of a road section where the vehicle is located according to the positioning information of the vehicle in the driving process of the vehicle;
querying the section mark in the original map data;
and when the road segment mark is inquired, determining target map data from the acquired original map data.
8. An apparatus for processing map data, the apparatus comprising:
the vehicle-mounted application starting module is used for responding to a trigger event in the running process of the vehicle and starting the target vehicle-mounted application;
the target application data determining module is used for determining target map data from the obtained original map data and processing the target map data to obtain target application data required by the target vehicle-mounted application;
and the target application data calling module is used for calling the target application data under the condition of starting the target vehicle-mounted application.
9. A vehicle, characterized by comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program, when executed by the processor, implementing a method of processing map data according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements a processing method of map data according to any one of claims 1 to 7.
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