CN-113961661-B - Path matching method, path matching device, computer equipment, storage medium and product

Abstract

The application relates to a path matching method, a path matching device, computer equipment, a storage medium and a product, and relates to the technical field of map data. The method comprises the steps of obtaining starting point information and first path information of a first path, wherein the first path information comprises attribute information of all path sections of the first path in a first map, obtaining a starting road section based on the starting point information of the first path, wherein the starting road section is a road section in a second map where the starting point of the first path is located, and carrying out path matching in the second map based on the first path information from the starting road section to obtain a second path of the first path corresponding to the second map. By the method, automation of path matching is realized, and efficiency and accuracy of path matching are improved.

Inventors

• YU JIN

Assignees

• 腾讯科技（深圳）有限公司

Dates

Publication Date

20260505

Application Date

20211022

Claims (20)

1. 1. A method of path matching, the method comprising: Acquiring starting point information and first path information of a first path, wherein the first path information comprises attribute information of each passing road section of the first path on a first map; acquiring a starting road section based on the starting point information of the first path, wherein the starting road section is a road section in which the starting point of the first path is positioned in a second map; Starting from the starting road section, traversing the road section based on the ith road section to obtain at least one subsequent road section of the ith road section, wherein the starting point of the subsequent road section of the ith road section is the ending point of the ith road section, i is more than or equal to 1, and i is a positive integer; Determining at least one (i+1) th road segment based on the respective attribute information of the at least one subsequent road segment and the attribute information of the reference road segment of the (i+1) th road segment, wherein the length from the starting point of the reference road segment of the (i+1) th road segment to the starting point of the first path is matched with the length from the ending point of the (i) th road segment to the starting point of the starting road segment; In response to the total length of the first i+1 road sections connected in the road section determining sequence reaching the total length of the first path, acquiring a path formed by the first i+1 road sections connected in the road section determining sequence as a candidate path; based on the first path information, respectively carrying out matching error calculation on each candidate path and the first path; And acquiring the candidate path with the minimum matching error as a second path corresponding to the first path in the second map.
2. 2. The method of claim 1, wherein the step of determining the position of the substrate comprises, The attribute information of the passing road section comprises at least one of the length of the passing road section, the steering angle of the passing road section and auxiliary attributes; The auxiliary attribute comprises at least one of a function grade of the passing road section, a road type of the passing road section, the number of lanes of the passing road section, a course of the passing road section, a curvature of the passing road section and a gradient of the passing road section.
3. 3. The method according to claim 1 or 2, wherein the acquiring the start point information and the first path information of the first path includes: the method comprises the steps of receiving a first transmission message sent by a first map functional component, wherein the first transmission message is obtained by carrying out message encapsulation on starting point information of a first path and the first path information according to a first map transmission protocol; Analyzing the first transmission message to obtain starting point information of the first path and the first path information; The method further comprises the steps of: Message packaging is carried out on second path information corresponding to the second path according to a second map transmission protocol, and a second transmission message is obtained; And sending the second transmission message to a second map function component, wherein the second map function component is a function component using the second map.
4. 4. A method according to claim 3, wherein the second map transmission protocol is an advanced assisted steering system architecture specification ADASIS version three protocol; The first map transmission protocol is any map data transmission protocol different from the second map transmission protocol.
5. 5. The method of claim 1, wherein the determining at least one of the (i+1) th road segments based on the respective attribute information of the at least one subsequent road segment and the attribute information of the reference road segment corresponding to the (i+1) th road segment comprises: Determining the target subsequent road segment as the (i+1) -th road segment in response to the difference between the attribute information of the target subsequent road segment and the attribute information of the reference road segment of the (i+1) -th road segment being smaller than an attribute difference threshold; Wherein the target subsequent road segment is any one of the at least one subsequent road segment.
6. 6. The method according to claim 1, wherein the calculating the matching error for each of the candidate paths and the first path based on the first path information includes: acquiring attribute information of each road section passed by a target candidate path, wherein the target candidate path is any one of the candidate paths; And calculating a matching error of the target candidate path and the first path based on the attribute information of each road section passed by the target candidate path and the attribute information of each road section passed by the first path.
7. 7. The method of claim 6, wherein the calculating the matching error of the target candidate path and the first path based on the attribute information of each road segment traversed by the target candidate path and the attribute information of each road segment traversed by the first path, comprises: Based on the attribute information of each road section passed by the target candidate path and the attribute information of each road section passed by the first path, obtaining sub-errors between N road sections in the target candidate path and reference road sections of the N road sections respectively, wherein N is a positive integer; and obtaining the sum of sub-errors between the N road sections and the reference road sections of the N road sections as the matching error between the target candidate path and the first path.
8. 8. The method of claim 7, wherein the obtaining sub-errors between N segments in the target candidate path and reference segments of the N segments, respectively, comprises: Acquiring the distance difference between the path length of the jth road section in the target candidate path and the path length of the reference road section of the jth road section, wherein j is more than or equal to 1 and less than or equal to N, and j is a positive integer; acquiring the angle difference between the steering angle of the jth road section and the steering angle of the reference road section of the jth road section; And carrying out weighting processing on the distance difference and the angle difference to obtain a sub-error between the jth road section and the reference road section of the jth road section.
9. 9. The method of claim 8, wherein the weighting the distance difference and the angle difference to obtain a sub-error between the j-th road segment and a reference road segment of the j-th road segment comprises: and in response to the difference between the auxiliary attribute of the jth road section and the auxiliary attribute of the reference road section of the jth road section, carrying out weighting processing on the distance difference, the angle difference and the matching penalty term to obtain a sub-error between the jth road section and the reference road section of the jth road section.
10. 10. The method of claim 7, wherein the method further comprises: And combining the two adjacent road segments in the target candidate path in response to the sum of the lengths of the two adjacent road segments being less than a length threshold.
11. 11. The method of claim 1, wherein the acquiring the starting road segment based on the starting point information of the first path comprises: Determining a mapping point of a starting point of the first path in the second map based on the starting point information of the first path; and acquiring a road section with the minimum vertical distance between the second map and the mapping point as the starting road section.
12. 12. The method of claim 1, wherein the accuracy of the second map is higher than the accuracy of the first map.
13. 13. A path matching device, the device comprising: the information acquisition module is used for acquiring starting point information and first path information of a first path, wherein the first path information comprises attribute information of each passing road section of the first path on a first map; the system comprises a first route, a second route, a starting section acquisition module, a first map and a second map, wherein the first route is a first route; The map matching method comprises the steps of starting from a starting road section, carrying out road section traversing based on an ith road section to obtain at least one subsequent road section of the ith road section, wherein the starting point of the subsequent road section of the ith road section is the ending point of the ith road section, i is more than or equal to 1, i is a positive integer, determining at least one ith road section according to the respective attribute information of the at least one subsequent road section and the attribute information of a reference road section of the ith road section and the reference road section of the ith road section, determining the length from the starting point of the reference road section of the ith road section to the starting point of the first road section, matching the length from the ending point of the ith road section to the starting point of the first road section, responding to the total length of the first road section which is connected according to the road section determining sequence and reaches the total length of the first road section, obtaining paths which are formed by the first road section and the first road section which are connected according to the road section determining sequence as candidate paths, respectively calculating the minimum error of each candidate path and the first road section based on the first road information, and obtaining the first map which is the second map matching path which is the first map matching error.
14. 14. The apparatus of claim 13, wherein the device comprises a plurality of sensors, The attribute information of the passing road section comprises at least one of the length of the passing road section, the steering angle of the passing road section and auxiliary attributes; The auxiliary attribute comprises at least one of a function grade of the passing road section, a road type of the passing road section, the number of lanes of the passing road section, a course of the passing road section, a curvature of the passing road section and a gradient of the passing road section.
15. 15. The apparatus according to claim 13 or 14, wherein the information acquisition module comprises: The system comprises a first map functional component, a message receiving sub-module, a first map processing module and a second map functional component, wherein the first map functional component is used for receiving a first transmission message sent by the first map functional component; The analysis submodule is used for analyzing the first transmission message to obtain starting point information of the first path and the first path information; The apparatus further comprises: the message encapsulation module is used for carrying out message encapsulation on second path information corresponding to the second path according to a second map transmission protocol to obtain a second transmission message; And the message sending module is used for sending the second transmission message to a second map functional component, and the second map functional component is a functional component using the second map.
16. 16. The apparatus of claim 15, wherein the second map transmission protocol is an advanced assisted steering system architecture specification, ADASIS, third edition protocol; The first map transmission protocol is any map data transmission protocol different from the second map transmission protocol.
17. 17. The apparatus of claim 13, wherein the path matching module is configured to determine the target subsequent road segment as the i+1th road segment in response to a difference between attribute information of the target subsequent road segment and attribute information of a reference road segment of the i+1th road segment being less than an attribute difference threshold; Wherein the target subsequent road segment is any one of the at least one subsequent road segment.
18. 18. A computer device comprising a processor and a memory having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, code set, or instruction set being loaded and executed by the processor to implement the path matching method of any of claims 1 to 12.
19. 19. A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by a processor to implement the path matching method of any of claims 1 to 12.
20. 20. A computer program product, characterized in that the computer program product comprises at least one computer program, which is loaded and executed by a processor to implement the path matching method according to any of claims 1 to 12.

Description

Path matching method, path matching device, computer equipment, storage medium and product Technical Field The embodiment of the application relates to the technical field of map data, in particular to a path matching method, a path matching device, computer equipment, a storage medium and a product. Background With the continuous development of electronic map application programs, the application of electronic maps in the fields of vehicle navigation and the like is also becoming wider. On the basis of the conventional navigation map, in order to realize an automatic driving function, the vehicle navigation system of the vehicle with the automatic driving technology needs to use the SD map and the high-precision map simultaneously and combine the mapping relation between the SD map and the high-precision map to perform data matching, so as to obtain more accurate map data, thereby ensuring the safety of automatic driving. However, in the related art, data matching between the SD map and the high-precision map depends on a mapping relationship between the SD map and the high-precision map, and the mapping relationship between the SD map and the high-precision map generally depends on manual maintenance, and the different types of maps have differences in the representation manner of the same information, so that the difficulty of maintaining the mapping relationship between the SD map and the high-precision map is high, and the error rate is high. Disclosure of Invention The embodiment of the application provides a path matching method, a path matching device, computer equipment, a storage medium and a product, which can improve the efficiency and the accuracy of path matching. The technical scheme is as follows: In one aspect, a path matching method is provided, the method including: Acquiring starting point information and first path information of a first path, wherein the first path information comprises attribute information of each passing road section of the first path on a first map; acquiring a starting road section based on the starting point information of the first path, wherein the starting road section is a road section in which the starting point of the first path is positioned in a second map; And starting from the starting road section, carrying out path matching in the second map based on the first path information, and obtaining a second path of the first path corresponding to the second map. In another aspect, a path matching apparatus is provided, the apparatus comprising: the information acquisition module is used for acquiring starting point information and first path information of a first path, wherein the first path information comprises attribute information of each passing road section of the first path on a first map; the system comprises a first route, a second route, a starting section acquisition module, a first map and a second map, wherein the first route is a first route; And the path matching module is used for performing path matching in the second map based on the first path information from the starting road section to obtain a second path of the first path corresponding to the second map. In one possible implementation manner, the attribute information of the passing road section comprises at least one of the length of the passing road section, the steering angle of the passing road section and auxiliary attributes; The auxiliary attribute comprises at least one of a function grade of the passing road section, a road type of the passing road section, the number of lanes of the passing road section, a course of the passing road section, a curvature of the passing road section and a gradient of the passing road section. In one possible implementation manner, the information obtaining module includes: The system comprises a first map functional component, a message receiving sub-module, a first map processing module and a second map functional component, wherein the first map functional component is used for receiving a first transmission message sent by the first map functional component; The analysis submodule is used for analyzing the first transmission message to obtain starting point information of the first path and the first path information; The apparatus further comprises: the message encapsulation module is used for carrying out message encapsulation on second path information corresponding to the second path according to a second map transmission protocol to obtain a second transmission message; And the message sending module is used for sending the second transmission message to a second map functional component, and the second map functional component is a functional component using the second map. In one possible implementation, the second map transmission protocol is an advanced assisted driving system architecture specification ADASIS third edition protocol; The first map transmission protocol is any map data transmission protocol different from the secon