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WO2018113451A1 - Système de données de carte, procédé de production et d'utilisation de celui-ci, et application de celui-ci - Google Patents

Système de données de carte, procédé de production et d'utilisation de celui-ci, et application de celui-ci Download PDF

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Publication number
WO2018113451A1
WO2018113451A1 PCT/CN2017/110702 CN2017110702W WO2018113451A1 WO 2018113451 A1 WO2018113451 A1 WO 2018113451A1 CN 2017110702 W CN2017110702 W CN 2017110702W WO 2018113451 A1 WO2018113451 A1 WO 2018113451A1
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WO
WIPO (PCT)
Prior art keywords
picture
description information
road
map data
raster image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/110702
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English (en)
Chinese (zh)
Inventor
林得得
范晨星
冯景林
张小芳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Mxnavi Co Ltd
Original Assignee
Shenyang Mxnavi Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201611196862.1A external-priority patent/CN108225343A/zh
Priority claimed from CN201611196218.4A external-priority patent/CN108225342A/zh
Priority claimed from CN201611197027.XA external-priority patent/CN108225344A/zh
Application filed by Shenyang Mxnavi Co Ltd filed Critical Shenyang Mxnavi Co Ltd
Publication of WO2018113451A1 publication Critical patent/WO2018113451A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G01C21/3822—Road feature data, e.g. slope data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps

Definitions

  • the invention name is “a map data system, generation and use method and its application”; the application number is 2016111968621, and the invention name is “a kind of Map information system, method of generation and use and its application”; application number is 201611197027X, the title of the invention is "a map system, generation and use method and its application” priority of three Chinese patent applications, the entire contents of which are incorporated by reference. Combined in this application.
  • the present invention relates to the field of map data technology, and in particular, to a map data system, a method and application thereof for generating and using the same.
  • the chip manufacturer proposes an automatic driving technology with learning function, which realizes automatic driving by letting the vehicle analyze the road condition by itself, and tends to "robot" technology.
  • the storage of high-precision map data is stored in the form of vector data, such as the boundary and the center line of roads and lanes, which are stored in a series of line and plane coordinates (x, y, z).
  • the vector data processing production process is complex and numerous, and the production cycle is long; it is unable to adapt to the rapid change of road construction conditions;
  • the data of vector data has strong topological correlation, data block cutting and partial update is difficult; it is impossible to quickly distribute map data to each car terminal;
  • the present invention has been made in order to provide a map data system, method of generating and using the same, and an application thereof that overcomes the above problems or at least partially solves the above problems.
  • an embodiment of the present invention provides a map data system, including: raster image data;
  • the raster image data includes at least one picture and description information of the picture; the description information includes at least one element and element attribute of the element included in the picture; in the picture, a color value or gray color of the pixel Degrees characterize the features and feature attributes.
  • the description information is a combination of one or more of the following: description information of the road basic information, description information of the road height, description information of the road erection flag, and road surrounding building information.
  • the elements of the description information of the road basic information include one or more of the following: lane position, lane type, lane middle line, virtual lane connecting line, lane edge, road boundary, road sign, signal light , sidewalks and objects around the road.
  • the elements of the description information of the road height include one or more of the following: steep slope, altitude of a three-dimensional intersection or parallel road, relative height of a three-dimensional intersection or parallel road.
  • the elements of the description information of the road erection flag include one or the following Multiple items: the location of the sign, the type of sign, and the height of the sign.
  • the description information of the picture further includes: a reference altitude of the area where the picture is located, a maximum altitude difference, a latitude and longitude of the lower left corner of the picture, a latitude and longitude of the upper right corner of the picture, a picture length and width, a picture type, and a picture on the latitude and longitude. Offset.
  • the pixel corresponding to the element and the color value or gray level of the pixel represent the element and the element attribute of the element.
  • all of the pictures in the map data system are stored in the same geographic direction.
  • the same geographic location in the map data system stores one or more pictures and their description information; the one or more pictures are stored overlapping.
  • the picture when the picture includes an element of the erected flag, the picture further includes: the identities of the erected sign on each lane in a nearby preset range;
  • the pixel in which the identification point is located is associated with a pixel of the erected marker at a position on the ground;
  • the marking point is each projection point of the erecting mark on a position on the ground at a position on a lane center line within a preset range.
  • the map data system includes at least one R-tree structure, the R-tree structure including at least one data block; the data block sets at least one picture within a geographic range and a description of the picture information.
  • an embodiment of the present invention provides a method for generating a map data system, including:
  • the raster image data includes at least one picture and description information of the picture;
  • the description information includes element attributes of at least one element and an element included in the picture;
  • a color value or a gray level of a position pixel corresponding to the element is used to represent an element attribute of the element;
  • the raster image data is stored to generate a map data system.
  • converting the acquired map data to raster image data comprises:
  • the at least one picture and the description information corresponding to the picture are generated into raster image data.
  • an embodiment of the present invention provides a method for using a map data system, including:
  • an embodiment of the present invention provides an application of the foregoing map data system in automatic driving of a vehicle.
  • an embodiment of the present invention provides a storage medium, where the map data system is stored.
  • an embodiment of the present invention provides a storage medium on which computer instructions are stored, and when the computer instructions are executed by a processor, the method for using the map data system is implemented.
  • the map data system includes the raster image data, and the raster image data includes: at least one picture and picture description information; the description information includes: : At least one element and element attribute of the element included in the picture; the description information is one or more combinations of the following: description information of the road basic information, description information of the road height, and description information of the road vertical sign.
  • the map data system uses the raster image to store the map data, and the raster image includes any one or a combination of the description information of the road basic information, the description information of the road height, and the description information of the road vertical sign.
  • the raster image data is also It has the advantages of easy processing, weak topological correlation between pictures, easy data segmentation and partial update, and support GPU parallel computing when the amount of data is particularly large, which improves the safety of driving while reducing image recognition, sensors, central control, etc. The difficulty and cost of developing technology.
  • FIG. 1A is a schematic diagram of an actual intersection provided by an embodiment of the present invention.
  • FIG. 1B is a picture stored in a raster image manner in the intersection of FIG. 1A according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a raster image including a raised flag according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a method for generating a map data system according to an embodiment of the present invention
  • FIG. 4 is a flowchart of an implementation of step S301 according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of converting data collected by trajectory data, camera recording data, and laser radar cloud into raster image data according to an embodiment of the present invention
  • FIG. 6 is a flowchart of an example provided by an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for using a map information system according to an embodiment of the present invention.
  • a specific embodiment of the present invention provides a map data system, including raster image data; the raster image data includes at least one picture and description information of the picture; the description information includes at least one element and element included in the picture Feature attributes; in a picture, feature and feature attributes are characterized by the color value or grayscale of the pixel.
  • pixels of the same map data system with the same color value or gray scale represent the same features and feature attributes.
  • the description information may be a combination of one or more of the following: description information of the road basic information, description information of the road height, description information of the road erection flag, road surrounding building information, and the like. As long as the information related to the road and the surrounding geographical environment can be included in the map data system, the embodiment of the present invention does not limit this.
  • the elements of the description information of the road basic information may include, for example, a lane position, a lane type, a lane middle line, a virtual lane connecting line, a lane edge, a road boundary, a road sign, a signal light, a sidewalk, and a road surrounding object.
  • the road basic information element related to the road used by the driving vehicle on the road the attribute of the element may be, for example, whether the lane is a solid line or a broken line, a road shoulder or a collision barrier, and the like.
  • the element of the description information of the road height may include, for example, a steep slope, a solid intersection, or a height of a parallel road; the element attribute of the element may be a specific slope, an altitude value, or a relative height. Values, etc.
  • the description information of the road height may be provided to a computer, which may be used to calculate the slope, adjust the power and speed of the vehicle according to the slope, or may be used to calculate whether the current road is an elevated road or the like; Can be provided to the navigation system to remind the driver to pay attention to the road height, as well as the choice of the main road and the auxiliary road.
  • Table 1 exemplifies some of the elements and feature attributes (or features) of the three types of data in the map data system, wherein the description information of the road basic information is the basic road data; the description information of the road height is the height data: the erected The description information of the flag data is the flag data of the erection.
  • the map data system provided by one embodiment of the present invention is a high-precision map relative to the common navigation electronic map popularized in the prior art.
  • the ordinary navigation electronic map is map data for the driver to be used by the driver, and the computer cannot recognize the map data system provided by the embodiment.
  • the map data system provided by the embodiment is a machine-oriented map data that can be used by the self-driving automobile.
  • the so-called high-precision map on the one hand, has a higher absolute precision of the high-precision electronic map, and the absolute coordinate precision refers to the precision between a certain object on the map and the real external world.
  • high precision maps The road traffic information elements contained are richer and more detailed.
  • the absolute coordinate accuracy of the ordinary navigation electronic map is about 10 meters.
  • the positioning accuracy of the GPS device is also about 10 meters.
  • High-precision maps used in the field of autonomous driving need to know exactly where they are on the road. Often, the distance from the road to the road and the lane next to it is only a few tens of centimeters, so the absolute accuracy of high-precision maps is generally at the sub-meter level. That is, accuracy within 1 meter, and the relative accuracy of the lateral direction (for example, the relative positional accuracy of lanes and lanes, lanes and lane lines) tends to be higher. Ordinary navigation electronic maps depict roads, and high-precision maps not only depict roads, but also depict how many lanes on a road will truly reflect the actual style of the road.
  • the elements of the description information of the road up sign include one or more of the following: the location of the sign, the type of sign, and the height of the sign.
  • the erecting sign may be, for example, a signage sign above the road, or a signage sign on either side of the road, such as driving the vehicle on the road, including information on all the erected signs associated with the road.
  • the type of the sign includes, for example, a warning sign, an injunction sign, an indication sign, a speed limit sign, and the like.
  • the warning sign is characterized by a warning vehicle, and the pedestrian pays attention to the sign of the dangerous place in front of the road.
  • the indicator is characterized by, for example, a vehicle or a pedestrian. Traveling, passing the direction of the road, location, distance information, etc., may also provide directions, distances, or announcements of the road construction area. This embodiment of the present invention does not limit this.
  • FIG. 1A shows the actual situation of an actual intersection
  • FIG. 1B shows a picture displayed by the actual intersection in the form of raster image data, and the road-related description information is recorded by FIG. 1B.
  • Each of the grids in Fig. 1B represents a pixel
  • the pixel color value or gray scale represents road description information of a corresponding position in the map.
  • the mapping relationship between the color value or the gray value of each pixel and the road and the road description information in the map may be used in various preset manners, which is not limited in this embodiment of the present invention.
  • the format of the picture may be TIFF, BMP, PCX, JPEG, etc., and the format of the picture is not limited in this embodiment.
  • the raster image data proposed by the embodiment of the present invention is a computer-recognizable high-precision map data with a picture as a main carrier that can be used for automatic driving.
  • the image source of the map data system may be a satellite imagery image, a digital elevation model of the US Geological Survey (USGS) (Digital The Elevation Model (DEM) may also be a digitized image prepared by using an aerial image or other remote sensing data, or an image acquired by a custom data collection vehicle, etc., which is not limited by the embodiment of the present invention.
  • the image or image data acquired in the above manner is close to the pixels of the raster image, so the image processing flow in the raster image data in the embodiment is simple, and the topological correlation between the images of the raster image data is weak. Data segmentation and partial update are relatively easy, and when the amount of image data is particularly large, the graphics processing unit (GPU) is supported for parallel computing.
  • the description information in the image is convenient for computer recognition and interpretation, and the position and lane of the lane line can be quickly determined.
  • edge line, the road altitude, the plane intersects in a plane or a three-dimensional intersection, trees on both sides of the road, buildings and ditches, whether there are signs of erection around them, and the range of roads under which the signs are erected, etc., can achieve automatic driving.
  • Accurate mastery of road conditions further enhances the safety of autonomous driving and reduces the development difficulty and cost of other technologies such as image recognition, sensors, and central control.
  • the description information may be implemented by using a computer language recognized by various types of computers, such as a binary language; or other languages may be converted into a computer readable language; and the type of information storage may be a digitized text. It may also be a picture format.
  • the language and type of the information described in the embodiment of the present invention are not limited, and other description languages that can implement the above functions may be used.
  • the pavement marking can be, for example, a speed limit sign printed on the road surface, a crosswalk line, a guide line, and the like.
  • the erected sign is as shown in Fig. 2.
  • the elements of the description information of the road erection mark include, for example, the position of the sign above the road surface. , the location of the signs on both sides of the road, etc.
  • Steep slopes indicate roads with slopes, uphill or downhill roads, etc.
  • the three-dimensional intersection represents pavement roads, overpasses, etc.; parallel roads with height difference, such as main auxiliary roads, wherein the main road is higher than the auxiliary road, the main road is the viaduct road, and the auxiliary road is parallel to the ground road of the viaduct.
  • the embodiment of the present invention does not limit the types of the above elements.
  • the description information of the foregoing picture may further include the following elements and element attributes: a reference altitude of the area where the picture is located, a maximum altitude difference, a latitude and longitude of the lower left corner of the picture, a latitude and longitude of the upper right corner of the picture, a picture length and a width, and a picture type. , the offset of the picture in latitude and longitude, and so on.
  • the latitude and longitude range of the picture is expressed by the latitude and longitude of the lower left and upper right; the range of the range represented by each picture may also be the same or different.
  • the reference altitude indicates the height difference between a certain place and sea level in the picture; the maximum altitude difference indicates the difference between the highest altitude element in the picture and the lowest altitude (which can be negative); the picture type, for example According to the storage format from 1 bit to 24 bits, it is a compressed format, which takes up less disk space and has the advantages of compression and full color.
  • the offset of the picture indicates the deviation of the picture from the actual geographical position in longitude or latitude. The amount of shifting; the precision of the image, representing the length and width of the actual geographic location of the pixel representation of the image, and so on.
  • the description information of pictures and pictures in the raster image data can be classified into three types of data: basic map data, height data, and erected flag data.
  • the basic map data is defined as: lane, lane middle line, lane edge, road boundary, pavement sign, signal light, sidewalk, road surrounding object, etc.; height data, indicating height parameter of steep slope, three-dimensional intersection and parallel road with height difference
  • the erected sign data indicates the sign above the road and the signs on both sides of the road.
  • each layer of roads may be separately stored in one picture, and the height data in the picture describes information. It can exist in one picture alone or in combination with the corresponding location road basic data in one picture.
  • the erected flag data may be stored in one picture alone or in combination with the road basic data described above.
  • the element when the element is a erected mark, in order to quickly determine whether there is a erected sign in the periphery, it may be within the picture within the range of the erected mark, for example, the cocked sign is closest.
  • Several lanes are marked with a sign indicating that there is a erected sign nearby.
  • several associated identification points may be set according to the position point of the erected sign on the ground; here, it should be noted that the position of the erected mark on the ground may include two situations, one For the erected sign standing on the ground, the position point on the ground is the position where the erected sign is actually erected, and the other is the position on the ground for the erected sign suspended in the air. , that is, the vertical projection point of the erected sign on the ground.
  • the sign erected in FIG. 2 is, for example, a road warning sign of "pay attention to children".
  • the projection point of the position on the road surface on the center line of the nearby lane is used as a marker point, indicating that there is a erected sign of "keep a child” near the lane, and it is necessary to pay attention to whether or not a child passes when driving. That is to say, in the picture, not only the pixels of the position point of the vertical sign itself on the ground but also the pixels of the projection point of the lane center line within the set range near the position are included, and these pixels are also identified. The identification point for the erect flag. Moreover, the pixels of the projection points are associated with the pixels of the position markers on the ground, so that when the navigation device or the autopilot reads the picture, it can be timely and accurately regardless of the lane. Know the information about the upright sign.
  • the erected flag data may be stored in one picture alone or in combination with the above basic data.
  • the top of the picture of the raster image data represents a preset direction, for example, the preset direction is a north direction, in order to improve the efficiency of map merging, the query of the map data system is facilitated, and the map data system is In the picture, each picture is stored in the same geographic direction.
  • one or more pictures and their description information are stored in the map data system according to the same geographic location; the one or more pictures may be stored in an overlapping manner. For example, multiple pictures of roads of different heights in a multi-storey viaduct of the same address can be stored in the above manner for quick reading and identification.
  • different elements may be stored in different pictures, for example, the basic data and the height data may be stored in one picture, or the basic map data and the erected flag data may be stored in one picture.
  • the basic map data, the height data, and the erected flag data may also be stored in the same picture, which is not limited by the embodiment of the present invention.
  • Picture 1 in Table 2 above shows basic map data (road boundary lines, lanes, etc.), and picture 2 shows height data.
  • the description information may include all of the data in Table 2 above.
  • Picture 1 in Table 3 above shows that the base map data and the height data are combined into one picture, and similarly, the description information may include all the data in Table 3 above.
  • the map data system includes at least one R-tree structure, the R-tree structure includes at least one data block of raster image data; and the data block includes description information of at least one picture and picture within a set geographic range. .
  • the map data system may include one or more R-tree structures that support spatial query and fast read, and an R-tree structure may include one or more data blocks.
  • the R-tree structure can improve the efficiency of query and read.
  • the map data system can also be stored in other data structure types other than the tree structure; for example, a set, a linear structure, a graph structure, and the like, which is not limited in this embodiment.
  • the raster image data may be stored as a plurality of data blocks, each data block representing a part or all of a map within a certain latitude and longitude range; the data block includes at least one picture and description information of each picture, each The size of the latitude and longitude range of the data block may be different.
  • the above description information may be stored by using a picture, or may be stored in other manners, which is convenient for the automatic driving computer to recognize and read, which is not limited in the embodiment of the present invention.
  • the line elements in FIG. 1B are expressed by using a plurality of pixel widths, and the map data system provided in this embodiment is actually stored.
  • Raster image data can be stored with a single pixel width, which further reduces disk space while ensuring accurate information.
  • the embodiment of the present invention further provides a method for generating a map data system, as shown in FIG. 3, including:
  • S301 Convert the collected map data into raster image data;
  • the raster image data includes: description information of at least one image and a picture; and the description information includes: at least one element and element attribute attributes of the image included in the image;
  • the color values or gray levels of the pixels characterize the features and feature attributes;
  • step S301 when specifically implemented, referring to FIG. 4, may include the following steps:
  • the collected map data may include, for example, trajectory data, camera recording data, and data collected by the laser radar cloud, and the like, and is not limited to any one of the collection sources of the map data.
  • the trajectory data may be It is a Global Positioning System (GPS) trajectory data; it can convert GPS trajectory data, camera recording data and data collected by laser radar cloud into raster image data by a preset method.
  • GPS Global Positioning System
  • the preset manner may be an internal point spread algorithm, a complex integral algorithm, a scan algorithm, and the like in the prior art, which is not limited in the embodiment of the present invention.
  • the converted raster image data, processed, image recognized, etc., together with descriptive information, can be used by the navigation system or can be read by the autopilot computer.
  • FIG. 6 is an example of a process for generating a map data system.
  • the collection of the map data block is first performed, then the processing of the data block is performed, and then the storage of the data block is performed, and the storage of the data block is included.
  • the basic data storage includes lane storage, lane middle line storage, lane edge storage, road boundary storage, road sign storage, signal storage, sidewalk storage and
  • the R-TREE data structure is processed, that is, the generation process of the entire map data system is completed, which facilitates reading and querying of various intelligent devices such as computers and automobile main control systems.
  • an embodiment of the present invention further provides a method for using a map data system, including the following steps:
  • the above map data system can be widely applied to various navigation systems and vehicle automatic driving systems.
  • an embodiment of the present invention provides a storage medium, where the map data system is stored.
  • the embodiment of the present invention further provides a storage medium, where computer instructions are stored, and when the computer instructions are executed by the processor, the method for using the map data system provided by the foregoing embodiment is implemented.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can 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, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device. Having a series of operational steps performed on a computer or other programmable device to produce computer-implemented processing such that instructions executed on a computer or other programmable device are provided for implementing one or more processes and/or block diagrams in the flowchart. The steps of a function specified in a box or multiple boxes.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Processing Or Creating Images (AREA)
  • Navigation (AREA)
  • Instructional Devices (AREA)

Abstract

L'invention concerne un système de données de carte, un procédé de production et d'utilisation de celui-ci, et une application de celui-ci, le système de données de carte comprenant : des données d'image matricielle, les données d'image matricielle comprenant au moins une image et des informations de description de l'image, les informations de description comprenant au moins un élément présent dans l'image et un attribut d'élément de l'élément ; dans l'image, l'élément et un attribut d'élément sont caractérisés grâce à une valeur de couleur ou une échelle de gris d'un pixel. Le système de données de carte peut effectuer une navigation précise et une conduite automatique ; les données d'image matricielle ont également les avantages d'un traitement facile, d'une faible corrélation topologique entre des images, d'une segmentation de données et d'une mise à jour locale faciles, et de prendre en charge un calcul parallèle par GPU lorsque la quantité de données est particulièrement grande, ce qui améliore la sécurité de conduite et réduit la difficulté et les coûts de développement d'autres technologies telles que la reconnaissance d'image, les capteurs, la commande centrale et d'autres technologies similaires.
PCT/CN2017/110702 2016-12-22 2017-11-13 Système de données de carte, procédé de production et d'utilisation de celui-ci, et application de celui-ci Ceased WO2018113451A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN201611196862.1A CN108225343A (zh) 2016-12-22 2016-12-22 一种地图信息系统、生成和使用方法及其应用
CN201611196218.4A CN108225342A (zh) 2016-12-22 2016-12-22 一种地图数据系统、生成和使用方法及其应用
CN201611196862.1 2016-12-22
CN201611197027.XA CN108225344A (zh) 2016-12-22 2016-12-22 一种地图系统、生成和使用方法及其应用
CN201611197027.X 2016-12-22
CN201611196218.4 2016-12-22

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CN109544443A (zh) * 2018-11-30 2019-03-29 北京小马智行科技有限公司 一种路线图生成方法及装置
CN109597862A (zh) * 2018-10-31 2019-04-09 百度在线网络技术（北京）有限公司 基于拼图式的地图生成方法、装置及计算机可读存储介质
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CN114509085A (zh) * 2022-02-10 2022-05-17 中国电子科技集团公司第五十四研究所 一种结合栅格和拓扑地图的快速路径搜索方法
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