Query method and device for adjacent elements of map, intelligent vehicle and storage medium

• Main Authors: XU DINGNING, TANG JINGMAN, CHENG WEI, LE YI
• Format: Patent
• Language: Chinese; English
• Published: 30.06.2023
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides a map proximity element query method and device, an intelligent vehicle and a storage medium. The query method comprises the steps of obtaining a high-precision map of a region where a vehicle is located, dividing road data of the high-precision map into a plurality of region layers, and establishing a KD-tree according to a topological relation among the plurality of region layers; the current longitude and latitude of the vehicle are obtained, and m to-be-confirmed zone layers close to the current longitude and latitude in the KD-tree are retrieved and obtained according to the current longitude and latitude; when m is larger than 1, multiple historical longitudes and latitudes of the vehicle are obtained, a current area layer is screened and determined from the m to-be-confirmed area layers according to the multiple historical longitudes and latitudes, and the current area layer comprises n lane layers; and when n is greater than 1, screening and determining the current lane layer fr