The invention provides a high-precision map
data structure, ahigh-precision map data acquiringand
processing system and a high-precision map data acquiringand processingmethod. The high-precision map
data structure adopts a layering structure and comprises four
layers of structures in total, wherein all
layers of data are inter-related, i.e., the first layer is a road network; the second layer is a lane network and is related to roads of the first layer; the third layer is lane line information and simultaneously is related to roads of the second layer; and the fourth layer is special
information data. The
system comprises a panoramic image shooting and
processing module, a GPS
processing module, an inertial navigation module, a
rotary encoder and a geographicinformation processing module. According to the invention, a panoramic camera is used for shooting panoramic images of the roads, simultaneously, GPS
original data, inertial navigation device data,
rotary encoder data are acquired, different perspectives of projection images of single panoramic image, corresponding GPS and vehicle course angle information are obtained by processing the data, and then geographicinformation data of roads is labeled according to the defined
data structure, so that a high-precision map is obtained.