CN112484739B - Map updating method, device, equipment and storage medium - Google Patents
Map updating method, device, equipment and storage medium Download PDFInfo
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- CN112484739B CN112484739B CN202011339962.1A CN202011339962A CN112484739B CN 112484739 B CN112484739 B CN 112484739B CN 202011339962 A CN202011339962 A CN 202011339962A CN 112484739 B CN112484739 B CN 112484739B
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- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
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Abstract
The embodiment of the invention discloses a map updating method, a map updating device, map updating equipment and a storage medium. Comprising the following steps: determining the changed element category in the target area; selecting acquisition equipment according to the element category; determining the position information of the element according to the information acquired by the acquisition equipment, and acquiring the related information of the element; and updating the map according to the position information and the related information. According to the map updating method provided by the embodiment of the invention, the information of the changed elements is acquired according to the determined acquisition equipment, so that the update of the map is realized, the data acquisition of the whole area is not needed, the map updating efficiency can be improved, and the map updating cost can be saved.
Description
Technical Field
The embodiment of the invention relates to the technical field of data processing, in particular to a map updating method, a map updating device, map updating equipment and a storage medium.
Background
High-precision maps are often modified in small areas due to road repair changes, thus requiring high-precision element properties to be changed. For example, the ground is re-scribed, and a traffic light camera is newly added. The existing high-precision map updating scheme needs to use a data acquisition vehicle and various sensors, and relates to the problems of vehicle operation scheduling and transportation and travel of field personnel. If the data is acquired by using the data acquisition vehicle due to the small-range change, the transportation cost and the time consumption are brought by the transportation acquisition vehicle, the plan scheduling of the operation vehicle is disturbed, and the large-scale expense is brought.
Disclosure of Invention
The embodiment of the invention provides a map updating method, a device, equipment and a storage medium, which are used for realizing the updating of a high-precision map and reducing the cost of map updating.
In a first aspect, an embodiment of the present invention provides a map updating method, including:
determining the changed element category in the target area;
selecting acquisition equipment according to the element category;
determining the position information of the element according to the information acquired by the acquisition equipment, and acquiring the related information of the element;
and updating the map according to the position information and the related information.
Further, the element category comprises traffic lights, ground area identifications and signboards; the ground area identifier comprises a sidewalk, a parking space and a forbidden area; selecting an acquisition device according to the element category, comprising:
if the element category is a traffic light, the selected acquisition equipment is a geodesic instrument and a range finder;
and if the element category is a ground area mark or a signboard, the selected acquisition equipment is a geodesic instrument.
Further, if the element category is a traffic light, determining the position information of the element according to the information acquired by the acquisition device includes:
acquiring first position information of a lamp post starting point acquired by the geodetic instrument and second position information of a lamp post end point projected to the ground; the starting point of the lamp post is the intersection point of the lamp post and the ground;
acquiring a first distance between a lamp pole starting point and the inner side of a lamp and a second distance between the lamp pole starting point and the outer side of the lamp, wherein the first distance is acquired by the range finder;
acquiring the height of a lamp post acquired by the range finder;
and determining the position information of the traffic light according to the first position information, the second position information, the first distance, the second distance and the height.
Further, determining the position information of the traffic light according to the first position information, the second position information, the first distance, the second distance and the altitude includes:
calculating the distance between the midpoint of the traffic light and the roof of the pole according to the first distance, the second distance and the height;
and determining the position information of the traffic light according to the distance between the midpoint of the traffic light and the rod top, the first position information and the second position information.
Further, if the element category is a ground area identifier, determining the location information of the element according to the information collected by the collecting device includes:
and acquiring the position information of each vertex of the polygon corresponding to the ground area acquired by the geodetic instrument, and determining the position information as the position information of the element.
Further, if the element category is a signboard, determining the position information of the element according to the information acquired by the acquisition device includes:
and acquiring the position information of the signboard acquired by the geodetic instrument.
Further, if the element type is a traffic light, the related information comprises the traffic light type and lane information corresponding to the traffic light;
if the element category is the signboard, the related information is the identification content of the signboard.
In a second aspect, an embodiment of the present invention further provides a map updating apparatus, including:
the element category determining module is used for determining the changed element category in the target area;
the acquisition equipment selection module is used for selecting acquisition equipment according to the element category;
the position information determining module is used for determining the position information of the element according to the information acquired by the acquisition equipment and acquiring the related information of the element;
and the map updating module is used for updating the map according to the position information and the related information.
In a third aspect, an embodiment of the present invention further provides a computer apparatus, the apparatus including: comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the map updating method according to the embodiments of the present invention when executing the program.
In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processing device, implements a map updating method according to embodiments of the present invention.
The embodiment of the invention discloses a map updating method, a map updating device, map updating equipment and a storage medium. Determining the changed element category in the target area; selecting acquisition equipment according to element categories; determining the position information of the element according to the information acquired by the acquisition equipment, and acquiring the related information of the element; and updating the map according to the position information and the related information. According to the map updating method provided by the embodiment of the invention, the information of the changed elements is acquired according to the determined acquisition equipment, so that the update of the map is realized, the data acquisition of the whole area is not needed, the map updating efficiency can be improved, and the map updating cost can be saved.
Drawings
Fig. 1 is a flowchart of a map updating method according to a first embodiment of the present invention;
FIG. 2a is an exemplary diagram of determining traffic light location information in accordance with a first embodiment of the present invention;
FIG. 2b is an exemplary diagram of determining traffic light location information in accordance with a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a map updating apparatus according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in a third embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a map updating method according to an embodiment of the present invention, where the method may be performed by a map updating device, and the method specifically includes the following steps:
step 110, determining the changed element category in the target area.
The element category can comprise traffic lights, ground area identifications and signboards; the floor area identification may include a sidewalk, a parking space, and a no-parking area. Changes may be understood as additions or removals, in this embodiment, updates are made primarily for added elements.
Step 120, selecting an acquisition device according to the element category.
Specifically, if the element type is a traffic light, the selected acquisition equipment is a geodesic instrument and a range finder; if the element category is a ground area sign or a signboard, the selected acquisition equipment is a geodesic instrument. The geodetic instrument is used for measuring the position information of each point on the ground, and the distance measuring instrument is used for measuring the distance between two objects.
And 130, determining the position information of the element for the information acquired by the acquisition equipment, and acquiring the related information of the element.
The position information is the position of the element on the ground if the element is positioned on the ground, and the position information is the position and the height of the projection of the element on the ground if the element is in the air.
Specifically, when the element category is traffic light, the process of determining the position information of the element according to the information collected by the collecting device may be: acquiring first position information of a lamp post starting point acquired by a geodesic instrument and second position information of a lamp post end point projected to the ground; acquiring a first distance between a lamp pole starting point and the inner side of a lamp and a second distance between the lamp pole starting point and the outer side of the lamp, wherein the first distance is acquired by a range finder; acquiring the height of a lamp post collected by a range finder; and determining the position information of the traffic light according to the first position information, the second position information, the first distance, the second distance and the height.
Wherein the starting point of the lamp post is the intersection point of the lamp post and the ground. Fig. 2a is an exemplary diagram for determining traffic light position information in the present embodiment. As shown in fig. 2a, the a point is the lamp pole starting point, the measured coordinates are (x 1, y 1), the B point is the point where the lamp pole end point projects to the ground, and the measured coordinates are (x 2, y 2). In this embodiment, if the projection of the lamp post end point on the ground is located at the center of the road, for measurement safety, the position information of the intersection point of the extension line of the connection line between the lamp post start point and the end point projection point and the lane edge or the sidewalk may be measured as the second position information. La is the second distance between the starting point of the lamp post and the outer side of the lamp, lb is the first distance between the starting point of the lamp post and the outer side of the lamp, and h is the height of the lamp post.
Specifically, the manner of determining the position information of the traffic light according to the first position information, the second position information, the first distance, the second distance and the height may be: calculating the distance between the midpoint of the traffic light and the rod top according to the first distance, the second distance and the height; and determining the position information of the traffic light according to the distance between the midpoint of the traffic light and the rod top, the first position information and the second position information.
In this embodiment, because the included angle between the cross bar and the vertical lamp post is a right angle, the distance a between the outer side of the lamp and the top of the post and the distance b between the inner side of the lamp and the top of the post can be obtained according to the Pythagorean theorem. The distance between the midpoint of the traffic light and the roof of the pole is (b + a)/2. In this embodiment, in order to calculate the position information of the midpoint of the traffic light, the cross bar may be projected onto the ground for calculation, where the projection points of the point a, the point B and the midpoint of the traffic light are on a straight line, and the projection points of the midpoint of the traffic light are on a circle with the point a as the center, (b+a)/2 as the radius, fig. 2B is an example diagram for determining the position information of the traffic light, as shown in fig. 2B, tan α= (y 2-y 1)/(x 2-x 1), and α= arctan (y 2-y 1)/(x 2-x 1). Assuming that the coordinates of the central projection point of the traffic light are (x, y), sin α=2y/(b+a), y=sin α (b+a)/2; cosα=2x/(b+a), then x=cosα (b+a)/2. And combining the height of the lamp post to obtain the position information of the traffic light.
Optionally, if the element type is a ground area identifier, the manner of determining the location information of the element according to the information collected by the collecting device may be: and acquiring the position information of each vertex of the polygon corresponding to the ground area acquired by the geodetic instrument, and determining the position information as the position information of the element.
In this embodiment, the crosswalk is generally rectangular, or other regular polygonal shape. The parking spaces are mostly rectangular or diamond-shaped.
Optionally, if the element category is a signboard, the manner of determining the position information of the element according to the information collected by the collecting device may be: and acquiring the position information of the signboard acquired by the geodetic instrument.
In this embodiment, if the element type is a red-green light, the related information includes a traffic light type and lane information corresponding to the traffic light. If the element category is the signboard, the related information is the identification content of the signboard.
The traffic light type comprises a transverse third or a longitudinal third, and the lane information comprises a left lane, a right lane and a straight lane. The traffic lights are photographed by common mobile phones or manually described, and the lane information corresponding to the traffic lights is described by on-site mapping personnel words.
The related information of the signboard can be obtained through photographing or text description by an operator.
And 140, updating the map according to the position information and the related information.
Specifically, after the original position information and the related information are changed, the map is updated according to the position information and the related information.
According to the technical scheme of the embodiment, the changed element category in the target area is determined; selecting acquisition equipment according to element categories; determining the position information of the element according to the information acquired by the acquisition equipment, and acquiring the related information of the element; and updating the map according to the position information and the related information. According to the map updating method provided by the embodiment of the invention, the information of the changed elements is acquired according to the determined acquisition equipment, so that the update of the map is realized, the data acquisition of the whole area is not needed, the map updating efficiency can be improved, and the map updating cost can be saved.
Example two
Fig. 3 is a schematic structural diagram of a map updating apparatus according to a second embodiment of the present invention. As shown in fig. 3, the apparatus includes:
an element category determination module 210, configured to determine an element category of the change in the target area;
an acquisition device selection module 220, configured to select an acquisition device according to an element category;
the position information determining module 230 is configured to determine position information of an element according to information acquired by the acquisition device, and acquire related information of the element;
the map updating module 240 is configured to update the map according to the location information and the related information.
Optionally, the element category comprises traffic lights, ground area identifications and signboards; the ground area identifier comprises a sidewalk, a parking space and a forbidden area; the acquisition device selection module 220 is further configured to:
if the element category is a traffic light, the selected acquisition equipment is a geodesic instrument and a range finder;
if the element category is a ground area sign or a signboard, the selected acquisition equipment is a geodesic instrument.
Optionally, if the element category is traffic light, the location information determining module 230 is further configured to:
acquiring first position information of a lamp post starting point acquired by a geodesic instrument and second position information of a lamp post end point projected to the ground; the starting point of the lamp post is the intersection point of the lamp post and the ground;
acquiring a first distance between a lamp pole starting point and the inner side of a lamp and a second distance between the lamp pole starting point and the outer side of the lamp, wherein the first distance is acquired by a range finder;
acquiring the height of a lamp post collected by a range finder;
and determining the position information of the traffic light according to the first position information, the second position information, the first distance, the second distance and the height.
Optionally, the location information determining module 230 is further configured to:
calculating the distance between the midpoint of the traffic light and the rod top according to the first distance, the second distance and the height;
and determining the position information of the traffic light according to the distance between the midpoint of the traffic light and the rod top, the first position information and the second position information.
Optionally, if the element category is the ground area identifier, the location information determining module 230 is further configured to:
and acquiring the position information of each vertex of the polygon corresponding to the ground area acquired by the geodetic instrument, and determining the position information as the position information of the element.
Optionally, if the element category is a signboard, the location information determining module 230 is further configured to:
and acquiring the position information of the signboard acquired by the geodetic instrument.
Optionally, if the element type is a red-green light, the related information includes a traffic light type and lane information corresponding to the traffic light;
if the element category is the signboard, the related information is the identification content of the signboard.
The device can execute the method provided by all the embodiments of the invention, and has the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in this embodiment can be found in the methods provided in all the foregoing embodiments of the invention.
Example III
Fig. 4 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. FIG. 4 illustrates a block diagram of a computer device 312 suitable for use in implementing embodiments of the present invention. The computer device 312 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. Device 312 is a typical map update function computing device.
As shown in FIG. 4, computer device 312 is in the form of a general purpose computing device. Components of computer device 312 may include, but are not limited to: one or more processors 316, a storage device 328, and a bus 318 that connects the different system components (including the storage device 328 and the processor 316).
The storage 328 may include computer system-readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 330 and/or cache memory 332. The computer device 312 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 334 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in fig. 4, a disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from and writing to a removable nonvolatile optical disk (e.g., a Compact Disc-Read Only Memory (CD-ROM), digital versatile Disc (Digital Video Disc-Read Only Memory, DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 318 through one or more data medium interfaces. Storage 328 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.
The computer device 312 may also communicate with one or more external devices 314 (e.g., keyboard, pointing device, camera, display 324, etc.), one or more devices that enable a user to interact with the computer device 312, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 312 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 322. Moreover, the computer device 312 may also communicate with one or more networks such as a local area network (Local Area Network, LAN), a wide area network Wide Area Network, a WAN) and/or a public network such as the internet via the network adapter 320. As shown, network adapter 320 communicates with other modules of computer device 312 via bus 318. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with computer device 312, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk array (Redundant Arrays of Independent Disks, RAID) systems, tape drives, data backup storage systems, and the like.
The processor 316 executes various functional applications and data processing by running programs stored in the storage 328, for example, to implement the map updating method provided by the above-described embodiment of the present invention.
Example IV
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processing device, implements a gaze point mapping method as in the embodiment of the present invention. The computer readable medium of the present invention described above may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining the changed element category in the target area; selecting acquisition equipment according to the element category; determining the position information of the element according to the information acquired by the acquisition equipment, and acquiring the related information of the element; and updating the map according to the position information and the related information.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A map updating method, characterized by comprising:
determining the changed element category in the target area;
selecting acquisition equipment according to the element category;
determining the position information of the element according to the information acquired by the acquisition equipment, and acquiring the related information of the element;
updating the map according to the position information and the related information;
the element categories comprise traffic lights, ground area identifications and identification plates;
if the element category is a traffic light, the selected acquisition equipment is a geodesic instrument and a range finder;
if the element category is a traffic light, determining the position information of the element according to the information acquired by the acquisition equipment, including:
acquiring first position information of a lamp post starting point acquired by the geodetic instrument and second position information of a lamp post end point projected to the ground; the starting point of the lamp post is the intersection point of the lamp post and the ground;
acquiring a first distance between a lamp pole starting point and the inner side of a lamp and a second distance between the lamp pole starting point and the outer side of the lamp, wherein the first distance is acquired by the range finder;
acquiring the height of a lamp post acquired by the range finder;
and determining the position information of the traffic light according to the first position information, the second position information, the first distance, the second distance and the height.
2. The method of claim 1, wherein the ground area identification comprises a sidewalk, a parking space, and a no-stop area; selecting an acquisition device according to the element category, comprising:
and if the element category is a ground area mark or a signboard, the selected acquisition equipment is a geodesic instrument.
3. The method of claim 1, wherein determining traffic light location information based on the first location information, the second location information, the first distance, the second distance, and the altitude comprises:
calculating the distance between the midpoint of the traffic light and the roof of the pole according to the first distance, the second distance and the height;
and determining the position information of the traffic light according to the distance between the midpoint of the traffic light and the rod top, the first position information and the second position information.
4. The method of claim 1, wherein if the element category is a ground area identifier, determining location information of the element according to information collected by the collection device comprises:
and acquiring the position information of each vertex of the polygon corresponding to the ground area acquired by the geodetic instrument, and determining the position information as the position information of the element.
5. The method of claim 1, wherein if the element category is a signboard, determining the location information of the element according to the information collected by the collecting device includes:
and acquiring the position information of the signboard acquired by the geodetic instrument.
6. The method of claim 1, wherein if the element category is red and green, the related information includes traffic light category and lane information corresponding to the traffic light;
if the element category is the signboard, the related information is the identification content of the signboard.
7. A map updating apparatus, characterized by comprising:
the element category determining module is used for determining the changed element category in the target area;
the acquisition equipment selection module is used for selecting acquisition equipment according to the element category;
the position information determining module is used for determining the position information of the element according to the information acquired by the acquisition equipment and acquiring the related information of the element;
the map updating module is used for updating the map according to the position information and the related information;
the element category comprises traffic lights, ground area identifications and signboards; the ground area identifier comprises a sidewalk, a parking space and a forbidden area; the acquisition device selection module is further used for:
if the element category is a traffic light, the selected acquisition equipment is a geodesic instrument and a range finder;
if the element category is traffic light, the position information determining module is further configured to:
acquiring first position information of a lamp post starting point acquired by a geodesic instrument and second position information of a lamp post end point projected to the ground; the starting point of the lamp post is the intersection point of the lamp post and the ground;
acquiring a first distance between a lamp pole starting point and the inner side of a lamp and a second distance between the lamp pole starting point and the outer side of the lamp, wherein the first distance is acquired by a range finder;
acquiring the height of a lamp post acquired by the range finder;
and determining the position information of the traffic light according to the first position information, the second position information, the first distance, the second distance and the height.
8. A computer device, the device comprising: comprising a memory, a processor and a computer program stored on the memory and executable on the processor, said processor implementing the map updating method according to any of claims 1-6 when said program is executed.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processing device, implements the map updating method as claimed in any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011339962.1A CN112484739B (en) | 2020-11-25 | 2020-11-25 | Map updating method, device, equipment and storage medium |
Applications Claiming Priority (1)
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