CN114353781A - Map updating method, map updating device, electronic device and storage medium - Google Patents
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Abstract
The embodiment of the invention provides a map updating method and device, electronic equipment and a storage medium; the map updating method comprises the following steps: receiving vector data and original sensing data sent by a vehicle-mounted terminal; determining a target area in the map error layer according to the vector data; and updating the target area according to the vector data and the original perception data to obtain an updated layer containing the updated target area. According to the embodiment of the invention, the updated map can be generated quickly, the updating frequency of the map is improved, the data in the map is closer to the actual road condition, the occurrence of dangerous conditions and automatic driving degradation can be avoided when the vehicle uses the map for automatic driving, and the experience of a user is improved.
Description
Technical Field
The present invention relates to the field of high-precision technologies, and in particular, to a map updating method, a map updating apparatus, an electronic device, and a storage medium.
Background
The existing high-precision map updating scheme still depends on a map manufacturer to update a traditional high-precision acquisition vehicle in a manual editing mode after data acquisition, the acquisition cost is high, the production period is long, only seasonal release can be achieved, and the latest version is often subjected to a data overdue phenomenon due to the fact that the process of the production period is too long, so that the data is released. The current intelligent driving assistance solution depending on a high-precision map has high requirements on the accuracy and the timeliness of the map. The map is not in accordance with the actual road, so that the user experience of intelligent auxiliary driving is greatly influenced, even the safety problem is caused, and the map updating frequency and temporary road maintenance failure check need to be accelerated.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a map updating method, a map updating apparatus, an electronic device, and a storage medium that overcome or at least partially solve the above problems.
The embodiment of the invention provides a map updating method, which is applied to a server, wherein map error layers are cached on the server, the server is connected with a plurality of vehicle-mounted terminals, and the map updating method comprises the following steps:
receiving vector data and original sensing data sent by the vehicle-mounted terminal;
determining a target area in the map error layer according to the vector data;
and updating the target area according to the vector data and the original perception data to obtain an updated layer containing the updated target area.
Optionally, after the step of receiving the vector data and the raw sensing data sent by the vehicle-mounted terminal, the method further includes:
and performing data cleaning on the vector data and the original perception data by adopting a cross voting confirmation mode.
Optionally, the updated map layer includes a road feature, and the method further includes:
and when the road characteristics meet preset issuing conditions, issuing the updated map layer to the vehicle-mounted terminal, wherein the vehicle-mounted terminal is used for updating the map according to the updated map layer.
Optionally, the vector data includes semantic information, and the step of determining the target area in the map error layer according to the vector data includes:
determining data matched with the semantic information in the map error layer, and generating local matching information, wherein the local matching information at least comprises one matching position;
searching the residual position corresponding to the matching position in a sliding iteration closest point mode;
and combining the matching position and the residual position to generate a target area.
Optionally, the step of updating the target region according to the vector data and the original sensing data to obtain an updated layer including the updated target region includes:
fusing the vector data and the original perception data in a nonlinear optimization mode to generate a road model for a target area;
and establishing a logical connection relation of the road model, and generating an updated map layer.
Optionally, the vehicle-mounted terminal is connected with a sensor; the raw sensing data is generated by the sensor, and the vector data is generated by performing three-dimensional reconstruction on the raw sensing data.
Optionally, the method further comprises:
generating driving behavior data according to the vector data and the original perception data;
and determining a driving path according to the driving behavior data on the updated map.
The embodiment of the invention also provides a map updating device, which is applied to a server, wherein map error layers are cached on the server, the server is connected with a plurality of vehicle-mounted terminals, and the map updating device comprises:
the receiving module is used for receiving the vector data and the original sensing data sent by the vehicle-mounted terminal;
the determining module is used for determining a target area in the map error layer according to the vector data;
and the updating module is used for updating the target area according to the vector data and the original perception data to obtain an updated layer containing the updated target area.
An embodiment of the present invention further provides an electronic device, which includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and when the computer program is executed by the processor, the steps of the map updating method described above are implemented.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the map updating method described above.
Embodiments of the invention can achieve at least one of the following advantages:
the method comprises the steps of receiving vector data and original sensing data sent by the vehicle-mounted terminal; the server directly obtains the original information and the vector data, various complex optimization algorithms can be carried out with sufficient calculation power to obtain a better result than a result obtained by fusing a map at the vehicle-mounted terminal, the situation that the required precision cannot be achieved after multiple errors are accumulated is avoided, and the transmission pressure can be reduced;
determining a target area in the map error layer according to the vector data; based on the guidance of the error map layer, refining a map updating mode, determining a target area needing to be updated, and updating the target area according to the vector data and the original perception data to obtain an updated map layer containing the updated target area;
the map updating method has the advantages that the map updating is rapidly generated, the map updating frequency is improved, data in the map are closer to the actual road condition, the vehicle can avoid dangerous conditions and automatic driving degradation when the map is used for automatic driving, and the experience of a user is improved.
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FIG. 1 is a flow chart of the steps of a map updating method of one embodiment of the present invention;
FIG. 2 is a flow chart of steps of another map updating method of one embodiment of the present invention;
fig. 3 is a block diagram of a map updating apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In the existing automatic driving technology, lane information is provided by depending on a high-precision map, and path planning is carried out on the lane information. The high-precision map is generated by drawing data collected by a map manufacturer from a vehicle to an actual road based on special high-precision collection. Therefore, the production cycle of the map is long, so that most map manufacturers release the map seasonally to update the map. However, the change of the road such as temporary lane maintenance is daily, so that when the vehicle passes through these road sections, because the data collected by the sensor is inconsistent with the data in the high-precision map, the control of the automatic driving may be mistaken, which may cause an accident to occur and threaten the life safety of the person, or the automatic driving may be degraded or interrupted, and the experience of the driver is not good depending on manual driving to pass through these areas.
Referring to fig. 1, a flowchart of steps of a map updating method according to an embodiment of the present invention is shown, where the method is applied to a server, where map error layers are cached on the server, and the server is connected to multiple vehicle-mounted terminals; the server and the plurality of vehicle-mounted terminals may be wirelessly connected, and the wirelessly connected network includes, but is not limited to, a mobile communication network, an NB-IoT (Narrow Band Internet of Things) network, a Long Range Radio (Long Range Radio) network, a digital Radio station, and the like. The vehicle-mounted terminal is a data processing unit on a mass production vehicle, and the mass production vehicle is a vehicle which is used conventionally and is not specially used for road data acquisition. The server is connected with a plurality of vehicle-mounted terminals and can simultaneously receive data sent by the plurality of vehicle-mounted terminals. For the number of the connected vehicle-mounted terminals, the proper connection number can be set under the regulation of the maximum connection number of the server; the embodiment of the present invention does not specifically limit the data connected to the in-vehicle terminal.
The map error layer records the area range needing to be repaired and the problem classification description provides policy guidance for repairing. The repaired area range can be marked and determined by detecting a place inconsistent with the map by the vehicle-mounted terminal in the driving process of the vehicle, or can be manually added by related personnel. The embodiment of the present invention is not particularly limited thereto.
The method may specifically comprise the steps of:
in the actual running process of the vehicle, the vehicle-mounted terminal takes data acquired by road perception of parts on the vehicle as original perception data, performs down-sampling processing on the original perception data to generate vector data and stores the vector data in a specified storage address. The original sensing data may be data acquired by sensing the road by all parts on the vehicle, or may also be data acquired by sensing the road by some parts, which is not limited in the embodiment of the present invention.
When the vehicle is parked and the vehicle-mounted terminal is connected with the service, the vehicle-mounted terminal can send vector data and original sensing data to the server; and the server receives the vector data and the original sensing data sent by the vehicle-mounted terminal.
It should be noted that the vector data and the original sensing data sent by the vehicle-mounted terminal are sent after the user agrees to ensure the validity of the data. The agreement mode can be determined based on one agreement authority, such as inquiring whether to agree to send the subsequent collected data of the vehicle before the first sending, and automatically sending the data collected each time after the agreement of the user. The agreed manner may also be a successive inquiry, at which time the current data is sent.
after receiving the vector data and the original sensing data, the server may start a map updating process, and first may determine a specific position of an actual road collected in the vehicle-mounted terminal according to the vector data, read a cached map error layer, and determine a target area in the map error layer, where the map error layer may be updated.
And 103, updating the target area according to the vector data and the original perception data to obtain an updated layer containing the updated target area.
And the server fuses the vector data and the original sensing data, determines a geometric model of a road to be replaced in the target area, updates the target area to obtain an updated map layer containing the updated target area, realizes the quick generation of a map updating part and is convenient for updating the map in time.
The method comprises the steps of receiving vector data and original sensing data sent by the vehicle-mounted terminal; the server directly obtains the original information and the vector data, various complex optimization algorithms can be carried out with sufficient calculation power to obtain a better result than a result obtained by fusing a map at the vehicle-mounted terminal, the situation that the required precision cannot be achieved after multiple errors are accumulated is avoided, and the transmission pressure can be reduced; determining a target area in the map error layer according to the vector data; based on the guidance of the error map layer, refining a map updating mode, determining a target area needing to be updated, and updating the target area according to the vector data and the original perception data to obtain an updated map layer containing the updated target area; the map updating method has the advantages that the map updating is rapidly generated, the map updating frequency is improved, data in the map are closer to the actual road condition, the vehicle can avoid dangerous conditions and automatic driving degradation when the map is used for automatic driving, and the experience of a user is improved.
Referring to fig. 2, a flowchart illustrating steps of another map updating method according to an embodiment of the present invention is shown, and is applied to a server, where a map error layer is cached on the server, and the server is connected to multiple vehicle-mounted terminals.
In practical application, the server may specifically be a cloud server connected to a vehicle-mounted terminal, the vehicle-mounted terminal is a vehicle-mounted terminal on a mass production vehicle, and the mass production vehicle is equipped with a sensor for road recognition, such as a vision sensor, a laser radar, and the like, and is also equipped with a locator for detecting a position of the mass production vehicle. The cloud server can receive crowdsourcing data sent by the plurality of vehicle-mounted terminals.
The cloud server caches map error layers, the map error layers can provide region ranges needing to be repaired and problem classification description to provide strategy guidance for repair, and different processing means can be carried out in the updating process according to problem classification.
The method specifically comprises the following steps:
the vehicle-mounted terminal performs vectorization processing according to road data sensed by a sensor on a vehicle in real time in the vehicle driving process to generate various vector data, and the vector data and original sensing data sensed by the sensor are stored in a local memory of the vehicle-mounted terminal; when the vehicle-mounted terminal confirms that the vehicle is in a parking charging state, vector data and original sensing data in a local memory are sent to the cloud server through a data transmission link established with the cloud server. After the transmission is finished, vector data and original sensing data in the local memory can be deleted in the local memory, so that the storage pressure of the local memory is reduced; the information may also be stored in a local memory, which is not further limited in the embodiment of the present invention.
Furthermore, as the number of sensors on the vehicle is large, and the information of part of the sensors belongs to redundant data in the map updating process, the vehicle-mounted terminal can only send part of the original sensing data so as to reduce the transmission pressure with the cloud server.
Specifically, the vehicle-mounted terminal is connected with a sensor on a vehicle; the sensor is a sensor capable of detecting the road environment around the vehicle; in an example of the present invention, the sensor includes a camera and a locator; the raw sensing data is generated by detecting the road environment around the vehicle through the sensor. If the sensor is a camera, acquiring data generated by lane lines and various road surface elements around the vehicle, namely the original sensing data; when the sensor is a locator, the positioning information of the vehicle on the road is the original sensing data. The vector data is generated by performing a three-dimensional Reconstruction (3D Reconstruction) on the raw perceptual data. For example, various vector data are generated after three-dimensional reconstruction is carried out according to lane lines and various road surface elements sensed by a camera in real time.
And the cloud server receives the vector data and the original sensing data sent by each vehicle-mounted terminal all the time so as to perform the subsequent map updating processing flow.
after the cloud server receives the vector data and the original sensing data, errors of the original sensing data may be distorted due to influences of hardware capability differences or actual operating environment differences in each vehicle-mounted terminal, and errors may exist in the vector data due to limitation of computing resources of the vehicle-mounted terminals, so that conflicts or large deviations exist between the vector data and the original sensing data received by the cloud server. The cloud service can perform data cleaning based on a cross voting confirmation mode under big data to acquire correct data and then enter a subsequent map updating process. The cross voting mode is to compare data of a plurality of vehicle-mounted terminals, and a party with a larger number is used as correct data.
For example, the cloud server receives vector data and original sensing data which are sent by the three vehicle-mounted terminals and obtained by detection aiming at the same road environment, and when the vector data of the first vehicle-mounted terminal and the second vehicle-mounted terminal are within a preset deviation range, the vector data of the first vehicle-mounted terminal and the second vehicle-mounted terminal can be determined to be correct data. When the vector data of the first vehicle-mounted terminal and the second vehicle-mounted terminal exceed a preset deviation range, namely one of the vector data of the first vehicle-mounted terminal and the second vehicle-mounted terminal is noise data, introducing the vector data of the third vehicle-mounted terminal, respectively determining the deviation ranges of the vector data of the third vehicle-mounted terminal and the vector data of the first vehicle-mounted terminal and the second vehicle-mounted terminal, and when the vector data of the first vehicle-mounted terminal and the third vehicle-mounted terminal are in the deviation ranges, determining that the vector data of the first vehicle-mounted terminal and the third vehicle-mounted terminal are correct data, and filtering the vector data of the second vehicle-mounted terminal.
the cloud server enters a map updating process, and can firstly use vector data sent by the vehicle-mounted terminal to be matched with a map error layer to determine an updated target area.
In an optional embodiment of the present invention, the vector data includes semantic information, and the step of determining the target area in the map error layer according to the vector data includes:
substep S2031, determining data matched with the semantic information in the map error layer, and generating local matching information, where the local matching information at least includes a matching position;
the vector data comprises semantic information, and actual road markers corresponding to the semantic information identification data, such as lane lines, speed limit signs and the like.
And comparing the semantic information with data in a map error layer to determine completely credible local matching information, wherein the local matching information at least comprises one matching position.
For example, if the semantic information is a left lane line of the left second lane, the semantic information is compared with the data in the map error layer one by one, and the left lane line of the left second lane in the map error layer is determined.
Substep S2032, searching the residual position corresponding to the matching position by a sliding iteration closest point mode;
then, based on the matched position, the corresponding remaining position is found in a forward or reverse direction by means of the sliding Iteration Closest Point (ICP). Further, the matching corresponding relation between the residual positions and the lane lines in the map error layer can be realized.
And a substep S2033 of combining the matching position and the remaining position to generate a target region.
And combining the areas where the matching positions and the residual positions are located to determine the target area which can be updated.
after the target area which can be updated is determined, vector data and original perception data can be adopted for fusion to generate a corresponding road model updating target area, and an updating map layer containing the updated target area is obtained.
In an optional embodiment of the present invention, the step of updating the target area according to the vector data and the original sensing data to obtain an updated layer including the updated target area includes:
substep S2041, fusing the vector data and the original perception data in a nonlinear optimization manner, and generating a road model for a target area;
in practical application, vector data and original perception data are fused in a nonlinear optimization mode to generate a road model of a road geometric part needing to be replaced in a target area, wherein the road model at least comprises one lane geometric data. The specific processing algorithm for the non-linear optimization may be selected by a person skilled in the art according to actual requirements, and the embodiment of the present invention is not limited in this respect.
And a substep S2042 of establishing a logical connection relation of the road model and generating an updated map layer.
The road model is established and is only an island-type geometric model, so that a logical connection relation is also established with the road model of the unnecessary replacement part, the road model generated at this time can be correctly spliced with other road models, and an updated map layer is generated, wherein the updated map layer comprises road characteristics.
And step 205, when the road characteristics meet a preset issuing condition, issuing the updated map layer to the vehicle-mounted terminal, wherein the vehicle-mounted terminal is used for updating the map according to the updated map layer.
After the updated layer is obtained, the cloud server can further judge the updated layer to determine whether the road characteristics meet preset issuing conditions. And issuing the updated map layer to the vehicle-mounted terminal when the road characteristics meet the preset issuing condition, and updating by the vehicle-mounted terminal according to the updated map layer and the related parts in the non-updated high-precision map so as to generate the updated high-precision map.
When the road characteristics do not meet the preset issuing conditions, the updated map layer may only have temporary road changes such as temporary maintenance state switching of part of roads, and therefore the updated map layer may not be issued to the vehicle-mounted terminal, so as to reduce the map updating frequency and reduce the verification cost.
The preset issuing condition may be a judgment condition related to timeliness, if the data of the updated map layer needs to be the latest information of the current road section, if the vector data and the original sensing data of the generated updated map layer have a large delay, the cloud server receives the data, and after the corresponding updated map layer is generated, and when an updated map layer updated in the same target area exists, the generated updated map layer is not issued. The preset issuing condition can also be a judgment condition about whether the road characteristics are related to the temporary state of the road, for example, if one road in the updated map layer is temporarily closed, the closing can be cancelled in a short time; therefore, the issuing condition can be set to be whether the temporary state of the road does not exist or not, and when the temporary state of the road does not exist, the updating layer is determined to be issued; when the road temporary state exists, the updated map layer is not issued, and the situation that the updated map layer needs to be issued repeatedly when the road temporary state is cancelled is avoided.
In an optional embodiment of the invention, the method further comprises:
step S1, generating driving behavior data according to the vector data and the original perception data;
in practical application, the cloud server can determine the lane and road where the vehicle runs in the running process of the vehicle according to the vector data and the original sensing data, and generate driving behavior data.
And step S2, determining a driving path according to the driving behavior data on the updated map.
Determining the driving preference of the user according to the driving behavior data of the user so as to learn the common driving mode of the user; when automatic driving is carried out on the updated map, the driving path of the automatic driving can be determined according to the driving behavior data, so that the automatic driving is more in line with the driving habits of users.
The embodiment of the invention receives the vector data and the original sensing data sent by the vehicle-mounted terminal; the server directly obtains the original information and the vector data, various complex optimization algorithms can be carried out with sufficient calculation power to obtain a better result than a result obtained by fusing a map at the vehicle-mounted terminal, the situation that the required precision cannot be achieved after errors are accumulated for many times is avoided, and the transmission pressure can also be reduced. And performing data cleaning on the vector data and the original perception data by adopting a cross voting confirmation mode, filtering noise data and improving the accuracy of map updating. Determining a target area in the map error layer according to the vector data; based on the guidance of the error map layer, refining a map updating mode, determining a target area needing to be updated, and updating the target area according to the vector data and the original perception data to obtain an updated map layer containing the updated target area; the map updating method has the advantages that the map updating is rapidly generated, the map updating frequency is improved, data in the map are closer to the actual road condition, the vehicle can avoid dangerous conditions and automatic driving degradation when the map is used for automatic driving, and the experience of a user is improved. And when the road characteristics meet the preset issuing conditions, the updated map layer is issued to the vehicle-mounted terminal, so that the map verification cost is reduced.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 3, a block diagram of a map updating apparatus according to an embodiment of the present invention is shown, where the apparatus is applied to a server, where map error layers are cached on the server, and the server is connected to a plurality of vehicle-mounted terminals;
the device may specifically include the following modules:
a receiving module 301, configured to receive vector data and original sensing data sent by the vehicle-mounted terminal;
a determining module 302, configured to determine a target area in the map error layer according to the vector data;
an updating module 303, configured to update the target area according to the vector data and the original sensing data, so as to obtain an updated layer including the updated target area.
In an optional embodiment of the invention, the apparatus further comprises:
and the data cleaning module is used for cleaning the vector data and the original sensing data in a cross voting confirmation mode.
In an optional embodiment of the present invention, the updated map layer includes a road characteristic, and the apparatus further includes:
and the issuing module is used for issuing the updated map layer to the vehicle-mounted terminal when the road characteristics meet preset issuing conditions, and the vehicle-mounted terminal is used for updating the map according to the updated map layer.
In an optional embodiment of the present invention, the vector data includes semantic information, and the determining module 302 includes:
the first matching submodule is used for determining data matched with the semantic information in the map error layer and generating local matching information, and the local matching information at least comprises a matching position;
the second matching submodule is used for searching the residual position corresponding to the matching position in a sliding iteration closest point mode;
and the combination module is used for combining the matching position and the residual position to generate a target area.
In an optional embodiment of the present invention, the update module 303 includes:
the fusion submodule is used for fusing the vector data and the original perception data in a nonlinear optimization mode to generate a road model for a target area;
and the generation submodule is used for establishing a logical connection relation of the road model and generating an updated map layer.
In an optional embodiment of the present invention, the vehicle-mounted terminal is connected to a sensor; the raw sensing data is generated by the sensor, and the vector data is generated by performing three-dimensional reconstruction on the raw sensing data.
In an optional embodiment of the invention, the apparatus further comprises:
the driving behavior determining module is used for generating driving behavior data according to the vector data and the original perception data;
and the driving path determining module is used for determining a driving path on the updated map according to the driving behavior data.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides an electronic device, including:
a processor and a storage medium storing a computer program executable by the processor, the computer program being executable by the processor to perform a method according to any one of the embodiments of the invention when the electronic device is run. The specific implementation manner and technical effects are similar to those of the method embodiment, and are not described herein again.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the method according to any one of the embodiments of the present invention. The specific implementation manner and technical effects are similar to those of the method embodiment, and are not described herein again.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may 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, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a map updating method and apparatus, an electronic device, and a storage medium, which are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the above examples are only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. The map updating method is applied to a server, map error layers are cached on the server, the server is connected with a plurality of vehicle-mounted terminals, and the map updating method comprises the following steps:
receiving vector data and original sensing data sent by the vehicle-mounted terminal;
determining a target area in the map error layer according to the vector data;
and updating the target area according to the vector data and the original perception data to obtain an updated layer containing the updated target area.
2. The method according to claim 1, wherein after the step of receiving the vector data and the raw perception data sent by the vehicle-mounted terminal, the method further comprises:
and performing data cleaning on the vector data and the original perception data by adopting a cross voting confirmation mode.
3. The method of claim 1, wherein the updated image layer includes a road feature, the method further comprising:
and when the road characteristics meet preset issuing conditions, issuing the updated map layer to the vehicle-mounted terminal, wherein the vehicle-mounted terminal is used for updating the map according to the updated map layer.
4. The method according to any one of claims 1 to 3, wherein the vector data includes semantic information, and the step of determining the target area in the map error layer according to the vector data includes:
determining data matched with the semantic information in the map error layer, and generating local matching information, wherein the local matching information at least comprises one matching position;
searching the residual position corresponding to the matching position in a sliding iteration closest point mode;
and combining the matching position and the residual position to generate a target area.
5. The method according to any one of claims 1 to 3, wherein the step of updating the target area according to the vector data and the raw sensing data to obtain an updated layer containing the updated target area comprises:
fusing the vector data and the original perception data in a nonlinear optimization mode to generate a road model for a target area;
and establishing a logical connection relation of the road model, and generating an updated map layer.
6. The method according to any one of claims 1 to 3, characterized in that the vehicle-mounted terminal is connected with a sensor; the raw sensing data is generated by the sensor, and the vector data is generated by performing three-dimensional reconstruction on the raw sensing data.
7. The method of claim 3, further comprising:
generating driving behavior data according to the vector data and the original perception data;
and determining a driving path according to the driving behavior data on the updated map.
8. A map updating device is applied to a server, map error layers are cached on the server, the server is connected with a plurality of vehicle-mounted terminals, and the map updating device comprises:
the receiving module is used for receiving the vector data and the original sensing data sent by the vehicle-mounted terminal;
the determining module is used for determining a target area in the map error layer according to the vector data;
and the updating module is used for updating the target area according to the vector data and the original perception data to obtain an updated layer containing the updated target area.
9. An electronic device, characterized in that the electronic device comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, which computer program, when executed by the processor, carries out the steps of the map updating method according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the map updating method according to any one of claims 1 to 7.
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