CN115905247A - High-precision map updating method, system, medium, terminal and server - Google Patents
High-precision map updating method, system, medium, terminal and server Download PDFInfo
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Abstract
The invention provides a method, a system, a medium, a terminal and a server for updating a high-precision map; the method comprises the following steps: judging whether an updating data packet corresponding to the area to be updated in the high-precision map is acquired or not; when the update data packet is not acquired, acquiring map data information corresponding to the area to be updated so as to acquire the update data packet based on the map data information; when the update data packet is obtained, performing differential data fusion on the update data packet and the high-precision map to complete the update of the high-precision map; according to the method and the device, the updating data packet corresponding to the area to be updated on the high-precision map is obtained, so that differential data fusion is carried out between the updating data packet and the high-precision map, the high-precision map is updated, and the time for downloading the updating file is shortened, so that the updating efficiency of the high-precision map is accelerated, and the requirement of a terminal on the real-time performance of the high-precision map is better met.
Description
Technical Field
The invention belongs to the technical field of high-precision maps, and particularly relates to a method, a system, a medium, a terminal and a server for updating a high-precision map.
Background
Along with the rapid development of social economy, more and more automobiles enter the lives of people, and the automobiles bring convenience and rapidness to people and also bring increasingly outstanding traffic safety problems, so that auxiliary driving and automatic driving are gradually started, and the automobile is a great research direction nowadays; the high-precision map is one of core technologies in the technical field of automatic driving and is also a key technical node for automatic driving landing, the safety and the accuracy of automatic driving are directly influenced by the development of the high-precision map, and the automatic driving vehicle can be accurately positioned, assisted in environmental perception, lane-level path planning, vehicle control and other operations by using high-precision map data.
When a road is trimmed, in order to avoid that a user continues to use an old high-precision map for navigation (including route planning, positioning, retrieval and the like), the high-precision map needs to be updated so as to keep the high-precision map always up to date, and therefore accurate and reliable navigation guidance is provided for the user.
The existing high-precision map updating method mostly downloads a new map version, but cannot download only a part to be updated on the high-precision map, once a certain part on the high-precision map needs to be updated, the high-precision map of the whole updated version needs to be downloaded to replace the original high-precision map, and because the data volume of a complete high-precision map is large, the high-precision map of the updated version needs to be downloaded in a long time during updating, which causes the problem of low updating efficiency of the high-precision map.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a method, a system, a medium, a terminal and a server for updating a high-precision map, which are used to solve the problem of slow efficiency of updating the high-precision map.
Another object of the present invention is to provide a method, a system, a medium, a terminal and a server for updating a high-precision map, in which an update data packet corresponding to an area to be updated on the high-precision map is obtained, so as to perform differential data fusion between the update data packet and the high-precision map, thereby updating the high-precision map, shortening the time for downloading an update file, and accelerating the efficiency of updating the high-precision map.
The invention further aims to provide a method, a system, a medium, a terminal and a server for updating the high-precision map, which can update the high-precision map timely and quickly by actively initiating a map updating request, thereby effectively ensuring the freshness of the high-precision map and further improving the safety and reliability of auxiliary/automatic driving.
Still another object of the present invention is to provide a method, a system, a medium, a terminal and a server for updating a high-precision map, which can improve the high-precision data updating efficiency of the server, increase the efficiency of updating the high-precision map on the terminal (vehicle side), and better meet the real-time requirement of the terminal on the high-precision map.
In order to achieve the above and other related objects, in one aspect, the present invention provides a method for updating a high-precision map, in which a terminal stores a high-precision map; the method comprises the following steps: judging whether an updating data packet corresponding to the area to be updated in the high-precision map is acquired or not; when the update data packet is not acquired, acquiring map data information corresponding to the area to be updated so as to acquire the update data packet based on the map data information; and when the update data packet is acquired, performing differential data fusion on the update data packet and the high-precision map to complete the update of the high-precision map.
To achieve the above and other related objects, in another aspect, the present invention provides a storage medium having stored thereon a computer program that, when executed by a processor, implements the above-described high-precision map updating method.
To achieve the above and other related objects, in another aspect, the present invention provides a terminal including: a processor and a memory; the memory is used for storing a computer program; the processor is used for executing the computer program stored in the memory so as to enable the terminal to execute the high-precision map updating method.
To achieve the above and other related objects, in another aspect, the present invention provides a server, including: a processor and a memory; the memory is used for storing a computer program; the processor is used for executing the computer program stored in the memory so as to enable the server side to execute the high-precision map updating method.
To achieve the above and other related objects, in a further aspect, the present invention provides a high-precision map updating system, including: the terminal, the server and the acquisition equipment; the acquisition equipment is connected with the terminal and/or the server and is used for acquiring map data information corresponding to an area to be updated and sending the map data information to the terminal and/or the server.
Drawings
Fig. 1 is a diagram illustrating an application scenario architecture of the high-precision map updating method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating an embodiment of a method for updating a high-precision map applied to a terminal according to the present invention.
Fig. 3 is a flowchart illustrating an embodiment of determining whether to acquire an update data packet corresponding to an area to be updated in a high-precision map.
FIG. 4 is a flowchart illustrating an embodiment of obtaining an update package.
FIG. 5 is a flowchart illustrating obtaining an update package based on map data information according to another embodiment of the present invention.
FIG. 6 is a flowchart illustrating a method for calculating confidence level of map data information according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a terminal according to an embodiment of the invention.
Fig. 8 is a schematic structural diagram of an updating system of a high-precision map according to an embodiment of the invention.
Description of the reference symbols
11. Vehicle-mounted terminal
12. Server terminal
13. Vehicle-mounted camera
7. Terminal device
71. Processing unit
72. Memory device
721. Random access memory
722. Cache memory
723. Storage system
724. Program/utility tool
7241. Program module
73. Bus line
74. Input/output interface
8. External device
9. Display device
81. Terminal device
82. Server terminal
83. Collection equipment
S1 to S3
S11 to S12 steps
S21 to S22
S23 to S25
S231 to S233
Detailed Description
The following description of the embodiments of the present invention is provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
According to the updating method, the system, the medium, the terminal and the server side of the high-precision map, the updating data packet corresponding to the area to be updated on the high-precision map is obtained, so that differential data fusion is performed by using the updating data packet and the high-precision map, the high-precision map is updated, the time for downloading the updating file is shortened, and the updating efficiency of the high-precision map is accelerated; according to the invention, the high-precision map can be updated timely and quickly by actively initiating the map updating request, so that the freshness of the high-precision map is effectively ensured, and the safety and reliability of auxiliary/automatic driving are further improved; the method and the device improve the high-precision data updating efficiency of the server side, accelerate the high-precision map updating efficiency on the terminal (vehicle side), and better meet the requirement of the terminal on the real-time performance of the high-precision map.
As shown in fig. 1, in an embodiment, the method for updating a high-precision map of the present invention is applied to the vehicle-mounted terminal 11 in fig. 1, the vehicle-mounted terminal 11 stores the high-precision map, and in practical applications, the vehicle-mounted terminal 11 provides functions of navigation route, positioning, etc. for a user by using the high-precision map; specifically, the working principle of the high-precision map updating method is as follows:
firstly, the vehicle-mounted terminal 11 sends a map updating request to the server 12, and after the server 12 receives the map updating request, the server 12 searches whether an updating data packet corresponding to the map updating request is stored in the server; if the update data packet is stored on the server 12, the server 12 will send the update data packet to the vehicle-mounted terminal 11; on the contrary, if the update data packet is not stored in the server 12, the collection device collects the map data information corresponding to the map update request, and uploads the map data information to the server 12, so that the server 12 generates the update data packet corresponding to the map update request based on the map data information, and finally, the server 12 sends the update data packet to the vehicle-mounted terminal 11.
After the vehicle-mounted terminal 11 receives the update data packet corresponding to the map update request from the server 12, the vehicle-mounted terminal 11 performs differential data fusion on the update data packet and the high-precision map stored thereon, thereby implementing an update operation on the area to be updated on the high-precision map.
It should be noted that the above-mentioned acquisition device includes, but is not limited to, the vehicle-mounted camera 13; the map data information includes at least, but is not limited to: video image data, road track information (including time, longitude and latitude, vehicle azimuth angle, speed, vehicle inclination angle and other information).
In an embodiment, the method for updating a high-precision map of the present invention is applied to a terminal.
Specifically, a high-precision map is stored on the terminal, and the terminal provides a navigation positioning function for a user by using the high-precision map.
In one embodiment, the terminal is a vehicle-mounted terminal.
It should be noted that the Vehicle-mounted terminal is provided with a Vehicle-mounted Infotainment system, and the Vehicle-mounted Infotainment system (In-Vehicle Infotainment, abbreviated as IVI) is a Vehicle-mounted integrated information processing system formed by adopting a Vehicle-mounted special central processing unit and based on a Vehicle body bus system and internet services. IVI enables a range of applications including three-dimensional navigation, real-time traffic, IPTV, driver assistance, fault detection, vehicle information, body control, wireless communications, online-based entertainment functions, TSP services, etc. The vehicle is also provided with a camera, a microphone and the like (not shown) which are electrically connected with the vehicle-mounted terminal, and the specific installation number and the installation position can be set by the technical personnel in the field according to the requirements.
Further, the terminal is not limited to the vehicle-mounted terminal, and may be any terminal device as long as the terminal device can control the high-precision map updating method of the present invention to be executed, so as to realize the updating operation of the high-precision map, and for example, the terminal may be an intelligent terminal.
It should be noted that the intelligent terminal includes, but is not limited to, a smart phone, a tablet computer, a Personal Digital Assistant (PDA), and other terminal devices having a data processing function; generally, an intelligent terminal is a terminal device that has an independent operating system, can be used by a user to install programs provided by third-party service providers such as software and games, continuously expands the functions of a handheld device through the programs, and can realize wireless network access through a mobile communication network.
As shown in fig. 2, in an embodiment, the method for updating a high-precision map of the present invention includes the following steps:
s1, judging whether an updating data packet corresponding to an area to be updated in the high-precision map is acquired.
In an embodiment, the update data packet corresponding to the high-precision map is stored on a first server, and the step S1 is to determine whether the update data packet corresponding to the area to be updated in the high-precision map is stored on the first server; specifically, when the first server side stores the update data packet, the first server side sends the update data packet to a terminal, and at this time, the terminal obtains the update data packet; when the first server side does not store the update data packet, the first server side does not send the update data packet to the terminal, and at this time, the terminal does not acquire the update data packet.
As shown in fig. 3, in an embodiment, the determining whether to acquire an update data packet corresponding to an area to be updated in a high-precision map includes the following steps:
and step S11, receiving the identification information.
It should be noted that the identification information includes first identification information and second identification information; the first identification information is used for identifying that the terminal can acquire the update data packet; the second identification information is used for identifying that the terminal cannot acquire the update data packet.
It is further noted that the "first identification information" is identification information that is generated by the first server end when the first server end actually stores the update data packet, and at the same time, the first server end sends the first identification information and the update data packet to the terminal, so that the terminal knows that the data sent by the first server end is the update data packet after receiving and analyzing the first identification information successfully.
Similarly, the above-mentioned "second identification information" is identification information that is generated by the first server end when the first server end does not store the update data packet, and at the same time, the first server end will send the second identification information to the terminal, so that the terminal knows that the update data packet is not stored on the first server end after receiving and successfully analyzing the second identification information, so that the terminal knows that the data is not the required update data packet even if the first server end sends the data to the terminal.
It should be noted that, if the first server does not generate corresponding identification information to send to the terminal regardless of whether the first server stores the update data packet or not, the following situations exist: the terminal mistakenly performs differential data fusion on data which are not the update data packet (regardless of whether the update data packet is stored on the first server) and the high-precision map, and may cause an error or cause failure of updating the high-precision map, thereby reducing the updating efficiency of the high-precision map.
Further, when the first server side stores the update data packet, the first server side sends the update data packet and the first identification information to the terminal as a whole, so that when the first server side sends a plurality of data to the terminal at the same time, the terminal can quickly and accurately obtain the update data packet.
And S12, analyzing the identification information to judge whether the updating data packet is acquired or not according to an analysis result.
Specifically, after receiving the identification information sent by the first server in step S11, the terminal may analyze the identification information, and finally, according to an analysis result, it may be determined whether the terminal in step S1 acquires the update data packet.
It should be noted that, if the analysis result indicates that the identification information is the first identification information, it is considered that the update data packet is obtained; and if the analysis result indicates that the identification information is the second identification information, the update data packet is not obtained.
Further, the first server executes a judgment operation at preset time intervals, namely, judges whether the update data packet is stored on the first server (or the first server is always in a monitoring state, namely, the first server can sense the update data packet as long as the update data packet exists), so that when the first server determines that the update data packet is stored on the first server, the first server can send the update data packet to the terminal in time without depending on that the terminal needs to send a map update request to the first server first, and only after the first server receives the map update request, the update data packet is sent to the terminal, thereby improving the update efficiency of the high-precision map; however, this method may have the following problems:
when the first server side has a plurality of update data packets (namely, a plurality of areas to be updated exist on the high-precision map, that is, a plurality of areas to be updated exist at the same time at a certain moment, or a plurality of areas to be updated exist correspondingly at different moments), the first server side sends a plurality of update data packets to the terminal at the same time or within a period of time (whether only one update data packet or a plurality of update data packets are sent in one time, the first server side sends the update data packets to the terminal in a file package mode, and the terminal obtains a plurality of update data packets from an update file received at one time or receives corresponding update files at different moments and stores the update data packets at the same position on the terminal together), so that when the high-precision map is updated, the terminal can only update all update data packets included in all update files stored on the terminal at present, update all areas to be updated on the map, and the high-precision map cannot be selectively selected and updated.
In practical application, at a current moment, only one or a plurality of areas to be updated in the high-precision map may need to be updated, and other areas to be updated may not be updated at first due to no use at the current moment, and then are updated when the flow is sufficient or in an idle state, so that on one hand, when the flow is limited, the use of the flow can be saved; on the other hand, the updating time required by the current moment can be effectively shortened, the situation that the user uses the high-precision map is not influenced at the current moment is guaranteed, the user can use the high-precision map conveniently, and good use experience is brought to the user; however, since the above-mentioned update is passive update and lacks subjectivity, the function of shortening the update time required at the current time cannot be realized, and the purpose of saving traffic cannot be achieved.
In an embodiment, when the number of the areas to be updated is multiple, the update data packets corresponding to the multiple areas to be updated are separately stored, and the update data packet corresponding to each area to be updated is uniquely identified, so that the terminal can select a target update data packet from the update data packets corresponding to the multiple areas to be updated after acquiring the update data packets corresponding to the multiple areas to be updated, so as to update the target areas to be updated in the multiple areas to be updated.
It should be noted that, when the terminal actively selects the target update data packet, and the update data packets corresponding to a plurality of areas to be updated are stored in the terminal, the target update data packet is actively selected according to the update requirement at the current time, so that the areas to be updated are updated, and therefore, on the premise that the use requirement of the user on the high-precision map at the current time is effectively met, the time and the flow consumed by updating all the areas to be updated on the high-precision map are shortened, and good use experience is brought to the user.
In an embodiment, before determining whether an update data packet corresponding to an area to be updated in the high-precision map is acquired, the method for updating the high-precision map further includes the following steps: and sending a map updating request corresponding to the area to be updated to a first server side so that the first server side sends the updating data packet to the terminal when the updating data packet is stored on the first server side.
It should be noted that the map update request includes, but is not limited to, at least any one of the following: the position of the area to be updated in the high-precision map, the content corresponding to the area to be updated and an identification code (ID) corresponding to the area to be updated.
Specifically, before determining whether the terminal acquires the update data packet through step S1, the map update request is actively sent to the first server side through the terminal, so that the first server side does not send the update data packet corresponding to the map update request to the terminal when not receiving the map update request, and only when receiving the map update request, determines whether the update data packet corresponding to the map update request is stored in the first server side, and sends the update data packet to the terminal when the update data packet is stored in the first server side, so as to meet the update demand of the user for the high-precision map.
In an embodiment, the update data packets corresponding to different areas to be updated are stored separately on the first server side, and the update data packet corresponding to each area to be updated is uniquely identified on the first server side.
In an embodiment, the areas to be updated include at least one target area to be updated and at least one non-target area to be updated; sending a map updating request corresponding to the area to be updated to a first server side so that the first server side sends the updating data packet to the terminal when the updating data packet is stored on the first server side, wherein the map updating request comprises the following steps: at a target moment, sending a target map updating request corresponding to the target area to be updated to the first server end, so that the first server end sends a target updating data packet corresponding to the target map updating request to the terminal when the first server end stores the target updating data packet; and at a non-target moment, sending a non-target map updating request corresponding to the non-target area to be updated to the first server side, so that the first server side sends a non-target updating data packet corresponding to the non-target map updating request to the terminal when the non-target updating data packet is stored in the first server side.
It should be noted that the target to-be-updated area and the non-target to-be-updated area are divided according to a target time and a non-target time, and the division of the target time and the non-target time is divided according to a use requirement of the user for the high-precision map at the current time, if the current time is the time when the user needs to use the high-precision map, specifically, if the current time needs to use a certain area on the high-precision map, the current time is the target time if the area needs to be updated, otherwise, the current time is the non-target time.
When the current time is a target time, the area is a target area to be updated, the corresponding update data packet is a target update data packet, and the areas needing to be updated except the area are all used as non-target areas to be updated (the non-target areas to be updated may be updated as target areas to be updated subsequently).
Note that the non-target time includes the following two cases:
(1) At the present time, the user does not need to use the high-precision map.
(2) At the present moment, the user needs to use the high-precision map, but a certain area on the high-precision map is not required to be updated.
And when the update data packet is not acquired, executing the step S2.
And S2, acquiring the map data information corresponding to the area to be updated, and acquiring the update data packet based on the map data information.
Specifically, when the first server side does not store the update data packet, the terminal cannot acquire the update data packet, and at this time, the terminal needs to acquire the map data information corresponding to the area to be updated, so as to acquire the update data packet corresponding to the area to be updated based on the map data information.
In an embodiment, the step S2 of obtaining the map data information corresponding to the area to be updated includes the following steps: and acquiring the map data information based on the map updating request.
The map data information may be provided by a map provider, or may be acquired by a camera or the like, and transmitted to the terminal.
The map data information at least includes, but is not limited to, position information of information data such as an image, a video, a point cloud (laser point cloud), and the like corresponding to the area to be updated.
As shown in fig. 4, in one embodiment, the step of obtaining the update data packet includes the following steps:
and S21, sending the map data information to a second server side so that the second server side generates the update data packet based on the map data information.
And step S22, receiving the update data packet sent by the second server.
It should be noted that, the "first server side" and the "second server side" may be the same server side or two different server sides, and are not specifically limited to the conditions of the present invention.
Further, when the method for updating a high-precision map is executed, the first server and/or the second server are required to be bound with the terminal, and the first server and/or the second server are used for verifying the validity and the security of the terminal.
As shown in fig. 5, in an embodiment, the obtaining the update data packet based on the map data information includes the following steps:
and S23, calculating the confidence of the map data information.
As shown in fig. 6, in an embodiment, the calculating the confidence level of the map data information includes the following steps:
and S231, calculating the first definition of the image.
Specifically, a first definition Q1 corresponding to an image is calculated by a Tenengrad gradient method (obtaining a gradient value by using a Sobel operator, and then judging definition according to the gradient value (the larger the gradient value is, the higher the definition is)).
And step S232, calculating the second definition of the point cloud.
Specifically, a quality evaluation item of the point cloud is obtained, including but not limited to: the signal-to-noise ratio of the point cloud, the density of the point cloud and the thickness of the point cloud; then comparing the point cloud signal-to-noise ratio, the point cloud density and the point cloud thickness with corresponding preset signal-to-noise ratio, preset density and preset thickness respectively to obtain corresponding scores respectively; and finally, multiplying the scores by preset weights respectively to obtain a second definition Q2 corresponding to one point of cloud.
Step S233, calculating the confidence based on the first definition and the second definition.
Specifically, comparing the first definition Q1 with a preset image definition Qi to obtain a definition score Pi of an image; and comparing the second definition Q2 with a preset point cloud definition Qp to obtain a point cloud quality score Pp.
It should be noted that the number of the image and the point cloud is not a condition for limiting the present invention.
And finally, calculating the confidence factor Conf according to the definition score Pi of the image and the quality score Pp of the point cloud:
conf = W1 × Pi + W2 × Pp + \ 8230; (including the sharpness score for all images and the quality score for all point clouds)
Wherein, W1 and W2 represent weights, respectively.
And step S24, when the confidence coefficient does not meet the preset condition, discarding the map data information.
Further, when the confidence does not meet the preset condition, the second server sends a failure identifier to the terminal.
And S25, processing the map data information to generate the updating data packet when the confidence coefficient meets the preset condition.
Further, after generating the update data packet, the second server side sends the update data packet to the terminal, and meanwhile, the second server side also sends the integrity identifier corresponding to the update data packet to the terminal.
In one embodiment, a threshold is preset, and the preset condition is set as: the confidence is greater than the threshold; when the confidence coefficient of the map data information calculated in the step S2 is greater than the threshold value, the confidence coefficient is considered to meet the preset condition; otherwise, when the confidence is smaller than the threshold, the confidence is considered not to satisfy the preset condition.
In one embodiment, the processing the map data information at least comprises the following steps: and splicing the image and the point cloud.
It should be noted that the stitching of the image and the point cloud includes the following steps:
(1) Denoising laser point cloud, denoising an image, enhancing the image and segmenting the image;
(2) Extracting the edges of objects (lane lines, green belts, pavement markings and the like) in the laser point cloud;
(3) Registering information such as lane lines, green belt edges, traffic markings and the like extracted from the laser point cloud with the image, and determining the position of the same geographic information on the image;
(1) point cloud image registration step
(2) Image distortion correction
(3) Point cloud to image coordinate mapping
(4) Image feature matching
(5) Image sequence orientation and model connection to generate image point cloud
(6) Solving the space similarity transformation relation between the image point cloud and the laser point cloud
(7) Smoothing the image (by beam method)
(8) Determining mapping of geographic information in an image to a laser point cloud
(4) Detecting geographic information such as lane lines, road markings and the like in the image, such as but not limited to the positions, types, colors, widths and the like of the lane lines;
(5) Automatically generating and verifying geographic information;
(6) The final incremental data results.
Further, the steps S23 to S25 may be executed by a second server, or may be executed by a terminal, that is, after the terminal acquires the map data information corresponding to the area to be updated in step S2, the terminal does not need to send the map data information to the second server, so that the second server generates the update data packet based on the second map data information, but the terminal itself generates the update data packet according to the map data information, and a specific generation method refers to the steps S23 to S25.
It should be noted that, when the terminal directly executes the above-mentioned steps S23 to S25, the overall structure of the high-precision map updating system is simpler, and in the absence of a network, it is also possible to obtain (by wired connection, data transmission) map data information (the collecting device is wired to the vehicle-mounted terminal by a signal transmission line, so as to send the map data information collected by the collecting device to the vehicle-mounted terminal), and it is not necessary to upload the map data information to the second server end via step S21, if the high-precision map updating system is executed by the second server end, when the map data information is uploaded to the second server end via step S21, the data uploading may be realized under the condition of a network, which undoubtedly increases the difficulty in updating the high-precision map.
However, in consideration of a large amount of calculation and a large performance loss when image processing, point cloud registration, and subsequent data processing and generation are performed at the terminal, it is preferable that the above steps S23 to S25 be performed at the second server.
And when the update data packet is acquired, executing the step S3.
And S3, carrying out differential data fusion on the updating data packet and the high-precision map so as to complete the updating of the high-precision map.
It should be noted that, after the terminal acquires the update data packet, the conventional technical means in the field is adopted for the differential data fusion between the update data packet and the high-precision map, and how to implement the fusion is not taken as a condition for limiting the present invention, so detailed description is not repeated here.
Further, the updating data packet is stored in the first server and/or the second server, so that the steps are repeated when other terminals have updating requirements next time; and when the map data needs to be reinstalled next time, the first server side and/or the second server side transmit the latest high-precision map to the terminal.
It should be noted that the high-precision map updating method of the present invention realizes lightweight, fast, and incremental high-precision map data updating, ensures freshness of terminal map data, and improves safety of assistant/automatic driving.
It should be noted that the protection scope of the method for updating a high-precision map applied to a terminal according to the present invention is not limited to the execution sequence of the steps listed in this embodiment, and all the solutions implemented by adding, subtracting, and replacing the steps according to the principles of the present invention are included in the protection scope of the present invention.
In an embodiment, the method for updating a high-precision map of the present invention is applied to a server, and the method includes the following steps: judging whether an updating data packet corresponding to an area to be updated in the high-precision map is stored; and when the update data packet is stored, sending the update data packet to a terminal in which the high-precision map is stored, so that the terminal completes the update of the high-precision map based on the update data packet.
In one embodiment, the method further comprises the steps of: receiving a map updating request corresponding to the area to be updated, which is sent by the terminal; the map update request includes at least any one of: the position of the area to be updated in the high-precision map, the content corresponding to the area to be updated and the identification code corresponding to the area to be updated.
In an embodiment, after the determining whether the update data packet corresponding to the area to be updated in the high-precision map is stored, the method further includes the following steps: sending identification information to the terminal; the identification information includes: first identification information and second identification information; the first identification information is used for identifying that the terminal can acquire the update data packet; the second identification information is used for identifying that the terminal cannot acquire the update data packet.
In one embodiment, when the update data packet is not stored, the method further comprises the following steps: acquiring map data information corresponding to the area to be updated; calculating a confidence of the map data information; when the confidence coefficient does not meet the preset condition, discarding the map data information, and sending a failure identifier to the terminal; and when the confidence coefficient meets the preset condition, processing the map data information to generate and store the updating data packet, and sending the updating data packet to the terminal.
It should be noted that the operation principle of the method for updating a high-precision map applied to a server side according to the present invention is the same as the operation principle of the method for updating a high-precision map applied to a terminal side, and therefore, detailed description thereof is omitted here.
The storage medium of the present invention stores thereon a computer program that, when executed by a processor, implements the above-described method for updating a high-precision map applied to a terminal and/or the method for updating a high-precision map applied to a server. The storage medium includes: a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, a usb disk, a Memory card, or an optical disk, which can store program codes.
Any combination of one or more storage media may be employed. The storage medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a 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 document, 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.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. 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 thereof. 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 wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + + or the like 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 latter scenario, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The present invention is described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations 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, or other programmable data processing apparatus to produce a machine, such that the computer program instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
The terminal of the invention comprises a processor and a memory.
The memory is used for storing a computer program; preferably, the memory comprises: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
The processor is connected with the memory and used for executing the computer program stored in the memory so as to enable the terminal to execute the high-precision map updating method applied to the terminal.
The server side of the invention comprises a processor and a memory.
The memory is used for storing a computer program; preferably, the memory comprises: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
The processor is connected with the memory and used for executing the computer program stored in the memory so as to enable the server side to execute the high-precision map updating method applied to the server side.
Preferably, the Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
Fig. 7 shows a block diagram of an exemplary terminal 7 suitable for implementing an embodiment of the invention.
The terminal 7 shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 7, the terminal 7 is represented in the form of a general purpose computing device. The components of the terminal 7 may include, but are not limited to: one or more processors or processing units 71, a memory 72, and a bus 73 that couples the various system components (including the memory 72 and the processing unit 71).
The terminal 7 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by terminal 7 and includes both volatile and nonvolatile media, removable and non-removable media.
The memory 72 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 721 and/or cache memory 722. The terminal 7 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system 723 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7 and commonly referred to as a "hard disk drive"). Although not shown in FIG. 7, a magnetic 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 or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 73 by one or more data media interfaces. Memory 72 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 724 having a set (at least one) of program modules 7241 may be stored, for example, in memory 72, such program modules 7241 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 7241 generally perform the functions and/or methods of the described embodiments of the invention.
The terminal 7 may also communicate with one or more external devices 8 (e.g., keyboard, pointing device, display 9, etc.), one or more devices that enable a user to interact with the terminal 7, and/or any devices (e.g., network card, modem, etc.) that enable the terminal 7 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 74. Also, the terminal 7 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) through the network adapter 75. As shown in fig. 7, the network adapter 75 communicates with the other modules of the terminal 7 via the bus 73. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the terminal 7, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
It should be noted that the structure of the server side is the same as that of the terminal 7 (refer to fig. 7 specifically), and therefore, detailed description thereof is omitted here.
As shown in fig. 8, in an embodiment of the present invention, the high-precision map updating system includes the terminal 81, the server 82, and the collecting device 83.
Specifically, the collecting device 83 is connected to the terminal 81 and/or the server 82, and is configured to collect map data information of a corresponding area to be updated, and send the map data information to the terminal 81 and/or the server 82.
In an embodiment, the server 82 is bound to the terminal 81, and the server 82 is further configured to verify the validity of the terminal 81.
It should be noted that the operation principle of the high-precision map updating system is the same as that of the high-precision map updating method, and therefore, detailed description thereof is omitted here.
It should be noted that the high-precision map updating system of the present invention can implement the high-precision map updating method of the present invention, but the implementation apparatus of the high-precision map updating method of the present invention includes, but is not limited to, the structure of the high-precision map updating system described in the embodiment, and all structural modifications and substitutions in the prior art made according to the principle of the present invention are included in the scope of the present invention.
In summary, according to the method, the system, the medium, the terminal and the server for updating the high-precision map, the update data packet corresponding to the area to be updated on the high-precision map is acquired, so that the update data packet and the high-precision map are used for performing differential data fusion, the high-precision map is updated, the time for downloading the update file is shortened, and the efficiency of updating the high-precision map is accelerated; the invention can realize timely and fast update of the high-precision map by actively initiating the map update request, thereby effectively ensuring the freshness of the high-precision map and further improving the safety and reliability of auxiliary/automatic driving; the method and the system improve the high-precision data updating efficiency of the server side, accelerate the high-precision map updating efficiency on the terminal (vehicle side), and better meet the requirement of the terminal on the real-time performance of the high-precision map; therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Those skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (14)
1. The method for updating the high-precision map is characterized in that the high-precision map is stored on a terminal; the method comprises the following steps:
judging whether an update data packet corresponding to the area to be updated in the high-precision map is acquired or not;
when the update data packet is not acquired, acquiring map data information corresponding to the area to be updated so as to acquire the update data packet based on the map data information;
and when the update data packet is acquired, performing differential data fusion on the update data packet and the high-precision map to complete the update of the high-precision map.
2. The method according to claim 1, before determining whether an update data packet corresponding to an area to be updated in the high-precision map is acquired, the method further comprising the following steps: sending a map updating request corresponding to the area to be updated to a first server side, so that the first server side sends the updating data packet to the terminal when the updating data packet is stored on the first server side; the map update request includes at least any one of: the position of the area to be updated in the high-precision map, the content corresponding to the area to be updated and the identification code corresponding to the area to be updated;
the step of obtaining the map data information corresponding to the area to be updated comprises the following steps: and acquiring the map data information based on the map updating request.
3. The method according to claim 1, wherein the step of judging whether the update data packet of the area to be updated in the corresponding high-precision map is acquired comprises the following steps:
receiving identification information; the identification information includes: first identification information and second identification information; the first identification information is used for identifying that the terminal can acquire the update data packet; the second identification information is used for identifying that the terminal cannot acquire the update data packet;
analyzing the identification information to judge whether the updating data packet is acquired or not according to an analysis result;
if the analysis result indicates that the identification information is the first identification information, the update data packet is considered to be acquired;
and if the analysis result indicates that the identification information is the second identification information, the update data packet is not obtained.
4. The method of claim 1, wherein obtaining the update package comprises:
sending the map data information to a second server side so that the second server side generates the update data packet based on the map data information;
and receiving the updating data packet sent by the second server.
5. The method according to claim 1 or 4, wherein the obtaining of the update data package based on the map data information comprises the steps of:
calculating a confidence level of the map data information;
when the confidence coefficient does not meet the preset condition, discarding the map data information;
processing the map data information to generate the update data packet when the confidence coefficient meets the preset condition; the map data information at least comprises an image and/or a point cloud corresponding to the area to be updated; the processing of the map data information comprises at least the steps of: and splicing the image and the point cloud.
6. The method of claim 5, the calculating the confidence level of the map data information comprising the steps of:
calculating a first sharpness of the image;
calculating a second sharpness of the point cloud;
calculating the confidence level based on the first sharpness and the second sharpness.
7. A high-precision map updating method is applied to a server side and is characterized by comprising the following steps:
judging whether an updating data packet corresponding to an area to be updated in the high-precision map is stored;
and when the update data packet is stored, sending the update data packet to a terminal in which the high-precision map is stored, so that the terminal completes the update of the high-precision map based on the update data packet.
8. The method of claim 7, further comprising the steps of: receiving a map updating request corresponding to the area to be updated, which is sent by the terminal; the map update request includes at least any one of: the position of the area to be updated in the high-precision map, the content corresponding to the area to be updated and the identification code corresponding to the area to be updated;
after the step of judging whether the update data packet corresponding to the area to be updated in the high-precision map is stored, the method further comprises the following steps:
sending identification information to the terminal; the identification information includes: first identification information and second identification information; the first identification information is used for identifying that the terminal can acquire the update data packet; the second identification information is used for identifying that the terminal cannot acquire the update data packet.
9. The method of claim 7, when the update package is not stored, further comprising the steps of:
acquiring map data information corresponding to the area to be updated;
calculating a confidence level of the map data information;
when the confidence coefficient does not meet the preset condition, discarding the map data information, and sending a failure identifier to the terminal;
and when the confidence coefficient meets the preset condition, processing the map data information to generate and store the updating data packet, and sending the updating data packet to the terminal.
10. A storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the method of updating a high-precision map of any one of claims 1 to 6 and/or the method of updating a high-precision map of any one of claims 7 to 9.
11. A terminal, comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to enable the terminal to execute the method for updating a high-precision map according to any one of claims 1 to 6.
12. A server side, comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory, so as to enable the server to execute the method for updating a high-precision map according to any one of claims 7 to 9.
13. A high-precision map updating system, comprising: the terminal of claim 11, the server and the acquisition device of claim 12;
the acquisition equipment is connected with the terminal and/or the server and is used for acquiring map data information corresponding to an area to be updated and sending the map data information to the terminal and/or the server.
14. The system of claim 13, wherein the server is bound to the terminal, and the server is further configured to verify the validity of the terminal.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116860899A (en) * | 2023-05-18 | 2023-10-10 | 广州海宁海务技术咨询有限公司 | Updating method of ship inventory chart data |
| CN116860899B (en) * | 2023-05-18 | 2024-06-04 | 广州海宁海务技术咨询有限公司 | Updating method of ship inventory chart data |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116860899A (en) * | 2023-05-18 | 2023-10-10 | 广州海宁海务技术咨询有限公司 | Updating method of ship inventory chart data |
| CN116860899B (en) * | 2023-05-18 | 2024-06-04 | 广州海宁海务技术咨询有限公司 | Updating method of ship inventory chart data |
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