WO2021023102A1 - 地图更新方法、装置及存储介质 - Google Patents
地图更新方法、装置及存储介质 Download PDFInfo
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Definitions
- the embodiments of the present application relate to the field of navigation technology, and in particular, to a map update method, device, and storage medium.
- Self-driving cars also known as driverless cars, computer-driven cars or wheeled mobile robots, are smart cars that realize driverless driving through a computer system.
- Self-driving cars rely on the collaboration of artificial intelligence, visual computing, radar, positioning systems, and map systems to allow computers to automatically and safely operate motor vehicles without any human active operation.
- the accuracy and precision of the map directly affect the safety of autonomous vehicles.
- road conditions often change, such as road construction, traffic signs changes, etc. If the map used by the car is not updated in time, it will bring greater safety risks to autonomous vehicles.
- the present application provides a map update method, device and storage medium to ensure that the automatic driving vehicle can use the updated map in time and improve the driving safety of the automatic driving vehicle.
- the first aspect of the present application provides a map update method, including: a cloud server obtains map update information reported by a first vehicle, and determines whether to update the map according to the map update information. In the case of determining to update the map, the cloud server determines the delivery mode of the updated map according to the impact level of vehicle driving corresponding to the updated map element, where the impact level of vehicle driving is the level that affects the safety of vehicle driving.
- the cloud server determines to update the map according to the map update information reported by the first vehicle, it obtains the impact level of the vehicle driving corresponding to the updated map element from the map update information, and the cloud server determines the release of the updated map according to the impact level This method ensures that updated information that has a greater impact on the driving of the vehicle is delivered to the car in a timely manner, and the driving safety of autonomous vehicles is improved.
- the delivery method of the updated map including: the impact level of the vehicle driving corresponding to the updated map element is the severity level, and the update map is determined
- the delivery method of the update map is direct delivery; or, the impact level of the vehicle driving corresponding to the updated map element is a general level, and the delivery method of the updated map is determined to be issued according to the map update request or periodically.
- the foregoing implementation method refines the delivery method of the updated map. If there is a map element update that has a greater impact on vehicle driving safety, the cloud server directly issues the updated map to all online vehicles. If there is a map element update that has little impact on the safety of the vehicle, the cloud server can centrally issue it according to a preset cycle, or it can issue it according to a map update request sent by the vehicle.
- the map update information includes the coordinate position of the map element to be updated on the map; before determining whether to update the map according to the map update information, it also includes: the first prediction of the coordinate position according to the map update information. It is assumed that at least one detection device in the area sends a map measurement instruction, and the map measurement instruction is used to instruct the detection device to detect and report the map measurement information of the second preset area of the coordinate position.
- determining whether to update the map according to the map update information includes: determining whether to update the map according to the map update information and the map measurement information reported by at least one detection device.
- the cloud server does not directly determine whether to update the map based on the map update information reported by the first vehicle, but specifically considers multiple detection devices in the area near the updated map element, and integrates based on multiple map measurement report results Analyze to determine whether to update the map, avoiding false alarms of bicycles and improving the accuracy of map update.
- determining whether to update the map according to the map update information and the map measurement information reported by the at least one detection device includes: performing information processing on the map update information and at least one map measurement information to determine the map to be updated The amount of change of the element on the map; according to the amount of change of the map element to be updated on the map and the preset update threshold, determine whether to update the map.
- the change of the updated map element on the map includes the change of the moving distance of the map element (such as the moving distance of traffic lights), the change of the height/length/width of the map element (such as the change of lane width, traffic The amount of change in the height of the signal light), the amount of change in the state of the map element.
- the state value of the map element includes 0 and 1, 0 means there is no map element on the map, 1 means there is a map element on the map, if the state has not changed, the change is 0, if the state changes, the absolute value of the change Is 1.
- determining whether to update the map according to the amount of change of the map element to be updated on the map and the preset update threshold of each map element including: the amount of change of the map element to be updated on the map is greater than Or equal to the preset update threshold corresponding to the map element to be updated, update the map;
- the change amount of the map element to be updated on the map is less than the preset update threshold corresponding to the map element to be updated, and the map is not updated.
- the preset threshold corresponding to the map element is the preset threshold corresponding to the attribute information of the map element, for example, the preset update threshold corresponding to the moving distance of traffic lights, and the preset threshold corresponding to the change in the width of the lane.
- the preset update thresholds corresponding to different map elements may be the same or different.
- the foregoing implementation manner compares the change amount of the map element to be updated with its corresponding preset update threshold to determine whether to update the map element, and if there is a map element that needs to be updated, the map is updated.
- determining whether to update the map according to the map update information includes: updating the map when the map element to be updated meets the map accuracy requirements.
- map accuracy requirement is the maximum allowable error range of the map element on the map, and the map accuracy requirement includes the accuracy requirements corresponding to the map elements in each region.
- the foregoing implementation method needs to determine whether the updated map element meets the map accuracy requirement. If the data accuracy of the updated map element meets the map accuracy requirement of the map element, the map is directly updated.
- determining whether to update the map according to the map update information includes: sending a map data collection instruction to a third vehicle when the map element to be updated does not meet the map accuracy requirements. Used to instruct the third vehicle to collect map data of the second preset area of the coordinate position of the map element to be updated on the map, the third vehicle is a data collection vehicle that meets the map accuracy requirements; update according to the map data collected by the third vehicle map.
- the above implementation method needs to determine whether the updated map element meets the map accuracy requirements when updating the map. If the data accuracy of the updated map element is low, the map element is not directly updated, and the data collection vehicle collects the nearby map element. For map data, the cloud server updates the map according to the map data collected by the data collection vehicle, so that the updated map elements meet the map accuracy requirements, and the accuracy of the cloud map data is improved.
- the method further includes: the map of the second preset area for setting the coordinate position is not available; or, the second preset for lowering the coordinate position Let the accuracy of the map of the area correspond to the auto-driving level of the vehicle.
- the above implementation has determined that the map needs to be updated but the updated map elements do not meet the accuracy requirements.
- the updated map elements may include map elements with a higher level of impact on vehicle driving.
- the cloud server is obtaining the update Before the high-precision map data of the map element, set the map data near the map element to be unavailable or instruct the vehicle to reduce the autopilot level of the vehicle near the map element.
- the detection device includes a second vehicle and/or a roadside device, and the second vehicle is an online vehicle using a map.
- the second vehicle may be an online vehicle other than the first vehicle that uses the map, and the second vehicle is currently driving in the first preset area near the coordinate position of the map element to be updated.
- the roadside device may be a roadside device that can detect the map element near the coordinate position of the map element to be updated on the map.
- the second aspect of the present application provides a map update method, including: receiving environmental data; determining whether the environmental data matches the pre-stored map data, and reporting the map update information to the cloud server when it is determined that the environmental data does not match the map data;
- the map update information includes at least one of the following: the category of the map element to be updated; the coordinate position of the map element to be updated on the map; the amount of change of the map element to be updated on the map; the vehicle driving corresponding to the map element to be updated
- the impact level of vehicle driving is the level that affects the safety of vehicle driving.
- the data collection device on the first vehicle may include at least one of a camera, an infrared sensor, a lidar sensor, a millimeter wave sensor, an ultrasonic sensor, a global positioning system, and an inertial navigation device.
- the environmental data of the data acquisition device may be image data or measurement data, where the measurement data includes three-dimensional spatial data, ultrasonic data, millimeter wave data, positioning data, and the like.
- the first vehicle compares the environmental data obtained by the vehicle-mounted data collection device with the pre-stored map data, and reports map update information to the cloud server when it is determined that the data does not match.
- the map update information includes the map to be updated The impact level of the vehicle driving corresponding to the element, when the cloud server determines to update the map element, it will directly issue the map update to the online vehicle according to the impact level of the vehicle driving corresponding to the map element to ensure the driving safety of the online vehicle.
- the map update information further includes at least one of the following: the length of time for continuous mismatch; the first time when the map element is not matched; the second time when the map update information is reported; the confidence level of the map update information.
- the duration of continuous mismatch refers to the duration of a mismatch between a certain map element to be updated in the map update information reported by the first vehicle and the preset map data.
- the combination of the first time and the second time can be used to indicate the necessity or urgency of updating the unmatched map element (that is, the map element to be updated).
- the confidence of the map update information can be determined by the confidence and weight of the data collection device that provides the map element to be updated. The higher the confidence of the map update information, the higher the credibility of the information.
- the method further includes: receiving an updated map issued by the cloud server, where the updated map is a map updated by the cloud server according to the map update information and the map measurement result reported by at least one detection device, at least one The detection device is located in the first preset area of the coordinate position.
- the vehicle adjusts or updates the driving route according to the updated map issued by the cloud server.
- the updated map is obtained by comprehensive analysis of the cloud server based on the measurement information reported by multiple vehicles and roadside equipment, avoiding the situation of bicycle false alarms Occurs, improving the accuracy of map updates.
- the detection device includes a second vehicle and/or a roadside device, and the second vehicle is an online vehicle using a map.
- the method further includes: receiving an updated map issued by the cloud server, where the updated map is a map updated by the cloud server according to the map data collected by the third vehicle, and the third vehicle meets the map accuracy Vehicle required for data collection.
- the vehicle adjusts or updates the driving route according to the updated map issued by the cloud server.
- the updated map is obtained by the cloud server based on the map data collected by the data collection vehicle, ensuring that the updated map elements meet the map accuracy requirements and improving the cloud map
- the accuracy of the data ensures the safety of the vehicle.
- the method before receiving the updated map issued by the cloud server, the method further includes: sending a map update request to the cloud server.
- the vehicle can actively initiate a map update request to the cloud server according to its own needs, and the vehicle adjusts or updates the driving path according to the updated map, thereby improving the driving safety of the autonomous vehicle.
- a third aspect of the present application provides a map update device, including: an acquisition module for acquiring map update information reported by a first vehicle; a processing module for determining whether to update a map based on the map update information; and the processing module It is also used to determine the delivery mode of the updated map according to the impact level of vehicle driving corresponding to the updated map element in the case of determining to update the map.
- the impact level of vehicle driving is the level that affects the safety of vehicle driving.
- the processing module is specifically configured to: the impact level of the vehicle driving corresponding to the updated map element is a severity level, and determine that the update map is issued directly; or, the updated map element
- the impact level of the corresponding vehicle driving is a general level, and it is determined that the update map is issued according to the map update request or periodically.
- the device further includes: a sending module, configured to send a map measurement instruction to at least one detection device in the first preset area of the coordinate position of the map element to be updated on the map according to the map update information,
- the map measurement instruction is used to instruct the detection device to detect and report the map measurement information of the second preset area of the coordinate position.
- the processing module is specifically configured to determine whether to update the map according to the map update information and the map measurement information reported by at least one detection device.
- the processing module is specifically configured to perform information processing on the map update information and the at least one map measurement information, and determine the amount of change of the map element to be updated on the map; according to the map to be updated The amount of change of the element on the map and the preset update threshold determine whether to update the map.
- the processing module is specifically configured to update the map if the amount of change of the map element to be updated on the map is greater than or equal to a preset update threshold corresponding to the map element to be updated.
- the processing module is specifically configured to update the map when the map element to be updated meets the map accuracy requirement.
- the device further includes: a sending module, configured to send a map data collection instruction to the third vehicle when the map element to be updated does not meet the map accuracy requirements, and the map data collection instruction is used to instruct all
- the third vehicle collects map data in the second preset area of the coordinate position of the map element to be updated on the map, and the third vehicle is a data collection vehicle that meets the map accuracy requirements;
- the processing module is also used to The map data collected by the third vehicle updates the map.
- the processing module is further configured to set the map of the second preset area of the coordinate position to be unavailable; or, to reduce the The accuracy of the map of the second preset area of the coordinate position corresponds to the auto-driving level of the vehicle.
- the detection device includes a second vehicle and/or a roadside device, and the second vehicle is an online vehicle using the map.
- a fourth aspect of the present application provides a communication device, including: a memory, configured to store a computer program; a processor, configured to execute the computer program, so that the communication device executes any one of the first aspect of the present application Methods.
- the fifth aspect of the present application provides a vehicle-mounted device, including: a receiving module for receiving environmental data; a processing module for determining whether the environmental data matches pre-stored map data; a sending module for determining the environment If the data does not match the map data, report the map update information to the cloud server.
- the map update information includes at least one of the following: the category of the map element to be updated; the coordinate position of the map element to be updated on the map; the amount of change of the map element to be updated on the map; the corresponding map element to be updated.
- the impact level of vehicle driving which is the level that affects the safety of vehicle driving; the data source of the map element to be updated.
- the map update information further includes at least one of the following: duration of continuous mismatch; the first time when the map element is perceived to be unmatched; the second time when the map update information is reported; the map update information Confidence level.
- the receiving module is further configured to receive an updated map issued by a cloud server, where the updated map is a map measurement result reported by the cloud server according to the map update information and at least one detection device In the updated map, the at least one detection device is located in the first preset area of the coordinate position.
- the detection device includes a second vehicle and/or a roadside device, and the second vehicle is an online vehicle using the map.
- the receiving module is further configured to receive an updated map issued by a cloud server, where the updated map is a map updated by the cloud server according to map data collected by a third vehicle.
- the vehicle is a data collection vehicle that meets the map accuracy requirements.
- the sending module is further configured to send a map update request to the cloud server.
- the sixth aspect of the present application provides a communication device, including: a memory, configured to store a computer program; a processor, configured to execute the computer program, so that the communication device executes any one of the second aspect of the present application Methods.
- the seventh aspect of the present application provides a readable storage medium for storing instructions, and when the instructions are executed, the method according to any one of the first aspects of the present application is implemented.
- the eighth aspect of the present application provides a readable storage medium for storing instructions. When the instructions are executed, the method according to any one of the second aspects of the present application is implemented.
- a ninth aspect of the present application provides a communication device, including: a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor is used to run the code instructions to execute such as The method described in any one of the first aspect of the present application.
- a tenth aspect of the present application provides a communication device, including: a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor is used to run the code instructions to execute such as The method described in any one of the second aspect of the present application.
- the eleventh aspect of the present application provides a wireless communication system, including: multiple autonomous vehicles, multiple roadside devices, and a cloud server. Wireless communication between multiple autonomous vehicles, wireless communication between autonomous vehicles and roadside devices, and wireless communication between autonomous vehicles and roadside devices and cloud servers respectively.
- the cloud server is used to execute the method described in any one of the first aspect of the present application, and the self-driving vehicle is used to execute the method described in any one of the second aspect of the present application.
- the map update method includes: the first vehicle matches the environmental data collected by at least one data collection device on the first vehicle with the pre-stored map data, and reports the map update information to the cloud server when it is determined that the environmental data does not match the map data.
- the map update information includes the relevant information of the map element to be updated.
- the cloud server determines whether to update the map according to the map update information reported by the first vehicle. In the case of determining to update the map, it is determined according to the impact level of the vehicle driving corresponding to the updated map element Update the distribution method of the map.
- the above method can ensure that the cloud server delivers updated information that has a greater impact on the driving of the vehicle to the vehicle end in time, thereby improving the driving safety of the autonomous vehicle.
- FIG. 1 is a schematic diagram of a wireless communication system provided by an embodiment of the application
- Figure 2 is a schematic flow diagram of the existing map update method
- FIG. 3 is a schematic flowchart of a map update method provided by an embodiment of this application.
- FIG. 4 is a schematic flowchart of another map update method provided by an embodiment of the application.
- FIG. 5 is a schematic structural diagram of a map updating device provided by an embodiment of this application.
- FIG. 6 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of the application.
- FIG. 7 is a schematic diagram of the hardware structure of a communication device provided by an embodiment of the application.
- FIG. 8 is a schematic diagram of the hardware structure of another communication device provided by an embodiment of the application.
- FIG. 1 is a schematic diagram of a wireless communication system provided by an embodiment of this application.
- the wireless communication system of this embodiment may include multiple autonomous vehicles (Figure 1 shows vehicle 11, vehicle 12, vehicle 13, and vehicle 14), and multiple roadside devices ( Figure 1 shows Roadside equipment 15, roadside equipment 16) and cloud server 17.
- wireless communication can be performed between the vehicle and the vehicle
- wireless communication can be performed between the vehicle and the roadside device
- the roadside device and the vehicle can also perform wireless communication with the cloud server respectively.
- the cloud server in the embodiment of the present application may be set on the core network (Core Network, CN) device side.
- CN equipment corresponds to different equipment in different wireless communication systems.
- a serving GPRS support node (Serving GPRS Support Node, SGSN) or a gateway GPRS support node (Gateway GPRS Support Node, GGSN).
- MME Mobility Management Entity
- S-GW serving gateway
- 5G system's core network related equipment such as NG-Core
- the embodiments of this application do not limit this.
- the cloud server in the embodiment of the present application provides the latest high-precision map information for the autonomous vehicle.
- the autonomous vehicle can update and download the high-precision map on the cloud server according to its own needs to ensure that the high-precision map used by the autonomous vehicle is the latest map.
- the self-driving vehicle in the embodiment of the present application may be provided with terminal equipment, and the terminal equipment may communicate with roadside equipment and cloud servers.
- Terminal equipment can refer to user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile equipment, user terminal, terminal, wireless communication equipment, user agent or User device.
- the terminal device can also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), and a wireless communication Functional handheld devices, computing devices, or other processing devices connected to wireless modems, in-vehicle devices, wearable devices, terminal devices in future 5G networks or networks after 5G, or future evolution of public land mobile communication networks (public land mobile communication network)
- the terminal equipment in the network, PLMN), etc. are not limited in the embodiment of the present application.
- the terminal device may also be an on-board module, on-board module, on-board component, on-board chip, or on-board unit (OBU) built into the vehicle as one or more components or units.
- OBU on-board unit
- Vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, or vehicle-mounted units can implement the method of this application.
- the aforementioned terminal device can also provide users with high-precision map data, that is, the user can view the map data through the display interface of the terminal device.
- the roadside equipment in the embodiments of the present application is a traffic information collection unit or a traffic facility control unit deployed near a road.
- the traffic information collection unit can provide the collected traffic information to the traffic facility control unit, and the traffic facility control unit can execute the traffic facility control unit.
- LTE Long Term Evolution
- UMTS Universal Mobile Telecommunications System
- UMTS Terrestrial Radio Access Universal Mobile Telecommunications System
- UTRAN Global System for Mobile Communication
- GSM Global System for Mobile Communication
- EDGE Enhanced Data Rate for GSM Evolution
- GSM EDGE Radio Access Network GSM EDGE Radio Access Network
- GERAN Global System for Mobile Communication
- the function of the MME is completed by the Serving GPRS Support (SGSN) service general packet radio service (General Packet Radio Service, GPRS) support node (Serving GPRS Support, SGSN), and the function of the SGW ⁇ PGW is completed by the Gateway GPRS Support Node, GGSN) is completed.
- SGSN Serving GPRS Support
- GPRS General Packet Radio Service
- SGSN Serving GPRS Support
- GPRS General Packet Radio Service
- GGSN Gateway GPRS Support Node
- the technical solutions of the embodiments of this application can also be applied to other communication systems, such as Public Land Mobile Network (PLMN) systems, and even future 5G communication systems or communication systems after 5G. Not limited.
- PLMN Public Land Mobile Network
- the high-precision map provided by the cloud server includes the attribute information of different map elements.
- the map elements include but are not limited to traffic lights, traffic signs, road elements, etc., correspondingly, traffic lights and traffic signs
- the attribute information may include location information, and the attribute information of the road element may include the number of lanes, lane width, ramp connectivity, and so on.
- the attribute information of map elements in the map may change over time, such as the position of traffic lights, the number of lanes are reduced, the road is closed, etc. This will cause the high-precision map to be inconsistent with the actual road conditions.
- the cloud server needs to update the map in time to ensure the driving safety of the autonomous vehicles using the map.
- Fig. 2 is a schematic flowchart of a conventional map update method. As shown in Figure 2, the existing map update method includes:
- Step 101 The autonomous vehicle detects the road features of the current road.
- Step 102 The autonomous vehicle compares the road features of the current road with the road features of the local map.
- Step 103 When it is determined that the road feature of the current road does not match the road feature of the local map, the autonomous driving vehicle calculates a confidence level.
- Step 104 When the confidence level is higher than that of the local map, the autonomous vehicle sends map update information to the cloud server.
- Step 105 The cloud server updates the map according to the map update information.
- the confidence level is calculated on the vehicle side. Due to the large differences in the sensors of different vehicles, the confidence level calculated on the vehicle side has large individual differences.
- the map update information reported by a single vehicle may be falsely reported.
- the map updated by the server based on the map update information may be inaccurate.
- the existing technical solutions do not limit how the cloud server releases updated maps. For autonomous vehicles that use maps, driving accidents may occur due to untimely map updates, which poses a greater safety hazard.
- an embodiment of the present application provides a map update method.
- the cloud server determines whether to update the map according to the map update information reported by one or more autonomous vehicles, and in the case of determining to update the map, determines the map update method.
- the delivery method ensures that the updated map can be delivered to the car in time. Since the cloud server does not directly update the map according to the information reported by the vehicle after receiving the map update information, but performs map update or not update after comprehensive judgment, thereby improving the accuracy of map update.
- FIG. 3 is a schematic flowchart of a map update method provided by an embodiment of the application. As shown in Figure 3, the map update method provided in this embodiment includes the following steps:
- Step 201 The first vehicle receives environmental data.
- the first vehicle is any online self-driving vehicle that uses a cloud map, and may be vehicle 11, vehicle 12, vehicle 13, or vehicle 14 in FIG. 1.
- the first vehicle receives environmental data sent from at least one data acquisition device on the first vehicle, where the data acquisition device may include a camera, an infrared sensor, a lidar sensor, a millimeter wave sensor, an ultrasonic sensor, and a global positioning system (global positioning system, Referred to as GPS), at least one of inertial navigation devices.
- the environmental data of the data collection device can be image data collected by the data collection device or measurement data collected by the data collection device.
- the measurement data includes three-dimensional spatial data, ultrasonic data, millimeter wave data, positioning data, and so on.
- the camera of this embodiment is used to collect visible light images around the autonomous vehicle.
- the visible light images can include obstacles such as other vehicles and pedestrians, as well as lane lines, lane edges, stop lines, crosswalks, traffic lights, and traffic signs. , Toll stations, checkpoints and other road information.
- the trip computer or on-board unit on the vehicle determines the attribute information of the map elements according to the visible light image collected by the camera.
- the infrared sensor of this embodiment is used for non-contact temperature measurement around the autonomous vehicle.
- the infrared sensor can be used to collect infrared rays emitted by the pedestrian, and determine the position of the pedestrian by measuring the human body surface temperature.
- the trip computer or on-board unit on the vehicle can determine the location of pedestrians around the vehicle, and further determine the speed of the pedestrian.
- the lidar sensor of this embodiment is used to detect three-dimensional spatial data around an autonomous vehicle. Its working principle is to transmit a detection signal (laser beam) to the target, and then the received signal (target echo) and the transmission The signals are compared and processed appropriately to obtain relevant information about the target.
- the trip computer or on-board unit on the vehicle determines the attribute information of the map elements according to the three-dimensional spatial data collected by the lidar sensor.
- the ultrasonic radar sensor of this embodiment is used to detect obstacles around the autonomous vehicle. Its working principle is to use the ultrasonic generator in the sensor to generate ultrasonic waves, and then the receiving probe receives the ultrasonic waves reflected by the obstacles.
- the trip computer or on-board unit on the vehicle can determine the distance between the vehicle and the obstacle according to the time difference of the ultrasonic reflection and reception, thereby determining the specific location of the obstacle on the road.
- Ultrasonic radar has low cost, high accuracy of detection range, and is not affected by light conditions.
- the millimeter wave radar sensor of this embodiment can also be used to collect the traveling speed of obstacles, the distance between the autonomous vehicle and the obstacle, etc., and is especially suitable for severe weather such as smoke.
- the millimeter wave radar sensor has the advantages of strong ability to penetrate fog, smoke, and dust, and strong anti-interference ability.
- the GPS in this embodiment is used to determine the specific location of the autonomous vehicle based on the measured distance between the satellite with a known location and the autonomous vehicle, and to integrate the measurement data of multiple satellites. Combined with other data collection devices, the specific location of obstacles can be determined.
- the inertial navigation device of this embodiment is used to detect the driving speed and pose information of an autonomous vehicle. Its working principle is based on Newton’s laws of mechanics. By measuring the acceleration of the autonomous vehicle in the inertial reference frame, the acceleration is compared to time. Integrate and transform the acceleration into the navigation coordinate system to obtain the speed, yaw angle and position of the autonomous vehicle in the navigation coordinate system. Combined with other data collection devices, the specific location and moving speed of obstacles can be determined.
- the absolute position of the autonomous vehicle can be determined, and the camera, infrared sensor, lidar sensor, ultrasonic radar sensor and millimeter wave sensor can be combined to obtain the relative position of map elements relative to the autonomous vehicle to determine the map The absolute position of the element on the map.
- Step 202 The first vehicle determines whether the environmental data matches the pre-stored map data.
- the trip computer or the on-board unit on the first vehicle determines the map data at the current location of the first vehicle according to the acquired environmental data of the at least one data collection device, the map data including the category of the map element and the attributes of the map element information.
- the current map data at the location of the first vehicle is compared with the pre-stored map data at the corresponding location to determine whether the map data at the current location of the first vehicle matches the pre-stored map data at the corresponding location.
- the map elements in this embodiment include but are not limited to traffic signal lights, traffic signs, road elements, toll stations, checkpoints, etc., and road elements include but are not limited to lane lines, lane edges, stop lines, crosswalks, ramps, etc.
- the attribute information of the traffic signal light may include the number, category, and location of the traffic signal light.
- the traffic signal light includes 4 signal lights, which are red, green, and yellow lights that go straight, and control lights that turn left.
- the attribute information of the traffic sign may include the number, content, and location of the traffic sign.
- the traffic sign includes two content indications indicating the speed limit 40 ahead and the right turn prohibited ahead.
- the attribute information of the road element may include the location of the road element, the number of lanes, the width of the lane, and the connectivity of the ramp.
- Step 203 In a case where it is determined that the environmental data does not match the map data, the first vehicle reports map update information to the cloud server.
- the map update information includes at least one of the following:
- the data source of the map element to be updated.
- the map element to be updated can be understood as a map element that does not match the preset map data.
- the first vehicle determines the map data at the location of the current vehicle based on the environmental data, and determines the map element to be updated based on the map data at the location of the current vehicle and the pre-stored map data. For example, if the map element to be updated is a traffic light, and the preset map data does not have a traffic light at the corresponding location, that is, the traffic light is a new map element, the first vehicle reports the traffic light and the location of the traffic light.
- the map element to be updated is a lane, the width of the lane is 2.5m, and the lane width at the corresponding position of the preset map data is 3.5m, that is, the lane width is narrower than the original, and the first vehicle reports the The lane and the position and width of the lane.
- the map element to be updated is a traffic sign, which is used to indicate that U-turn is prohibited, and the traffic sign at the corresponding location of the preset map data is used to indicate that a U-turn is possible, that is, if the traffic sign changes, the first vehicle reports The traffic sign and the content of the traffic sign.
- the first vehicle After determining the map element to be updated, the first vehicle generates map update information.
- the map update information includes the category of the map element to be updated, the coordinate position of the map element to be updated on the map, and the location of the map element to be updated on the map. At least one of the amount of change, the impact level of vehicle driving corresponding to the map element to be updated, and the data source of the map element to be updated.
- the generated map update information is sent to the cloud server so that the cloud server can determine whether or not according to the map update information Update the map and/or determine the delivery method of the updated map.
- the amount of change of the map element to be updated on the map may be the moving distance of the map element on the map, for example, the traffic signal light is shifted to the left by 2m from its original position.
- the amount of change on the map of the map element to be updated may also be the amount of height change, length change, or width change of the map element on the map. For example, the width of the lane has been widened from the original 2.5m to 3.5m, and the width of the roadblock has been shortened from the original 10m to 5m.
- the change amount of the map element to be updated on the map can also be the state change amount of the map element on the map.
- the state value of the traffic light is set to 0, and a traffic light is currently added at the intersection At this time, the state value of the traffic signal light is set to 1, and the state change amount of the traffic signal light on the map is 1.
- This state change amount can also be used by the cloud server to determine whether to update the map in the future. For details, please refer to the following text.
- the impact level of the vehicle driving corresponding to the map element to be updated is the level of the map element to be updated affecting the vehicle driving safety.
- This parameter is used to guide the cloud server to perform corresponding issuing actions. For details, refer to step 205.
- the data source of the map element to be updated refers to the data collection device that detects the map element to be updated, where the data collection device may be any one or more of the above step 201. Different data collection devices have different confidence levels and weights. This parameter is used for the first vehicle to determine the overall confidence of the map update information.
- the map update information may further include: the length of time that the non-matching continues, the first time when the map element is perceived to be unmatched, the second time when the map update information is reported, and the confidence level of the map update information.
- the duration of continuous mismatch refers to the length of time that a certain map element to be updated in the map update information reported by the first vehicle does not match the preset map data. For example, the first vehicle reports that a road blockade on a certain road section has continued 3 days.
- the combination of the first time and the second time can be used to indicate the necessity or urgency of updating the unmatched map element (that is, the map element to be updated).
- the confidence of the map update information can be determined by the confidence and weight of the data collection device that provides the map element to be updated.
- the map element to be updated only includes the lane width change, which is based on the lidar sensor and camera collection. Therefore, the confidence of the map update information including the lane width change is determined by the first confidence and first weight of the lidar sensor, and the second confidence and second weight of the camera.
- the weight of each data acquisition device is adjustable. For example, in severe weather such as smoke, the weight of the millimeter wave radar sensor can be increased, while the weight of other data acquisition devices can be reduced. . In a dark environment, the weight of the camera can be reduced, while the weight of other data collection devices can be increased.
- the first vehicle may report map update information multiple times.
- Step 204 The cloud server determines whether to update the map according to the map update information.
- the cloud server determines the amount of change of the map element to be updated on the map according to the map update information reported by the first vehicle. For the change amount of the map element to be updated on the map, refer to step 203, which will not be repeated here.
- the cloud server determines whether to update the map according to the amount of change of the map element to be updated on the map and the preset update threshold.
- the preset update threshold includes the preset update threshold corresponding to the attribute information of each map element. For example, the preset update threshold corresponding to the moving distance of a traffic signal light is 1m. If the moving distance of the traffic signal light is greater than or equal to 1m, the cloud server determines Update the map. For another example, the preset update threshold corresponding to the change in the width of the lane is 1m, and if the change in the width of the lane is greater than or equal to 1m, the cloud server determines to update the map. For another example, the preset update threshold corresponding to the state change of the traffic signal light is 1.
- the cloud server determines to update the map. It should be pointed out that the state change of the map element is either 1 or 0. The state change of the map element is 1 to indicate that the map element is a new map element, and the state change of the map element is 0 to indicate that the map element is the original Map elements.
- Step 205 In the case of determining that the map is updated, the cloud server determines the delivery mode of the updated map according to the impact level of vehicle driving corresponding to the updated map element.
- the impact level of vehicle driving corresponding to the updated map element is the level at which the updated map element affects vehicle driving safety.
- the cloud server should immediately issue the update map.
- the lower the impact level of the driving of the vehicle corresponding to the map element is, the time limit for updating the map element is general, and the cloud server can send an update map after receiving a vehicle request, or periodically issue an update map. It can be seen that this embodiment provides at least three delivery methods: direct delivery, delivery according to the map update request from the car side, and periodic delivery.
- the impact level of the vehicle driving corresponding to the updated map element is the severity level
- the cloud server determines that the delivery mode of the updated map is direct transmission.
- lane closures, ramp closures, reduced number of lanes, reduced lane widths, new traffic lights, etc. can all be set as severity levels.
- the cloud server directly Send the updated map to all cars. This method avoids the problem of driving accidents caused by untimely map updates for autonomous vehicles, or re-planning routes multiple times.
- the impact level of the vehicle driving corresponding to the updated map element is a general level
- the cloud server determines that the update is issued according to the map update request or periodically.
- changes in traffic signs, missing traffic signs, missing traffic lights, etc. can all be set to a general level.
- the cloud server can send a request to the vehicle terminal according to the map update request. Send the updated map, or send the updated map to all car terminals according to a preset cycle.
- the first vehicle matches the environmental data collected by at least one data collection device on the first vehicle with the pre-stored map data, and reports the map to the cloud server when it is determined that the environmental data does not match the map data Update information.
- the map update information includes the relevant information of the map element to be updated.
- the cloud server determines whether to update the map according to the map update information reported by the first vehicle. In the case of determining to update the map, it drives according to the vehicle corresponding to the updated map element The impact level of the determines the distribution method of the updated map. The above method can ensure that the cloud server delivers updated information that has a greater impact on the driving of the vehicle to the vehicle end in time, thereby improving the driving safety of the autonomous vehicle.
- FIG. 4 is a schematic flowchart of another map update method provided by an embodiment of the application. As shown in Fig. 4, the map update method provided in this embodiment includes the following steps:
- Step 301 The first vehicle receives environmental data sent by at least one data collection device on the first vehicle.
- Step 302 The first vehicle determines whether the environmental data matches the pre-stored map data.
- Step 303 In a case where it is determined that the environmental data does not match the map data, the first vehicle reports the map update information to the cloud server.
- Step 301 to step 303 of this embodiment are the same as step 201 to step 203 of the foregoing embodiment, and reference may be made to the foregoing embodiment, which will not be repeated here.
- Step 304 The cloud server sends a map measurement instruction to at least one detection device in the first preset area of the coordinate position according to the map update information.
- the coordinate position refers to the coordinate position of the map element to be updated on the map.
- the first preset area may be a circular area with the coordinate position as the center and the first preset distance as the radius.
- the detection device of this embodiment includes a second vehicle and/or a roadside device.
- the second vehicle may be an online vehicle other than the first vehicle that uses the map, and the second vehicle is currently driving in the first preset area near the coordinate position of the map element to be updated. If there is no other autonomous driving vehicle in the first preset area near the coordinate position of the map element to be updated, the second vehicle may also be an online vehicle in another area using the map except the first vehicle.
- the roadside device may be a roadside device that can detect the map element near the coordinate position of the map element to be updated on the map.
- Step 305 The detection device detects and reports the map measurement information near the coordinate position according to the map measurement instruction.
- the second vehicle After receiving the map measurement instruction sent by the cloud server, the second vehicle drives near the coordinate position indicated by the map measurement instruction, and passes at least one data on the second vehicle when it reaches the vicinity of the coordinate position
- the collecting device collects environmental data around the second vehicle.
- the process of processing environmental data by the trip computer or on-board unit on the second vehicle is the same as that of the first vehicle in the foregoing embodiment.
- step 202 of the foregoing embodiment which will not be repeated here.
- the map measurement information is reported by the vehicle after receiving the map measurement instruction, and the map update information is actively reported by the vehicle. The essence of the two is the same, and the purpose is to report mismatched map elements to the cloud server. . Therefore, the map measurement information reported by the second vehicle in this embodiment is similar to the map update information reported by the first vehicle.
- the roadside device After receiving the map measurement instruction sent by the cloud server, the roadside device obtains the detection data near the coordinate position, and compares the detection data with the map data near the prestored coordinate position to determine the detection data Whether it matches the pre-stored map data. When it is determined that the detected data does not match the map data, the map measurement information is reported.
- the data collection device on the roadside equipment in this embodiment may include any one or more data collection devices on the above-mentioned automatic driving vehicle, which can be referred to above, and will not be repeated here.
- a certain detection device If a certain detection device does not find any unmatched map elements, it can send map measurement feedback information to the cloud server.
- the feedback information indicates that no unmatched map elements are found, or no map measurement feedback information is sent.
- Step 306 The cloud server determines whether to update the map according to the map update information and the map measurement information reported by the at least one detection device.
- the cloud server performs information processing on the map update information and at least one map measurement information to determine the amount of change of the map element to be updated on the map; according to the amount of change of the map element to be updated on the map and the preset Update threshold to determine whether to update the map.
- the change amount of the map element to be updated on the map is greater than or equal to the preset update threshold corresponding to the map element to be updated, and the map is updated; or, the change amount of the map element to be updated on the map is smaller than the map to be updated
- the preset update threshold corresponding to the element does not update the map.
- the process of the cloud server performing information processing on the map update information and at least one map measurement information includes: a data processing process on the amount of change of the same map element in the multiple pieces of information on the map.
- Data processing can include average calculation, weighted calculation or artificial intelligence calculation.
- the map update information reported by the first vehicle and the map measurement information reported by the roadside device both include the movement distance of a traffic light, which are 0.5m and 0.7m, respectively.
- the cloud server determines the movement of the traffic light based on these two measurement results.
- the average value of the distance is 0.6m. Assuming that the preset update threshold corresponding to the moving distance of the traffic light is 1m, it can be determined that there is no need to update the location of the traffic light.
- the data collection devices of the first vehicle and the second vehicle detect that the number of lanes at a certain location on the map is 3 and 4, respectively, and the number of lanes at the location of the pre-stored map data is 4.
- the source of the data about the number of vehicles reported by the first vehicle is a camera
- the source of the data about the number of vehicles reported by the second vehicle is a millimeter wave radar sensor.
- an artificial intelligence algorithm can be used to comprehensively analyze the data corresponding to the same map element in multiple pieces of information to determine the amount of change of the map element on the map.
- the following artificial intelligence algorithm can be used to synthesize the data Analysis: decision tree, random forest algorithm, logistic regression, SVM, naive Bayes, K nearest neighbor algorithm, K mean algorithm, Adaboost algorithm, neural network, Markov.
- the cloud server of this embodiment After receiving the map update information of the first vehicle, notifies other vehicles near the coordinate position of the map element to be updated on the map reported by the first vehicle and the roadside equipment to focus on the map element. , Improve the detection precision and accuracy of the map elements to be updated, and avoid the occurrence of false alarms by bicycles.
- Step 307 In the case where it is determined that the map is updated, the cloud server determines the delivery mode of the updated map according to the impact level of vehicle driving corresponding to the updated map element.
- Step 307 in this embodiment is the same as step 205 in the foregoing embodiment, and reference may be made to the foregoing embodiment, which will not be repeated here.
- the cloud server does not directly determine the map update, but reports the map element to be updated to the second vehicle and/or near the coordinate position of the map.
- Roadside devices send map measurement instructions to collect more map measurement information, determine whether to update the map according to the map update information and multiple map measurement information, and in the case of updating the map, according to the updated map element corresponding to the vehicle driving
- the impact level determines the distribution method of the updated map.
- the above method performs information processing on the map information reported by multiple vehicles and/or roadside equipment, which improves the accuracy of map update.
- the cloud server can update the map according to the following two methods.
- the cloud server further determines whether the map element to be updated meets the map accuracy requirement, and when the map element to be updated meets the map accuracy requirement, the map is updated.
- the cloud server further determines whether the map element to be updated meets the map accuracy requirements, and in the case that the map element to be updated does not meet the map accuracy requirements, sends a map data collection instruction to the third vehicle, and the map data
- the collection instruction is used to instruct the third vehicle to collect map data of the second preset area of the coordinate position, and the third vehicle is a data collection vehicle that meets the map accuracy requirements.
- the cloud server updates the map according to the map data collected by the third vehicle.
- the map accuracy requirement refers to the maximum allowable error range of the map element on the map.
- the map accuracy requirement includes the accuracy requirements corresponding to the map elements in each region. It is understandable that the accuracy requirements of different map elements may be the same or different. For example, the maximum position accuracy error of the lane line is 0.2m, and the maximum position accuracy error of the traffic light is 0.5m.
- the third vehicle is different from the first vehicle and the second vehicle.
- the first vehicle and the second vehicle may be self-driving vehicles running online in a wireless communication system
- the third vehicle may be a data collection vehicle connected to a cloud server for making a high-precision cloud map.
- the map element to be updated does not meet the map accuracy requirements, it may also include:
- the map of the second preset area where the coordinate position is set is not available; or,
- the second preset area may be a circular area with the coordinate position as the center and the second preset distance as the radius.
- the first preset area may be a circular area less than or equal to the first preset area, that is, the second preset distance may be less than or equal to the first preset distance.
- the auto-driving level of the vehicle is used to indicate the degree of intelligence and automation of the auto-driving vehicle.
- the automatic driving level of vehicles is divided into 6 levels: no automation (L0), driving support (L1), partial automation (L2), conditional automation (L3), and high automation (L4) ) And fully automated (L5).
- the cloud server sends an updated map to the vehicle according to any delivery method.
- the map of the second preset area marked with the coordinate location in the updated map is unavailable, and the vehicle is in After receiving the updated map, the route can be re-planned according to its own needs, to avoid entering the second preset area of the coordinate position indicated on the map, and to improve the safety of the vehicle.
- the cloud server can issue an update map while issuing an instruction to lower the automatic driving level, and enter or will enter the second preset area.
- the vehicle can lower the level of automatic driving according to the instruction to ensure safe passage through the area.
- FIG. 5 is a schematic structural diagram of a map updating device provided by an embodiment of the application.
- the map updating apparatus 400 provided in this embodiment includes:
- the obtaining module 401 is configured to obtain map update information reported by the first vehicle
- the processing module 402 is configured to determine whether to update the map according to the map update information
- the processing module 402 is also used to determine the delivery method of the updated map according to the impact level of the vehicle driving corresponding to the updated map element in the case of determining to update the map; the impact level of the vehicle driving is the impact level of the vehicle driving safety The grade.
- processing module 402 is specifically configured to:
- the impact level of the vehicle driving corresponding to the updated map element is the severity level, and the method of issuing the updated map is determined to be direct delivery; or, the vehicle driving impact level corresponding to the updated map element is the general level, and the update is determined
- the distribution method of the map is according to the map update request or periodically.
- the map update information includes the coordinate position of the map element to be updated on the map; the map update device 400 further includes a sending module 403.
- the sending module 403 is configured to send at least one detection device in the first preset area of the coordinate position according to the map update information Sending a map measurement instruction, the map measurement instruction being used to instruct the detection device to detect and report the map measurement information of the second preset area of the coordinate position.
- the processing module 402 is specifically configured to determine whether to update the map according to the map update information and the map measurement information reported by the at least one detection device.
- processing module 402 is specifically configured to:
- the processing module 402 is specifically configured to update the map if the amount of change of the map element to be updated on the map is greater than or equal to a preset update threshold corresponding to the map element to be updated.
- the processing module 402 is specifically configured to update the map when the map element to be updated meets the map accuracy requirement.
- the sending module 403 is also used for:
- a map data collection instruction is sent to the third vehicle, and the map data collection instruction is used to instruct the third vehicle to collect the coordinates of the map element to be updated on the map Map data of the second preset area of the location, where the third vehicle is a data collection vehicle that meets the map accuracy requirements;
- the processing module 402 is further configured to update the map according to map data collected by the third vehicle.
- the processing module 402 is further configured to:
- the map of the second preset area where the coordinate position is set is not available; or,
- the detection device includes a second vehicle and/or a roadside device, and the second vehicle is an online vehicle using the map.
- the map update device provided in the embodiment of the present application can execute the technical solution of the cloud server in the foregoing method embodiment, and its implementation principles and technical effects are similar, and will not be repeated here.
- FIG. 6 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of the application. As shown in FIG. 6, the vehicle-mounted device 500 provided in this embodiment includes:
- the receiving module 501 is used to receive environmental data
- the processing module 502 is configured to determine whether the environmental data matches the pre-stored map data, and in the case where it is determined that the environmental data does not match the map data, the sending module 503 is configured to report map update information to the cloud server;
- the map update information includes at least one of the following:
- the impact level of vehicle driving corresponding to the map element to be updated where the impact level of vehicle driving is a level that affects vehicle driving safety
- the data source of the map element to be updated.
- the map update information further includes at least one of the following: duration of continuous mismatch; the first time when the map element is perceived to be unmatched; the second time when the map update information is reported; the map update information Confidence level.
- the receiving module 501 is further configured to receive an updated map issued by a cloud server, where the updated map is a map updated by the cloud server according to the map update information and the map measurement result reported by at least one detection device ,
- the at least one detection device is located in the first preset area of the coordinate position.
- the detection device includes a second vehicle and/or a roadside device, and the second vehicle is an online vehicle using the map.
- the receiving module 501 is further configured to:
- the updated map is a map updated by the cloud server based on map data collected by a third vehicle, and the third vehicle is a data collection vehicle that meets the map accuracy requirements .
- the sending module 503 is further configured to send a map update request to the cloud server before receiving the updated map issued by the cloud server.
- the vehicle-mounted device provided in the embodiment of the present application can execute the technical solution of the first vehicle in the foregoing method embodiment, and its implementation principles and technical effects are similar, and will not be repeated here.
- FIG. 7 is a schematic diagram of the hardware structure of a communication device provided by an embodiment of the application.
- the communication device provided in this embodiment can be set on a cloud server.
- the communication device 600 provided in this embodiment includes: a memory 601, configured to store a computer program; a processor 602, configured to execute the computer program, so that the communication device 600 executes the cloud in any of the foregoing method embodiments Method steps executed by the server.
- FIG. 8 is a schematic diagram of the hardware structure of another communication device provided by an embodiment of the application.
- the communication device of this embodiment may be installed on an autonomous vehicle.
- the communication device 700 provided in this embodiment includes: a memory 701 for storing a computer program; a processor 702 for executing the computer program, so that the communication device 700 executes any of the foregoing method embodiments Method steps performed by the first vehicle.
- the memory and the processor are directly or indirectly electrically connected to achieve data transmission or interaction.
- these elements may be electrically connected to each other through one or more communication buses or signal lines, for example, they may be connected through a bus.
- the memory stores computer execution instructions for implementing the data access control method, including at least one software function module that can be stored in the memory in the form of software or firmware.
- the processor executes various software programs and modules by running the software programs and modules stored in the memory. Functional application and data processing.
- the memory can be, but not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM) ), Erasable Programmable Read-Only Memory (EPROM), Electrical Erasable Programmable Read-Only Memory (EEPROM) and so on.
- RAM Random Access Memory
- ROM Read Only Memory
- PROM Programmable Read-Only Memory
- EPROM Erasable Programmable Read-Only Memory
- EEPROM Electrical Erasable Programmable Read-Only Memory
- the memory is used to store the program, and the processor executes the program after receiving the execution instruction.
- the software programs and modules in the memory may also include an operating system, which may include various software components and/or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and Communicate with various hardware or software components to provide an operating environment for other software components.
- the processor can be an integrated circuit chip with signal processing capabilities.
- the foregoing processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), and so on.
- the methods, steps, and logical block diagrams disclosed in the embodiments of the present application can be implemented or executed.
- the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
- the present application also provides a readable storage medium for storing instructions.
- the map update method executed by the cloud server in any of the foregoing method embodiments is realized.
- the present application also provides a readable storage medium for storing instructions.
- the map update method executed by the first vehicle in any of the foregoing method embodiments is realized.
- the embodiment of the present application also provides a communication device including a processor and an interface.
- the processor is used to execute the map update method executed by the cloud server in any of the foregoing method embodiments.
- the embodiment of the present application also provides a communication device including a processor and an interface.
- the processor is used to execute the map update method executed by the first vehicle in any of the foregoing method embodiments.
- the foregoing communication device may be a chip, and the foregoing processor may be implemented by hardware or software.
- the processor When implemented by hardware, the processor may be a logic circuit, an integrated circuit, or the like.
- the processor When implemented by software, the processor may be a general-purpose processor, which is implemented by reading the software code stored in the memory, and the memory may be integrated in the processor, may be located outside the processor, and exist independently.
- system and “network” in this embodiment can often be used interchangeably in this embodiment.
- the term “and/or” in this embodiment is only an association relationship describing the associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean that A exists alone, and A and B exist at the same time. There are three cases of B alone.
- the character "/" in this text generally indicates that the associated objects before and after are in an "or" relationship.
- the disclosed system, device, and method may be implemented in other ways.
- the communication device described above is only illustrative, for example, the division of units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or integrated into Another system, or some features can be ignored, or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.
- the functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
- the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
- the computer-readable medium includes a computer storage medium and a communication medium, where the communication medium includes any medium that facilitates the transfer of a computer program from one place to another.
- the storage medium may be any available medium that can be accessed by a computer.
- computer readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or can be used to carry or store instructions or data structures
- Any connection can suitably become a computer-readable medium.
- the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave
- coaxial cable , Fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, wireless and microwave are included in the fixing of the media.
- Disk and disc include compact discs (CD), laser discs, optical discs, digital versatile discs (DVD), floppy discs and Blu-ray discs. Disks usually copy data magnetically, while discs The laser is used to optically copy data. The above combination should also be included in the protection scope of the computer-readable medium.
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Abstract
一种导航领域的地图更新方法、装置及存储介质,能够解决自动驾驶车辆使用的地图更新不及时,自动驾驶安全隐患较大的问题。其中地图更新方法包括:第一车辆根据第一车辆上至少一个数据采集装置采集的环境数据和预存的地图数据进行匹配,在确定环境数据与地图数据不匹配时向云端服务器上报地图更新信息,该地图更新信息包括待更新的地图元素的相关信息,云端服务器根据第一车辆上报的地图更新信息确定是否更新地图,在确定更新地图的情况下,根据更新的地图元素对应的车辆行驶的影响等级确定更新地图的下发方式。上述方法能够确保云端服务器及时下发对车辆行驶影响较大的更新信息至车端,提升了自动驾驶车辆的行驶安全。
Description
本申请要求于2019年8月6日提交中国专利局、申请号为201910723238.X、申请名称为“地图更新方法、装置及存储介质”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请实施例涉及导航技术领域,尤其涉及一种地图更新方法、装置及存储介质。
自动驾驶汽车又称无人驾驶汽车、电脑驾驶汽车或轮式移动机器人,是一种通过电脑***实现无人驾驶的智能汽车。自动驾驶汽车依靠人工智能、视觉计算、雷达、定位***、地图***协同合作,让电脑可以在没有任何人类主动的操作下,自动安全地操作机动车辆。
电子地图作为自动驾驶汽车导航的必备工具,地图的准确度和精度直接影响自动驾驶汽车的安全性。在实际应用中,道路状况经常发生变化,比如道路施工、交通标识改变等,如果汽车使用的地图更新不及时,会给自动驾驶汽车带来较大的安全隐患。
发明内容
本申请提供一种地图更新方法、装置及存储介质,确保自动驾驶车辆能够及时使用更新的地图,提升自动驾驶车辆的行驶安全。
本申请第一方面提供一种地图更新方法,包括:云端服务器获取第一车辆上报的地图更新信息,根据所述地图更新信息确定是否更新地图。在确定更新地图的情况下,云端服务器根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式,其中车辆行驶的影响等级是影响车辆行驶安全的等级。
本方案中,云端服务器根据第一车辆上报的地图更新信息确定更新地图时,从地图更新信息中获取更新的地图元素对应的车辆行驶的影响等级,云端服务器根据该影响等级确定更新地图的下发方式,确保对车辆行驶影响较大的更新信息及时下发至车端,提升自动驾驶车辆的行驶安全。
在一种可能的实现方式中,根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式,包括:更新的地图元素对应的车辆行驶的影响等级为严重等级,确定更新地图的下发方式为直接下发;或者,更新的地图元素对应的车辆行驶的影响等级为一般等级,确定更新地图的下发方式为根据地图更新请求下发或者周期性下发。
上述的实现方式对更新地图的下发方式进行细化,若存在对车辆行驶安全影响较大的地图元素更新时,云端服务器直接下发更新地图至所有在线车辆。若存在对车辆行驶安全影响不大的地图元素更新时,云端服务器可以按照预设周期集中下发,或者,可以根据车辆发送的地图更新请求下发。
在一种可能的实现方式中,地图更新信息包括待更新的地图元素在地图上的坐标位置;根据地图更新信息,确定是否更新地图之前,还包括:根据地图更新信息向坐 标位置的第一预设区域内的至少一个检测设备发送地图测量指令,地图测量指令用于指示检测设备检测并上报坐标位置的第二预设区域的地图测量信息。
在一种可能的实现方式中,根据地图更新信息,确定是否更新地图,包括:根据地图更新信息和至少一个检测设备上报的地图测量信息,确定是否更新地图。
上述的实现方式云端服务器并没有直接根据第一车辆上报的地图更新信息确定是否更新地图,而是特别考虑了更新的地图元素附近区域内的多个检测设备,基于多个地图测量上报结果进行综合分析,从而确定是否更新地图,避免了单车误报的情况发生,提高了地图更新的准确性。
在一种可能的实现方式中,根据地图更新信息和至少一个检测设备上报的地图测量信息,确定是否更新地图,包括:对地图更新信息和至少一个地图测量信息进行信息处理,确定待更新的地图元素在地图上的变化量;根据待更新的地图元素在地图上的变化量以及预设更新阈值,确定是否更新地图。
可选的,更新的地图元素在地图上的变化量包括地图元素移动距离的变化量(例如交通信号灯的移动距离)、地图元素高度/长度/宽度的变化量(例如车道的宽度变化量、交通信号灯高度的变化量)、地图元素的状态变化量。其中,地图元素的状态值包括0和1,0表示地图上无某地图元素,1表示地图上有某地图元素,若状态未变则变化量为0,若状态变化,则变化量的绝对值为1。
在一种可能的实现方式中,根据待更新的地图元素在地图上的变化量和各地图元素的预设更新阈值,确定是否更新地图,包括:待更新的地图元素在地图上的变化量大于或者等于待更新的地图元素对应的预设更新阈值,更新地图;
或者,待更新的地图元素在地图上的变化量小于待更新的地图元素对应的预设更新阈值,不更新地图。
需要说明的是,地图元素对应的预设阈值是地图元素的属性信息对应的预设阈值,例如交通信号灯的移动距离对应的预设更新阈值,车道的宽度变化量对应的预设阈值。不同地图元素对应的预设更新阈值可能相同也可能不同。
上述的实现方式根据待更新的地图元素的变化量与其对应的预设更新阈值进行比较,确定是否更新给地图元素,若存在一个需要更新的地图元素则更新地图。
在一种可能的实现方式中,根据地图更新信息,确定是否更新地图,包括:在待更新的地图元素满足地图精度要求的情况下,更新地图。
需要说明的是,地图精度要求是地图元素在地图上允许的最大误差范围,地图精度要求包括各地图元素对应的精度要求。
上述的实现方式在更新地图时需要确定更新的地图元素是否满足地图精度要求,如果该更新的地图元素的数据精度满足该地图元素的地图精度要求,则直接更新地图。
在一种可能的实现方式中,根据地图更新信息,确定是否更新地图,包括:在待更新的地图元素不满足地图精度要求的情况下,向第三车辆发送地图数据采集指令,地图数据采集指令用于指示第三车辆采集待更新的地图元素在地图上的坐标位置的第二预设区域的地图数据,第三车辆为满足地图精度要求的数据采集车辆;根据第三车辆采集的地图数据更新地图。
上述的实现方式在更新地图时需要确定更新的地图元素是否满足地图精度要求, 如果该更新的地图元素的数据精度较低,则不直接更新该地图元素,由数据采集车采集该地图元素附近的地图数据,云端服务器根据数据采集车采集的地图数据来更新地图,使得更新的地图元素满足地图精度要求,提高了云端地图数据的准确性。
在一种可能的实现方式中,在待更新的地图元素不满足地图精度要求的情况下,还包括:设置坐标位置的第二预设区域的地图不可用;或者,降低坐标位置的第二预设区域的地图的精度对应的车辆自动驾驶等级。
上述的实现方式已确定需要更新地图但更新的地图元素不满足精度要求,更新的地图元素可能包括车辆行驶的影响等级较高的地图元素,为了确保在线车辆的行驶安全,云端服务器在获取该更新的地图元素的高精度地图数据之前,设置该地图元素附近的地图数据不可用或者指示车辆在该地图元素附近降低车辆自动驾驶等级。
可选的,检测设备包括第二车辆和/或路侧设备,第二车辆为使用地图的在线车辆。
其中,第二车辆可以是使用地图的除第一车辆之外的其他在线车辆,该第二车辆当前行驶在待更新的地图元素的坐标位置附近的第一预设区域内。路侧设备可以是待更新的地图元素在地图上的坐标位置附近的能够检测到该地图元素的路侧设备。
本申请第二方面提供一种地图更新方法,包括:接收环境数据;确定环境数据与预存的地图数据是否匹配,在确定环境数据与地图数据不匹配的情况下,向云端服务器上报地图更新信息;地图更新信息包括以下至少一种:待更新的地图元素的类别;待更新的地图元素在地图上的坐标位置;待更新的地图元素在地图上的变化量;待更新的地图元素对应的车辆行驶的影响等级;待更新的地图元素的数据来源。其中,车辆行驶的影响等级是影响车辆行驶安全的等级。
可选的,第一车辆上的数据采集装置可以包括摄像头、红外线传感器、激光雷达传感器、毫米波传感器、超声波传感器、全球定位***、惯性导航装置的至少一种。
可选的,数据采集装置的环境数据可以是图像数据或者测量数据,其中测量数据包括三维空间数据、超声波数据、毫米波数据、定位数据等。
本方案中,第一车辆根据车载的数据采集装置获取的环境数据与预存的地图数据进行比对,在确定数据不匹配时向云端服务器上报地图更新信息,该地图更新信息中包括待更新的地图元素对应的车辆行驶的影响等级,云端服务器在确定更新该地图元素时,会根据该地图元素对应的车辆行驶的影响等级直接下发地图更新至在线车辆,确保在线车辆的行驶安全。
可选的,地图更新信息还包括以下至少一种:持续不匹配的时间长度;感知到地图元素不匹配的第一时间;上报地图更新信息的第二时间;地图更新信息的置信度。
其中,持续不匹配的时间长度是指第一车辆上报的地图更新信息中某一待更新的地图元素与预设的地图数据不匹配的时间长度。第一时间和第二时间的结合可用于指示不匹配的地图元素(即待更新的地图元素)更新的必要程度或者紧急程度。地图更新信息的置信度可以由提供待更新的地图元素的数据采集装置的置信度和权值确定,地图更新信息的置信度越高说明信息的可信程度越高。
一种可能的实现方式中,方法还包括:接收云端服务器下发的更新后的地图,更新后的地图是云端服务器根据地图更新信息和至少一个检测设备上报的地图测量结果更新的地图,至少一个检测设备位于坐标位置的第一预设区域内。
车辆根据云端服务器下发的更新后的地图调整或更新行驶路线,其中更新后的地图是云端服务器根据多辆车及路侧设备上报的测量信息进行综合分析得到的,避免了单车误报的情况发生,提高了地图更新的准确性。
可选的,检测设备包括第二车辆和/或路侧设备,第二车辆为使用地图的在线车辆。
在一种可能的实现方式中,方法还包括:接收云端服务器下发的更新后的地图,更新后的地图是云端服务器根据第三车辆采集的地图数据更新的地图,第三车辆为满足地图精度要求的数据采集车辆。
车辆根据云端服务器下发的更新后的地图调整或更新行驶路径,其中更新后的地图是云端服务器根据数据采集车采集的地图数据得到的,确保更新的地图元素满足地图精度要求,提高了云端地图数据的准确性,确保车辆的行驶安全。
在一种可能的实现方式中,接收云端服务器下发的更新后的地图之前,还包括:向云端服务器发送地图更新请求。
上述的实现方式车辆可以根据自身需求向云端服务器主动发起地图更新请求,车辆根据更新的地图调整或更新行驶路径,提升自动驾驶车辆的行驶安全。
本申请第三方面提供一种地图更新装置,包括:获取模块,用于获取第一车辆上报的地图更新信息;处理模块,用于根据所述地图更新信息,确定是否更新地图;所述处理模块,还用于在确定更新地图的情况下,根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式,所述车辆行驶的影响等级是影响车辆行驶安全的等级。
可选的,所述处理模块,具体用于:所述更新的地图元素对应的车辆行驶的影响等级为严重等级,确定更新地图的下发方式为直接下发;或者,所述更新的地图元素对应的车辆行驶的影响等级为一般等级,确定更新地图的下发方式为根据地图更新请求下发或者周期性下发。
可选的,所述装置还包括:发送模块,用于根据所述地图更新信息向待更新的地图元素在地图上的坐标位置的第一预设区域内的至少一个检测设备发送地图测量指令,所述地图测量指令用于指示所述检测设备检测并上报所述坐标位置的第二预设区域的地图测量信息。
可选的,所述处理模块,具体用于根据所述地图更新信息和至少一个检测设备上报的地图测量信息,确定是否更新地图。
可选的,所述处理模块,具体用于对所述地图更新信息和所述至少一个地图测量信息进行信息处理,确定待更新的地图元素在地图上的变化量;根据所述待更新的地图元素在地图上的变化量以及预设更新阈值,确定是否更新所述地图。
可选的,所述处理模块,具体用于所述待更新的地图元素在地图上的变化量大于或者等于所述待更新的地图元素对应的预设更新阈值,更新所述地图。
可选的,所述处理模块,具体用于在待更新的地图元素满足地图精度要求的情况下,更新所述地图。
可选的,所述装置还包括:发送模块,用于在待更新的地图元素不满足地图精度要求的情况下,向第三车辆发送地图数据采集指令,所述地图数据采集指令用于指示所述第三车辆采集待更新的地图元素在地图上的坐标位置的第二预设区域的地图数据, 所述第三车辆为满足地图精度要求的数据采集车辆;所述处理模块,还用于根据所述第三车辆采集的地图数据更新所述地图。
可选的,在所述待更新的地图元素不满足地图精度要求的情况下,所述处理模块,还用于设置所述坐标位置的第二预设区域的地图不可用;或者,降低所述坐标位置的第二预设区域的地图的精度对应的车辆自动驾驶等级。
可选的,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
本申请第四方面提供一种通信装置,包括:存储器,用于存储计算机程序;处理器,用于执行所述计算机程序,使得所述通信装置执行如本申请第一方面中任一项所述的方法。
本申请第五方面提供一种车载装置,包括:接收模块,用于接收环境数据;处理模块,用于确定所述环境数据与预存的地图数据是否匹配;发送模块,用于在确定所述环境数据与所述地图数据不匹配的情况下,向云端服务器上报地图更新信息。所述地图更新信息包括以下至少一种:待更新的地图元素的类别;待更新的地图元素在地图上的坐标位置;待更新的地图元素在地图上的变化量;待更新的地图元素对应的车辆行驶的影响等级,所述车辆行驶的影响等级是影响车辆行驶安全的等级;待更新的地图元素的数据来源。
可选的,所述地图更新信息还包括以下至少一种:持续不匹配的时间长度;感知到地图元素不匹配的第一时间;上报所述地图更新信息的第二时间;所述地图更新信息的置信度。
可选的,所述接收模块,还用于接收云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据所述地图更新信息和至少一个检测设备上报的地图测量结果更新的地图,所述至少一个检测设备位于所述坐标位置的第一预设区域内。
可选的,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
可选的,所述接收模块,还用于接收云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据第三车辆采集的地图数据更新的地图,所述第三车辆为满足地图精度要求的数据采集车辆。
可选的,所述接收模块接收云端服务器下发的更新后的地图之前,所述发送模块,还用于向所述云端服务器发送地图更新请求。
本申请第六方面提供一种通信装置,包括:存储器,用于存储计算机程序;处理器,用于执行所述计算机程序,使得所述通信装置执行如本申请第二方面中任一项所述的方法。
本申请第七方面提供一种可读存储介质,用于存储指令,当所述指令被执行时,使如本申请第一方面中任一项所述的方法被实现。
本申请第八方面提供一种可读存储介质,用于存储指令,当所述指令被执行时,使如本申请第二方面中任一项所述的方法被实现。
本申请第九方面提供一种通信装置,包括:处理器和接口电路;所述接口电路,用于接收代码指令并传输至所述处理器;所述处理器用于运行所述代码指令以执行如 本申请第一方面中的任一项所述的方法。
本申请第十方面提供一种通信装置,包括:处理器和接口电路;所述接口电路,用于接收代码指令并传输至所述处理器;所述处理器用于运行所述代码指令以执行如本申请第二方面中的任一项所述的方法。
本申请的第十一方面提供一种无线通信***,包括:多个自动驾驶车辆,多个路侧设备,以及云端服务器。多个自动驾驶车辆之间无线通信,自动驾驶车辆与路侧设备之间无线通信,自动驾驶车辆和路侧设备分别与云端服务器之间无线通信。其中,云端服务器用于执行本申请第一方面中的任一项所述的方法,自动驾驶车辆用于执行本申请第二方面中的任一项所述的方法。
本申请提供一种地图更新方法、装置及存储介质。其中地图更新方法包括:第一车辆根据第一车辆上至少一个数据采集装置采集的环境数据和预存的地图数据进行匹配,在确定环境数据与地图数据不匹配时向云端服务器上报地图更新信息,该地图更新信息包括待更新的地图元素的相关信息,云端服务器根据第一车辆上报的地图更新信息确定是否更新地图,在确定更新地图的情况下,根据更新的地图元素对应的车辆行驶的影响等级确定更新地图的下发方式。上述方法能够确保云端服务器及时下发对车辆行驶影响较大的更新信息至车端,提升了自动驾驶车辆的行驶安全。
图1为本申请实施例提供的无线通信***的示意图;
图2为现有的地图更新方法的流程示意图;
图3为本申请实施例提供的一种地图更新方法的流程示意图;
图4为本申请实施例提供的另一种地图更新方法的流程示意图;
图5为本申请实施例提供的一种地图更新装置的结构示意图;
图6为本申请实施例提供的一种车载装置的结构示意图;
图7为本申请实施例提供的一种通信装置的硬件结构示意图;
图8为本申请实施例提供的另一种通信装置的硬件结构示意图。
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述。
本申请实施例提供的地图更新方法可以应用于无线通信***。图1为本申请实施例提供的一种无线通信***的示意图。如图1所示,本实施例的无线通信***可以包括多个自动驾驶车辆(图1示出了车辆11、车辆12、车辆13、车辆14),多个路侧设备(图1示出了路侧设备15、路侧设备16)以及云端服务器17。其中,车辆与车辆之间可以进行无线通信,车辆与路侧设备之间可以进行无线通信,路侧设备、车辆还可以分别与云端服务器进行无线通信。
本申请实施例的云端服务器可以设置在核心网(Core Network,CN)设备侧。CN设备在不同的无线通信***中对应不同的设备,例如,在3G***中对应服务GPRS支持节点(Serving GPRS Support Node,SGSN)或网关GPRS支持节点(Gateway GPRS Support Node,GGSN),在4G***中对应移动管理实体(Mobility Management Entity, MME)或服务网关(Serving GateWay,S-GW),在5G***中对应5G***的核心网相关设备(例如NG-Core)。本申请实施例对此不作限定。本申请实施例的云端服务器为自动驾驶车辆提供最新的高精度地图信息,自动驾驶车辆可以根据自身需求更新和下载云端服务器上的高精度地图,保证自动驾驶车辆使用的高精度地图为最新地图。
本申请实施例的自动驾驶车辆内可以设置有终端设备,终端设备可以与路侧设备、云端服务器进行通信。终端设备可以指用户设备(user equipment,UE)、接入终端、用户单元、用户站、移动站、移动台、远方站、远程终端、移动设备、用户终端、终端、无线通信设备、用户代理或用户装置。终端设备还可以是蜂窝电话、无绳电话、会话启动协议(session initiation protocol,SIP)电话、无线本地环路(wireless local loop,WLL)站、个人数字助理(personal digital assistant,PDA)、具有无线通信功能的手持设备、计算设备或连接到无线调制解调器的其它处理设备、车载设备、可穿戴设备,未来5G网络或5G之后的网络中的终端设备,或者未来演进的公用陆地移动通信网络(public land mobile network,PLMN)中的终端设备等,本申请实施例对此不作限定。终端设备还可以是作为一个或多个部件或者单元而内置于车辆的车载模块、车载模组、车载部件、车载芯片或者车载单元(on board unit,简称OBU),车辆通过内置的所述车载模块、车载模组、车载部件、车载芯片或者车载单元可以实施本申请的方法。上述的终端设备还可以面向用户提供高精度地图数据,即用户可以通过终端设备的显示界面查看地图数据。
本申请实施例的路侧设备是部署于道路附近的交通信息采集单元或者交通设施控制单元,交通信息采集单元可以向交通设施控制单元提供采集的交通信息,交通设施控制单元可以执行对交通设施的控制指令,其中交通设施包括交通信号灯、电子交通标识牌等。应理解,本申请实施例的技术方案可以应用于长期演进(Long Term Evolution,LTE)架构,还可以应用于通用移动通信***(Universal Mobile Telecommunications System,UMTS)陆地无线接入网(UMTS Terrestrial Radio Access Network,UTRAN)架构,或者全球移动通信***(Global System for Mobile Communication,GSM)/增强型数据速率GSM演进(Enhanced Data Rate for GSM Evolution,EDGE)***的无线接入网(GSM EDGE Radio Access Network,GERAN)架构。在UTRAN架构或/GERAN架构中,MME的功能由服务通用分组无线业务(General Packet Radio Service,GPRS)支持节点(Serving GPRS Support,SGSN)完成,SGW\PGW的功能由网关GPRS支持节点(Gateway GPRS Support Node,GGSN)完成。本申请实施例的技术方案还可以应用于其他通信***,例如公共陆地移动网络(Public Land Mobile Network,PLMN)***,甚至未来的5G通信***或5G之后的通信***等,本申请实施例对此不作限定。
基于上述任一种无线通信***,云端服务器提供的高精度地图包括不同地图元素的属性信息,其中地图元素包括但不限于交通信号灯、交通标识、道路元素等,对应的,交通信号灯和交通标识的属性信息可以包括位置信息,道路元素的属性信息可以包括车道数量、车道宽度、匝道连通性等。随着时间的推移地图中地图元素的属性信息可能发生变化,例如交通信号灯的位置移动、车道数量减少、道路被封闭等等,这样会造成高精度地图与实际道路情况不一致,为了确保高精度地图信息的准确性,云 端服务器需要及时更新地图,确保使用地图的自动驾驶车辆的行驶安全。
图2为现有的地图更新方法的流程示意图。如图2所示,现有的地图更新方法包括:
步骤101、自动驾驶车辆检测当前道路的道路特征。
步骤102、自动驾驶车辆将当前道路的道路特征与本地地图的道路特征进行比较。
步骤103、在确定当前道路的道路特征与本地地图的道路特征不匹配时,自动驾驶车辆计算置信水平。
步骤104、在该置信水平高于本地地图的置信水平时,自动驾驶车辆向云端服务器发送地图更新信息。
步骤105、云端服务器根据地图更新信息更新地图。
现有技术方案中,车端计算置信水平,由于不同车辆的传感器存在较大差异,车端计算的置信水平存在较大的个体差异,单个车辆上报的地图更新信息存在误报的可能性,云端服务器根据地图更新信息更新的地图可能不准确。另外,现有技术方案没有对云端服务器如何发布更新地图进行限定,对于使用地图的自动驾驶车辆来说,可能由于地图更新不及时导致驾驶事故,存在较大的安全隐患。
为了解决上述技术问题,本申请实施例提供一种地图更新方法,云端服务器根据一个或者多个自动驾驶车辆上报的地图更新信息确定是否更新地图,并在确定更新地图的情况下,确定更新地图的下发方式,从而确保更新的地图能够及时下发至车端。由于云端服务器在接收到地图更新信息之后并不是直接根据车辆上报的信息更新地图,而是在综合判断后执行地图更新或者不更新,因此提高了地图更新的准确性。
下面采用具体的实施例对本申请的地图更新方法进行详细说明,需要说明的是,下面几个具体实施例可以相互结合,对于相同或相似的内容,在不同的实施例中不再进行重复说明。
图3为本申请实施例提供的一种地图更新方法的流程示意图。如图3所示,本实施例提供的地图更新方法,包括如下步骤:
步骤201、第一车辆接收环境数据。
在本实施例中,第一车辆为使用云端地图的任意在线的自动驾驶车辆,可以是图1中的车辆11、车辆12、车辆13或者车辆14。第一车辆接收从第一车辆上的至少一个数据采集装置发送的环境数据,其中数据采集装置可以包括摄像头、红外线传感器、激光雷达传感器、毫米波传感器、超声波传感器、全球定位***(global positioning system,简称GPS)、惯性导航装置的至少一种。数据采集装置的环境数据可以是数据采集装置采集的图像数据,也可以是数据采集装置采集的测量数据,测量数据包括三维空间数据、超声波数据、毫米波数据、定位数据等。
具体的,本实施例的摄像头用于采集自动驾驶车辆四周的可见光图像,可见光图像可以包括其他车辆、行人等障碍物,还可以包括车道线、车道边线、停止线、人行横道、交通信号灯、交通标识、收费站、检查站等道路信息。车辆上的行车电脑或者车载单元根据摄像头采集的可见光图像确定地图元素的属性信息。
本实施例的红外线传感器用于对自动驾驶车辆四周进行无接触温度测量,例如当车辆四周有行人时,红外线传感器可以用于采集行人发出的红外线,通过测量人体表 面温度从而确定行人的位置。车辆上的行车电脑或者车载单元根据红外线传感器采集到的温度数据,可以判断车辆四周行人的位置,进一步还可以确定行人的行驶速度。
本实施例的激光雷达传感器用于探测自动驾驶车辆四周的三维空间数据,其工作原理是向目标发射探测信号(激光束),然后接收到的从目标反射回来的信号(目标回波)与发射信号进行比较,作适当处理后,获得目标的相关信息。车辆上的行车电脑或者车载单元根据激光雷达传感器采集到的三维空间数据确定地图元素的属性信息。
本实施例的超声波雷达传感器用于探测自动驾驶车辆四周的障碍物,其工作原理是利用传感器内的超声波发生器产生超声波,再由接收探头接收经障碍物反射回来的超声波。车辆上的行车电脑或者车载单元可以根据超声波反射接收的时间差确定车辆与障碍物之间的距离,从而确定道路上障碍物的具***置。超声波雷达成本较低,探测距离近精度高,且不受光线条件的影响。
本实施例的毫米波雷达传感器也可以用于采集障碍物的行驶速度、自动驾驶车辆和障碍物之间的距离等,尤其适用于烟雾等恶劣天气。毫米波雷达传感器具有穿透雾、烟、灰尘的能力强,抗干扰能力强等优势。
本实施例的GPS用于根据测量的已知位置的卫星到自动驾驶车辆之间的距离,综合多颗卫星的测量数据确定自动驾驶车辆的具***置。结合其他数据采集装置可以确定障碍物的具***置。
本实施例的惯性导航装置用于检测自动驾驶车辆的行驶速度、位姿信息等,其工作原理是以牛顿力学定律为基础,通过测量自动驾驶车辆在惯性参考系的加速度,将加速度对时间进行积分,且把加速度变换到导航坐标系中,从而得到自动驾驶车辆在导航坐标系中的速度、偏航角和位置等信息。结合其他数据采集装置可以确定障碍物的具***置和移动速度等。
根据GPS和惯性导航装置可以确定自动驾驶车辆的自身绝对位置,结合摄像头、红外线传感器、激光雷达传感器、超声波雷达传感器和毫米波传感器可以获取各地图元素相对于自动驾驶车辆的相对位置,从而确定地图元素在地图上的绝对位置。
步骤202、第一车辆确定环境数据与预存的地图数据是否匹配。
具体的,第一车辆上的行车电脑或者车载单元根据获取到的至少一个数据采集装置的环境数据确定当前第一车辆所在位置处的地图数据,该地图数据包括地图元素的类别以及地图元素的属性信息。将当前第一车辆所在位置处的地图数据与预存的对应位置处的地图数据进行比较,确定当前第一车辆所在位置处的地图数据是否与预存的对应位置处的地图数据匹配。
本实施例的地图元素包括但不限于交通信号信号灯、交通标识、道路元素、收费站、检查站等,道路元素包括但不限于车道线、车道边线、停止线、人行横道、匝道等。对应的,交通信号灯的属性信息可以包括交通信号灯的数量、类别和位置,例如交通信号灯包括4个信号灯,分别为直行的红、绿、黄灯,以及左转的控制灯。交通标识的属性信息可以包括交通标识的数量、内容和位置,例如交通标识包括两个内容指示,分别指示前方限速40以及前方禁止右转弯。道路元素的属性信息可以包括道路元素的位置、车道数量、车道宽度、匝道连通性等。
步骤203、在确定环境数据与地图数据不匹配的情况下,第一车辆向云端服务器 上报地图更新信息。
在本实施例中,地图更新信息包括以下至少一种:
待更新的地图元素在地图上的坐标位置;
待更新的地图元素的类别;
待更新的地图元素在地图上的变化量;
待更新的地图元素对应的车辆行驶的影响等级;
待更新的地图元素的数据来源。
其中,待更新的地图元素可以理解为与预设的地图数据不匹配的地图元素。第一车辆根据环境数据确定当前车辆所在位置处的地图数据,根据当前车辆所在位置处的地图数据与预存的地图数据确定待更新的地图元素。例如,待更新的地图元素为交通信号灯,预设的地图数据在对应位置处不存在交通信号灯,即该交通信号灯为新增的地图元素,则第一车辆上报该交通信号灯以及交通信号灯的位置。又例如,待更新的地图元素为车道,该车道的宽度为2.5m,预设的地图数据在对应位置处的车道宽度为3.5m,即车道宽度较原来变窄了,则第一车辆上报该车道以及车道的位置和宽度。再例如,待更新的地图元素为交通标识,该交通标识用于指示禁止掉头,预设的地图数据在对应位置处的交通标识用于指示可以掉头,即交通标识发生变化,则第一车辆上报该交通标识以及交通标识的内容。
第一车辆在确定待更新的地图元素之后,生成地图更新信息,地图更新信息包括待更新的地图元素的类别、待更新的地图元素在地图上的坐标位置、待更新的地图元素在地图上的变化量、待更新的地图元素对应的车辆行驶的影响等级、待更新的地图元素的数据来源的至少一种,将生成的地图更新信息发送至云端服务器,以使云端服务器根据地图更新信息确定是否更新地图和/或确定更新地图的下发方式。
需要说明的是,待更新的地图元素在地图上的变化量可以是地图元素在地图上的移动距离,例如交通信号灯由原来的位置向左平移了2m。待更新的地图元素在地图上的变化量也可以是地图元素在地图上的高度变化量、长度变化量或者宽度变化量。例如车道的宽度由原来的2.5m拓宽至3.5m,路障的宽度由原来的10m缩短至5m。待更新的地图元素在地图上的变化量还可以是地图元素在地图上的状态变化量,例如某十字路口原先没有交通信号灯,交通信号灯的状态值设置为0,当前该十字路口新增交通信号灯,此时交通信号灯的状态值设置为1,交通信号灯在地图上的状态变化量为1,该状态变化量也可以用于云端服务器进行后续是否更新地图的判断,具体可参见后文。
待更新的地图元素对应的车辆行驶的影响等级是待更新的地图元素影响车辆行驶安全的等级。地图元素对应的车辆行驶的影响等级越高,更新该地图元素的时限越紧,这项参数用于指导云端服务器作相应的下发动作,具体可参见步骤205。
待更新的地图元素的数据来源是指检测到待更新的地图元素的数据采集装置,其中数据采集装置可以是上述步骤201中的任意一种或者多种。不同的数据采集装置具有不同的置信度和权值。这项参数用于第一车辆确定地图更新信息的整体的置信度。
可选的,地图更新信息还可以包括:持续不匹配的时间长度,感知到地图元素不匹配的第一时间,上报所述地图更新信息的第二时间,地图更新信息的置信度。
其中,持续不匹配的时间长度是指第一车辆上报的地图更新信息中某一待更新的 地图元素与预设的地图数据不匹配的时间长度,例如,第一车辆上报某路段道路封锁已持续3天。
其中,第一时间和第二时间的结合可用于指示不匹配的地图元素(即待更新的地图元素)更新的必要程度或者紧急程度。
其中,地图更新信息的置信度可以由提供待更新的地图元素的数据采集装置的置信度和权值确定,例如待更新的地图元素仅包括车道宽度变化,该变化是根据激光雷达传感器以及摄像头采集的环境数据确定的,因此包含车道宽度变化的地图更新信息的置信度是由激光雷达传感器的第一置信度和第一权值,以及摄像头的第二置信度和第二权值确定的。需要说明的是,在不同应用环境下,各个数据采集装置的权值是可调的,例如在烟雾等恶劣天气下,可以提高毫米波雷达传感器的权值,同时降低其他数据采集装置的权值。在光线较暗的环境下,可以降低摄像头的权值,同时提高其他数据采集装置的权值。
可选的,第一车辆可以多次上报地图更新信息。
步骤204、云端服务器根据地图更新信息,确定是否更新地图。
在本实施例中,云端服务器根据第一车辆上报的地图更新信息,确定待更新的地图元素在地图上的变化量。待更新的地图元素在地图上的变化量可参见步骤203,此处不再赘述。
具体的,云端服务器根据待更新的地图元素在地图上的变化量以及预设更新阈值,确定是否更新地图。其中,预设更新阈值包括各地图元素的属性信息对应的预设更新阈值,例如,交通信号灯的移动距离对应的预设更新阈值为1m,若交通信号灯的移动距离大于或者等于1m,云端服务器确定更新地图。又例如,车道的宽度变化量对应的预设更新阈值为1m,若车道的宽度变化量大于或者等于1m,云端服务器确定更新地图。再例如,交通信号灯的状态变化量对应的预设更新阈值为1,若交通信号灯的状态变化量等于1,云端服务器确定更新地图。需要指出的是,地图元素的状态变化量不是1就是0,地图元素的状态变化量为1表示该地图元素为新增的地图元素,地图元素的状态变化量为0表示该地图元素为原有的地图元素。
步骤205、在确定地图更新的情况下,云端服务器根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式。
在本实施例中,更新的地图元素对应的车辆行驶的影响等级是更新的地图元素影响车辆行驶安全的等级。地图元素对应的车辆行驶的影响等级越高,更新该地图元素的时限越紧,即云端服务器需要立即更新该地图元素,为了确保使用地图的自动驾驶车辆的行驶安全,云端服务器应当立即下发更新的地图。对应的,地图元素对应的车辆行驶的影响等级越低,更新该地图元素的时限一般,云端服务器可以在接收到车辆请求后发送更新地图,或者周期性的下发更新地图。可见,本实施例提供至少三种下发方式:直接下发、根据车端的地图更新请求下发、周期性下发。
具体的,在一种实现方式中,更新的地图元素对应的车辆行驶的影响等级为严重等级,云端服务器确定更新地图的下发方式为直接发送。示例性的,车道封闭、匝道封闭、车道数量减少、车道宽度变小、出现新的交通信号灯等均可以设置为严重等级,在出现上述任意一种严重等级的更新的地图元素时,云端服务器直接发送更新地图至 所有车端。该方式避免了自动驾驶车辆由于地图更新不及时导致驾驶事故,或者多次重新规划路线的问题。
在另一种实现方式中,更新的地图元素对应的车辆行驶的影响等级为一般等级,云端服务器确定更新的下发方式为根据地图更新请求下发或者周期性下发。示例性的,交通标识改变、交通标识丢失、交通信号灯缺失等均可以设置为一般等级,在出现上述任意一种一般等级的更新的地图元素时,云端服务器可以根据地图更新请求向请求的车端发送更新地图,或者根据预设的周期向所有车端发送更新地图。
本申请实施例提供的地图更新方法,第一车辆根据第一车辆上至少一个数据采集装置采集的环境数据和预存的地图数据进行匹配,在确定环境数据与地图数据不匹配时向云端服务器上报地图更新信息,该地图更新信息包括待更新的地图元素的相关信息,云端服务器根据第一车辆上报的地图更新信息确定是否更新地图,在确定更新地图的情况下,根据更新的地图元素对应的车辆行驶的影响等级确定更新地图的下发方式。上述方法能够确保云端服务器及时下发对车辆行驶影响较大的更新信息至车端,提升了自动驾驶车辆的行驶安全。
图4为本申请实施例提供的另一种地图更新方法的流程示意图。如图4所示,本实施例提供的地图更新方法,包括如下步骤:
步骤301、第一车辆接收第一车辆上至少一个数据采集装置发送的环境数据。
步骤302、第一车辆确定环境数据与预存的地图数据是否匹配。
步骤303、在确定环境数据与地图数据不匹配的情况下,第一车辆向云端服务器上报地图更新信息。
本实施例的步骤301至步骤303与上述实施例的步骤201至步骤203相同,可参见上述实施例,此处不再赘述。
步骤304、云端服务器根据地图更新信息向坐标位置的第一预设区域内的至少一个检测设备发送地图测量指令。
其中,坐标位置是指待更新的地图元素在地图上的坐标位置。第一预设区域可以是以该坐标位置为中心,以第一预设距离为半径的圆形区域。
本实施例的检测设备包括第二车辆和/或路侧设备。其中,第二车辆可以是使用地图的除第一车辆之外的其他在线车辆,该第二车辆当前行驶在待更新的地图元素的坐标位置附近的第一预设区域内。若在待更新的地图元素的坐标位置附近的第一预设区域内不存在其他自动驾驶车辆,第二车辆还可以是使用地图的除第一车辆之外的其他区域的在线车辆。路侧设备可以是待更新的地图元素在地图上的坐标位置附近的能够检测到该地图元素的路侧设备。
步骤305、检测设备根据地图测量指令检测并上报坐标位置附近的地图测量信息。
对于第二车辆来说,第二车辆在接收到云端服务器发送的地图测量指令后,向地图测量指令指示的坐标位置附近行驶,并在到达该坐标位置附近时通过第二车辆上的至少一个数据采集装置采集第二车辆四周的环境数据。第二车辆上的行车电脑或者车载单元对环境数据的处理过程同上述实施例的第一车辆,具体可参见上述实施例的步骤202,此处不再赘述。需要说明的是,地图测量信息是车辆在接收到地图测量指令后上报的,地图更新信息是车辆主动上报的,两者的本质是相同的,其目的都是向云 端服务器上报不匹配的地图元素。因此,本实施例中第二车辆上报的地图测量信息与第一车辆上报的地图更新信息类似,可参见上述实施例对地图更新信息的介绍,此处不再赘述。
对于路侧设备来说,路侧设备在接收到云端服务器发送的地图测量指令后,获取坐标位置附近的检测数据,并将检测数据和预存的坐标位置附近的地图数据进行自比较,确定检测数据是否与预存的地图数据匹配。在确定检测数据与地图数据不匹配时,上报地图测量信息。本实施例的路侧设备上的数据采集装置可以包括上述自动驾驶车辆上的任意一个或者多个数据采集装置,可参见上文,此处不再赘述。
若某一检测设备未发现不匹配的地图元素,可以向云端服务器发送地图测量反馈信息,该反馈信息中指出未发现不匹配的地图元素,或者,不发送地图测量反馈信息。
步骤306、云端服务器根据地图更新信息和至少一个检测设备上报的地图测量信息,确定是否更新地图。
在本实施例中,云端服务器对地图更新信息和至少一个地图测量信息进行信息处理,确定待更新的地图元素在地图上的变化量;根据待更新的地图元素在地图上的变化量以及预设更新阈值,确定是否更新地图。
具体的,待更新的地图元素在地图上的变化量大于或者等于待更新的地图元素对应的预设更新阈值,更新地图;或者,待更新的地图元素在地图上的变化量小于待更新的地图元素对应的预设更新阈值,不更新地图。
其中,云端服务器对地图更新信息和至少一个地图测量信息进行信息处理的过程包括:对多个信息中的同一地图元素在地图上的变化量的数据处理过程。数据处理可以包括平均值计算、加权计算或者人工智能计算等。例如,第一车辆上报的地图更新信息和路侧设备上报的地图测量信息都包括某交通信号灯的移动距离,分别为0.5m和0.7m,云端服务器根据这两个测量结果确定该交通信号灯的移动距离的平均值为0.6m,假设交通信号灯的移动距离对应的预设更新阈值为1m,则可以确定无需更新该交通信号灯的位置。又例如,第一车辆和第二车辆的数据采集装置检测到地图上某位置的车道数量分别为3和4,预存的地图数据在该位置的车道数量为4。其中第一车辆上报的关于车辆数量的数据来源为摄像头,第二车辆上报的关于车辆数量的数据来源为毫米波雷达传感器。假设云端服务器获取到当前位置的行驶环境为恶劣环境,如雾天,云端服务器需要结合数据采集装置在恶劣环境下的权重(比如毫米波雷达传感器的权值为1,摄像头的权值为0),对当前位置的车辆数量的数据进行加权计算,最终确定该位置的车道数量仍为4,未发生变化,云端服务器不更新地图。需要说明的是,本实施例可以结合人工智能算法对多个信息中的同一地图元素对应的数据进行综合分析,确定该地图元素在地图上的变化量,可以采用如下人工智能算法对数据进行综合分析:决策树、随机森林算法、逻辑回归、SVM、朴素贝叶斯、K最近邻算法、K均值算法、Adaboost算法、神经网络、马尔可夫。
由于各检测设备上的数据采集装置存在差异,且同一数据采集装置从不同视角获取的环境数据也可能不同,这就导致不同检测设备对同一地图元素的地图测量结果不同。本实施例的云端服务器在接收到第一车辆的地图更新信息之后,通知第一车辆上报的待更新的地图元素在地图上的坐标位置附近的其他车辆以及路侧设备对该地图元 素进行重点感知,提高了对待更新的地图元素的检测精度和准确度,避免单车误报的情况发生。
步骤307、在确定地图更新的情况下,云端服务器根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式。
本实施例的步骤307与上述实施例的步骤205相同,可参见上述实施例,此处不再赘述。
本实施例提供的地图更新方法,在第一车辆上报地图更新信息之后,云端服务器不直接进行地图更新的判断,而是向待更新的地图元素在地图的坐标位置附近的第二车辆和/或路侧设备发送地图测量指令,从而收集更多的地图测量信息,根据地图更新信息和多个地图测量信息确定是否更新地图,并在更新地图的情况下,根据更新的地图元素对应的车辆行驶的影响等级确定更新地图的下发方式。上述方法对多车和/或路侧设备上报的地图信息进行信息处理,提高了地图更新的准确性。
在上述各实施例的基础上,可选的,在确定更新地图的情况下,云端服务器可以根据如下两种方式进行地图的更新。
在一种实现方式中,云端服务器进一步确定待更新的地图元素是否满足地图精度要求,在待更新的地图元素满足地图精度要求的情况下,更新地图。
在另一种实现方式中,云端服务器进一步确定待更新的地图元素是否满足地图精度要求,在待更新的地图元素不满足地图精度要求的情况下,向第三车辆发送地图数据采集指令,地图数据采集指令用于指示第三车辆采集坐标位置的第二预设区域的地图数据,第三车辆为满足地图精度要求的数据采集车辆。云端服务器根据第三车辆采集的地图数据更新地图。
其中,地图精度要求是指地图元素在地图上允许的最大误差范围,地图精度要求包括各地图元素对应的精度要求,可以理解,不同地图元素的精度要求可能相同也可能不同。例如,车道线的位置精度误差最大为0.2m,交通灯的位置精度误差最大为0.5m。
需要说明的是,第三车辆不同于第一车辆和第二车辆。其中,第一车辆和第二车辆可以是无线通信***中在线运行的自动驾驶车辆,第三车辆可以是与云端服务器连接的制作云端高精度地图的数据采集车。
可选的,在待更新的地图元素不满足地图精度要求的情况下,还可以包括:
设置坐标位置的第二预设区域的地图不可用;或者,
降低坐标位置的第二预设区域的地图的精度对应的车辆自动驾驶等级。
其中,第二预设区域可以是以坐标位置为中心,以第二预设距离为半径的圆形区域。第一预设区域可以是小于或者等于第一预设区域的圆形区域,即第二预设距离可以小于或者等于第一预设距离。
其中,车辆自动驾驶等级用于指示自动驾驶车辆的智能化程度、自动化程度。目前按照美国汽车工程师协会SAE的标准,将车辆自动驾驶等级分为6个等级:无自动化(L0)、驾驶支援(L1)、部分自动化(L2)、有条件自动化(L3)、高度自动化(L4)和完全自动化(L5)。
当设置坐标位置的第二预设区域的地图不可用时,云端服务器根据任意下发方式向车辆发送更新地图,该更新地图中标注了该坐标位置的第二预设区域的地图不可用, 车辆在接收到更新地图后可以根据自身需要重新规划路线,避免进入地图中指示的坐标位置的第二预设区域内,提高车辆行驶的安全性。
当降低坐标位置的第二预设区域的地图的精度对应的车辆自动驾驶等级时,云端服务器可以在下发更新地图的同时,发出降低自动驾驶等级的指令,进入或者即将进入第二预设区域的车辆可以根据该指令降低自动驾驶等级,确保安全通过该区域。
图5为本申请实施例提供的一种地图更新装置的结构示意图。如图5所示,本实施例提供的地图更新装置400,包括:
获取模块401,用于获取第一车辆上报的地图更新信息;
处理模块402,用于根据所述地图更新信息,确定是否更新地图;
所述处理模块402,还用于在确定更新地图的情况下,根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式;所述车辆行驶的影响等级是影响车辆行驶安全的等级。
可选的,所述处理模块402,具体用于:
所述更新的地图元素对应的车辆行驶的影响等级为严重等级,确定更新地图的下发方式为直接下发;或者,所述更新的地图元素对应的车辆行驶的影响等级为一般等级,确定更新地图的下发方式为根据地图更新请求下发或者周期性下发。
可选的,所述地图更新信息包括待更新的地图元素在地图上的坐标位置;所述地图更新装置400,还包括发送模块403。
在所述处理模块402根据所述地图更新信息,确定是否更新地图之前,所述发送模块403,用于根据所述地图更新信息向所述坐标位置的第一预设区域内的至少一个检测设备发送地图测量指令,所述地图测量指令用于指示所述检测设备检测并上报所述坐标位置的第二预设区域的地图测量信息。
所述处理模块402,具体用于根据所述地图更新信息和所述至少一个检测设备上报的地图测量信息,确定是否更新地图。
可选的,所述处理模块402,具体用于:
对所述地图更新信息和至少一个地图测量信息进行信息处理,确定待更新的地图元素在地图上的变化量;
根据所述待更新的地图元素在地图上的变化量以及预设更新阈值,确定是否更新所述地图。
可选的,所述处理模块402,具体用于所述待更新的地图元素在地图上的变化量大于或者等于所述待更新的地图元素对应的预设更新阈值,更新所述地图。
可选的,所述处理模块402,具体用于在待更新的地图元素满足地图精度要求的情况下,更新所述地图。
可选的,所述发送模块403,还用于:
在待更新的地图元素不满足地图精度要求的情况下,向第三车辆发送地图数据采集指令,所述地图数据采集指令用于指示所述第三车辆采集待更新的地图元素在地图上的坐标位置的第二预设区域的地图数据,所述第三车辆为满足地图精度要求的数据采集车辆;
所述处理模块402,还用于根据所述第三车辆采集的地图数据更新所述地图。
可选的,在所述待更新的地图元素不满足地图精度要求的情况下,所述处理模块402,还用于:
设置所述坐标位置的第二预设区域的地图不可用;或者,
降低所述坐标位置的第二预设区域的地图的精度对应的车辆自动驾驶等级。
可选的,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
本申请实施例提供的地图更新装置,可以执行上述方法实施例中云端服务器的技术方案,其实现原理和技术效果类似,此处不再赘述。
图6为本申请实施例提供的一种车载装置的结构示意图。如图6所示,本实施例提供的车载装置500包括:
接收模块501,用于接收环境数据;
处理模块502,用于确定所述环境数据与预存的地图数据是否匹配,在确定所述环境数据与所述地图数据不匹配的情况下,发送模块503,用于向云端服务器上报地图更新信息;
所述地图更新信息包括以下至少一种:
待更新的地图元素的类别;
待更新的地图元素在地图上的坐标位置;
待更新的地图元素在地图上的变化量;
待更新的地图元素对应的车辆行驶的影响等级,所述车辆行驶的影响等级是影响车辆行驶安全的等级;
待更新的地图元素的数据来源。
可选的,所述地图更新信息还包括以下至少一种:持续不匹配的时间长度;感知到地图元素不匹配的第一时间;上报所述地图更新信息的第二时间;所述地图更新信息的置信度。
可选的,
所述接收模块501,还用于接收云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据所述地图更新信息和至少一个检测设备上报的地图测量结果更新的地图,所述至少一个检测设备位于所述坐标位置的第一预设区域内。
可选的,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
可选的,所述接收模块501,还用于:
接收所述云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据第三车辆采集的地图数据更新的地图,所述第三车辆为满足地图精度要求的数据采集车辆。
可选的,所述发送模块503,还用于在接收云端服务器下发的更新后的地图之前,向所述云端服务器发送地图更新请求。
本申请实施例提供的车载装置,可以执行上述方法实施例中第一车辆的技术方案,其实现原理和技术效果类似,此处不再赘述。
图7为本申请实施例提供的一种通信装置的硬件结构示意图。本实施例提供的通 信装置可以设置在云端服务器上。如图7所示,本实施例提供的通信装置600包括:存储器601,用于存储计算机程序;处理器602,用于执行所述计算机程序,使得通信装置600执行前述任一方法实施例中云端服务器执行的方法步骤。
图8为本申请实施例提供的另一种通信装置的硬件结构示意图。本实施例的通信装置可以设置在自动驾驶车辆上。如图8所示,本实施例提供的通信装置700,包括:存储器701,用于存储计算机程序;处理器702,用于执行所述计算机程序,使得通信装置700执行前述任一方法实施例中第一车辆执行的方法步骤。
在上述通信装置600和通信装置700的实现中,存储器和处理器之间直接或间接地电性连接,以实现数据的传输或交互。例如,这些元件相互之间可以通过一条或者多条通信总线或信号线实现电性连接,如可以通过总线连接。存储器中存储有实现数据访问控制方法的计算机执行指令,包括至少一个可以软件或固件的形式存储于存储器中的软件功能模块,处理器通过运行存储在存储器内的软件程序以及模块,从而执行各种功能应用以及数据处理。
存储器可以是,但不限于,随机存取存储器(Random Access Memory,简称:RAM),只读存储器(Read Only Memory,简称:ROM),可编程只读存储器(Programmable Read-Only Memory,简称:PROM),可擦除只读存储器(Erasable Programmable Read-Only Memory,简称:EPROM),电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory,简称:EEPROM)等。其中,存储器用于存储程序,处理器在接收到执行指令后,执行程序。进一步地,上述存储器内的软件程序以及模块还可包括操作***,其可包括各种用于管理***任务(例如内存管理、存储设备控制、电源管理等)的软件组件和/或驱动,并可与各种硬件或软件组件相互通信,从而提供其他软件组件的运行环境。
处理器可以是一种集成电路芯片,具有信号的处理能力。上述的处理器可以是通用处理器,包括中央处理器(Central Processing Unit,简称:CPU)、网络处理器(Network Processor,简称:NP)等。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
本申请还提供一种可读存储介质,用于存储指令,当所述指令被执行时,使得前述任一方法实施例中云端服务器执行的地图更新方法被实现。
本申请还提供一种可读存储介质,用于存储指令,当所述指令被执行时,使得前述任一方法实施例中第一车辆执行的地图更新方法被实现。
本申请实施例还提供了一种通信装置,包括处理器和接口。该处理器用于执行前述任一方法实施例中云端服务器执行的地图更新方法。
本申请实施例还提供了一种通信装置,包括处理器和接口。该处理器用于执行前述任一方法实施例中第一车辆执行的地图更新方法。
应理解,上述通信装置可以是一个芯片,上述处理器可以通过硬件来实现也可以通过软件来实现,当通过硬件实现时,该处理器可以是逻辑电路、集成电路等。当通过软件来实现时,该处理器可以是一个通用处理器,通过读取存储器中存储的软件代码来实现,改存储器可以集成在处理器中,可以位于所述处理器之外,独立存在。
应理解,本实施例中的术语“***”和“网络”在本实施例中常可被互换使用。本实 施例中术语“和/或”,仅仅是一种描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。另外,本文中字符“/”,一般表示前后关联对象是一种“或”的关系。
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、计算机软件或者二者的结合来实现,为了清楚地说明硬件和软件的可互换性,在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中,应该理解到,所揭露的***、装置和方法,可以通过其它的方式实现。例如,以上所描述的通信装置仅仅是示意性的,例如,单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另外,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接,也可以是电的,机械的或其它的形式连接。
另外,在本申请实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。
通过以上的实施方式的描述,所属领域的技术人员可以清楚地了解到本申请可以用硬件实现,或固件实现,或它们的组合方式来实现。当使用软件实现时,可以将上述功能存储在计算机可读介质中或作为计算机可读介质上的一个或多个指令或代码进行传输。计算机可读介质包括计算机存储介质和通信介质,其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是计算机能够存取的任何可用介质。以此为例但不限于:计算机可读介质可以包括RAM、ROM、EEPROM、CD-ROM或其他光盘存储、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质。此外。任何连接可以适当的成为计算机可读介质。例如,如果软件是使用同轴电缆、光纤光缆、双绞线、数字用户线(DSL)或者诸如红外线、无线电和微波之类的无线技术从网站、服务器或者其他远程源传输的,那么同轴电缆、光纤光缆、双绞线、DSL或者诸如红外线、无线和微波之类的无线技术包括在所属介质的定影中。如本申请所使用的,盘(Disk)和碟(disc)包括压缩光碟(CD)、激光碟、光碟、数字通用光碟(DVD)、软盘和蓝光光碟,其中盘通常磁性的复制数据,而碟则用激光来光学的复制数据。上面的组合也应当包括在计算机可读介质的保护范围之内。
总之,以上所述仅为本申请技术方案的较佳实施例而已,并非用于限定本申请的保护范围。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。
Claims (38)
- 一种地图更新方法,其特征在于,包括:获取第一车辆上报的地图更新信息;根据所述地图更新信息,确定是否更新地图;在确定更新地图的情况下,根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式,所述车辆行驶的影响等级是影响车辆行驶安全的等级。
- 根据权利要求1所述的方法,其特征在于,所述根据更新的地图元素对应的车辆行驶的影响等级,确定更新地图的下发方式,包括:所述更新的地图元素对应的车辆行驶的影响等级为严重等级,确定更新地图的下发方式为直接下发;或者,所述更新的地图元素对应的车辆行驶的影响等级为一般等级,确定更新地图的下发方式为根据地图更新请求下发或者周期性下发。
- 根据权利要求1或2所述的方法,其特征在于,所述地图更新信息包括待更新的地图元素在地图上的坐标位置;所述根据所述地图更新信息,确定是否更新地图之前,还包括:根据所述地图更新信息向所述坐标位置的第一预设区域内的至少一个检测设备发送地图测量指令,所述地图测量指令用于指示所述检测设备检测并上报所述坐标位置的第二预设区域的地图测量信息。
- 根据权利要求1-3中任一项所述的方法,其特征在于,所述根据所述地图更新信息,确定是否更新地图,包括:根据所述地图更新信息和至少一个检测设备上报的地图测量信息,确定是否更新地图。
- 根据权利要求4所述的方法,其特征在于,所述根据所述地图更新信息和所述至少一个检测设备上报的地图测量信息,确定是否更新地图,包括:对所述地图更新信息和所述至少一个地图测量信息进行信息处理,确定待更新的地图元素在地图上的变化量;根据所述待更新的地图元素在地图上的变化量以及预设更新阈值,确定是否更新所述地图。
- 根据权利要求5所述的方法,其特征在于,所述根据所述待更新的地图元素在地图上的变化量和各地图元素的预设更新阈值,确定是否更新所述地图,包括:所述待更新的地图元素在地图上的变化量大于或者等于所述待更新的地图元素对应的预设更新阈值,更新所述地图。
- 根据权利要求1-3中任一项所述的方法,其特征在于,根据所述地图更新信息,确定是否更新地图,包括:在待更新的地图元素满足地图精度要求的情况下,更新所述地图。
- 根据权利要求1-3中任一项所述的方法,其特征在于,根据所述地图更新信息,确定是否更新地图,包括:在待更新的地图元素不满足地图精度要求的情况下,向第三车辆发送地图数据采集指令,所述地图数据采集指令用于指示所述第三车辆采集待更新的地图元素在地图上的坐标位置的第二预设区域的地图数据,所述第三车辆为满足地图精度要求的数据采集车辆;根据所述第三车辆采集的地图数据更新所述地图。
- 根据权利要求8所述的方法,其特征在于,在所述待更新的地图元素不满足地图精度要求的情况下,还包括:设置所述坐标位置的第二预设区域的地图不可用;或者,降低所述坐标位置的第二预设区域的地图的精度对应的车辆自动驾驶等级。
- 根据权利要求3-9中任一项所述的方法,其特征在于,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
- 一种地图更新方法,其特征在于,包括:接收环境数据;确定所述环境数据与预存的地图数据是否匹配,在确定所述环境数据与所述地图数据不匹配的情况下,向云端服务器上报地图更新信息;所述地图更新信息包括以下至少一种:待更新的地图元素的类别;待更新的地图元素在地图上的坐标位置;待更新的地图元素在地图上的变化量;待更新的地图元素对应的车辆行驶的影响等级,所述车辆行驶的影响等级是影响车辆行驶安全的等级;待更新的地图元素的数据来源。
- 根据权利要求11所述的方法,其特征在于,所述地图更新信息还包括以下至少一种:持续不匹配的时间长度;感知到地图元素不匹配的第一时间;上报所述地图更新信息的第二时间;所述地图更新信息的置信度。
- 根据权利要求11或12所述的方法,其特征在于,还包括:接收云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据所述地图更新信息和至少一个检测设备上报的地图测量结果更新的地图,所述至少一个检测设备位于所述坐标位置的第一预设区域内。
- 根据权利要求13所述的方法,其特征在于,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
- 根据权利要求11或12所述的方法,其特征在于,还包括:接收云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据第三车辆采集的地图数据更新的地图,所述第三车辆为满足地图精度要求的数据采集车辆。
- 根据权利要求13或15所述的方法,其特征在于,所述接收云端服务器下发的更新后的地图之前,还包括:向所述云端服务器发送地图更新请求。
- 一种地图更新装置,其特征在于,包括:获取模块,用于获取第一车辆上报的地图更新信息;处理模块,用于根据所述地图更新信息,确定是否更新地图;所述处理模块,还用于在确定更新地图的情况下,根据更新的地图元素对应的车辆行 驶的影响等级,确定更新地图的下发方式,所述车辆行驶的影响等级是影响车辆行驶安全的等级。
- 根据权利要求17所述的装置,其特征在于,所述处理模块,具体用于:所述更新的地图元素对应的车辆行驶的影响等级为严重等级,确定更新地图的下发方式为直接下发;或者,所述更新的地图元素对应的车辆行驶的影响等级为一般等级,确定更新地图的下发方式为根据地图更新请求下发或者周期性下发。
- 根据权利要求17或18所述的装置,其特征在于,所述装置还包括:发送模块,用于根据所述地图更新信息向待更新的地图元素在地图上的坐标位置的第一预设区域内的至少一个检测设备发送地图测量指令,所述地图测量指令用于指示所述检测设备检测并上报所述坐标位置的第二预设区域的地图测量信息。
- 根据权利要求17-19中任一项所述的装置,其特征在于,所述处理模块,具体用于:根据所述地图更新信息和至少一个检测设备上报的地图测量信息,确定是否更新地图。
- 根据权利要求20所述的装置,其特征在于,所述处理模块,具体用于:对所述地图更新信息和所述至少一个地图测量信息进行信息处理,确定待更新的地图元素在地图上的变化量;根据所述待更新的地图元素在地图上的变化量以及预设更新阈值,确定是否更新所述地图。
- 根据权利要求21所述的装置,其特征在于,所述处理模块,具体用于:所述待更新的地图元素在地图上的变化量大于或者等于所述待更新的地图元素对应的预设更新阈值,更新所述地图。
- 根据权利要求17-19中任一项所述的装置,其特征在于,所述处理模块,具体用于:在待更新的地图元素满足地图精度要求的情况下,更新所述地图。
- 根据权利要求17-19中任一项所述的装置,其特征在于,所述装置还包括:发送模块,用于在待更新的地图元素不满足地图精度要求的情况下,向第三车辆发送地图数据采集指令,所述地图数据采集指令用于指示所述第三车辆采集待更新的地图元素在地图上的坐标位置的第二预设区域的地图数据,所述第三车辆为满足地图精度要求的数据采集车辆;所述处理模块,还用于根据所述第三车辆采集的地图数据更新所述地图。
- 根据权利要求24所述的装置,其特征在于,在所述待更新的地图元素不满足地图精度要求的情况下,所述处理模块,还用于:设置所述坐标位置的第二预设区域的地图不可用;或者,降低所述坐标位置的第二预设区域的地图的精度对应的车辆自动驾驶等级。
- 根据权利要求19-25中任一项所述的装置,其特征在于,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
- 一种通信装置,其特征在于,包括:存储器,用于存储计算机程序;处理器,用于执行所述计算机程序,使得所述通信装置执行如权利要求1-10中任一项所述的方法。
- 一种车载装置,其特征在于,包括:接收模块,用于接收环境数据;处理模块,用于确定所述环境数据与预存的地图数据是否匹配;发送模块,用于在确定所述环境数据与所述地图数据不匹配的情况下,向云端服务器上报地图更新信息;所述地图更新信息包括以下至少一种:待更新的地图元素的类别;待更新的地图元素在地图上的坐标位置;待更新的地图元素在地图上的变化量;待更新的地图元素对应的车辆行驶的影响等级,所述车辆行驶的影响等级是影响车辆行驶安全的等级;待更新的地图元素的数据来源。
- 根据权利要求28所述的装置,其特征在于,所述地图更新信息还包括以下至少一种:持续不匹配的时间长度;感知到地图元素不匹配的第一时间;上报所述地图更新信息的第二时间;所述地图更新信息的置信度。
- 根据权利要求28或29所述的装置,其特征在于,所述接收模块,还用于接收云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据所述地图更新信息和至少一个检测设备上报的地图测量结果更新的地图,所述至少一个检测设备位于所述坐标位置的第一预设区域内。
- 根据权利要求30所述的装置,其特征在于,所述检测设备包括第二车辆和/或路侧设备,所述第二车辆为使用所述地图的在线车辆。
- 根据权利要求28或29所述的装置,其特征在于,所述接收模块,还用于接收云端服务器下发的更新后的地图,所述更新后的地图是所述云端服务器根据第三车辆采集的地图数据更新的地图,所述第三车辆为满足地图精度要求的数据采集车辆。
- 根据权利要求30或32所述的装置,其特征在于,所述接收模块接收云端服务器下发的更新后的地图之前,所述发送模块,还用于向所述云端服务器发送地图更新请求。
- 一种通信装置,其特征在于,包括:存储器,用于存储计算机程序;处理器,用于执行所述计算机程序,使得所述通信装置执行如权利要求11-16中任一项所述的方法。
- 一种可读存储介质,其特征在于,用于存储指令,当所述指令被执行时,使如权利要求1-10中任一项所述的方法被实现。
- 一种可读存储介质,其特征在于,用于存储指令,当所述指令被执行时,使如权 利要求11-16中任一项所述的方法被实现。
- 一种通信装置,其特征在于,包括:处理器和接口电路;所述接口电路,用于接收代码指令并传输至所述处理器;所述处理器用于运行所述代码指令以执行如权利要求1-10中的任一项所述的方法。
- 一种通信装置,其特征在于,包括:处理器和接口电路;所述接口电路,用于接收代码指令并传输至所述处理器;所述处理器用于运行所述代码指令以执行如权利要求11-16中的任一项所述的方法。
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