WO2022089173A1

WO2022089173A1 - Map updating method, related apparatus, readable storage medium, and system

Info

Publication number: WO2022089173A1
Application number: PCT/CN2021/122759
Authority: WO
Inventors: 杨晓龙; 刘建琴; 伍勇
Original assignee: 华为技术有限公司
Priority date: 2020-10-26
Filing date: 2021-10-09
Publication date: 2022-05-05
Also published as: CN114490675A

Abstract

A map updating method, a related apparatus, a readable storage medium, and a system, which are used for improving the accuracy of an updated map. First error information of a first vehicle and first position information of a map element collected by the first vehicle are acquired, and a map is updated according to the first error information and the first position information. The first error information comprises error information for a positioning system of the first vehicle to position the first vehicle. Since a map may be updated in conjunction with the first error information, the accuracy of the updated map may be improved.

Description

一种地图更新方法、相关装置、可读存储介质和***A map updating method, related device, readable storage medium and system

本申请要求在2020年10月26日提交中国专利局、申请号为202011154993.X、申请名称为“一种地图更新方法、相关装置、可读存储介质和***”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。This application claims the priority of the Chinese patent application filed on October 26, 2020, with the application number 202011154993.X and the application name "A map updating method, related device, readable storage medium and system", The entire contents of which are incorporated herein by reference.

技术领域technical field

本申请涉及智能交通技术领域，尤其涉及一种地图更新方法、相关装置、可读存储介质和***。The present application relates to the technical field of intelligent transportation, and in particular, to a map updating method, a related device, a readable storage medium and a system.

背景技术Background technique

高精度电子地图(High Definition Map，HD Map)，是一种具备高定位精度、能实时更新数据的地图。与传统导航地图不同的是，高精度地图除了能提供的道路(Road)级别的导航信息外，还能够提供车道(Lane)级别的导航信息。高精度电子地图主要服务于自动驾驶车辆，为自动驾驶车辆提供路段内车道级别规划和自车定位辅助。高精度地图除了精度要高，还需要高活性，即交通场景的变化能够及时更新到高精度地图中，并分发给高精度地图的使用车辆。High Definition Map (HD Map) is a map with high positioning accuracy and real-time data update. Unlike traditional navigation maps, high-precision maps can provide lane-level navigation information in addition to road-level navigation information. High-precision electronic maps mainly serve self-driving vehicles, providing lane-level planning and self-vehicle positioning assistance in road sections for self-driving vehicles. In addition to high precision, high-precision maps also need high activity, that is, changes in traffic scenes can be updated to high-precision maps in time and distributed to vehicles using high-precision maps.

一种解决方案中由专业地图采集车采集数据，依据专业地图采集车采集的数据进行地图更新。但是专业地图采集车成本较高，而且数量较少，采集到的数据量难以满足自动驾驶车辆对地图小时级乃至分钟级数据更新度的需求。基于此，可以通过众包方式对高精度地图进行高频更新。In one solution, data is collected by a professional map collecting vehicle, and the map is updated according to the data collected by the professional map collecting vehicle. However, the cost of professional map collection vehicles is relatively high, and the number of them is small, and the amount of data collected cannot meet the needs of autonomous vehicles for the hourly or even minute-level data update of the map. Based on this, high-precision maps can be updated frequently through crowdsourcing.

随着整个车辆行业智能化的不断发展，安装各类传感器的车辆越来越多，虽然不及专业地图采集车传感器的完备与专业，但能依赖数量和成本的优势，实现对高精度地图的高频更新。采用众包方式进行地图更新时，终端设备端可以将传感器采集的图像通过网络传给云端服务器，云端服务器根据终端设备端采集到的数据进行高精度地图的制作与更新，同时将更新后的高精度地图发布给车辆。基于此，如何提高更新后地图的准确度成为亟需解决的问题。With the continuous development of intelligence in the entire vehicle industry, more and more vehicles are installed with various sensors. Although they are not as complete and professional as professional map acquisition vehicle sensors, they can rely on the advantages of quantity and cost to achieve high-precision maps. Update frequently. When the crowdsourcing method is used to update the map, the terminal device can transmit the image collected by the sensor to the cloud server through the network, and the cloud server can make and update the high-precision map according to the data collected by the terminal device. Accuracy maps are released to vehicles. Based on this, how to improve the accuracy of the updated map has become an urgent problem to be solved.

发明内容SUMMARY OF THE INVENTION

本申请提供一种地图更新方法、相关装置、可读存储介质和***，用于提高更新后地图的准确度。The present application provides a map updating method, a related device, a readable storage medium and a system for improving the accuracy of the updated map.

第一方面，本申请实施例提供一种地图更新方法，该方法可应用于服务器端，该方法可以由服务器端的地图更新装置来执行，为了引用方便，本申请实施例中将服务器端的地图更新装置称为第二地图更新装置。第二地图更新装置可以为云端的服务器、计算平台或虚拟机等实现。该方法中，第二地图更新装置获取第一车辆的第一误差信息以及第一车辆采集到的地图元素的第一位置信息，第一误差信息包括第一车辆的定位***对第一车辆进行定位的误差信息；根据第一误差信息和第一位置信息更新地图。由于可以结合第一误差信息进行地图的更新，因此，可以提高更新后地图的精度。In the first aspect, the embodiments of the present application provide a map update method, which can be applied to the server side, and the method can be executed by a map update device on the server side. It is called the second map update device. The second map updating apparatus may be implemented as a server, a computing platform or a virtual machine in the cloud. In this method, the second map updating device obtains first error information of the first vehicle and first position information of map elements collected by the first vehicle, and the first error information includes the positioning system of the first vehicle positioning the first vehicle the error information; update the map according to the first error information and the first position information. Since the map can be updated in combination with the first error information, the accuracy of the updated map can be improved.

在一种可能地实施方式中，第二地图更新装置根据第一误差信息和第一位置信息更新地图元素在地图上的当前位置信息。In a possible implementation manner, the second map updating means updates the current position information of the map element on the map according to the first error information and the first position information.

在一种可能地实施方式中，第二地图更新装置根据第一误差信息和第一位置信息更新地图，包括：根据第一误差信息确定第一权重，第一权重用于表示第一位置信息对地图元素的当前位置信息的纠正程度；根据第一位置信息和第一权重更新地图元素在地图上的当前位置信息。In a possible implementation manner, the second map updating device updates the map according to the first error information and the first position information, including: determining a first weight according to the first error information, where the first weight is used to represent a pair of the first position information The correction degree of the current position information of the map element; the current position information of the map element on the map is updated according to the first position information and the first weight.

一种可能地实施方式中，当第一误差信息对应的误差值大于第一误差阈值，则可以将第一权重确定为0，则第二地图更新装置不采用地图元素的第一位置信息更新该地图元素在地图上的当前位置信息。另一种可能地实施方式中，当第一误差信息对应的误差值不大于第一误差阈值，则可以将第一权重确定为1，这种情况下，由于第一权重为1，表明第一位置信息对地图元素的当前位置信息的纠正程度为100％，因此，第二地图更新装置采用地图元素的第一位置信息更新该地图元素在地图上的当前位置信息。In a possible implementation manner, when the error value corresponding to the first error information is greater than the first error threshold, the first weight may be determined to be 0, and the second map update device does not use the first position information of the map element to update the map element. Information about the current location of the map element on the map. In another possible implementation manner, when the error value corresponding to the first error information is not greater than the first error threshold, the first weight may be determined to be 1. In this case, since the first weight is 1, it indicates that the first weight is 1. The degree of correction of the position information to the current position information of the map element is 100%. Therefore, the second map updating means uses the first position information of the map element to update the current position information of the map element on the map.

在一种可能地实施方式中，第二地图更新装置根据第一误差信息和第一位置信息更新地图之前，还包括：第二地图更新装置获取第二车辆的第二误差信息以及第二车辆采集到的地图元素的第二位置信息，第二误差信息包括第二车辆的定位***对第二车辆进行定位的误差信息。第二地图更新装置根据第一误差信息和第二误差信息确定第二权重，第二权重用于表示第二位置信息对地图元素的当前位置信息的纠正程度。根据第一误差信息确定第一权重，包括：第二地图更新装置根据第一误差信息和第二误差信息确定第一权重。根据第一位置信息和第一权重更新地图元素在地图上的当前位置信息，包括：第二地图更新装置根据第一位置信息、第二位置信息、第一权重和第二权重更新地图元素在地图上的当前位置信息。如此，当第二地图更新装置获取地图元素的多个位置信息时，可以依据多个车辆的误差信息决定各个车辆上报的位置信息的可靠性，从而可以使更新后的地图更加准确。In a possible implementation manner, before the second map updating device updates the map according to the first error information and the first position information, the method further includes: the second map updating device acquires the second error information of the second vehicle and collects the second error information of the second vehicle. The second position information of the obtained map element, and the second error information includes error information of the positioning system of the second vehicle positioning the second vehicle. The second map updating means determines a second weight according to the first error information and the second error information, where the second weight is used to indicate the degree of correction of the current position information of the map element by the second position information. Determining the first weight according to the first error information includes: the second map updating apparatus determining the first weight according to the first error information and the second error information. Updating the current position information of the map element on the map according to the first position information and the first weight includes: the second map updating device updates the map element on the map according to the first position information, the second position information, the first weight and the second weight current location information on . In this way, when the second map updating device acquires multiple location information of map elements, the reliability of the location information reported by each vehicle can be determined according to the error information of multiple vehicles, so that the updated map can be more accurate.

在一种可能地实施方式中，第二地图更新装置根据第一位置信息、第二位置信息、第一权重和第二权重更新地图元素在地图上的当前位置信息，包括：根据第一权重和第二权重，对第一位置信息和第二位置信息进行加权相加，得到更新后位置信息。将地图上的地图元素的位置信息更新为更新后位置信息。In a possible implementation manner, the second map updating means updates the current position information of the map element on the map according to the first position information, the second position information, the first weight and the second weight, including: according to the first weight and The second weight is the weighted addition of the first position information and the second position information to obtain the updated position information. Update the location information of the map element on the map to the updated location information.

在一种可能地实施方式中，第一权重还可以用于表示该第一误差信息在第一误差信息和第二误差信息中占的比重。第二权重还可以用于表示该第二误差信息在第一误差信息和第二误差信息中占的比重。可以看出，各个车辆的误差信息之间会相互影响，而第二地图更新装置也可以根据各个车辆的误差信息综合考量，进而确定车各个车辆的权重，如此，确定出的权重可以更加能体现车辆上报的位置信息的可信度。In a possible implementation manner, the first weight may also be used to represent the proportion of the first error information in the first error information and the second error information. The second weight may also be used to represent the proportion of the second error information in the first error information and the second error information. It can be seen that the error information of each vehicle will affect each other, and the second map update device can also comprehensively consider the error information of each vehicle, and then determine the weight of each vehicle. In this way, the determined weight can be more reflected. The reliability of the location information reported by the vehicle.

在一种可能地实施方式中，若第一误差信息小于第二误差信息，则第一权重大于第二权重；若第一误差信息大于第二误差信息，则第一权重小于第一权重；若第一误差信息等于第二误差信息，则第一权重等于第二权重。In a possible implementation, if the first error information is less than the second error information, the first weight is greater than the second weight; if the first error information is greater than the second error information, the first weight is less than the first weight; if The first error information is equal to the second error information, and the first weight is equal to the second weight.

在一种可能地实施方式中，第一误差信息对应的误差值不大于第一误差阈值，且第二误差信息对应的误差值不大于第一误差阈值。通过第一误差阈值的设置，可以将误差信息较大的车辆上报的位置信息筛除，不再根据其进行地图的更新，从而可以进一步提高地图的准确度。In a possible implementation manner, the error value corresponding to the first error information is not greater than the first error threshold, and the error value corresponding to the second error information is not greater than the first error threshold. By setting the first error threshold, the position information reported by the vehicle with larger error information can be screened out, and the map is no longer updated according to it, so that the accuracy of the map can be further improved.

在一种可能地实施方式中，第一比例关系与第二比例关系的倒数之差小于第一差额阈值。或者，第一比例关系的倒数可以近似等于第一权重与第二权重的第二比例关系。第一比例关系为第一误差信息对应的误差值与第二误差信息对应的误差值的比值。第二比例关系为第一权重和第二权重对应的误差值的比值。In a possible implementation, the difference between the first proportional relationship and the reciprocal of the second proportional relationship is smaller than the first difference threshold. Alternatively, the inverse of the first proportional relationship may be approximately equal to the second proportional relationship of the first weight to the second weight. The first proportional relationship is a ratio of an error value corresponding to the first error information and an error value corresponding to the second error information. The second proportional relationship is the ratio of the error values corresponding to the first weight and the second weight.

在一种可能地实施方式中，当第二地图更新装置在预设时长内仅仅接收到第一车辆和第二车辆上报的两个位置信息时，可以使第一权重和第二权重的总和为100％。如此，可以对第一位置信息和第二位置信息进行加权融合，从而得到更加准确的位置信息。In a possible implementation, when the second map updating apparatus only receives two pieces of position information reported by the first vehicle and the second vehicle within a preset time period, the sum of the first weight and the second weight may be 100%. In this way, the first position information and the second position information can be weighted and fused, so as to obtain more accurate position information.

在一种可能地实施方式中，第一误差信息，还包括用于采集第一位置信息的第一车辆的第一传感器的测量误差。在又一种可能地实施方式中，第一误差信息还包括第一传感器的标定误差。在又一种可能地实施方式中，第一误差信息还包括用于采集第一位置信息的第一车辆的第一传感器的测量误差和第一传感器的标定误差。如此，第一误差信息可以更加准确的反映出第一位置信息的准确度。In a possible implementation manner, the first error information further includes a measurement error of a first sensor of the first vehicle for collecting the first position information. In yet another possible implementation, the first error information further includes a calibration error of the first sensor. In yet another possible implementation, the first error information further includes a measurement error of a first sensor of the first vehicle and a calibration error of the first sensor for collecting the first position information. In this way, the first error information can more accurately reflect the accuracy of the first position information.

在一种可能地实施方式中，第一车辆的定位***对第一车辆进行定位的误差信息包括：第一车辆的定位***的测量值对应的协方差。用于采集第一位置信息的第一车辆的第一传感器的测量误差包括：第一传感器的测量值对应的协方差。第一传感器的标定误差包括：第一传感器与第一车辆的惯性传感器之间的相对的标定协方差。如此，第一误差信息可以更加准确的反映出第一位置信息的准确度。In a possible implementation manner, the error information of the positioning system of the first vehicle for positioning the first vehicle includes: a covariance corresponding to a measurement value of the positioning system of the first vehicle. The measurement error of the first sensor of the first vehicle for collecting the first position information includes: the covariance corresponding to the measurement value of the first sensor. The calibration error of the first sensor includes a relative calibration covariance between the first sensor and the inertial sensor of the first vehicle. In this way, the first error information can more accurately reflect the accuracy of the first position information.

第二方面，本申请实施例提供一种地图更新方法，该方法可应用于服务器端。该方法中，第二地图更新装置获取N辆第三车辆中每个第三车辆的第三误差信息，以及N辆第三车辆中每个第三车辆获取到的地图元素的第三位置信息。第二地图更新装置根据N个第三车辆的N个第三误差信息，确定N辆第三车辆中每个第三车辆对应的第三权重。第二地图更新装置根据N辆第三车辆对应的N个第三权重，对该地图元素的N个第三位置信息进行加权相加，得到更新后位置信息。第二地图更新装置将地图上的地图元素的位置信息更新为该更新后位置信息。当N的取值为1时，N辆第三车辆可以为上述的第一车辆。当N的取值为多辆时，这种应用场景下的方案可以参照上述第二地图更新装置针对第一车辆和第二车辆的应用场景，比如，N取值为2时，N辆第三车辆可以为上第一车辆和第二车辆。第二地图更新装置对N辆第三车辆的处理方案也可以参照上述第一方面中对第一车辆和第二车辆的处理方案。In a second aspect, an embodiment of the present application provides a map update method, which can be applied to a server side. In this method, the second map updating device obtains third error information of each of the N third vehicles, and third position information of map elements obtained by each of the N third vehicles. The second map updating device determines a third weight corresponding to each of the N third vehicles according to the N third error information of the N third vehicles. The second map updating device performs weighted addition of the N third position information of the map element according to the N third weights corresponding to the N third vehicles to obtain the updated position information. The second map updating means updates the location information of the map element on the map to the updated location information. When the value of N is 1, the N third vehicles may be the above-mentioned first vehicles. When the value of N is more than one vehicle, the solution in this application scenario can refer to the application scenario of the second map update device for the first vehicle and the second vehicle. For example, when the value of N is 2, the third The vehicles may be the first vehicle and the second vehicle. The processing scheme for the N third vehicles by the second map updating apparatus may also refer to the processing scheme for the first vehicle and the second vehicle in the above-mentioned first aspect.

在一种可能地实施方式中，N个第三权重的总和为100％。如此，可以对N个第三位置信息进行加权融合，从而得到更加准确的位置信息。In a possible implementation, the sum of the N third weights is 100%. In this way, the N pieces of third position information can be weighted and fused, so as to obtain more accurate position information.

在一种可能地实施方式中，其中，一个第三权重可以用于表示该第三权重对应的第三位置信息对地图元素的当前位置信息的纠正程度。在一种可能地实施方式中，一个第三权重还可以用于表示该第三权重对应的第三误差信息在N个第三误差信息中占的比重。或者，也可以说，一个第三权重还可以用于表示该第三权重对应的第三误差信息在M个第三误差信息中占的比重。其中，M为不大于N的正整数，M个第三误差信息为N个第三误差信息中的M个误差信息，且M个第三误差信息中的每个第三误差信息对应的误差值小于第一误差阈值。通过第一误差阈值的设置，可以将误差信息较大的车辆上报的位置信息筛除，不再根据其进行地图的更新，从而可以进一步提高地图的准确度。In a possible implementation manner, a third weight may be used to indicate the degree of correction of the current position information of the map element by the third position information corresponding to the third weight. In a possible implementation manner, a third weight may also be used to indicate the proportion of the third error information corresponding to the third weight in the N pieces of third error information. Alternatively, it can also be said that a third weight may also be used to indicate the proportion of the third error information corresponding to the third weight in the M pieces of third error information. Wherein, M is a positive integer not greater than N, the M pieces of third error information are M pieces of error information in the N pieces of third error information, and the error value corresponding to each of the M pieces of third error information less than the first error threshold. By setting the first error threshold, the position information reported by the vehicle with larger error information can be screened out, and the map is no longer updated according to it, so that the accuracy of the map can be further improved.

在一种可能地实施方式中，针对N辆第三车辆中的一辆第三车辆，该第三车辆的第三误差信息包括以下内容中的一项或多项：该第三车辆的定位***对第三车辆进行定位的误差信息；用于采集该第三车辆对应的第三位置信息的该第三车辆的第三传感器的测量误差；第三传感器的标定误差。如此，第三误差信息可以更加准确的反映出第三位置信息的准确度。In a possible implementation manner, for one third vehicle among the N third vehicles, the third error information of the third vehicle includes one or more of the following: a positioning system of the third vehicle Error information for positioning the third vehicle; measurement error of the third sensor of the third vehicle used to collect third position information corresponding to the third vehicle; calibration error of the third sensor. In this way, the third error information can more accurately reflect the accuracy of the third position information.

第三方面，本申请实施例提供一种地图更新方法，该方法可应用于终端设备端，该方法可以由终端设备端的地图更新装置来执行。终端设备端的地图更新装置可以为车辆内的部件、车辆本身或者手机等。为了引用方便，本申请实施例中将第一终端设备端的地图更新装置称为第一地图更新装置，将第二终端设备端的地图更新装置称为第三地图更新装置，将第三终端设备端的地图更新装置称为第四地图更新装置。以终端设备为车辆举例，该方法可应用于第一终端设备端，也可以用于第二终端设备端，也可以应用于上述N辆第三车辆中的任意一辆第三车辆。该方法中，以第一车辆为例阐述终端设备端的方案。该方案中，第一地图更新装置获取地图元素的第一位置信息，第一地图更新装置设置于第一车辆上。第一地图更新装置获取第一误差信息，第一误差信息包括第一车辆的定位***对第一车辆进行定位的误差信息；第一地图更新装置向第二地图更新装置发送地图元素的第一位置信息和第一误差信息。如此，可以使第二地图更新装置结合第一误差信息进行地图的更新，因此，可以提高更新后地图的精度。In a third aspect, an embodiment of the present application provides a map update method, the method can be applied to a terminal device, and the method can be executed by a map update apparatus on the terminal device. The map update device on the terminal device side may be a component in the vehicle, the vehicle itself, or a mobile phone. For convenience of reference, in the embodiments of the present application, the map update device on the first terminal device side is referred to as the first map update device, the map update device on the second terminal device side is referred to as the third map update device, and the map update device on the third terminal device side is referred to as the third map update device. The updating means is referred to as the fourth map updating means. Taking the terminal device as an example of a vehicle, the method can be applied to the first terminal device end, the second terminal device end, or any third vehicle among the above N third vehicles. In this method, the first vehicle is taken as an example to illustrate the solution on the terminal device side. In this solution, the first map updating device obtains the first position information of the map element, and the first map updating device is arranged on the first vehicle. The first map updating device obtains first error information, where the first error information includes error information for positioning the first vehicle by the positioning system of the first vehicle; the first map updating device sends the first position of the map element to the second map updating device information and first error information. In this way, the second map updating device can be used to update the map in combination with the first error information, so that the accuracy of the updated map can be improved.

在一种可能地实施方式中，第一车辆的第一传感器采集第一图像，第一图像包括地图元素；第一地图更新装置向第二地图更新装置上报第一图像以及采集到第一图像时第一车辆的全局位姿，第一车辆向第二地图更新装置上报第一误差信息。如此，第二地图更新装置可以根据采集到第一图像时第一车辆的全局位姿来计算出第一图像中各个地图元素的全局位姿。In a possible implementation, a first sensor of the first vehicle collects a first image, and the first image includes map elements; the first map updating device reports the first image to the second map updating device and when the first image is collected The global pose of the first vehicle, and the first vehicle reports the first error information to the second map update device. In this way, the second map updating apparatus can calculate the global pose of each map element in the first image according to the global pose of the first vehicle when the first image is collected.

在一种可能地实施方式中，第一误差信息还包括用于采集第一位置信息的第一车辆的第一传感器的测量误差。在一种可能地实施方式中，第一误差信息还包括第一传感器的标定误差。在一种可能地实施方式中，第一误差信息还包括用于采集第一位置信息的第一车辆的第一传感器的测量误差和第一传感器的标定误差。如此，第一误差信息可以更加准确的反映出第一位置信息的准确度。In a possible implementation, the first error information further includes a measurement error of a first sensor of the first vehicle for collecting the first position information. In a possible implementation manner, the first error information further includes a calibration error of the first sensor. In a possible implementation, the first error information further includes a measurement error of a first sensor of the first vehicle and a calibration error of the first sensor used for collecting the first position information. In this way, the first error information can more accurately reflect the accuracy of the first position information.

在一种可能地实施方式中，第一地图更新装置发送地图元素的第一位置信息，包括：当满足以下内容中的一项，第一地图更新装置发送地图元素的第一位置信息：In a possible implementation manner, sending the first location information of the map element by the first map updating device includes: when one of the following contents is satisfied, sending the first location information of the map element by the first map updating device:

地图的第一预设区域内未包括地图元素；第一预设区域为地图上以第一位置信息为圆心，以预设的第一距离阈值为半径的区域；The first preset area of the map does not include map elements; the first preset area is an area on the map with the first position information as the center and the preset first distance threshold as the radius;

地图元素在地图上的位置信息与第一位置信息之间的距离大于预设的第二距离阈值。The distance between the location information of the map element on the map and the first location information is greater than a preset second distance threshold.

如此，可以减少第一地图更新装置向第二地图更新装置上报的数据量，从而可以减轻网络负荷。In this way, the amount of data reported by the first map updating device to the second map updating device can be reduced, thereby reducing the network load.

相应于第一方面至第三方面任一种通信方法，本申请还提供了一种通信装置。通信装置可以是以无线方式进行数据传输的任意一种发送端的设备或接收端的设备。例如，通信芯片、终端设备端的地图更新装置(终端设备端的地图更新装置比如为上述第一车辆上设置的第一地图更新装置)、或者第二地图更新装置。在通信过程中，发送端的设备和接收端的设备是相对的。在某些通信过程中，通信装置可以作为上述第二地图更新装置或可用于第二地图更新装置的通信芯片；在某些通信过程中，通信装置可以作为上述终端设备端的地图更新装置或可用于终端设备端的地图更新装置的通信芯片。Corresponding to any communication method from the first aspect to the third aspect, the present application further provides a communication device. The communication apparatus may be any device on the sending end or device on the receiving end that performs data transmission in a wireless manner. For example, a communication chip, a map update device on the terminal device side (for example, the map update device on the terminal device side is the first map update device set on the above-mentioned first vehicle), or a second map update device. During the communication process, the device on the sending end and the device on the receiving end are relative. In some communication processes, the communication device can be used as the above-mentioned second map updating device or a communication chip that can be used for the second map updating device; in some communication processes, the communication device can be used as the above-mentioned map updating device on the terminal equipment side or can be used for The communication chip of the map update device on the terminal device side.

第四方面，提供了一种通信装置，包括通信单元和处理单元，以执行上述第一方面至第三方面任一种通信方法中的任一种实施方式。通信单元用于执行与发送和接收相关的功能。可选地，通信单元包括接收单元和发送单元。在一种设计中，通信装置为通信芯片，通信单元可以为通信芯片的输入输出电路或者端口。In a fourth aspect, a communication apparatus is provided, including a communication unit and a processing unit, so as to execute any one of the above-mentioned embodiments of the communication methods of the first aspect to the third aspect. The communication unit is used to perform functions related to transmission and reception. Optionally, the communication unit includes a receiving unit and a sending unit. In one design, the communication device is a communication chip, and the communication unit may be an input/output circuit or port of the communication chip.

在另一种设计中，通信单元可以为发射器和接收器，或者通信单元为发射机和接收机。In another design, the communication unit may be a transmitter and receiver, or the communication unit may be a transmitter and receiver.

可选的，通信装置还包括可用于执行上述第一方面至第三方面任一种通信方法中的任一种实施方式的各个模块。Optionally, the communication apparatus further includes various modules that can be used to execute any one of the implementation manners of any one of the communication methods of the first aspect to the third aspect.

第五方面，提供了一种通信装置，该通信装置为上述终端设备端的地图更新装置(比如第一终端设备端的第一地图更新装置)或服务器端的地图更新装置(比如第二地图更新装置)。包括处理器和存储器。可选的，还包括收发器，该存储器用于存储计算机程序或指令，该处理器用于从存储器中调用并运行该计算机程序或指令，当处理器执行存储器中的计算机程序或指令时，使得该通信装置执行上述第一方面至第三方面任一种通信方法中的任一种实施方式。In a fifth aspect, a communication device is provided, which is the above-mentioned map updating device on the terminal device side (such as the first map updating device on the first terminal device end) or the map updating device on the server side (such as the second map updating device). Includes processor and memory. Optionally, it also includes a transceiver, the memory is used to store a computer program or instruction, the processor is used to call and run the computer program or instruction from the memory, and when the processor executes the computer program or instruction in the memory, make the computer program or instruction in the memory. The communication apparatus executes any one of the implementations of any one of the communication methods of the first aspect to the third aspect.

可选的，处理器为一个或多个，存储器为一个或多个。Optionally, there are one or more processors and one or more memories.

可选的，存储器可以与处理器集成在一起，或者存储器与处理器分离设置。Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

可选的，收发器中可以包括，发射机(发射器)和接收机(接收器)。Optionally, the transceiver may include a transmitter (transmitter) and a receiver (receiver).

第六方面，提供了一种通信装置，包括处理器。该处理器与存储器耦合，可用于执行第一方面至第三方面任一方面，以及第一方面至第三方面中任一种可能实现方式中的方法。可选地，该通信装置还包括存储器。可选地，该通信装置还包括通信接口，处理器与通信接口耦合。In a sixth aspect, a communication apparatus is provided, including a processor. The processor, coupled to the memory, is operable to perform the method of any one of the first to third aspects, and any one of the possible implementations of the first to third aspects. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

在一种实现方式中，该通信装置为终端设备端的地图更新装置(比如第一终端设备端的第一地图更新装置)。当该通信装置为终端设备端的地图更新装置时，通信接口可以是收发器，或，输入/输出接口。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。In an implementation manner, the communication apparatus is a map updating apparatus on the terminal device side (for example, a first map updating apparatus on the first terminal equipment side). When the communication device is a map updating device on the terminal equipment side, the communication interface may be a transceiver, or an input/output interface. Optionally, the transceiver may be a transceiver circuit. Alternatively, the input/output interface may be an input/output circuit.

在另一种实现方式中，该通信装置为服务器端的地图更新装置(比如第二地图更新装置)。当该通信装置为服务器端的地图更新装置时，通信接口可以是收发器，或，输入/输出接口。可选地，收发器可以为收发电路。可选地，输入/输出接口可以为输入/输出电路。In another implementation manner, the communication device is a server-side map update device (eg, a second map update device). When the communication device is a server-side map updating device, the communication interface may be a transceiver, or an input/output interface. Optionally, the transceiver may be a transceiver circuit. Alternatively, the input/output interface may be an input/output circuit.

在又一种实现方式中，该通信装置为芯片或芯片***。当该通信装置为芯片或芯片***时，通信接口可以是该芯片或芯片***上的输入/输出接口、接口电路、输出电路、输入电路、管脚或相关电路等。处理器也可以体现为处理电路或逻辑电路。In yet another implementation, the communication device is a chip or a system of chips. When the communication device is a chip or a chip system, the communication interface may be an input/output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit, etc. on the chip or a chip system. A processor may also be embodied as a processing circuit or a logic circuit.

第七方面，提供了一种***，***包括上述终端设备端的地图更新装置(比如第一终端设备端的第一地图更新装置)和服务器端的地图更新装置(比如第二地图更新装置)。In a seventh aspect, a system is provided, which includes the above-mentioned map updating device on the terminal device side (eg, the first map updating device on the first terminal device side) and a map updating device on the server side (eg, the second map updating device).

第八方面，提供一种车辆，包括上述终端设备端的地图更新装置，比如第一终端设备端的第一地图更新装置。According to an eighth aspect, a vehicle is provided, including the above-mentioned map updating apparatus on the terminal equipment side, such as a first map updating apparatus on the first terminal equipment side.

第九方面，提供了一种计算机程序产品，计算机程序产品包括：计算机程序(也可以称为代码，或指令)，当计算机程序被运行时，使得计算机执行上述第一方面中任一种可能实现方式中的方法，或者使得计算机执行上述第一方面至第三方面任一种实现方式中的方法。In a ninth aspect, a computer program product is provided, the computer program product includes: a computer program (also referred to as code, or instruction), when the computer program is executed, the computer executes any one of the above-mentioned first aspects. The method in the manner, or causing the computer to execute the method in any one of the implementation manners of the first aspect to the third aspect.

第十方面，提供了一种计算机可读存储介质，计算机可读介质存储有计算机程序(也可以称为代码，或指令)当其在计算机上运行时，使得计算机执行上述第一方面中任一种可能实现方式中的方法，或者使得计算机执行上述第一方面至第三方面任一种实现方式中的方法。In a tenth aspect, a computer-readable storage medium is provided, where the computer-readable medium stores a computer program (also referred to as code, or instruction) that, when it is run on a computer, causes the computer to execute any one of the above-mentioned first aspects The method in one possible implementation manner, or causing the computer to execute the method in any one of the implementation manners of the first aspect to the third aspect.

第十一方面，提供了一种芯片***，该芯片***可以包括处理器。该处理器与存储器耦合，可用于执行第一方面至第三方面中任一方面，以及第一方面至第三方面中任一方面中任一种可能实现方式中的方法。可选地，该芯片***还包括存储器。存储器，用于存储计算机程序(也可以称为代码，或指令)。处理器，用于从存储器调用并运行计算机程序，使得安装有芯片***的设备执行第一方面至第三方面中任一方面，以及第一方面至第三方面中任一方面中任一种可能实现方式中的方法。In an eleventh aspect, a system-on-chip is provided, and the system-on-chip may include a processor. The processor, coupled to the memory, is operable to perform the method of any one of the first to third aspects, and any one of the possible implementations of any of the first to third aspects. Optionally, the chip system further includes a memory. Memory, used to store computer programs (also called code, or instructions). A processor for invoking and running a computer program from a memory, so that a device on which the chip system is installed performs any one of the first to third aspects, and any one of the first to third aspects is possible method in the implementation.

第十二方面，提供了一种处理装置，包括：输入电路、输出电路和处理电路。所述处理电路用于通过所述输入电路接收信号，并通过所述输出电路发射信号，使得第一方面至第三方面任一方面，以及第一方面至第三方面中任一种可能实现方式中的方法被实现。A twelfth aspect provides a processing device, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive a signal through the input circuit and transmit a signal through the output circuit, so that any one of the first aspect to the third aspect and any one of the first aspect to the third aspect may be implemented The method in is implemented.

在具体实现过程中，上述处理装置可以为芯片，输入电路可以为输入管脚，输出电路可以为输出管脚，处理电路可以为晶体管、门电路、触发器和各种逻辑电路等。输入电路所接收的输入的信号可以是由例如但不限于接收器接收并输入的，输出电路所输出的信号可以是例如但不限于输出给发射器并由发射器发射的，且输入电路和输出电路可以是同一电路，该电路在不同的时刻分别用作输入电路和输出电路。本申请实施例对处理器及各种电路的具体实现方式不做限定。In a specific implementation process, the above-mentioned processing device may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the processing circuit may be a transistor, a gate circuit, a flip-flop, and various logic circuits. The input signal received by the input circuit may be received and input by, for example, but not limited to, a receiver, the signal output by the output circuit may be, for example, but not limited to, output to and transmitted by a transmitter, and the input circuit and output The circuit can be the same circuit that acts as an input circuit and an output circuit at different times. The embodiments of the present application do not limit the specific implementation manners of the processor and various circuits.

附图说明Description of drawings

图1a为本申请实施例适用的一种场景的示意图；FIG. 1a is a schematic diagram of a scenario to which an embodiment of the present application is applicable;

图1b为图1a中车辆201的结构示意图；FIG. 1b is a schematic structural diagram of the vehicle 201 in FIG. 1a;

图2a为本申请实施例提供的一种地图更新方法的流程示意图；2a is a schematic flowchart of a map updating method provided by an embodiment of the present application;

图2b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；2b is a schematic flowchart of another map update method provided by an embodiment of the present application;

图2c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；2c is a schematic flowchart of another map update method provided by an embodiment of the present application;

图3为本申请实施例提供的一种通信装置的结构示意图；FIG. 3 is a schematic structural diagram of a communication device according to an embodiment of the present application;

图4为本申请实施例提供的另一种通信装置的结构示意图；FIG. 4 is a schematic structural diagram of another communication device provided by an embodiment of the present application;

图5为本申请实施例提供的另一种通信装置的结构示意图。FIG. 5 is a schematic structural diagram of another communication apparatus provided by an embodiment of the present application.

具体实施方式Detailed ways

下面结合附图进一步介绍本申请实施例提供的车辆定位方法。图1a示例性示出了本申请实施例适用的一种场景的示意图，如图1a所示，该应用场景中可以包括一个或多个终端设备，在图1a中是以终端设备为车辆为例进行示意，如图1a所示，图1a中示意性示出了三辆车辆，分别为车辆201、车辆202和车辆203。可选地，图1a所示的应用场景中还可以包括云端的计算平台，该计算平台可以由云端的服务器204或虚拟机实现，本申请实施例中以该计算平台由云端的服务器204实现为例进行介绍。本申请实施例中将执行云端的方案的装置称为服务器端的地图更新装置，为了引用方便，将服务器端的地图更新装置称为第二地图更新装置。如图1a所示，该应用场景中还可以包括存储设备205。其中，车辆可以用于执行采集图像并向第二地图更新装置上报信息等操作。第二地图更新装置可以用于执行接收信息，并根据接收到的信息更新地图，以及下发更新后地图等操作。存储设备 205可以用于存储数据，例如可以用于存储云端第二地图更新装置发送的更新后的地图等。The vehicle positioning method provided by the embodiments of the present application is further described below with reference to the accompanying drawings. Fig. 1a exemplarily shows a schematic diagram of a scenario to which the embodiments of the present application are applied. As shown in Fig. 1a, the application scenario may include one or more terminal devices. In Fig. 1a, the terminal device is a vehicle as an example For illustration, as shown in FIG. 1 a , three vehicles are schematically shown in FIG. 1 a , namely, a vehicle 201 , a vehicle 202 and a vehicle 203 . Optionally, the application scenario shown in FIG. 1a may also include a computing platform in the cloud, and the computing platform may be implemented by a server 204 in the cloud or a virtual machine. In the embodiment of the present application, the computing platform is implemented by the server 204 in the cloud as: example is introduced. In the embodiments of the present application, the device for executing the cloud-based solution is referred to as a server-side map update device, and for convenience of reference, the server-side map update device is referred to as a second map update device. As shown in FIG. 1a, the application scenario may also include a storage device 205. Wherein, the vehicle can be used to perform operations such as collecting images and reporting information to the second map updating device. The second map updating device may be configured to receive information, update the map according to the received information, and deliver the updated map. The storage device 205 may be used to store data, for example, may be used to store the updated map sent by the second map update apparatus in the cloud, and the like.

本申请实施例中以终端设备为车辆为例进行示意。本申请实施例中的任意一个车辆可以是智能车或非智能车，本申请实施例对比不做限定。每个车辆上设置有传感器，该传感器用于采集车辆附近的图像，其中，传感器包括激光雷达、毫米波雷达和相机。另外，每辆车可以设置一种或多种传感器，每种传感器的个数可以为一个或多个。传感器可以安装在车辆的顶部(例如可以设置在车辆顶部的中间位置)、车辆前端等等位置，本申请实施例对每个车辆中传感器安装位置和数量并不做限定。In the embodiments of the present application, the terminal device is a vehicle as an example for illustration. Any vehicle in the embodiments of the present application may be a smart car or a non-smart car, and the comparison of the embodiments of the present application is not limited. A sensor is provided on each vehicle, and the sensor is used to collect images near the vehicle, wherein the sensor includes a lidar, a millimeter-wave radar, and a camera. In addition, each vehicle may be provided with one or more sensors, and the number of each sensor may be one or more. The sensors may be installed on the roof of the vehicle (for example, may be arranged in the middle of the roof of the vehicle), the front end of the vehicle, etc. The embodiments of the present application do not limit the installation position and number of sensors in each vehicle.

本申请实施例中车辆中可以包括地图更新装置，本申请实施例中的终端设备端的地图更新装置可以为车辆内的部件、车辆本身或者手机等。该地图更新装置可以包括该车辆中定位***的地图更新装置、智能驾驶的地图更新装置或其他任何具有计算能力的设备实施。为了引用方便，本申请实施例中将第一终端设备端的地图更新装置称为第一地图更新装置，将第二终端设备端的地图更新装置称为第三地图更新装置，将第三终端设备端的地图更新装置称为第四地图更新装置。In the embodiment of the present application, the vehicle may include a map updating device, and the map updating device on the terminal device side in the embodiment of the present application may be a component in the vehicle, the vehicle itself, or a mobile phone. The map update device may include the map update device of the positioning system in the vehicle, the map update device of intelligent driving or any other device with computing capability. For convenience of reference, in the embodiments of the present application, the map update device on the first terminal device side is referred to as the first map update device, the map update device on the second terminal device side is referred to as the third map update device, and the map update device on the third terminal device side is referred to as the third map update device. The updating means is referred to as the fourth map updating means.

本申请实施例中车辆可以基于车辆与外界无线通信技术(例如，vehicle to everything(V2X))与其它物体进行通信。例如，可以基于车辆间无线通信技术(例如，vehicle to vehicle(V2V))实现车辆与第二地图更新装置之间的通信。车辆与其它物体之间进行通信可以基于无线高保真(例如，wireless fidelity(Wi-Fi))、第五代(5th generation，5G)移动通信技术等进行通信。例如，可以基于5G实现车辆与第二地图更新装置之间的通信。In this embodiment of the present application, the vehicle may communicate with other objects based on a wireless communication technology between the vehicle and the outside world (for example, vehicle to everything (V2X)). For example, the communication between the vehicle and the second map update device may be implemented based on an inter-vehicle wireless communication technology (eg, vehicle to vehicle (V2V)). Communication between vehicles and other objects may be based on wireless high-fidelity (eg, wireless fidelity (Wi-Fi)), fifth-generation (5th generation, 5G) mobile communication technologies, and the like. For example, communication between the vehicle and the second map update device may be implemented based on 5G.

为了便于理解，下面先对本申请实施例涉及到的专有概念和名词进行解释。For ease of understanding, the following explanations will be given to the specific concepts and terms involved in the embodiments of the present application.

(1)全局位姿。(1) Global pose.

全局位姿也可以称为绝对位姿，是指在一个基准坐标系中物体的位置和姿态。本申请实施例中全局位姿中的位置也可以理解为在一个基准坐标系下的位置信息，全局位姿中的姿态也可以理解为在一个基准坐标系下的姿态信息。其中，基准坐标系可以为多维坐标系，多维坐标系包括具有多个维度的坐标系，如二维坐标系、三维坐标系等多维坐标系，具体可以为大地坐标系、通用横墨卡托(universal transverse mercartor，UTM)网格***(grid system)等。The global pose can also be called absolute pose, which refers to the position and pose of an object in a reference coordinate system. The position in the global pose in the embodiment of the present application can also be understood as the position information under a reference coordinate system, and the attitude in the global pose can also be understood as the attitude information under a reference coordinate system. The reference coordinate system can be a multi-dimensional coordinate system, and the multi-dimensional coordinate system includes a coordinate system with multiple dimensions, such as a two-dimensional coordinate system, a three-dimensional coordinate system and other multi-dimensional coordinate systems, and specifically can be a geodetic coordinate system, a universal transverse Mercator ( universal transverse mercartor, UTM) grid system (grid system), etc.

物体的位置(或者可以称为位置信息)可以由坐标系中的坐标轴的坐标值来表示。同一个物体在不同的坐标系下，坐标值可能不同。本申请实施例中车辆的位置可以由该车辆所在坐标系中各个坐标轴的坐标值表示，为了便于计算，也可以利用一个基准坐标系中的坐标轴的坐标值来表示。其中，当多个物体分别利用多个坐标系标识位置时，可以以一个坐标系为准，确定所有物体所在的位置，进而进一步确定其他物体在该基准坐标系中的位置。作为基准的坐标系也称为基准坐标系，可以为任意一个物体所在的坐标系，也可以是一个第三方公共的坐标系，本申请实施例对此不做限定。The position of the object (or may be referred to as position information) can be represented by the coordinate values of the coordinate axes in the coordinate system. The same object may have different coordinate values in different coordinate systems. The position of the vehicle in the embodiment of the present application may be represented by the coordinate values of each coordinate axis in the coordinate system where the vehicle is located, and may also be represented by the coordinate values of the coordinate axes in a reference coordinate system for the convenience of calculation. Wherein, when multiple objects use multiple coordinate systems to identify their positions, one coordinate system can be used as the criterion to determine the positions of all objects, and then the positions of other objects in the reference coordinate system can be further determined. The coordinate system used as a reference is also called a reference coordinate system, which may be a coordinate system where any object is located, or may be a third-party public coordinate system, which is not limited in this embodiment of the present application.

物体的姿态(或者可以称为姿态信息)对于车辆而言可以理解为该车辆车头的朝向，或者，理解为车身的任意位置的朝向。具体可以由车辆对应的矢量与多维坐标系中的水平坐标轴之间的夹角来确定。矢量是一种既有大小又有方向的量，通过车辆的姿态可以确定出车头方向，也可以确定出车辆的行进方向。The attitude of the object (or may be referred to as attitude information) for a vehicle can be understood as the orientation of the front of the vehicle, or, as the orientation of any position of the vehicle body. Specifically, it can be determined by the included angle between the vector corresponding to the vehicle and the horizontal coordinate axis in the multi-dimensional coordinate system. A vector is a quantity with both size and direction. The vehicle's attitude can determine the direction of the head of the vehicle and the direction of travel of the vehicle.

(2)车辆定位***。(2) Vehicle positioning system.

车辆定位***安装于车辆上，用于根据测量到的数据确定车辆当前的全局位姿。车辆定位***(Vehicle Positioning System)可以由全球卫星定位***全球定位***(Global Positioning System，GPS)和地理信息***(Geographic Information System，GIS)组成，可以实现对车辆的跟踪和定位。The vehicle positioning system is installed on the vehicle and is used to determine the current global pose of the vehicle according to the measured data. Vehicle Positioning System (Vehicle Positioning System) can be composed of Global Positioning System (Global Positioning System, GPS) and Geographic Information System (Geographic Information System, GIS), which can track and locate vehicles.

本申请实施例中的车辆定位***可以基于GPS对车辆进行定位，得到车辆的定位信息。在另一种可能地实施方式中，由于基于GPS进行车辆定位时也会存在误差，因此可以将基于GPS得到的定位信息和基于其它技术(例如惯性测量单元(Inertial measurement unit，IMU))得到的信息融合，将融合后的结果作为车辆的当前时刻的全局位姿。这种将基于GPS得到的信息和基于其它技术(例如IMU)得到的信息进行融合以实现定位的方式可以称为组合定位。The vehicle positioning system in the embodiment of the present application can locate the vehicle based on GPS, and obtain the positioning information of the vehicle. In another possible implementation, since there is also an error in vehicle positioning based on GPS, the positioning information obtained based on GPS can be combined with the positioning information obtained based on other technologies (such as inertial measurement unit (IMU)) In information fusion, the fusion result is used as the global pose of the vehicle at the current moment. This method of fusing the information obtained based on GPS and the information obtained based on other technologies (eg, IMU) to realize positioning may be called combined positioning.

在组合定位中与GPS定位技术进行融合的技术方案有多种，该技术方案可以计算一辆车在一个时间段内发生的相对位姿，该技术方案比如可以基于轮式里程计、视觉里程计和IMU等进行计算得到。通常可以采用数据预积分的方法计算一个时间段内发生的相对位姿。为了介绍方便，下面以IMU方法进行示例。There are many technical solutions for integrating with GPS positioning technology in combined positioning. This technical solution can calculate the relative pose of a vehicle in a period of time. For example, this technical solution can be based on wheel odometer and visual odometer. Calculated with IMU, etc. The relative poses occurring in a period of time can usually be calculated by means of data pre-integration. For the convenience of introduction, the IMU method is used as an example below.

(3)地图元素。(3) Map elements.

地图元素是指地图中的一些元素，包括不限于：道路、车道线、标牌、地面标识、信号灯、可行驶区域标识线等。其中，道路可以包括护栏、路沿等；标牌包括：路标牌、指示性牌、限高牌等各种类型，地面标识包括：分流标识、出入口标识、限速标识、限时标识等。Map elements refer to some elements in the map, including but not limited to: roads, lane lines, signs, ground markings, signal lights, drivable area marking lines, etc. Among them, the road can include guardrails, road edges, etc.; signs include: road signs, indicative signs, height limit signs and other types, and ground signs include: diversion signs, entrance and exit signs, speed limit signs, time limit signs, etc.

在一种可能地实施方式中，本申请实施例可以适用于高精地图，高精地图通俗来讲就是精度更高、数据维度更多的电子地图，地图元素更多。精度更高体现在地图中包含的要素信息精确到厘米级别。In a possible implementation, the embodiments of the present application can be applied to high-precision maps, and high-precision maps generally refer to electronic maps with higher precision and more data dimensions and more map elements. The higher accuracy is reflected in the fact that the feature information contained in the map is accurate to the centimeter level.

(4)地图元素在基准坐标系下的位置信息的计算。(4) Calculation of the position information of map elements in the reference coordinate system.

图1b示例性示出了一辆车辆的结构示意图，如图1b所示，以图1a中的车辆201进行示例，车辆201上可以设置传感器2011，例如可以在车辆201的顶部设置传感器2011。第一坐标系2012可以为车辆201的传感器2011所在的多维坐标系，例如，第一坐标系2012可以为以车辆201的传感器2011所在中心位置为原点所建立的坐标系。FIG. 1b exemplarily shows a schematic structural diagram of a vehicle. As shown in FIG. 1b, the vehicle 201 in FIG. 1a is used as an example. The first coordinate system 2012 may be a multi-dimensional coordinate system where the sensor 2011 of the vehicle 201 is located. For example, the first coordinate system 2012 may be a coordinate system established with the center position of the sensor 2011 of the vehicle 201 as an origin.

另一方面，本申请实施例提到的一辆车辆的第二坐标系2013具体可以是指以车辆上部署的定位***为原点所建立的坐标系。在一种可能地实施方式中，由于车辆的定位***通常可以结合IMU来对车辆的全局位姿进行定位，因此，在这种实施方式中，也可以说车辆201的第二坐标系是以IMU所在中心位置为原点所建立的坐标系。On the other hand, the second coordinate system 2013 of a vehicle mentioned in the embodiment of the present application may specifically refer to a coordinate system established with a positioning system deployed on the vehicle as an origin. In a possible implementation manner, since the positioning system of the vehicle can usually combine the IMU to locate the global pose of the vehicle, in this implementation, it can also be said that the second coordinate system of the vehicle 201 is based on the IMU The coordinate system established by the center position as the origin.

第三方面，通常来说，通过定位***对车辆201进行定位，得到车辆201在基准坐标系下的全局位姿。车辆201的全局位姿中的位置信息可以是指车辆201中的定位***所在的中心位置在基准坐标系下的位置信息。In the third aspect, generally speaking, the vehicle 201 is positioned by the positioning system to obtain the global pose of the vehicle 201 in the reference coordinate system. The position information in the global pose of the vehicle 201 may refer to the position information of the center position where the positioning system in the vehicle 201 is located in the reference coordinate system.

基于上述三个方面的描述，在一种可能地实施方式中，通过传感器2011采集到的图像中的地图元素的位置信息是第一坐标系2012下的位置信息，进一步可以将地图元素的位置信息从第一坐标系2012转换到第二坐标系2013下，再进一步转换至基准坐标系下，从而可以获取地图元素在基准坐标系下的位置信息。地图元素在基准坐标系下的位置信息也可以称为该地图元素的全局位置信息。地图元素在地图中的位置信息是指该地图元素在基准坐标系下的位置信息。Based on the description of the above three aspects, in a possible implementation manner, the location information of the map element in the image collected by the sensor 2011 is the location information in the first coordinate system 2012, and the location information of the map element can be further It is converted from the first coordinate system 2012 to the second coordinate system 2013, and then further converted to the reference coordinate system, so that the position information of the map element in the reference coordinate system can be obtained. The location information of the map element in the reference coordinate system may also be referred to as the global location information of the map element. The location information of the map element in the map refers to the location information of the map element in the reference coordinate system.

传感器采集的图像中可以包括一个或多个地图元素，本申请实施例中提供以下公式(1)，用于计算传感器采集的图像中的第i个地图元素在基准坐标系下的位置信息，i的取值为正整数：The image collected by the sensor may include one or more map elements, and the following formula (1) is provided in this embodiment of the present application to calculate the position information of the ith map element in the image collected by the sensor in the reference coordinate system, i The value of is a positive integer:

在公式(1)中，

(x表示传感器2011类型)为传感器2011与车辆定位***之间的旋转外参，也可以说是第一坐标系2012和第二坐标系2013之间的旋转外参； In formula (1),

(x represents the type of sensor 2011) is the external rotation parameter between the sensor 2011 and the vehicle positioning system, or it can be said to be the external rotation parameter between the first coordinate system 2012 and the second coordinate system 2013;

P _{x_i}为传感器2011采集的第一图像中的第i个地图元素在第一坐标系2012中的位置信息； P _{x_i} is the position information of the i-th map element in the first image collected by the sensor 2011 in the first coordinate system 2012;

P _ix(x表示传感器类型)为传感器2011与车辆定位***之间的平移外参，也可以说是第一坐标系2012和第二坐标系2013之间的平移外参； P _ix (x represents the sensor type) is the translation extrinsic parameter between the sensor 2011 and the vehicle positioning system, and can also be said to be the translation extrinsic parameter between the first coordinate system 2012 and the second coordinate system 2013;

为车辆201在基准坐标系下的姿态信息；

is the attitude information of the vehicle 201 in the reference coordinate system;

P _v为车辆201在基准坐标系下的位置信息； P _v is the position information of the vehicle 201 in the reference coordinate system;

P _{o_i}为第i个地图元素在基准坐标系下的位置信息。 P _{o_i} is the position information of the i-th map element in the reference coordinate system.

上述公式(1)仅仅是计算第i个地图元素在基准坐标系下的位置信息的一种可能地实现方式，本领域计算人员也可以通过其他计算方式计算出第i个地图元素在基准坐标系下的位置信息，本申请实施例中不做限制。The above formula (1) is only a possible implementation method for calculating the position information of the i-th map element in the reference coordinate system, and computing personnel in the art can also calculate the i-th map element in the reference coordinate system through other calculation methods. The location information below is not limited in this embodiment of the present application.

基于上述内容，本申请实施例提供一种地图更新方法，该地图更新方法中，第二地图更新装置在一段预设的时长内，可能接收到N辆车辆上报的一个地图元素的N个位置信息，N可以为正整数。进一步，第二地图更新装置可以结合N辆车辆上报的N个位置信息，以及N辆车辆的误差信息更新地图。由于车辆的误差信息可以反映车辆采集到的地图元素的位置信息的准确度，因此依据车辆的误差信息更新地图，可以提高地图更新后的准确度。Based on the above content, an embodiment of the present application provides a map update method. In the map update method, the second map update device may receive N pieces of location information of a map element reported by N vehicles within a preset period of time. , N can be a positive integer. Further, the second map updating device may update the map by combining the N pieces of position information reported by the N vehicles and the error information of the N vehicles. Since the error information of the vehicle can reflect the accuracy of the location information of the map elements collected by the vehicle, updating the map according to the error information of the vehicle can improve the accuracy of the updated map.

本申请实施例中，第二地图更新装置可以结合N辆车辆采集到的位置信息更新地图，其中，N的取值可以为1，也可以为大于1的正整数，后续内容将针对N的不同取值进行详细说明。下面先以第一车辆为例阐述终端设备端的方案，本申请实施中任意一辆终端设备端所执行的方案均与下述内容中提到的第一车辆的终端设备端的内容类似。In the embodiment of the present application, the second map update device may update the map in combination with the location information collected by N vehicles, where the value of N may be 1, or may be a positive integer greater than 1, and the subsequent content will be based on the difference of N. The value is described in detail. The first vehicle is used as an example to illustrate the solution on the terminal device side. The solution executed by any terminal device side in the implementation of this application is similar to the content of the terminal device side of the first vehicle mentioned in the following content.

基于上述内容，图2a示例性示出了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2a所示，该方法包括：Based on the above content, FIG. 2a exemplarily shows a schematic flowchart of a map update method provided by an embodiment of the present application. As shown in FIG. 2a, the method includes:

步骤201，设置于第一车辆上的第一传感器采集第一图像。 Step 201 , a first sensor disposed on the first vehicle collects a first image.

具体来说，第一车辆上可以设置有一种或多种用于采集图像的传感器，例如可以是激光雷达、毫米波雷达和相机等，第一传感器可以是第一车辆上设置的用于采集图像的传感器中的一个。在一种可能地实施方式中，当第一车辆处于启动状态下，第一车辆上的传感器可以以预设时长为周期，周期性采集第一车辆附近的图像。或者，当第一车辆处于启动状态下，第一车辆上的传感器可以实时的采集第一车辆附近的图像。本申请实施例中对于第一车辆的传感器采集图像的频率不做限制。为了更清楚的介绍本申请实施例，本申请实施例中以一张图像为例进行介绍，为了引用方便，将该图像称为第一图像，其他图像的处理方式与之类似，不再赘述。Specifically, one or more sensors for collecting images may be provided on the first vehicle, such as lidar, millimeter-wave radar, and cameras, and the first sensor may be provided on the first vehicle for collecting images. one of the sensors. In a possible implementation manner, when the first vehicle is in a starting state, the sensor on the first vehicle may periodically collect images near the first vehicle with a preset period of time. Alternatively, when the first vehicle is in a starting state, the sensor on the first vehicle may collect images near the first vehicle in real time. In the embodiment of the present application, there is no limitation on the frequency of the image acquisition by the sensor of the first vehicle. In order to introduce the embodiments of the present application more clearly, an image is used as an example for introduction in the embodiments of the present application. For convenience of reference, the image is referred to as the first image, and other images are processed in a similar manner, and will not be repeated here.

当第一传感器采集到第一图像，第一地图更新装置可以对第一图像进行预处理，从而识别出第一图像中的各个地图元素。第一图像上可以包括一个或多个地图元素，为了描述清楚，下面以第一图像中的一个地图元素为例进行说明，针对其他地图元素所执行方案与之类似，不再赘述。When the first sensor collects the first image, the first map updating device may preprocess the first image, so as to identify each map element in the first image. The first image may include one or more map elements. For the sake of clarity, a map element in the first image is used as an example for description below, and the implementation scheme for other map elements is similar and will not be repeated.

步骤202，第一地图更新装置根据第一图像，获取第一图像中的地图元素的第一位置信息，第一地图更新装置设置于第一车辆上。 Step 202 , the first map updating device obtains the first position information of the map element in the first image according to the first image, and the first map updating device is installed on the first vehicle.

步骤203，第一地图更新装置向第二地图更新装置发送地图元素的第一位置信息。 Step 203, the first map updating device sends the first location information of the map element to the second map updating device.

上述步骤203中，第一位置信息可以是第一坐标系下的地图元素的位置信息，也可以是基准坐标系下的地图元素的位置信息。第一坐标系可以为以第一车辆的第一传感器所在中心位置为原点所建立的坐标系，第一车辆的第二坐标系是指以第一车辆上部署的定位***为原点所建立的坐标系。可以参见上述图1b，若车辆201在该实施方式中为第一车辆，则第一车辆对应的第一坐标系可以为图1b中的第一坐标系2012，第一车辆对应的第二坐标系可以为图1b中的第一坐标系2013。下面通过下述可能地实施方式a1、可能地实施方式a2和可能地实施方式a3来进行具体的描述。In the above step 203, the first location information may be the location information of the map element in the first coordinate system, or may be the location information of the map element in the reference coordinate system. The first coordinate system may be a coordinate system established with the center position of the first sensor of the first vehicle as the origin, and the second coordinate system of the first vehicle refers to the coordinates established with the positioning system deployed on the first vehicle as the origin Tie. Referring to FIG. 1b above, if the vehicle 201 is the first vehicle in this embodiment, the first coordinate system corresponding to the first vehicle may be the first coordinate system 2012 in FIG. 1b, and the second coordinate system corresponding to the first vehicle It can be the first coordinate system 2013 in FIG. 1b. A specific description will be given below through the following possible embodiment a1, possible embodiment a2 and possible embodiment a3.

可能地实施方式a1，第一位置信息可以是指地图元素在第一车辆的第一坐标系下的位置信息。In a possible implementation of a1, the first position information may refer to the position information of the map element in the first coordinate system of the first vehicle.

在该可能地实施方式a1中，上述步骤203中，第一地图更新装置向第二地图更新装置发送地图元素的第一位置信息，具体包括：第一地图更新装置向第二地图更新装置上报第一传感器采集到的第一图像，第一图像中包括的地图元素在第一坐标系下的位置信息。In this possible implementation a1, in the above step 203, the first map update device sends the first location information of the map element to the second map update device, which specifically includes: the first map update device reports the first map update device to the second map update device. A first image collected by a sensor, the location information of map elements included in the first image in the first coordinate system.

进一步，在上述可能地实施方式a1中，第一地图更新装置还需要向第二地图更新装置上报第一传感器在采集第一图像时第一车辆在基准坐标系下的全局位姿。如此，第二地图更新装置可以结合第一车辆的全局位姿以及第一车辆的第一传感器采集到的第一图像，计算出第一图像中的地图元素在基准坐标系下的位置信息。Further, in the above possible implementation a1, the first map update device also needs to report to the second map update device the global pose of the first vehicle in the reference coordinate system when the first sensor collects the first image. In this way, the second map updating device can combine the global pose of the first vehicle and the first image collected by the first sensor of the first vehicle to calculate the position information of the map elements in the first image in the reference coordinate system.

在上述可能地实施方式a1中，第一地图更新装置还可以向第二地图更新装置上报第一车辆的第二坐标系和第一车辆的第一坐标系之间的旋转外参和平移外参，以使第二地图更新装置可以根据上述公式(1)计算出地图元素在基准坐标系下的位置信息。在另外一种可能地实施方式中，第一车辆的第二坐标系和第一车辆的第一坐标系之间的旋转外参和平移外参也可以不向第二地图更新装置上报，可以作为预设的参数预先设置在第二地图更新装置侧。In the above possible implementation a1, the first map update device may also report to the second map update device the rotation extrinsic parameter and translation extrinsic parameter between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle , so that the second map updating device can calculate the position information of the map element in the reference coordinate system according to the above formula (1). In another possible implementation manner, the rotation extrinsic parameter and translation extrinsic parameter between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle may not be reported to the second map update device, but may be used as The preset parameters are preset on the side of the second map updating device.

可能地实施方式a2，第一位置信息可以是指地图元素在基准坐标系下的位置信息。In a possible implementation of a2, the first position information may refer to the position information of the map element in the reference coordinate system.

在该可能地实施方式a2中，上述步骤203中，第一地图更新装置向第二地图更新装置发送地图元素的第一位置信息，具体包括：第一地图更新装置向第二地图更新装置上报第一传感器采集到的第一图像，第一图像中包括的地图元素在第一坐标系下的位置信息；第一地图更新装置还向第二地图更新装置上报第一传感器在采集第一图像时第一车辆的全局位姿。第一地图更新装置还向第二地图更新装置上报计算出第一图像中的各个地图元素在基准坐标系下的位置信息。如此，一方面第二地图更新装置可以根据第一图像更新地图，另一方面，第二地图更新装置可以直接使用第一地图更新装置上报的各个地图元素在基准坐标系下的位置信息，而不必再重新计算，从而可以减轻计算量。In this possible implementation a2, in the above step 203, the first map update device sends the first location information of the map element to the second map update device, which specifically includes: the first map update device reports the first map update device to the second map update device. A first image collected by a sensor, the location information of the map elements included in the first image in the first coordinate system; the first map update device also reports to the second map update device the first sensor when the first image is collected. The global pose of a vehicle. The first map updating device also reports the calculated position information of each map element in the first image in the reference coordinate system to the second map updating device. In this way, on the one hand, the second map updating device can update the map according to the first image, and on the other hand, the second map updating device can directly use the position information of each map element in the reference coordinate system reported by the first map updating device, without having to Then recalculate, which can reduce the amount of calculation.

在上述可能地实施方式a1中，第一地图更新装置还可以向第二地图更新装置上报第一车辆的第二坐标系和第一车辆的第一坐标系之间的旋转外参和平移外参，以使第二地图更新装置可以根据上述公式(1)计算出地图元素在基准坐标系下的位置信息。在另外一种可能地实施方式中，第一车辆的第二坐标系和第一车辆的第一坐标系之间的旋转外参和平移外参也可以不向第二地图更新装置上报。In the above possible implementation a1, the first map update device may also report to the second map update device the rotation extrinsic parameter and translation extrinsic parameter between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle , so that the second map updating device can calculate the position information of the map element in the reference coordinate system according to the above formula (1). In another possible implementation manner, the rotation extrinsic parameter and the translation extrinsic parameter between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle may not be reported to the second map updating apparatus.

可能地实施方式a3，第一位置信息可以是指地图元素在基准坐标系下的位置信息。In a possible implementation of a3, the first position information may refer to the position information of the map element in the reference coordinate system.

在该可能地实施方式a3中，第一地图更新装置可以根据第一图像以及上述公式(1)计算出第一图像中的各个地图元素在基准坐标系下的位置信息并上报。可选地，第一地图更新装置可以不再向第二地图更新装置上报第一传感器在采集第一图像时第一车辆的全局位姿。从而可以进一步减少第一车辆与第二地图更新装置之间需要传输的数据量。In this possible implementation a3, the first map updating apparatus may calculate and report the position information of each map element in the first image in the reference coordinate system according to the first image and the above formula (1). Optionally, the first map updating device may no longer report the global pose of the first vehicle when the first sensor collects the first image to the second map updating device. Therefore, the amount of data to be transmitted between the first vehicle and the second map updating device can be further reduced.

本申请实施例中，第一地图更新装置可以对采集到的图像不做筛选，即针对第一传感器采集到的每个图像均会进行数据的上传。或者，第一地图更新装置可以对第一地图更新装置采集到的图像做筛选，根据筛选通过后的图像向第二地图更新装置做数据的上传。下面通过可能地的实施方式b1和可能地实施方式b2对这种实施方式进行介绍。In the embodiment of the present application, the first map updating apparatus may not filter the collected images, that is, data uploading is performed for each image collected by the first sensor. Alternatively, the first map updating device may screen the images collected by the first map updating device, and upload the data to the second map updating device according to the filtered images. This embodiment is described below by means of a possible embodiment b1 and a possible embodiment b2.

可能地的实施方式b1，第一地图更新装置不对采集到的图像做筛选。In a possible implementation b1, the first map updating apparatus does not filter the collected images.

在可能地的实施方式b1中，比如，第一地图更新装置可以向第二地图更新装置上传第一传感器采集到的每张图像。这种实现方式中，第二地图更新装置可以获取到大量的图像，从而可以结合大量的图像进行高精地图的绘制，从而可以提高地图的精度。且另一方面，第一终端设备端仅仅负责采集图像并上传，对第一车辆的硬件的计算能力的要求较低，从而可以增加可以使用的车辆的数量，从而可以更加利于通过众包进行地图更新的方案的应用。In a possible implementation b1, for example, the first map updating apparatus may upload each image collected by the first sensor to the second map updating apparatus. In this implementation manner, the second map updating apparatus can acquire a large number of images, so that a high-precision map can be drawn in combination with a large number of images, thereby improving the accuracy of the map. On the other hand, the first terminal device is only responsible for collecting and uploading images, which requires less computing power of the hardware of the first vehicle, so that the number of vehicles that can be used can be increased, which can be more conducive to map mapping through crowdsourcing. Application of the updated scheme.

可能地的实施方式b2，第一地图更新装置采集到的图像做筛选，根据筛选通过后的图像向第二地图更新装置做数据的上传。In a possible embodiment b2, the images collected by the first map updating device are screened, and data is uploaded to the second map updating device according to the images that have passed the screening.

在可能地的实施方式b2中，第一车辆可以对采集到的图像进行筛选，根据筛选通过后的图像向第二地图更新装置做数据的上传。如此可以减少第一车辆与第二地图更新装置之间需要传输的数据量。In a possible embodiment b2, the first vehicle may screen the collected images, and upload data to the second map updating device according to the images that have passed the screening. In this way, the amount of data to be transmitted between the first vehicle and the second map updating device can be reduced.

上述步骤203的一种可能地实施方式中，第一地图更新装置向第二地图更新装置发送地图元素的第一位置信息，具体包括：第一地图更新装置在确定第一图像中的至少一个地图元素满足第一条件时，确定向第二地图更新装置发送地图元素(该地图元素可以为该第一图像中的满足第一条件的至少一个地图元素中的一个)的第一位置信息。In a possible implementation manner of the above step 203, the first map update device sends the first location information of the map element to the second map update device, which specifically includes: the first map update device is determining at least one map in the first image. When the element satisfies the first condition, it is determined to send the first location information of the map element (the map element may be one of at least one map element in the first image that satisfies the first condition) to the second map updating apparatus.

第一条件的实现方式可以由多种，例如第一条件可以是以下的条件1和条件2中的任意一个。The first condition may be implemented in multiple ways, for example, the first condition may be any one of the following condition 1 and condition 2.

条件1：地图的第一预设区域内未包括地图元素；第一预设区域为地图上以第一位置信息为圆心，以预设的第一距离阈值为半径的区域。Condition 1: no map elements are included in the first preset area of the map; the first preset area is an area on the map with the first position information as the center and the preset first distance threshold as the radius.

条件2：地图元素在地图上的位置信息与第一位置信息之间的距离大于预设的第二距离阈值，第四位置信息为第一预设区域包括地图元素在地图上的位置信息。Condition 2: The distance between the location information of the map element on the map and the first location information is greater than a preset second distance threshold, and the fourth location information is that the first preset area includes location information of the map element on the map.

针对第一图像中的一个地图元素，下面通过几个示例用于说明该地图元素满足条件1、不满足条件1、满足条件2，以及不满足条件2的情况。For a map element in the first image, the following examples are used to describe the situation that the map element satisfies the condition 1, does not satisfy the condition 1, satisfies the condition 2, and does not satisfy the condition 2.

示例一，该地图元素满足条件1。Example 1, the map element satisfies condition 1.

该地图元素为信号灯，在条件1中，第一地图更新装置可以从第二地图更新装置获取地图，并且在第一预设区域内查找是否有信号灯，第一距离阈值可以是预设的值，比如，可以根据经验值将第一距离阈值设置为1米。当在第一预设区域内查找不到信号灯，则说明该信号灯可能是新增加的一个地图元素，这种情况下确定该地图元素满足条件1。The map element is a signal light. In Condition 1, the first map update device can obtain a map from the second map update device, and search for whether there is a signal light in the first preset area, and the first distance threshold can be a preset value, For example, the first distance threshold may be set to 1 meter according to an empirical value. When no signal light is found in the first preset area, it means that the signal light may be a newly added map element, and in this case, it is determined that the map element satisfies condition 1.

示例二，该地图元素满足条件2。Example 2, the map element satisfies condition 2.

在条件2中，第一地图更新装置可以从第二地图更新装置获取地图，并且在第一预设区域内查找是否有信号灯，若有，则可以将地图上的信号灯当前的位置信息与第一位置信息进行比较，若地图元素在地图上的位置信息与第一位置信息之间的距离大于预设的第二距离阈值，则说明该信号灯的位置信息可能发生了较大的变化，这种情况下确定该地图元素满足条件2。In Condition 2, the first map update device can obtain the map from the second map update device, and check whether there is a signal light in the first preset area, if so, it can compare the current position information of the signal light on the map with the first Compare the location information. If the distance between the location information of the map element on the map and the first location information is greater than the preset second distance threshold, it means that the location information of the signal light may have changed greatly. In this case Make sure that the map element satisfies condition 2.

示例三，该地图元素不满足条件2。Example 3, the map element does not satisfy condition 2.

若地图元素在地图上的位置信息与第一位置信息之间的距离不大于预设的第二距离阈值，则说明该信号灯的位置信息可能并未发生变化(有可能计算过程的误差或硬件设备的误差导致计算出的信号灯的位置信息发生了变化)，或者发生了较小的变化，这种情况下确定该地图元素不满足条件2。If the distance between the location information of the map element on the map and the first location information is not greater than the preset second distance threshold, it means that the location information of the signal light may not have changed (there may be errors in the calculation process or hardware equipment The error of the calculated signal light location information has changed), or a small change has occurred, in this case, it is determined that the map element does not meet the condition 2.

在上述示例中，第一距离阈值可以大于第二距离阈值。第二距离阈值的设置可以结合车辆在计算地图元素的位置信息时可能出现的误差量来设置。举个例子，地图元素为信号灯，第一车辆计算出的信号灯的位置信息与实际的位置信息之间的误差可能为5厘米，则可以将第二距离阈值设置为5厘米，如此，当地图元素在地图上的位置信息与第一位置信息不同，且两者之间的距离不大于5厘米时，有可能计算过程的误差或硬件设备的误差导致计算出的信号灯的位置信息发生了变化，而该信号灯的实际位置信息并未发生变化，该示例中，该地图元素并不满足条件2。In the above example, the first distance threshold may be greater than the second distance threshold. The setting of the second distance threshold may be set in combination with the amount of error that may occur when the vehicle calculates the position information of the map element. For example, if the map element is a signal light, and the error between the position information of the signal light calculated by the first vehicle and the actual position information may be 5 cm, the second distance threshold can be set to 5 cm. In this way, when the map element When the location information on the map is different from the first location information, and the distance between the two is not greater than 5 cm, it is possible that errors in the calculation process or errors in the hardware equipment cause the calculated location information of the signal lights to change, while The actual location information of the signal light has not changed. In this example, the map element does not satisfy condition 2.

步骤204，第一地图更新装置获取第一误差信息。 Step 204, the first map updating apparatus obtains the first error information.

步骤205，第一地图更新装置向第二地图更新装置发送第一误差信息。 Step 205, the first map updating device sends the first error information to the second map updating device.

上述步骤204和步骤201之间没有必然的先后关系，也可以先执行步骤204，再执行步骤201。上述步骤204和步骤202之间没有必然的先后关系，也可以先执行步骤204，再执行步骤202。上述步骤204和步骤203之间没有必然的先后关系，也可以先执行步骤204，再执行步骤203。The above-mentioned step 204 and step 201 are not necessarily in a sequential relationship, and step 204 may also be performed first, and then step 201 may be performed. The above-mentioned step 204 and step 202 are not necessarily in a sequential relationship, and step 204 may also be performed first, and then step 202 may be performed. The above-mentioned step 204 and step 203 have no necessary sequence relationship, and step 204 may also be performed first, and then step 203 may be performed.

本申请实施例中的第一误差信息可以包括以下误差信息c1、误差信息c2和误差信息c3中的任意一个或任意多个：The first error information in this embodiment of the present application may include any one or more of the following error information c1, error information c2, and error information c3:

误差信息c1：第一车辆的定位***对第一车辆进行定位的误差信息。Error information c1: error information of the positioning system of the first vehicle positioning the first vehicle.

误差信息c2：用于采集第一位置信息的第一车辆的第一传感器的测量误差；Error information c2: measurement error of the first sensor of the first vehicle for collecting the first position information;

误差信息c3：第一传感器的标定误差。Error information c3: calibration error of the first sensor.

依据前述公式(1)，以第一车辆为例，对前述公式(1)加扰动误差，可以得到下述公式(2)，下述公式(2)也可以描述为第i个地图元素的误差模型：According to the aforementioned formula (1), taking the first vehicle as an example, adding the disturbance error to the aforementioned formula (1), the following formula (2) can be obtained, and the following formula (2) can also be described as the error of the i-th map element Model:

在公式(2)中，P _{o_i}为第i个地图元素在基准坐标系下的位置信息； In formula (2), P _{o_i} is the position information of the i-th map element in the reference coordinate system;

δP _{o_i}为第i个地图元素在基准坐标系下的位置信息的误差； δP _{o_i} is the error of the position information of the i-th map element in the reference coordinate system;

P _v为第一车辆在基准坐标系下的位置信息； P _v is the position information of the first vehicle in the reference coordinate system;

δP _v为第一车辆在基准坐标系下的位置信息误差； δP _v is the position information error of the first vehicle in the reference coordinate system;

I为3*3的单位矩阵；I is a 3*3 identity matrix;

φ为第一车辆在基准坐标系下的姿态信息的误差；φ is the error of the attitude information of the first vehicle in the reference coordinate system;

为第一车辆在基准坐标系下的姿态信息；

is the attitude information of the first vehicle in the reference coordinate system;

θ为第一传感器的标定误差中的旋转误差；θ is the rotation error in the calibration error of the first sensor;

(x表示第一传感器类型)为第一传感器与车辆定位***之间的旋转外参，也可以说是第一车辆的第一坐标系和第二坐标系之间的旋转外参；

(x represents the first sensor type) is the rotation external parameter between the first sensor and the vehicle positioning system, or it can be said to be the rotation external parameter between the first coordinate system and the second coordinate system of the first vehicle;

P _{x_i}为第一传感器采集的第一图像中的第i个地图元素在第一坐标系中的位置信息； P _{x_i} is the position information in the first coordinate system of the i-th map element in the first image collected by the first sensor;

δP _{x_i}为第一传感器采集的第一图像中的第i个地图元素在第一坐标系中的位置信息的误差； δP _{x_i} is the error of the position information of the i-th map element in the first coordinate system in the first image collected by the first sensor;

P _ix(x表示传感器类型)为第一传感器与车辆定位***之间的平移外参，也可以说是第一车辆的第一坐标系和第二坐标系之间的平移外参； P _ix (x represents the sensor type) is the translation extrinsic parameter between the first sensor and the vehicle positioning system, or it can be said to be the translation extrinsic parameter between the first coordinate system and the second coordinate system of the first vehicle;

δP _ix(x表示传感器类型)为第一传感器与车辆定位***之间的平移外参，也可以说是第一车辆的第一坐标系和第二坐标系之间的平移外参的误差； δP _ix (x represents the sensor type) is the translational extrinsic parameter between the first sensor and the vehicle positioning system, or it can be said to be the error of the translational extrinsic parameter between the first coordinate system and the second coordinate system of the first vehicle;

公式(2)中“×”为一个矩阵的反对称矩阵，例如："×" in formula (2) is an antisymmetric matrix of a matrix, for example:

φ×为第一车辆在基准坐标系下的姿态信息的误差的反对称矩阵；φ× is the antisymmetric matrix of the error of the attitude information of the first vehicle in the reference coordinate system;

θ×为第一传感器的标定误差中的旋转误差的反对称矩阵。θ× is an antisymmetric matrix of rotation errors in the calibration errors of the first sensor.

对上述公式(2)进行简化，可以得到下述公式(3)：By simplifying the above formula (2), the following formula (3) can be obtained:

公式(3)中各个参数的定义可以参见前述公式(2)。根据公式(3)可以计算出总协方差公式，总协方差公式如公式(4)所示：The definition of each parameter in formula (3) can refer to the aforementioned formula (2). According to formula (3), the total covariance formula can be calculated, and the total covariance formula is shown in formula (4):

公式(4)中的各个参数的定义可以参见前述公式(2)和公式(3)，除此之外，在公式(4)中，还包括如下内容：The definition of each parameter in formula (4) can refer to the aforementioned formula (2) and formula (3). In addition, in formula (4), the following contents are also included:

“T”为一个矩阵的转置；"T" is the transpose of a matrix;

R _{p_o}为第一车辆的总协方差； R _{p_o} is the total covariance of the first vehicle;

R _p为第一车辆的定位***的测量值中的位置信息的协方差，其中，

R _p is the covariance of the position information in the measurements of the positioning system of the first vehicle, where,

R _r为第一车辆的定位***的测量值中的姿态信息的协方差，其中，R _r＝φφ ^T； R _r is the covariance of the attitude information in the measurement values of the positioning system of the first vehicle, where R _r =φφ ^T ;

R _pr为第一车辆的定位***的测量值中的位姿信息(也可以描述为位置信息和姿态信息)的协方差，其中，R _pr＝δP _vφ ^T； R _pr is the covariance of the pose information (which can also be described as position information and attitude information) in the measurement values of the positioning system of the first vehicle, where R _pr =δP _v φ ^T ;

R _{bx_p}为第一传感器的标定误差中的平移部分的协方差信息，也可以说是第一传感器与第一车辆的惯性传感器之间的相对的标定协方差中的平移部分的协方差信息； R _{bx_p} is the covariance information of the translation part in the calibration error of the first sensor, and can also be said to be the covariance information of the translation part in the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle;

R _{bx_r}为第一传感器的标定误差中的旋转部分的协方差信息，也可以说是第一传感器与第一车辆的惯性传感器之间的相对的标定协方差中的旋转部分的协方差信息； R _{bx_r} is the covariance information of the rotating part in the calibration error of the first sensor, which can also be said to be the covariance information of the rotating part in the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle;

R _{p_i}为第一传感器的测量值对应的协方差，比如当第一传感器为相机，则可以为相机的测量噪声的协方差。 R _{p_i} is the covariance corresponding to the measurement value of the first sensor, for example, when the first sensor is a camera, it may be the covariance of the measurement noise of the camera.

在一种可能地实施方式中，上述误差信息b1中，第一车辆的定位***对第一车辆进行定位的误差信息包括：第一车辆的定位***的测量值对应的协方差或方差中的至少一项。比如，第一车辆的定位***对第一车辆进行定位的误差信息包括：第一车辆的定位***的测量值对应的协方差。再比如，第一车辆的定位***对第一车辆进行定位的误差信息包括：第一车辆的定位***的测量值对应的方差。再比如，第一车辆的定位***对第一车辆进行定位的误差信息包括：第一车辆的定位***的测量值对应的协方差和方差。第一车辆的定位***对第一车辆进行定位的误差信息也可以称为自车位置误差信息。可以包括上述公式(4)中的参数R _p、R _r和R _pr中的一项或多项。第一车辆的定位***对第一车辆进行定位的误差信息可以实时计算并频繁上报。在一种可能地实施方式中，上报误差信息b1中的内容时，可以将误差信息b1的内容随着第一传感器采集的图像进行上报。 In a possible implementation, in the above error information b1, the error information of the positioning system of the first vehicle positioning the first vehicle includes: at least one of the covariance or variance corresponding to the measurement value of the positioning system of the first vehicle one. For example, the error information of the positioning system of the first vehicle for positioning the first vehicle includes: covariance corresponding to the measurement value of the positioning system of the first vehicle. For another example, the error information of the positioning system of the first vehicle for positioning the first vehicle includes: variance corresponding to the measurement value of the positioning system of the first vehicle. For another example, the error information of the positioning system of the first vehicle for positioning the first vehicle includes: covariance and variance corresponding to the measurement value of the positioning system of the first vehicle. The error information of the positioning system of the first vehicle locating the first vehicle may also be referred to as position error information of the own vehicle. One or more of the parameters R _p , R _r and R _pr in equation (4) above may be included. The error information of the positioning system of the first vehicle locating the first vehicle can be calculated in real time and reported frequently. In a possible implementation manner, when the content of the error information b1 is reported, the content of the error information b1 may be reported along with the image collected by the first sensor.

在一种可能地实施方式中，上述误差信息b2中，用于采集第一位置信息的第一车辆的第一传感器的测量误差包括：第一传感器的测量值对应的协方差或方差中的至少一项。比如，用于采集第一位置信息的第一车辆的第一传感器的测量误差包括：第一传感器的测量值对应的协方差。再比如，用于采集第一位置信息的第一车辆的第一传感器的测量误差包括：第一传感器的测量值对应的方差。再比如，用于采集第一位置信息的第一车辆的第一传感器的测量误差包括：第一传感器的测量值对应的协方差和方差。第一传感器的测量值对应的协方差可以包括上述公式(4)中的参数R _{p_i}等。第一传感器的测量误差主要与传感器的测量精度相关，可以由传感的手册，或者离线测量数据统计获取。可以通过独立的一条信令向第二地图更新装置上报第一传感器的测量误差。 In a possible implementation manner, in the above error information b2, the measurement error of the first sensor of the first vehicle for collecting the first position information includes: at least one of the covariance or variance corresponding to the measurement value of the first sensor one. For example, the measurement error of the first sensor of the first vehicle for collecting the first position information includes: the covariance corresponding to the measurement value of the first sensor. For another example, the measurement error of the first sensor of the first vehicle for collecting the first position information includes: variance corresponding to the measurement value of the first sensor. For another example, the measurement error of the first sensor of the first vehicle for collecting the first position information includes: covariance and variance corresponding to the measurement value of the first sensor. The covariance corresponding to the measurement value of the first sensor may include the parameter R _{p_i} and the like in the above formula (4). The measurement error of the first sensor is mainly related to the measurement accuracy of the sensor, and can be obtained from the sensor manual or offline measurement data statistics. The measurement error of the first sensor may be reported to the second map updating apparatus through an independent piece of signaling.

在一种可能地实施方式中，上述误差信息b3中，第一传感器的标定误差包括：第一传感器与第一车辆的惯性传感器之间的相对的标定协方差或方差中的至少一项。比如，第一传感器的标定误差包括：第一传感器与第一车辆的惯性传感器之间的相对的标定协方差。再比如，第一传感器的标定误差包括：第一传感器与第一车辆的惯性传感器之间的相对的标定方差。再比如，第一传感器的标定误差包括：第一传感器与第一车辆的惯性传感器之间的相对的标定协方差和方差。第一传感器的标定误差可以包括上述公式(4)中的参数R _{bx_r}，以及R _{bx_p}等。第一传感器的标定误差可以以一个较长的时长为周期，周期性上报给第二地图更新装置。第一传感器的标定误差主要与标定精度相关。第一传感器的标定误差可以通过离线的统计的方法获取。可以通过独立的一条信令向第二地图更新装置上报第一传感器的标定误差。 In a possible implementation manner, in the above error information b3, the calibration error of the first sensor includes: at least one of relative calibration covariance or variance between the first sensor and the inertial sensor of the first vehicle. For example, the calibration error of the first sensor includes a relative calibration covariance between the first sensor and the inertial sensor of the first vehicle. For another example, the calibration error of the first sensor includes: a relative calibration variance between the first sensor and the inertial sensor of the first vehicle. For another example, the calibration error of the first sensor includes: relative calibration covariance and variance between the first sensor and the inertial sensor of the first vehicle. The calibration error of the first sensor may include the parameters R _{bx_r} and R _{bx_p} in the above formula (4). The calibration error of the first sensor may be periodically reported to the second map updating device with a relatively long period of time. The calibration error of the first sensor is mainly related to the calibration accuracy. The calibration error of the first sensor can be obtained by an offline statistical method. The calibration error of the first sensor may be reported to the second map updating apparatus through an independent piece of signaling.

上述步骤205中，第一地图更新装置可以将步骤203中的第一位置信息或第一误差信息中包括的至少一项内容可以承载于一条信令中上报至第二地图更新装置。在另一种可能地实施方式中，承载第一位置信息的信令中不再承载第一误差信息中的任何一项。在一种可能地实施方式中，上述误差信息b1、误差信息b2和误差信息b3可以分别通过多条信令进行上报，也可以通过一条信令进行上报。In the above step 205, the first map updating apparatus may carry at least one content included in the first location information or the first error information in step 203 in a signaling and report it to the second map updating apparatus. In another possible implementation manner, the signaling carrying the first location information no longer carries any item of the first error information. In a possible implementation manner, the above-mentioned error information b1, error information b2, and error information b3 may be reported through multiple signalings, respectively, or may be reported through one signaling.

基于上述内容，下面介绍第二地图更新装置端的内容。第二地图更新装置端执行的方案可以依据接收到的地图元素的位置信息的数量划分为两种场景：Based on the above content, the content of the second map update device side is described below. The solution executed by the second map update device can be divided into two scenarios according to the number of received location information of map elements:

场景一，N的取值为1，即，针对一个地图元素，第二地图更新装置在一段预设时长内仅接收到第一车辆上报的该地图元素的第一位置信息。Scenario 1, the value of N is 1, that is, for one map element, the second map update device only receives the first position information of the map element reported by the first vehicle within a preset period of time.

场景二，N的取值为大于1的整数，即，针对一个地图元素，第二地图更新装置在一段预设时长内接收多辆车辆(比如第一车辆和第二车辆)上报的该地图元素的多个位置信息。Scenario 2, the value of N is an integer greater than 1, that is, for a map element, the second map update device receives the map element reported by multiple vehicles (such as the first vehicle and the second vehicle) within a preset period of time of multiple locations.

下面针对上述两种场景分别进行描述。The above two scenarios are described separately below.

场景一，第二地图更新装置在一段预设时长内接收到第一车辆上报的该地图元素的第一位置信息。结合附图2a对场景一进行介绍。如图2a所示，第二地图更新装置可以执行步骤221和步骤222。Scenario 1, the second map update device receives the first location information of the map element reported by the first vehicle within a preset period of time. Scenario 1 is introduced with reference to Fig. 2a. As shown in FIG. 2a, the second map updating apparatus may execute

steps

221 and 222.

步骤221，第二地图更新装置获取第一误差信息以及第一车辆采集到的地图元素的第一位置信息。 Step 221 , the second map updating apparatus obtains the first error information and the first position information of the map element collected by the first vehicle.

本申请实施例中，在步骤204中，第二地图更新装置获取第一误差信息的方式有多种，例如可以通过步骤205接收第一地图更新装置发送的第一误差信息。In this embodiment of the present application, in step 204, the second map updating apparatus can acquire the first error information in various ways. For example, step 205 may be used to receive the first error information sent by the first map updating apparatus.

在另一种可能地实施方式中，也可以在第二地图更新装置侧预存车辆定位***的标识与车辆定位***对车辆进行定位的误差信息的对应关系，如此，第二地图更新装置可以在获取到第一车辆上安装的车辆定位***的标识之后，确定出第一车辆上安装的车辆定位***对车辆进行定位的误差信息。其中，在该实施方式中，第二地图更新装置获取的第一车辆安装的车辆定位***的标识的方式有多种，例如，可以接收第一地图更新装置向第二地图更新装置上报的第一车辆的定位***的标识。再或者，可以接收第一地图更新装置向第二地图更新装置上报的第一车辆的标识，并根据第二地图更新装置侧预设的车辆的标识与车辆安装的定位***的标识的对应关系，确定出第一车辆安装的车辆定位***的标识。In another possible implementation, the corresponding relationship between the identifier of the vehicle positioning system and the error information of the vehicle positioning system positioning the vehicle can also be pre-stored on the side of the second map update device. In this way, the second map update device can obtain the corresponding relationship. After the identification of the vehicle positioning system installed on the first vehicle, the error information of the vehicle positioning system installed on the first vehicle for positioning the vehicle is determined. Wherein, in this embodiment, the identification of the vehicle positioning system installed on the first vehicle obtained by the second map update device can be obtained in various ways. For example, the first map update device can receive the first map update device reported to the second map update device. Identification of the vehicle's positioning system. Still alternatively, the identification of the first vehicle reported by the first map update device to the second map update device can be received, and according to the corresponding relationship between the identification of the vehicle preset on the side of the second map update device and the identification of the positioning system installed in the vehicle, The identification of the vehicle positioning system installed on the first vehicle is determined.

步骤222，第二地图更新装置根据第一误差信息和第一位置信息更新地图。 Step 222, the second map updating device updates the map according to the first error information and the first position information.

在步骤222中，第二地图更新装置可以结合第一误差信息来执行对地图的更新流程。一种可能地实施方式中，可以设定第一误差阈值。若第一误差信息对应的误差值大于第一误差阈值，则说明第一车辆的车辆定位***对第一车辆进行定位的误差较大，这种情况下，第一车辆上的第一地图更新装置获取到的地图元素的第一位置信息可能与地图元素真实的位置信息之间的差异较大。这种情况下，可以不采用地图元素的第一位置信息更新该地图元素在地图上的当前位置信息。即当第一误差信息对应的误差值大于第一误差阈值，则第二地图更新装置停止执行地图更新的流程，即不再使用第一位置信息更新该地图元素在地图上的当前位置信息。In step 222, the second map updating apparatus may perform a map updating process in combination with the first error information. In a possible implementation, a first error threshold may be set. If the error value corresponding to the first error information is greater than the first error threshold, it means that the vehicle positioning system of the first vehicle has a relatively large error in positioning the first vehicle. In this case, the first map update device on the first vehicle The acquired first location information of the map element may be quite different from the real location information of the map element. In this case, the current location information of the map element on the map may not be updated with the first location information of the map element. That is, when the error value corresponding to the first error information is greater than the first error threshold, the second map update device stops executing the map update process, that is, the current location information of the map element on the map is no longer updated with the first location information.

在另一种可能地实施方式中，若第一误差信息对应的误差值不大于第一误差阈值，则说明第一车辆的车辆定位***对第一车辆进行定位的误差较小，这种情况下，第一车辆上的第一地图更新装置获取到的地图元素的第一位置信息可能与地图元素真实的位置信息之间的差异也较小。这种情况下，若第二地图更新装置可以使用地图元素的第一位置信息更新该地图元素在地图上的当前位置信息。In another possible implementation, if the error value corresponding to the first error information is not greater than the first error threshold, it means that the error of the vehicle positioning system of the first vehicle in locating the first vehicle is small. In this case, , the difference between the first location information of the map element acquired by the first map updating device on the first vehicle may be smaller and the actual location information of the map element may be smaller. In this case, if the second map updating device can use the first location information of the map element to update the current location information of the map element on the map.

上述步骤222的一种可能地实施方式中，第二地图更新装置可以根据第一误差信息确定第一权重，第一权重用于表示第一位置信息对地图元素的当前位置信息的纠正程度，第二地图更新装置根据第一位置信息和第一权重更新地图元素在地图上的当前位置信息。In a possible implementation manner of the above step 222, the second map updating device may determine the first weight according to the first error information, and the first weight is used to indicate the degree of correction of the current position information of the map element by the first position information, The second map updating means updates the current position information of the map element on the map according to the first position information and the first weight.

一种可能地实施方式中，当第一误差信息对应的误差值大于第一误差阈值，则可以将第一权重确定为0，这种情况下，由于第一权重为0，表明第一位置信息对地图元素的当前位置信息的纠正程度为0％，因此，第二地图更新装置根据第一位置信息和第一权重更新地图元素在地图上的当前位置信息，具体实施过程包括：第二地图更新装置不采用地图元素的第一位置信息更新该地图元素在地图上的当前位置信息。In a possible implementation manner, when the error value corresponding to the first error information is greater than the first error threshold, the first weight may be determined to be 0. In this case, since the first weight is 0, it indicates that the first position information The degree of correction of the current position information of the map element is 0%, therefore, the second map update device updates the current position information of the map element on the map according to the first position information and the first weight. The specific implementation process includes: the second map update The device does not use the first location information of the map element to update the current location information of the map element on the map.

另一种可能地实施方式中，当第一误差信息对应的误差值不大于第一误差阈值，则可以将第一权重确定为1，这种情况下，由于第一权重为1，表明第一位置信息对地图元素的当前位置信息的纠正程度为100％，因此，第二地图更新装置根据第一位置信息和第一权重更新地图元素在地图上的当前位置信息，具体实施过程包括：第二地图更新装置采用地图元素的第一位置信息更新该地图元素在地图上的当前位置信息。In another possible implementation manner, when the error value corresponding to the first error information is not greater than the first error threshold, the first weight may be determined to be 1. In this case, since the first weight is 1, it indicates that the first weight is 1. The correction degree of the position information to the current position information of the map element is 100%. Therefore, the second map updating device updates the current position information of the map element on the map according to the first position information and the first weight. The specific implementation process includes: second The map updating device uses the first position information of the map element to update the current position information of the map element on the map.

本申请实施例中，在一种可能地实施方式中，第二地图更新装置获取第一车辆上报的第一图像，对第一图像进行预处理，确定出第一图像中包括的各个地图元素的位置信息。进一步，第二地图更新装置将进行预处理之后的第一图像和地图进行比对。针对第一图像中的一个地图元素，若该地图元素为新增加的，或者该地图元素为移动了位置的地图元素，则第二地图更新装置可以根据第一图像中的该地图元素的第一位置信息，更新该地图元素在地图上的当前的位置信息。另一种情况，第二地图更新装置将第一图像与地图进行比对，若存在一个地图元素位于地图上，但是在第一图像的相应区域却并未出现，也就是说，第一图像上包括该地图元素的位置信息的区域，但是第一图像上在该地图元素的位置信息处无该地图元素，则可以判断该地图元素为被移除的地图元素，则第二地图更新装置需要将地图中的该地图元素移除。In the embodiment of the present application, in a possible implementation, the second map update device acquires the first image reported by the first vehicle, preprocesses the first image, and determines the map elements included in the first image. location information. Further, the second map updating device compares the preprocessed first image with the map. For a map element in the first image, if the map element is newly added, or the map element is a map element whose position has been moved, the second map updating device may Location information, update the current location information of the map element on the map. In another case, the second map updating device compares the first image with the map, if there is a map element on the map, but it does not appear in the corresponding area of the first image, that is, on the first image The area including the location information of the map element, but the first image does not have the map element at the location information of the map element, then it can be judged that the map element is the removed map element, then the second map update device needs to This map element is removed from the map.

场景二，N的取值为大于1的整数，即，针对一个地图元素，第二地图更新装置在一段预设时长内接收多辆车辆上报的该地图元素的多个位置信息，例如，第一车辆上报该地图元素的第一位置信息，第二车辆上报该地图元素的第二位置信息。图2b示例性示出了本申请实施例中一种地图更新方法流程示意图，下面结合图2b对场景二进行介绍。Scenario 2, the value of N is an integer greater than 1, that is, for a map element, the second map update device receives multiple location information of the map element reported by multiple vehicles within a preset period of time, for example, the first map element The vehicle reports the first position information of the map element, and the second vehicle reports the second position information of the map element. FIG. 2b exemplarily shows a schematic flowchart of a map updating method in an embodiment of the present application. Scenario 2 will be introduced below with reference to FIG. 2b.

在该场景二中，有多辆车上报地图元素的位置信息，终端设备端的方案均与上述步骤201至步骤205描述的第一终端设备端的方案类似，下面以场景二中还包括第二车辆为例，如图2b所示，对第二终端设备端执行的步骤211至步骤215进行简单介绍。其中，步骤211至步骤215与步骤201至步骤205相关内容类似，不做过多阐述。In the second scenario, there are multiple vehicles reporting the location information of the map elements, and the solutions on the terminal device side are similar to the solutions on the first terminal device side described in the above steps 201 to 205. Hereinafter, the scenario 2 also includes a second vehicle as For example, as shown in FIG. 2b, the steps 211 to 215 performed by the second terminal device are briefly introduced. Wherein, steps 211 to 215 are similar to the related contents of steps 201 to 205, and will not be elaborated further.

步骤211，第二车辆上设置的第二传感器采集第二图像。 Step 211, a second sensor provided on the second vehicle collects a second image.

步骤212，第三地图更新装置根据第二图像，获取第二图像中的地图元素的第二位置信息，第三地图更新装置设置于第二车辆上。该地图元素与前述步骤202中的地图元素为同一个地图元素。第三地图更新装置获取第二图像中的地图元素的第二位置信息可以参见上述第一地图更新装置获取第一位置信息的方案，在此不做过多阐述。 Step 212 , the third map updating device obtains the second position information of the map element in the second image according to the second image, and the third map updating device is arranged on the second vehicle. The map element and the map element in the foregoing step 202 are the same map element. For obtaining the second position information of the map element in the second image by the third map updating apparatus, reference may be made to the above-mentioned solution for obtaining the first position information by the first map updating apparatus, which will not be elaborated here.

步骤213，第三地图更新装置向第二地图更新装置发送地图元素的第二位置信息。 Step 213, the third map updating device sends the second location information of the map element to the second map updating device.

步骤214，第三地图更新装置获取第二误差信息，第二误差信息包括第二车辆的定位***对第二车辆进行定位的误差信息。第二误差信息的相关介绍可以参见前述第一误差信息的相关介绍，在此不做过多阐述。 Step 214 , the third map updating apparatus acquires second error information, where the second error information includes error information of the positioning system of the second vehicle positioning the second vehicle. For the related introduction of the second error information, reference may be made to the related introduction of the foregoing first error information, which will not be elaborated here.

步骤215，第三地图更新装置向第二地图更新装置发送第二误差信息。 Step 215, the third map updating device sends the second error information to the second map updating device.

步骤231，第二地图更新装置根据第一误差信息和第二误差信息确定第一权重，第一权重用于表示第一位置信息对地图元素的当前位置信息的纠正程度。第二地图更新装置根据第一误差信息和第二误差信息确定第二权重，第二权重用于表示第二位置信息对地图元素的当前位置信息的纠正程度。Step 231: The second map updating apparatus determines a first weight according to the first error information and the second error information, where the first weight is used to indicate the degree of correction of the current position information of the map element by the first position information. The second map updating means determines a second weight according to the first error information and the second error information, where the second weight is used to indicate the degree of correction of the current position information of the map element by the second position information.

在步骤231中，在一种可能地实施方式中，一辆车辆的误差信息对应的误差值越大，则该车辆对应的权重越小，一辆车辆的误差信息对应的误差值越小，则该车辆对应的权重越大。In step 231, in a possible implementation, the larger the error value corresponding to the error information of a vehicle, the smaller the weight corresponding to the vehicle, and the smaller the error value corresponding to the error information of a vehicle, then The greater the weight corresponding to the vehicle.

在一种可能地实施方式中，第二地图更新装置可以对第一误差信息和第二误差信息进行比较，比如可以比较第一误差信息对应的误差值与第二误差信息对应的误差值的第一比例关系，该第一比例关系的倒数可以近似等于第一权重与第二权重的第二比例关系。也可以说，第一比例关系与第二比例关系的倒数之差小于第一差额阈值。在一种可能地实施方式中，若第二地图更新装置在一个预设时长内仅接收到地图元素的第一位置信息和第二位置信息，因此可以设置第一权重和第二权重的总和可以等于100％。In a possible implementation manner, the second map updating apparatus may compare the first error information with the second error information, for example, may compare the error value corresponding to the first error information with the error value corresponding to the second error information. A proportional relationship, the reciprocal of the first proportional relationship may be approximately equal to the second proportional relationship between the first weight and the second weight. It can also be said that the difference between the first proportional relationship and the reciprocal of the second proportional relationship is smaller than the first difference threshold. In a possible implementation, if the second map updating apparatus only receives the first position information and the second position information of the map element within a preset time period, the sum of the first weight and the second weight may be set is equal to 100%.

在一种可能第实施方式中，若第一误差信息小于第二误差信息，则第一权重大于第二权重；若第一误差信息大于第二误差信息，则第一权重小于第一权重；若第一误差信息等于第二误差信息，则第一权重等于第二权重。如此，可以看出，各个车辆上报的误差信息的权重相互之间是会受到影响的，始终误差信息对应的误差值较小的车辆所上报的位置信息的权重较大，即第二地图更新装置始终更加信任误差值较小的车辆上报的地图元素的位置信息，而误差值较大的车辆上报的地图元素的位置信息则信任度较小，如此，可以进一步提高地图更新的精度。In a possible first implementation manner, if the first error information is smaller than the second error information, the first weight is greater than the second weight; if the first error information is greater than the second error information, the first weight is smaller than the first weight; if The first error information is equal to the second error information, and the first weight is equal to the second weight. In this way, it can be seen that the weights of the error information reported by each vehicle will be affected by each other, and the weight of the position information reported by the vehicle with the smaller error value corresponding to the error information is always larger, that is, the second map update device. The position information of map elements reported by vehicles with smaller error values is always more trusted, while the position information of map elements reported by vehicles with larger error values is less trusted. In this way, the accuracy of map update can be further improved.

举个例子，第一误差信息对应的误差值与第二误差信息对应的误差值的比例关系为2:8，说明第二误差信息对应的误差值相当于第一误差信息对应的误差值的4倍，则可以设置第一权重为80％，第二权重为20％。第一权重和第二权重的和等于100％。可以看出第一权重可以指示第一误差信息在第一误差信息和第二误差信息中占得比重；第二权重可以指示第二误差信息在第一误差信息和第二误差信息中占得比重。For example, the ratio between the error value corresponding to the first error information and the error value corresponding to the second error information is 2:8, indicating that the error value corresponding to the second error information is equivalent to 4 times the error value corresponding to the first error information. times, the first weight can be set to 80%, and the second weight can be set to 20%. The sum of the first weight and the second weight equals 100%. It can be seen that the first weight can indicate the proportion of the first error information in the first error information and the second error information; the second weight can indicate the proportion of the second error information in the first error information and the second error information .

通过权重的设置可以发现第一误差信息对应的误差值较小，因此第一权重较大，如此，第一位置信息对地图元素的纠正程度则较大。第二误差信息对应的误差值较大，因此第二权重较小，如此，第二位置信息对地图元素的纠正程度则较小。如此，可以看出，在实际应用中，一些车辆可能因为各种原因，比如GNSS信号较弱等，导致该车辆的误差信息较大，这种情况下，该车辆采集到的地图元素的位置信息可能较不准确，若结合其他GNSS信号较强的车辆采集的地图元素的位置信息进行地图更新，则可以提高地图更新的准确度。Through the setting of the weight, it can be found that the error value corresponding to the first error information is relatively small, so the first weight is relatively large, and thus, the degree of correction of the map element by the first position information is relatively large. The error value corresponding to the second error information is relatively large, so the second weight is relatively small. In this way, the degree of correction of the map element by the second position information is relatively small. In this way, it can be seen that in practical applications, some vehicles may have large error information due to various reasons, such as weak GNSS signals, etc. In this case, the location information of the map elements collected by the vehicle It may be relatively inaccurate. If the map is updated with the location information of the map elements collected by other vehicles with strong GNSS signals, the accuracy of the map update can be improved.

在步骤231中，在另一种可能地实施方式中，可以设定第一误差阈值。若一个车辆的误差信息(第一误差信息或第二误差信息)对应的误差值大于第一误差阈值，则可以将该车辆对应的权重确定为0。也就是说，该可能地实施方式中可以通过第一误差阈值对多辆车辆上报的地图元素的位置信息进行筛选，直接舍弃误差信息的误差值大于第一误差阈值的车辆上报的位置信息。进一步，可以根据筛选之后剩余的地图元素的位置信息，以及筛选后剩余的位置信息对应的误差信息，确定每个位置信息对应的权重。In step 231, in another possible implementation manner, a first error threshold may be set. If the error value corresponding to the error information (the first error information or the second error information) of a vehicle is greater than the first error threshold, the weight corresponding to the vehicle may be determined to be 0. That is, in this possible implementation, the location information of map elements reported by multiple vehicles may be screened by the first error threshold, and the location information reported by vehicles whose error value is greater than the first error threshold is directly discarded. Further, the weight corresponding to each position information can be determined according to the position information of the remaining map elements after screening and the error information corresponding to the remaining position information after screening.

步骤232，第二地图更新装置根据第一位置信息、第二位置信息、第一权重和第二权重更新地图元素在地图上的当前位置信息。 Step 232, the second map updating device updates the current location information of the map element on the map according to the first location information, the second location information, the first weight and the second weight.

在上述步骤232中，一种可能地实施方式中，第二地图更新装置可以根据第一权重和第二权重，对第一位置信息和第二位置信息进行加权相加，得到更新后位置信息；将地图上的地图元素的位置信息更新为该更新后位置信息。In the above step 232, in a possible implementation manner, the second map updating apparatus may perform weighted addition of the first location information and the second location information according to the first weight and the second weight, to obtain the updated location information; Update the location information of the map element on the map to the updated location information.

在上述步骤231和步骤232中，是以第一车辆和第二车辆对第二地图更新装置端的行为进行介绍。当第二地图更新装置接收到N辆车辆(为了引用方便，使用N辆第三车辆进行说明)上报的N个位置信息，N为大于1的正整数，且N辆第三车辆中可以包括上述第一车辆和第二车辆。In the above-mentioned

steps

231 and 232, the behavior of the second map updating device side is introduced with the first vehicle and the second vehicle. When the second map update device receives N pieces of location information reported by N vehicles (for convenience of reference, N third vehicles are used for description), N is a positive integer greater than 1, and the N third vehicles may include the above the first vehicle and the second vehicle.

针对一辆第三车辆，当该辆第三车辆为上述第一车辆，则该辆第三车辆上设置的第四地图更新装置为第一地图更新装置，该辆第三车辆上设置的第三传感器为上述第一传感器，该辆第三车辆上的第三传感器采集到的第三图像为上述第一图像，该第三车辆的第三误差信息为上述第一误差信息，第四地图更新装置确定出的该地图元素的第三位置信息为上述第一位置信息。For a third vehicle, when the third vehicle is the above-mentioned first vehicle, the fourth map update device set on the third vehicle is the first map update device, and the third map update device set on the third vehicle is the first map update device. The sensor is the above-mentioned first sensor, the third image collected by the third sensor on the third vehicle is the above-mentioned first image, the third error information of the third vehicle is the above-mentioned first error information, and the fourth map updating device The determined third position information of the map element is the above-mentioned first position information.

针对一辆第三车辆，当该辆第三车辆为上述第二车辆，则该辆第三车辆上设置的第四地图更新装置为第三地图更新装置，该辆第三车辆上设置的第三传感器为上述第二传感器，该辆第三车辆上的第三传感器采集到的第三图像为上述第二图像，该第三车辆的第三误差信息为上述第二误差信息，第四地图更新装置确定出的该地图元素的第三位置信息为上述第二位置信息。For a third vehicle, when the third vehicle is the above-mentioned second vehicle, the fourth map update device set on the third vehicle is the third map update device, and the third map update device set on the third vehicle The sensor is the above-mentioned second sensor, the third image collected by the third sensor on the third vehicle is the above-mentioned second image, the third error information of the third vehicle is the above-mentioned second error information, and the fourth map updating device The determined third position information of the map element is the above-mentioned second position information.

该实施方式中，可以参见图2c所示的地图更新方法的流程示意图，如图2c所示：In this embodiment, reference can be made to the schematic flowchart of the map update method shown in FIG. 2c, as shown in FIG. 2c:

针对N辆第三车辆中的每辆第三车辆，该第三车辆可以执行步骤241至步骤245：For each of the N third vehicles, the third vehicle may perform steps 241 to 245:

步骤241，第三车辆上设置的第三传感器采集第三图像。 Step 241 , a third sensor provided on the third vehicle collects a third image.

步骤242，第四地图更新装置根据第三图像，获取第三图像中的地图元素的第三位置信息，第四地图更新装置设置于第三车辆上。该地图元素与前述步骤202中的地图元素为同一个地图元素。 Step 242 , the fourth map updating device obtains the third position information of the map element in the third image according to the third image, and the fourth map updating device is arranged on the third vehicle. The map element and the map element in the foregoing step 202 are the same map element.

步骤243，第四地图更新装置向第二地图更新装置发送地图元素的第三位置信息。 Step 243, the fourth map updating device sends the third location information of the map element to the second map updating device.

步骤244，第四地图更新装置获取第三误差信息，第三误差信息包括第三车辆的定位***对第三车辆进行定位的误差信息。 Step 244 , the fourth map updating apparatus obtains third error information, where the third error information includes error information of the positioning system of the third vehicle positioning the third vehicle.

步骤245，第四地图更新装置向第二地图更新装置发送第三误差信息。 Step 245, the fourth map updating device sends third error information to the second map updating device.

步骤246，第二地图更新装置获取N辆第三车辆中每个第三车辆的第三误差信息，以及N辆第三车辆中每个第三车辆的第四地图更新装置获取到的地图元素的第三位置信息。 Step 246, the second map update device obtains the third error information of each of the N third vehicles, and the map elements obtained by the fourth map update device of each of the N third vehicles. third location information.

步骤247，第二地图更新装置根据N个第三车辆的N个第三误差信息，确定N辆第三车辆中每个第三车辆对应的第三权重。Step 247: The second map updating apparatus determines a third weight corresponding to each of the N third vehicles according to the N third error information of the N third vehicles.

其中，在一种可能地实施方式中，N个第三权重的总和为1。Wherein, in a possible implementation manner, the sum of the N third weights is 1.

在一种可能地实施方式中，当一个的第三车辆的第三误差信息对应的误差值小于第一误差阈值：In a possible implementation manner, when the error value corresponding to the third error information of a third vehicle is smaller than the first error threshold:

则该第三误差信息对应的误差值越大，则该第三误差信息对应的第三权重越小；该第三误差信息对应的误差值越小，则该第三误差信息对应的第三权重越大。The larger the error value corresponding to the third error information, the smaller the third weight corresponding to the third error information; the smaller the error value corresponding to the third error information, the smaller the third weight corresponding to the third error information. bigger.

其中，一个第三权重可以用于表示该第三权重对应的第三位置信息对地图元素的当前位置信息的纠正程度。一个第三权重还可以用于表示该第三权重对应的第三误差信息在N个第三误差信息中占的比重。或者，也可以说，一个第三权重还可以用于表示该第三权重对应的第三误差信息在M个第三误差信息中占的比重。其中，M为不大于N的正整数，M个第三误差信息为N个第三误差信息中的M个误差信息，且M个第三误差信息中的每个第三误差信息对应的误差值小于第一误差阈值。Wherein, a third weight may be used to indicate the degree of correction of the current position information of the map element by the third position information corresponding to the third weight. A third weight may also be used to indicate the proportion of the third error information corresponding to the third weight in the N third error information. Alternatively, it can also be said that a third weight may also be used to indicate the proportion of the third error information corresponding to the third weight in the M pieces of third error information. Wherein, M is a positive integer not greater than N, the M pieces of third error information are M pieces of error information in the N pieces of third error information, and the error value corresponding to each of the M pieces of third error information less than the first error threshold.

步骤248，第二地图更新装置根据N辆第三车辆对应的N个第三权重，对该地图元素的N个第三位置信息进行加权相加，得到更新后位置信息。 Step 248 , the second map updating device performs weighted addition of the N third position information of the map element according to the N third weights corresponding to the N third vehicles to obtain the updated position information.

步骤249，第二地图更新装置将地图上的地图元素的位置信息更新为该更新后位置信息。Step 249: The second map updating device updates the location information of the map element on the map to the updated location information.

本申请实施例中的术语“***”和“网络”可被互换使用。“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，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的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a,b,或c中的至少一项(个)，可以表示：a,b,c,a-b,a-c,b-c,或a-b-c，其中a,b,c可以是单个，也可以是多个。The terms "system" and "network" in the embodiments of the present application may be used interchangeably. "At least one" means one or more, and "plurality" means two or more. "And/or", which describes the association relationship of the associated objects, indicates that there can be three kinds of relationships, for example, A and/or B, which can indicate: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A, B can be singular or plural. The character "/" generally indicates that the associated objects are an "or" relationship. "At least one item(s) below" or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one item (a) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c may be single or multiple .

以及，除非有特别说明，本申请实施例提及“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。例如，第一车辆和第二车辆，只是为了区分不同的车辆，而并不是表示这两个车辆的优先级或者重要程度等的不同。And, unless otherwise specified, ordinal numbers such as “first” and “second” mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, sequence, priority or importance of multiple objects degree. For example, the first vehicle and the second vehicle are only used to distinguish different vehicles, and do not indicate differences in the priority or importance of the two vehicles.

需要说明的是，上述各个消息的名称仅仅是作为示例，随着通信技术的演变，上述任意消息均可能改变其名称，但不管其名称如何发生变化，只要其含义与本申请上述消息的含义相同，则均落入本申请的保护范围之内。It should be noted that the names of the above-mentioned messages are only examples. With the evolution of communication technology, any of the above-mentioned messages may change their names, but no matter how the names change, as long as their meanings are the same as the meanings of the above-mentioned messages in this application , all fall within the protection scope of this application.

上述主要从各个网元之间交互的角度对本申请提供的方案进行了介绍。可以理解的是，上述实现各网元为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件模块。本领域技术人员应该很容易意识到，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，本发明能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，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发明的范围。The foregoing mainly introduces the solution provided by the present application from the perspective of interaction between various network elements. It can be understood that, in order to realize the above-mentioned functions, each network element in the above-mentioned implementation includes corresponding hardware structures and/or software modules for executing each function. Those skilled in the art should easily realize that the present invention can be implemented in hardware or a combination of hardware and computer software in conjunction with the units and algorithm steps of each example described in the embodiments disclosed herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

根据前述方法，图3为本申请实施例提供的通信装置的结构示意图，如图3所示，该通信装置可以为终端设备端的地图更新装置(比如可以为上述第一车辆的第一地图更新装置，或者为上述第二车辆的第三地图更新装置，或者为上述第三车辆的第四地图更新装置)或服务器端的地图更新装置(比如为第二地图更新装置)。也可以为芯片或电路，比如可设置于终端设备端的地图更新装置的芯片或电路，再比如可设置于第二地图更新装置内的芯片或电路。According to the foregoing method, FIG. 3 is a schematic structural diagram of a communication device provided by an embodiment of the application. As shown in FIG. 3 , the communication device may be a map update device on the terminal device side (for example, it may be the first map update device of the first vehicle described above). , or the third map update device of the second vehicle, or the fourth map update device of the third vehicle) or a server-side map update device (for example, a second map update device). It can also be a chip or a circuit, such as a chip or circuit that can be set in the map updating device at the terminal device, or a chip or a circuit that can be set in the second map updating device.

进一步的，该通信装置1301还可以进一步包括总线***，其中，处理器1302、存储器1304、收发器1303可以通过总线***相连。Further, the communication device 1301 may further include a bus system, wherein the processor 1302, the memory 1304, and the transceiver 1303 may be connected through the bus system.

应理解，上述处理器1302可以是一个芯片。例如，该处理器1302可以是现场可编程门阵列(field programmable gate array，FPGA)，可以是专用集成芯片(application specific integrated circuit，ASIC)，还可以是***芯片(system on chip，SoC)，还可以是中央处理器(central processor unit，CPU)，还可以是网络处理器(network processor，NP)，还可以是数字信号处理电路(digital signal processor，DSP)，还可以是微控制器(micro controller unit，MCU)，还可以是可编程控制器(programmable logic device，PLD)或其他集成芯片。It should be understood that the above-mentioned processor 1302 may be a chip. For example, the processor 1302 may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), or a system on chip (SoC). It can be a central processing unit (CPU), a network processor (NP), a digital signal processing circuit (DSP), or a microcontroller (microcontroller). unit, MCU), it can also be a programmable logic device (PLD) or other integrated chips.

在实现过程中，上述方法的各步骤可以通过处理器1302中的硬件的集成逻辑电路或者软件形式的指令完成。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器1302中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1304，处理器1302读取存储器1304中的信息，结合其硬件完成上述方法的步骤。In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor 1302 or an instruction in the form of software. The steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor 1302 . The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 1304, and the processor 1302 reads the information in the memory 1304, and completes the steps of the above method in combination with its hardware.

应注意，本申请实施例中的处理器1302可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。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。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。It should be noted that the processor 1302 in this embodiment of the present application may be an integrated circuit chip, which has a signal processing capability. In the implementation process, each step of the above method embodiments may be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software. The aforementioned processors may be general purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components . The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.

可以理解，本申请实施例中的存储器1304可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。应注意，本文描述的***和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。It can be understood that the memory 1304 in this embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically programmable Erase programmable read-only memory (electrically EPROM, EEPROM) or flash memory. Volatile memory may be random access memory (RAM), which acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (direct rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but not be limited to, these and any other suitable types of memory.

该通信装置1301对应上述方法中的第二地图更新装置的情况下，该通信装置可以包括处理器1302、收发器1303和存储器1304。该存储器1304用于存储指令，该处理器1302用于执行该存储器1304存储的指令，以实现如上图1a至图2c中所示的任一项或任多项对应的方法中第二地图更新装置的相关方案。When the communication device 1301 corresponds to the second map updating device in the above method, the communication device may include a processor 1302 , a transceiver 1303 and a memory 1304 . The memory 1304 is used for storing instructions, and the processor 1302 is used for executing the instructions stored in the memory 1304, so as to implement the second map updating means in the method corresponding to any one or any of the items shown in FIG. 1a to FIG. 2c above. related programs.

当通信装置1301为上述第二地图更新装置，收发器1303，用于获取第一车辆采集到的地图元素的第一位置信息；处理器1302，用于获取第一车辆的第一误差信息，第一误差信息包括第一车辆的定位***对第一车辆进行定位的误差信息；根据第一误差信息和第一位置信息更新地图。When the communication device 1301 is the above-mentioned second map updating device, the transceiver 1303 is used to obtain the first position information of the map element collected by the first vehicle; the processor 1302 is used to obtain the first error information of the first vehicle, the first The error information includes error information of the positioning system of the first vehicle positioning the first vehicle; the map is updated according to the first error information and the first position information.

在一种可能地实施方式中，处理器1302，具体用于：根据第一误差信息确定第一权重，第一权重用于表示第一位置信息对地图元素的当前位置信息的纠正程度；根据第一位置信息和第一权重更新地图元素在地图上的当前位置信息。In a possible implementation manner, the processor 1302 is specifically configured to: determine a first weight according to the first error information, where the first weight is used to indicate the degree of correction of the current position information of the map element by the first position information; A position information and a first weight update the current position information of the map element on the map.

在一种可能地实施方式中，处理器1302，在根据第一误差信息和第一位置信息更新地图之前，还用于：获取第二车辆的第二误差信息以及第二车辆采集到的地图元素的第二位置信息，第二误差信息包括第二车辆的定位***对第二车辆进行定位的误差信息；根据第一误差信息和第二误差信息确定第二权重，第二权重用于表示第二位置信息对地图元素的当前位置信息的纠正程度；In a possible implementation manner, before updating the map according to the first error information and the first position information, the processor 1302 is further configured to: acquire the second error information of the second vehicle and the map elements collected by the second vehicle The second position information of the The extent to which the location information corrects the current location information of the map element;

根据第一误差信息和第二误差信息确定第一权重；根据第一位置信息、第二位置信息、第一权重和第二权重更新地图元素在地图上的当前位置信息。The first weight is determined according to the first error information and the second error information; the current position information of the map element on the map is updated according to the first position information, the second position information, the first weight and the second weight.

该通信装置1301对应上述方法中的终端设备端的地图更新装置的情况下，该通信装置可以包括处理器1302、收发器1303和存储器1304。该存储器1304用于存储指令，该处理器1302用于执行该存储器1304存储的指令，以实现如上图1a至图2c中所示的任一项或任多项对应的方法中终端设备端的地图更新装置的相关方案。该终端设备端的地图更新装置的方案可以以上述第一车辆的第一地图更新装置为例进行介绍，而该方案也适用于其他车辆的地图更新装置，例如上述第二车辆的第三地图更新装置，或上述第三车辆的第四地图更新装置。When the communication apparatus 1301 corresponds to the map updating apparatus on the terminal device side in the above method, the communication apparatus may include a processor 1302 , a transceiver 1303 and a memory 1304 . The memory 1304 is used for storing instructions, and the processor 1302 is used for executing the instructions stored in the memory 1304, so as to realize the map update on the terminal device side in any one or any of the corresponding methods shown in FIG. 1a to FIG. 2c above device related solutions. The solution of the map update device on the terminal device side can be introduced by taking the first map update device of the first vehicle as an example, and the solution is also applicable to map update devices of other vehicles, such as the third map update device of the second vehicle. , or the fourth map updating device of the above-mentioned third vehicle.

当通信装置1301为上述第一终端设备端的第一地图更新装置，处理器1302，用于获取地图元素的第一位置信息；获取第一误差信息，第一误差信息包括第一车辆的定位*** 对第一车辆进行定位的误差信息；收发器1303，用于向第二地图更新装置发送地图元素的第一位置信息和第一误差信息。When the communication device 1301 is the first map update device on the first terminal device, the processor 1302 is configured to obtain the first position information of the map element; obtain the first error information, and the first error information includes the positioning system pair of the first vehicle. Error information of the positioning performed by the first vehicle; the transceiver 1303 is configured to send the first position information and the first error information of the map element to the second map updating apparatus.

在一种可能地实施方式中，收发器1303，具体用于：当满足以下内容中的一项，向第二地图更新装置发送地图元素的第一位置信息和第一误差信息：地图的第一预设区域内未包括地图元素；第一预设区域为地图上以第一位置信息为圆心，以预设的第一距离阈值为半径的区域；地图元素在地图上的位置信息与第一位置信息之间的距离大于预设的第二距离阈值。In a possible implementation manner, the transceiver 1303 is specifically configured to: when one of the following contents is satisfied, send the first position information and the first error information of the map element to the second map updating apparatus: the first position information of the map element and the first error information are: The preset area does not include map elements; the first preset area is an area on the map with the first location information as the center and the preset first distance threshold as the radius; the location information of the map element on the map and the first location The distance between the information is greater than the preset second distance threshold.

该通信装置所涉及的与本申请实施例提供的技术方案相关的概念，解释和详细说明及其他步骤请参见前述方法或其他实施例中关于这些内容的描述，此处不做赘述。For concepts related to the technical solutions provided by the embodiments of the present application involved in the communication device, for explanations, detailed descriptions, and other steps, please refer to the descriptions of the foregoing methods or other embodiments, which will not be repeated here.

根据前述方法，图4为本申请实施例提供的通信装置的结构示意图，如图4所示，通信装置1401可以包括通信接口1403、处理器1402和存储器1404。通信接口1403，用于输入和/或输出信息；处理器1402，用于执行计算机程序或指令，使得通信装置1401实现上述图1a至图2c的相关方案中终端设备端的地图更新装置侧的方法，或使得通信装置1401实现上述图1a至图2c的相关方案中第二地图更新装置侧的方法。本申请实施例中，通信接口1403可以实现上述图3的收发器1303所实现的方案，处理器1402可以实现上述图3的处理器1302所实现的方案，存储器1404可以实现上述图3的存储器1304所实现的方案，在此不再赘述。According to the foregoing method, FIG. 4 is a schematic structural diagram of a communication apparatus provided by an embodiment of the present application. As shown in FIG. 4 , the communication apparatus 1401 may include a communication interface 1403 , a processor 1402 and a memory 1404 . The communication interface 1403 is used for inputting and/or outputting information; the processor 1402 is used for executing a computer program or instruction, so that the communication device 1401 realizes the method on the map update device side of the terminal device side in the related scheme of the above-mentioned Fig. 1a to Fig. 2c, Or make the communication device 1401 implement the method on the second map update device side in the above-mentioned related solutions of FIG. 1a to FIG. 2c . In this embodiment of the present application, the communication interface 1403 can implement the solution implemented by the transceiver 1303 in FIG. 3, the processor 1402 can implement the solution implemented by the processor 1302 in FIG. 3, and the memory 1404 can implement the memory 1304 in FIG. 3. The implemented solution will not be repeated here.

基于以上实施例以及相同构思，图5为本申请实施例提供的通信装置的示意图，如图5所示，该通信装置1501可以为终端设备端的地图更新装置或第二地图更新装置，也可以为芯片或电路，比如可设置于终端设备端的地图更新装置或第二地图更新装置的芯片或电路。Based on the above embodiments and the same concept, FIG. 5 is a schematic diagram of a communication apparatus provided by an embodiment of the present application. As shown in FIG. 5 , the communication apparatus 1501 may be a map updating apparatus or a second map updating apparatus on the terminal device side, or may be a A chip or circuit, such as a chip or circuit of a map update device or a second map update device that can be provided on the terminal device side.

该通信装置可以对应上述方法中的终端设备端的地图更新装置。该通信装置可以实现如上图1a至图2c中所示的任一项或任多项对应的方法中终端设备端的地图更新装置所执行的步骤。该通信装置可以包括处理单元1502、通信单元1503和存储单元1504。The communication device may correspond to the map updating device on the terminal device side in the above method. The communication apparatus may implement the steps performed by the map updating apparatus on the terminal device side in any one or more of the corresponding methods shown in FIG. 1a to FIG. 2c above. The communication apparatus may include a processing unit 1502 , a communication unit 1503 and a storage unit 1504 .

该通信装置1501对应上述方法中的服务器端的地图更新装置的情况下，通信单元1503，用于获取第一车辆采集到的地图元素的第一位置信息；处理单元1502，用于获取第一车辆的第一误差信息，第一误差信息包括第一车辆的定位***对第一车辆进行定位的误差信息；根据第一误差信息和第一位置信息更新地图。When the communication device 1501 corresponds to the server-side map update device in the above method, the communication unit 1503 is used to obtain the first position information of the map element collected by the first vehicle; the processing unit 1502 is used to obtain the first position information of the first vehicle. First error information, the first error information includes error information for positioning the first vehicle by the positioning system of the first vehicle; the map is updated according to the first error information and the first position information.

当通信装置1501对应上述第一地图更新装置的情况下，处理单元1502，用于获取地图元素的第一位置信息；获取第一误差信息，第一误差信息包括第一车辆的定位***对第一车辆进行定位的误差信息；通信单元1503，用于发送地图元素的第一位置信息和第一误差信息。When the communication device 1501 corresponds to the above-mentioned first map update device, the processing unit 1502 is configured to obtain the first position information of the map element; obtain the first error information, and the first error information Error information for positioning the vehicle; the communication unit 1503 is configured to send the first position information and the first error information of the map element.

可以理解的是，上述通信装置1501中各个单元的功能可以参考相应方法实施例的实现，此处不再赘述。It can be understood that, the functions of each unit in the foregoing communication apparatus 1501 may refer to the implementation of the corresponding method embodiments, and details are not described herein again.

应理解，以上通信装置的单元的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。本申请实施例中，通信单元1503可以由上述图3的收发器1303实现，处理单元1502可以由上述图3的处理器1302实现。It should be understood that the division of the units of the above communication apparatus is only a division of logical functions, and may be fully or partially integrated into a physical entity in actual implementation, or may be physically separated. In this embodiment of the present application, the communication unit 1503 may be implemented by the transceiver 1303 shown in FIG. 3 above, and the processing unit 1502 may be implemented by the processor 1302 shown in FIG. 3 above.

根据本申请实施例提供的方法，本申请还提供一种计算机程序产品，该计算机程序产品包括：计算机程序代码或指令，当该计算机程序代码或指令在计算机上运行时，使得该计算机执行图1a至图2c所示实施例中任意一个实施例的方法。According to the method provided by the embodiment of the present application, the present application also provides a computer program product, the computer program product includes: computer program code or instructions, when the computer program code or instructions are run on a computer, the computer is made to execute FIG. 1a to the method of any one of the embodiments shown in FIG. 2c.

根据本申请实施例提供的方法，本申请还提供一种计算机可读存储介质，该计算机可读介质存储有程序代码，当该程序代码在计算机上运行时，使得该计算机执行图1a至图2c所示实施例中任意一个实施例的方法。According to the method provided by the embodiments of the present application, the present application further provides a computer-readable storage medium, where the computer-readable medium stores program codes, when the program codes are executed on a computer, the computer is made to execute FIGS. 1a to 2c The method of any one of the illustrated embodiments.

根据本申请实施例提供的方法，本申请还提供一种芯片***，该芯片***可以包括处理器。该处理器与存储器耦合，可用于执行图1a至图2c所示实施例中任意一个实施例的方法。可选地，该芯片***还包括存储器。存储器，用于存储计算机程序(也可以称为代码，或指令)。处理器，用于从存储器调用并运行计算机程序，使得安装有芯片***的设备执行图1a至图2c所示实施例中任意一个实施例的方法。According to the method provided by the embodiment of the present application, the present application further provides a chip system, where the chip system may include a processor. The processor is coupled to the memory and can be used to perform the method of any one of the embodiments shown in Figures 1a to 2c. Optionally, the chip system further includes a memory. Memory, used to store computer programs (also called code, or instructions). The processor is used to call and run the computer program from the memory, so that the device installed with the chip system executes the method of any one of the embodiments shown in FIG. 1a to FIG. 2c.

根据本申请实施例提供的方法，本申请还提供一种***，其包括前述的一个或多个车辆以及服务器端的地图更新装置，车辆中设置有地图更新装置。According to the method provided by the embodiment of the present application, the present application further provides a system, which includes the aforementioned one or more vehicles and a map update device on the server side, and the map update device is provided in the vehicle.

在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD))、或者半导体介质(例如，固态硬盘(solid state disc，SSD))等。In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer instructions. When computer instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. Computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server, or data center over a wire (e.g. coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (eg infrared, wireless, microwave, etc.) means to transmit to another website site, computer, server or data center. A computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. Useful media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, high-density digital video disc (DVD)), or semiconductor media (eg, solid state disc (SSD)) )Wait.

需要指出的是，本专利申请文件的一部分包含受著作权保护的内容。除了对专利局的专利文件或记录的专利文档内容制作副本以外，著作权人保留著作权。It should be noted that a part of this patent application file contains content protected by copyright. Except for making copies of the patent files of the Patent Office or the contents of the recorded patent files, the copyright owner reserves the right to copyright.

上述各个装置实施例中第二地图更新装置与终端设备端的地图更新装置和方法实施例中的第二地图更新装置或终端设备端的地图更新装置对应，由相应的模块或单元执行相应的步骤，例如通信单元(收发器)执行方法实施例中接收或发送的步骤，除发送、接收外的其它步骤可以由处理单元(处理器)执行。具体单元的功能可以参考相应的方法实施例。其中，处理器可以为一个或多个。The second map updating device in each of the above device embodiments corresponds to the map updating device on the terminal device side and the second map updating device or the map updating device on the terminal device side in the method embodiments, and corresponding steps are performed by corresponding modules or units, such as The communication unit (transceiver) performs the step of receiving or sending in the method embodiment, and other steps except the sending and receiving may be performed by the processing unit (processor). For functions of specific units, reference may be made to corresponding method embodiments. The number of processors may be one or more.

在本说明书中使用的术语“部件”、“模块”、“***”等用于表示计算机相关的实体、硬件、固件、硬件和软件的组合、软件、或执行中的软件。例如，部件可以是但不限于，在处理器上运行的进程、处理器、对象、可执行文件、执行线程、程序和/或计算机。通过图示，在计算设备上运行的应用和计算设备都可以是部件。一个或多个部件可驻留在进程和/或执行线程中，部件可位于一个计算机上和/或分布在两个或更多个计算机之间。此外，这些部件可从在上面存储有各种数据结构的各种计算机可读介质执行。部件可例如根据具有一个或多个数据分组(例如来自与本地***、分布式***和/或网络间的另一部件交互的二个部件的数据，例如通过信号与其它***交互的互联网)的信号通过本地和/或远程进程来通信。The terms "component", "module", "system" and the like are used in this specification to refer to a computer-related entity, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device may be components. One or more components may reside within a process and/or thread of execution, and a component may be localized on one computer and/or distributed between two or more computers. In addition, these components can execute from various computer readable media having various data structures stored thereon. A component may, for example, be based on a signal having one or more data packets (eg, data from two components interacting with another component between a local system, a distributed system, and/or a network, such as the Internet interacting with other systems via signals) Communicate through local and/or remote processes.

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种说明性逻辑块(illustrative logical block)和步骤(step)，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。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。Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware accomplish. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

在本申请所提供的几个实施例中，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，以上所描述的装置实施例仅仅是示意性的，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。另一点，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，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

另外，在本申请各个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，也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器等)执行本申请各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The functions, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk and other media that can store program codes .

以上，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, and should cover within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

一种地图更新方法，其特征在于，包括：A method for updating a map, comprising:

第一地图更新装置获取地图元素的第一位置信息和第一误差信息，向第二地图更新装置发送所述地图元素的所述第一位置信息和所述第一误差信息，其中，所述第一误差信息包括第一车辆的定位***对所述第一车辆进行定位的误差信息；The first map updating device acquires the first position information and the first error information of the map element, and sends the first position information and the first error information of the map element to the second map updating device, wherein the The error information includes error information of the positioning system of the first vehicle positioning the first vehicle;

所述第二地图更新装置接收所述第一误差信息和所述第一位置信息，根据所述第一误差信息和所述第一位置信息更新地图。The second map updating device receives the first error information and the first position information, and updates a map according to the first error information and the first position information.
一种地图更新方法，其特征在于，包括：A method for updating a map, comprising:

获取第一车辆的第一误差信息以及所述第一车辆采集到的地图元素的第一位置信息，所述第一误差信息包括所述第一车辆的定位***对所述第一车辆进行定位的误差信息；Obtain the first error information of the first vehicle and the first position information of the map element collected by the first vehicle, where the first error information includes the positioning system of the first vehicle positioning the first vehicle. error information;

根据所述第一误差信息和所述第一位置信息更新地图。The map is updated according to the first error information and the first position information.
如权利要求2所述的方法，其特征在于，所述根据所述第一误差信息和所述第一位置信息更新地图，包括：The method of claim 2, wherein the updating the map according to the first error information and the first position information comprises:

根据所述第一误差信息确定第一权重，所述第一权重用于表示所述第一位置信息对所述地图元素的当前位置信息的纠正程度；determining a first weight according to the first error information, where the first weight is used to indicate the degree of correction of the current position information of the map element by the first position information;

根据所述第一位置信息和所述第一权重更新所述地图元素在所述地图上的当前位置信息。The current position information of the map element on the map is updated according to the first position information and the first weight.
如权利要求3所述的方法，其特征在于，所述根据所述第一误差信息和所述第一位置信息更新地图之前，还包括：The method according to claim 3, wherein before updating the map according to the first error information and the first position information, the method further comprises:

获取第二车辆的第二误差信息以及所述第二车辆采集到的所述地图元素的第二位置信息，所述第二误差信息包括所述第二车辆的定位***对所述第二车辆进行定位的误差信息；Acquire second error information of the second vehicle and second position information of the map element collected by the second vehicle, where the second error information includes the positioning system of the second vehicle performing the operation on the second vehicle. Positioning error information;

根据所述第一误差信息和所述第二误差信息确定第二权重，所述第二权重用于表示所述第二位置信息对所述地图元素的当前位置信息的纠正程度；determining a second weight according to the first error information and the second error information, where the second weight is used to indicate the degree of correction of the current position information of the map element by the second position information;

所述根据所述第一误差信息确定第一权重，包括：The determining the first weight according to the first error information includes:

根据所述第一误差信息和所述第二误差信息确定所述第一权重；determining the first weight according to the first error information and the second error information;

所述根据所述第一位置信息和所述第一权重更新所述地图元素在所述地图上的当前位置信息，包括：The updating of the current location information of the map element on the map according to the first location information and the first weight includes:

根据所述第一位置信息、所述第二位置信息、所述第一权重和所述第二权重更新所述地图元素在所述地图上的当前位置信息。The current position information of the map element on the map is updated according to the first position information, the second position information, the first weight and the second weight.
如权利要求2-4任一项所述的方法，其特征在于，所述第一误差信息，还包括：The method according to any one of claims 2-4, wherein the first error information further comprises:

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差或者所述第一传感器的标定误差中的至少一项。At least one of a measurement error of a first sensor of the first vehicle or a calibration error of the first sensor for collecting the first position information.
如权利要求5所述的方法，其特征在于，所述第一车辆的定位***对所述第一车辆进行定位的误差信息包括：所述第一车辆的定位***的测量值对应的协方差；The method according to claim 5, wherein the error information of the positioning system of the first vehicle for positioning the first vehicle comprises: a covariance corresponding to a measurement value of the positioning system of the first vehicle;

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差包括：所述第一传感器的测量值对应的协方差；The measurement error of the first sensor of the first vehicle used for collecting the first position information includes: the covariance corresponding to the measurement value of the first sensor;

所述第一传感器的标定误差包括：所述第一传感器与所述第一车辆的惯性传感器之间的相对的标定协方差。The calibration error of the first sensor includes a relative calibration covariance between the first sensor and the inertial sensor of the first vehicle.
一种地图更新方法，其特征在于，包括：A method for updating a map, comprising:

获取地图元素的第一位置信息；Get the first position information of the map element;

获取第一误差信息，所述第一误差信息包括第一车辆的定位***对所述第一车辆进行定位的误差信息；acquiring first error information, where the first error information includes error information for positioning the first vehicle by the positioning system of the first vehicle;

向第二地图更新装置发送所述地图元素的所述第一位置信息和所述第一误差信息。Sending the first position information and the first error information of the map element to a second map update device.
如权利要求7所述的方法，其特征在于，所述第一误差信息，还包括：The method of claim 7, wherein the first error information further comprises:

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差或所述第一传感器的标定误差中的至少一项。At least one of a measurement error of a first sensor of the first vehicle or a calibration error of the first sensor for collecting the first position information.
如权利要求8所述的方法，其特征在于，所述第一车辆的定位***对所述第一车辆进行定位的误差信息包括：所述第一车辆的定位***的测量值对应的协方差；The method according to claim 8, wherein the error information of the positioning system of the first vehicle for positioning the first vehicle comprises: a covariance corresponding to a measurement value of the positioning system of the first vehicle;

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差包括：所述第一传感器的测量值对应的协方差；The measurement error of the first sensor of the first vehicle used for collecting the first position information includes: the covariance corresponding to the measurement value of the first sensor;

所述第一传感器的标定误差包括：所述第一传感器与所述第一车辆的惯性传感器之间的相对的标定协方差。The calibration error of the first sensor includes a relative calibration covariance between the first sensor and the inertial sensor of the first vehicle.
如权利要求7-9任一项所述的方法，其特征在于，所述向第二地图更新装置发送所述地图元素的所述第一位置信息和所述第一误差信息，包括：The method according to any one of claims 7-9, wherein the sending the first position information and the first error information of the map element to the second map update device comprises:

当满足以下内容中的至少一项时，向所述第二地图更新装置发送所述地图元素的所述第一位置信息和所述第一误差信息：Send the first position information and the first error information of the map element to the second map update device when at least one of the following is satisfied:

所述地图的第一预设区域内未包括所述地图元素，其中所述第一预设区域为所述地图上以所述第一位置信息为圆心，以预设的第一距离阈值为半径的区域；或者；The map element is not included in the first preset area of the map, wherein the first preset area is a circle on the map with the first location information as the center and the preset first distance threshold as the radius. area; or;

所述地图元素在所述地图上的位置信息与所述第一位置信息之间的距离大于预设的第二距离阈值。The distance between the location information of the map element on the map and the first location information is greater than a preset second distance threshold.
一种地图更新装置，其特征在于，包括：A map updating device, comprising:

通信单元，用于获取所述第一车辆采集到的地图元素的第一位置信息；a communication unit, configured to acquire the first position information of the map element collected by the first vehicle;

处理单元，用于获取第一车辆的第一误差信息，所述第一误差信息包括所述第一车辆的定位***对所述第一车辆进行定位的误差信息；根据所述第一误差信息和所述第一位置信息更新地图。a processing unit, configured to acquire first error information of the first vehicle, where the first error information includes error information of the positioning system of the first vehicle positioning the first vehicle; according to the first error information and The first location information updates the map.
如权利要求11所述的地图更新装置，其特征在于，所述处理单元，具体用于：The map updating device according to claim 11, wherein the processing unit is specifically used for:

根据所述第一误差信息确定第一权重，所述第一权重用于表示所述第一位置信息对所述地图元素的当前位置信息的纠正程度；根据所述第一位置信息和所述第一权重更新所述地图元素在所述地图上的当前位置信息。A first weight is determined according to the first error information, and the first weight is used to indicate the degree of correction of the current position information of the map element by the first position information; according to the first position information and the first position information A weight updates the current location information of the map element on the map.
如权利要求12所述的地图更新装置，其特征在于，所述处理单元，在所述根据所述第一误差信息和所述第一位置信息更新地图之前，还用于：The map updating apparatus according to claim 12, wherein before updating the map according to the first error information and the first position information, the processing unit is further configured to:

获取第二车辆的第二误差信息以及所述第二车辆采集到的所述地图元素的第二位置信息，所述第二误差信息包括所述第二车辆的定位***对所述第二车辆进行定位的误差信息；Acquire second error information of the second vehicle and second position information of the map element collected by the second vehicle, where the second error information includes the positioning system of the second vehicle performing the operation on the second vehicle. Positioning error information;

根据所述第一误差信息和所述第二误差信息确定第二权重，所述第二权重用于表示所述第二位置信息对所述地图元素的当前位置信息的纠正程度；determining a second weight according to the first error information and the second error information, where the second weight is used to indicate the degree of correction of the current position information of the map element by the second position information;

根据所述第一误差信息和所述第二误差信息确定所述第一权重；determining the first weight according to the first error information and the second error information;

根据所述第一位置信息、所述第二位置信息、所述第一权重和所述第二权重更新所述地图元素在所述地图上的当前位置信息。The current position information of the map element on the map is updated according to the first position information, the second position information, the first weight and the second weight.
如权利要求11-13任一项所述的地图更新装置，其特征在于，所述第一误差信息，还包括：The map updating device according to any one of claims 11-13, wherein the first error information further comprises:

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差或者所述第一传感器的标定误差中的至少一项。At least one of a measurement error of a first sensor of the first vehicle or a calibration error of the first sensor for collecting the first position information.
如权利要求14所述的地图更新装置，其特征在于，所述第一车辆的定位***对所述第一车辆进行定位的误差信息包括：所述第一车辆的定位***的测量值对应的协方差；The map updating device according to claim 14, wherein the error information of the positioning system of the first vehicle for positioning the first vehicle comprises: a coordinate corresponding to a measurement value of the positioning system of the first vehicle variance;

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差包括：所述第一传感器的测量值对应的协方差；The measurement error of the first sensor of the first vehicle used for collecting the first position information includes: the covariance corresponding to the measurement value of the first sensor;

所述第一传感器的标定误差包括：所述第一传感器与所述第一车辆的惯性传感器之间的相对的标定协方差。The calibration error of the first sensor includes a relative calibration covariance between the first sensor and the inertial sensor of the first vehicle.
一种地图更新装置，其特征在于，包括：A map updating device, comprising:

处理单元，用于获取地图元素的第一位置信息；获取第一误差信息，所述第一误差信息包括第一车辆的定位***对所述第一车辆进行定位的误差信息；a processing unit, configured to acquire first position information of a map element; acquire first error information, where the first error information includes error information for positioning the first vehicle by the positioning system of the first vehicle;

通信单元，用于发送所述地图元素的所述第一位置信息和所述第一误差信息。A communication unit, configured to send the first position information and the first error information of the map element.
如权利要求16所述的地图更新装置，其特征在于，所述第一误差信息，还包括：The map updating device of claim 16, wherein the first error information further comprises:

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差或者所述第一传感器的标定误差中的至少一项。At least one of a measurement error of a first sensor of the first vehicle or a calibration error of the first sensor for collecting the first position information.
如权利要求17所述的地图更新装置，其特征在于，所述第一车辆的定位***对所述第一车辆进行定位的误差信息包括：所述第一车辆的定位***的测量值对应的协方差；The map updating apparatus according to claim 17, wherein the error information of the positioning system of the first vehicle for positioning the first vehicle comprises: a coordinate corresponding to a measurement value of the positioning system of the first vehicle variance;

用于采集所述第一位置信息的所述第一车辆的第一传感器的测量误差包括：所述第一传感器的测量值对应的协方差；The measurement error of the first sensor of the first vehicle used for collecting the first position information includes: the covariance corresponding to the measurement value of the first sensor;

所述第一传感器的标定误差包括：所述第一传感器与所述第一车辆的惯性传感器之间的相对的标定协方差。The calibration error of the first sensor includes a relative calibration covariance between the first sensor and the inertial sensor of the first vehicle.
如权利要求16-18任一项所述的地图更新装置，其特征在于，所述通信单元，具体用于：The map updating device according to any one of claims 16-18, wherein the communication unit is specifically used for:

当满足以下内容中的至少一项时，发送所述地图元素的所述第一位置信息和所述第一误差信息：The first position information and the first error information of the map element are sent when at least one of the following is satisfied:

所述地图的第一预设区域内未包括所述地图元素，其中，所述第一预设区域为所述地图上以所述第一位置信息为圆心，以预设的第一距离阈值为半径的区域；或者，The map element is not included in the first preset area of the map, wherein the first preset area is a circle on the map with the first position information as the center and the preset first distance threshold as area of radius; or,

所述地图元素在所述地图上的位置信息与所述第一位置信息之间的距离大于预设的第二距离阈值。The distance between the location information of the map element on the map and the first location information is greater than a preset second distance threshold.
一种地图更新装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机执行指令，所述地图更新装置运行时，所述处理器执行所述存储器中的计算机执行指令以利用所述地图更新装置中的硬件资源执行权利要求2至6中任一所述方法的操作步骤。A map updating device is characterized by comprising a processor and a memory, the memory is used for storing computer-executed instructions, and when the map updating device is running, the processor executes the computer-executed instructions in the memory to utilize the The hardware resources in the map updating device execute the operation steps of the method according to any one of claims 2 to 6.
一种地图更新装置，其特征在于，包括处理器和通信接口，A map updating device, characterized in that it comprises a processor and a communication interface,

所述通信接口，用于输入和/或输出信息；the communication interface for inputting and/or outputting information;

所述处理器，用于执行计算机程序，使得权利要求2-6中任一项所述的方法被执行。The processor for executing a computer program such that the method of any one of claims 2-6 is performed.
一种地图更新装置，其特征在于，包括处理器和存储器，所述存储器用于存储计算机执行指令，所述地图更新装置运行时，所述处理器执行所述存储器中的计算机执行指令以利用所述地图更新装置中的硬件资源执行权利要求7至10中任一所述方法的操作步骤。A map updating device is characterized by comprising a processor and a memory, the memory is used for storing computer-executed instructions, and when the map updating device is running, the processor executes the computer-executed instructions in the memory to utilize the The hardware resources in the map updating device perform the operation steps of the method according to any one of claims 7 to 10.
一种地图更新装置，其特征在于，包括处理器和通信接口，A map updating device, characterized in that it comprises a processor and a communication interface,

所述通信接口，用于输入和/或输出信息；the communication interface for inputting and/or outputting information;

所述处理器，用于执行计算机程序，使得权利要求7-10中任一项所述的方法被执行。The processor for executing a computer program such that the method of any one of claims 7-10 is performed.
一种地图更新***，其特征在于，包括执行权利要求2-6任意一项方法的地图更新装置，和执行权利要求7-10任意一项方法的地图更新装置。A map updating system, characterized in that it comprises a map updating device for performing any one of the methods in claims 2-6, and a map updating device for performing any one of the methods in claims 7-10.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行程序，所述计算机可执行程序在被计算机调用时，使所述计算机执行如权利要求2至10任一项所述的方法。A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer-executable program, and when the computer-executable program is invoked by a computer, causes the computer to perform any one of claims 2 to 10. one of the methods described.
一种芯片***，其特征在于，包括：A chip system, characterized in that it includes:

通信接口，用于输入和/或输出信息；communication interfaces for the input and/or output of information;

处理器，用于通过所述通信接口执行所述计算机程序，使得安装有所述芯片***的设备执行如利要求2-10中任一项所述的方法。The processor is configured to execute the computer program through the communication interface, so that the device installed with the chip system executes the method according to any one of claims 2-10.
一种车辆，其特征在于，所述车辆包括：如权利要求16-19、22-23中任一项所述的地图更新装置。A vehicle, characterized in that the vehicle comprises: the map updating device according to any one of claims 16-19 and 22-23.
一种计算机程序产品，其特征在于，所述计算机程序产品包括计算机程序，当所述计算机程序被运行时，实现如权利要求1-10任一项所述的地图更新方法。A computer program product, characterized in that, the computer program product includes a computer program, and when the computer program is executed, the map updating method according to any one of claims 1-10 is implemented.