A data transmission method and apparatus

Abstract

The present application provides a data transmission method and apparatus, which relate to the field of communication technologies, and can solve the problems of data fusion of detection information collected by crowdsourcing vehicles and map data change detection, improve the reliability of map data update, and at the same time reduce the data processing complexity of the cloud server. The method includes: a vehicle terminal determines the data format of detection information, and the detection information is associated with map elements; the vehicle terminal sends the detection information to a first network device according to the determined data format; the vehicle terminal receives map element change information sent by the first network device or a second network device for updating an electronic map. Among them, the first network device and the second network device may be a cloud server or a roadside unit.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a data transmission method and apparatus. Background Art

[0002] An autonomous vehicle is an intelligent vehicle that realizes driverless operation through a computer system, also known as a driverless vehicle, a computer-driven vehicle, or a wheeled mobile robot. It relies on the collaborative cooperation of artificial intelligence, visual computing, radar, monitoring devices, and the global positioning system, enabling the computer to automatically and safely operate a motor vehicle without any active operation by a human. Autonomous driving technology depends on high-precision electronic maps to provide real-time and accurate map data and road condition information. However, the data collection, maintenance, and update of high-precision maps require a large amount of human, material, and financial resources, and both the collection cost and the maintenance and update cost are relatively high.

[0003] Currently, crowdsourcing, as a relatively low-cost collection mode, has been widely adopted in recent years. Crowdsourcing is to complete a specific task based on the power of the public. For example, map data collection is completed based on a large number of public vehicles. At the same time, the sharing of map data collected through crowdsourcing can also be used to update and maintain high-precision maps. However, how to fuse and process the raw data collected by different types of sensors of different vehicles, and compare and detect the data collected with the data corresponding to the current map to determine the change information of the electronic map, etc., are all huge problems currently faced. Summary of the Invention

[0004] This application provides a data transmission method and apparatus, which solves the problems of fusing and detecting changes in crowdsourcing-collected data, thereby ensuring the reliability of map data updates and reducing the complexity of cloud data processing.

[0005] To achieve the above object, this application adopts the following technical solutions:

[0006] In a first aspect, a data transmission method is provided. The method includes: a vehicle terminal determines a data format of detection information, where the detection information is associated with a map element; the vehicle terminal sends the detection information of the vehicle terminal to a first network device according to the data format; the vehicle terminal receives map element change information sent by the first network device or a second network device.

[0007] In the above technical solution, the vehicle terminal collects detection information and can send the detection information in different data formats to the first network device, so as to be used for detecting the change information of map elements. The detection of map element changes can be performed by the first network device or the second network device, and the map element change information is sent to the vehicle terminal for updating the electronic map. Among them, the first network device or the second network device can be a cloud server or a roadside unit. The detection of map element changes can be processed by the vehicle terminal, the cloud server or the roadside unit, which can provide the flexibility of data fusion and change detection and ensure the reliability and real-time nature of map data update.

[0008] In a possible design, the data format of the detection information includes: Format 1: the original information collected by in-vehicle sensors, or Format 2: the target information detected by a single in-vehicle sensor, or Format 3: the target information jointly detected by at least one in-vehicle sensor, or Format 4: the map element change information corresponding to the target information jointly detected by at least one in-vehicle sensor. In the above possible implementation, the detection information sent by the vehicle terminal to the first network device can be configured with multiple data formats, so as to improve the flexibility and accuracy of data processing.

[0009] In a possible design, the vehicle terminal determines the data format of the detection information, specifically including: the vehicle terminal determines the data format of the detection information according to the confidence level of the detection information; or the vehicle terminal determines the data format of the detection information according to the map layer supported by the first network device; or the vehicle terminal determines the data format of the detection information according to the data processing capability of the first network device; or the vehicle terminal determines the data format of the detection information according to the map element type corresponding to the detection information; or the vehicle terminal determines the data format of the detection information according to the indication information sent by the first network device, and the indication information is used to indicate the data format of the detection information; or the vehicle terminal determines the data format of the detection information according to the time when the detection information is obtained. In the above possible implementation, the vehicle terminal can determine the data format of the detection information according to the above several different methods, so as to comprehensively determine the data format of the reported detection information based on the device performance of the vehicle terminal and the first network device or map elements, etc., thereby improving the flexibility of data processing, reducing the data processing complexity of the first network device, and improving the reliability of data update.

[0010] In a possible design, the map element change information includes at least one of whether the map element exists, the position information, shape information, color information, and size information of the map element. In the above possible implementation, the first network device or the second network device can detect the change of the map element according to the detection data, so as to obtain the map element change information for updating the map element in the electronic map and improve the reliability of the data.

[0011] In a possible design, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data. In the above possible implementation, the original information collected by the vehicle-mounted sensor can be used to obtain map elements on the corresponding electronic map, so as to detect changes in map elements according to the detection information, for updating the electronic map and improving the reliability of data.

[0012] In a possible design, the vehicle terminal determines the data format of the detection information according to the type of map element corresponding to the detection information, specifically including: the map elements corresponding to the detection information include a first type and a second type. When the map element corresponding to the detection information is of the first type, the vehicle terminal determines that the data format of the detection information is format one, format two, or format three; when the map element corresponding to the detection information is of the second type, the vehicle terminal determines that the data format of the detection information is format four.

[0013] In a possible design, the map elements of the first type include at least one of road information, lane line information, traffic light information, road surface marking information, lamp post information, and stop line information. In the above possible implementation, determining the data format of the detection information according to the type of map element corresponding to the detection information can be that when the map element is a relatively critical type, the data format is raw data, format two, or format three, etc. Thus, the data format of the detection information can be determined according to the priority of the map element type, improving the reliability of data update.

[0014] In a possible design, the first network device is a cloud server or a roadside unit.

[0015] In a possible design, when the first network device is a roadside unit, the vehicle terminal receiving the map element change information sent by the second network device specifically includes: the map element change information is associated with the map element change information uploaded by at least one roadside unit to the second network device. In the above possible implementation, at least one roadside unit can upload the map element change information to the cloud server, and the cloud server synthesizes the map element change information uploaded by the roadside units in each region, thereby making a decision on the update of the electronic map and improving the accuracy of data fusion and processing.

[0016] In a possible design, when the first network device is a cloud server, the vehicle terminal receiving the map element change information sent by the second network device specifically includes: the second network device is a roadside unit, and the map element change information is associated with the map element change information uploaded by at least one cloud server to the second network device. In the above possible implementation, at least one cloud server can upload the map element change information to the roadside unit in the corresponding area, and the roadside unit synthesizes the map element change information uploaded by at least one cloud server, so as to decide the update situation of the electronic map, improving the accuracy of data fusion and processing.

[0017] In a second aspect, a data transmission method is provided. The method includes: the first network device receives the detection information sent by the vehicle terminal, and the detection information is associated with the map element; the first network device determines whether the map element corresponding to the detection information matches according to the detection information. If not, the first network device obtains the map element change information according to the detection information; the first network device sends the map element change information to the vehicle terminal; or, the first network device sends the map element change information to the second network device, and the map element change information is used for the second network device to determine whether to update the electronic map.

[0018] In a possible design, the data format of the detection information received by the first network device from the vehicle terminal is: Format 1: the original information collected by in-vehicle sensors, or Format 2: the target information detected by a single in-vehicle sensor, or Format 3: the target information jointly detected by at least one in-vehicle sensor, or Format 4: the map element change information corresponding to the target information jointly detected by at least one in-vehicle sensor.

[0019] In a possible design, before the first network device receives the detection information sent by the vehicle terminal, the method further includes: the first network device sends indication information to the vehicle terminal, and the indication information is used to indicate the data format of the detection information to be sent by the vehicle terminal; or, the first network device sends the map layers supported by the first network device to the vehicle terminal for determining the data format of the detection information; or, the first network device sends the data processing capability of the first network device to the vehicle terminal for determining the data format of the detection information.

[0020] In a possible design, the map element change information includes at least one of whether the map element exists, the position information, shape information, color information, and size information of the map element.

[0021] In a possible design, the original information collected by the in-vehicle sensors includes at least one of laser point cloud data and pixel point data.

[0022] In a possible design, the first network device is a cloud server or a roadside unit.

[0023] In a possible design, when the first network device is a roadside unit, the first network device sends map element change information to the second network device, specifically including: the map element change information is associated with whether to update the electronic map determined by the second network device.

[0024] In a possible design, when the first network device is a cloud server, the first network device sends map element change information to the second network device, specifically including: the second network device is a roadside unit, and the map element change information is associated with whether to update the electronic map determined by the second network device.

[0025] In a third aspect, a data transmission device is provided, and the device includes: a determination module, configured to determine the data format of detection information, where the detection information is associated with map elements; a sending module, configured to send the detection information of the device to the first network device according to the data format; and a receiving module, configured to receive the map element change information sent by the first network device or the second network device.

[0026] In a possible design, the data format of the detection information specifically includes: Format 1: the original information collected by vehicle-mounted sensors, or Format 2: the target information detected by a single vehicle-mounted sensor, or Format 3: the target information jointly detected by at least one vehicle-mounted sensor, or Format 4: the map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor.

[0027] In a possible design, the determination module is specifically configured to: determine the data format of the detection information according to the confidence level of the detection information; or determine the data format of the detection information according to the map layer supported by the first network device; or determine the data format of the detection information according to the data processing capability of the first network device; or determine the data format of the detection information according to the map element type corresponding to the detection information; or determine the data format of the detection information according to the indication information sent by the first network device, where the indication information is used to indicate the data format of the detection information; or determine the data format of the detection information according to the time when the detection information is acquired / sent.

[0028] In a possible design, the map element change information includes at least one of whether a map element exists, the position information, shape information, color information, and size information of the map element.

[0029] In a possible design, the original information collected by vehicle-mounted sensors includes at least one of laser point cloud data and pixel point data.

[0030] In a possible design, the map elements corresponding to the detection information include a first type and a second type. The determination module is specifically configured to: when the map element corresponding to the detection information is of the first type, determine that the data format of the detection information is Format One, Format Two, or Format Three; when the map element corresponding to the detection information is of the second type, determine that the data format of the detection information is Format Four.

[0031] In a possible design, the map elements of the first type include at least one of road information, lane line information, traffic light information, road surface sign information, lamp post information, and stop line information.

[0032] In a possible design, the first network device is a cloud server or a roadside unit.

[0033] In a possible design, when the first network device is a roadside unit, the second network device is a cloud server, and the map element change information is associated with the map element change information uploaded by at least one roadside unit to the second network device.

[0034] In a possible design, when the first network device is a cloud server, the second network device is a roadside unit, and the map element change information is associated with the map element change information uploaded by at least one cloud server to the second network device.

[0035] In a fourth aspect, a data transmission device is provided. The device includes: a receiving module, configured to receive detection information sent by a vehicle terminal, where the detection information is associated with map elements; a detection module, configured to determine whether the map elements corresponding to the detection information match according to the detection information. If not, map element change information is obtained according to the detection information; a sending module, configured to send the map element change information to the vehicle terminal; or, the sending module is configured to send the map element change information to a second network device, where the map element change information is used by the second network device to determine whether to update the electronic map.

[0036] In a possible design, the data format of the detection information sent by the vehicle terminal is: Format One: the original information collected by on-vehicle sensors, or Format Two: the target information detected by a single on-vehicle sensor, or Format Three: the target information jointly detected by at least one on-vehicle sensor, or Format Four: the map element change information corresponding to the target information jointly detected by at least one on-vehicle sensor.

[0037] In a possible design, the sending module is further configured to send indication information to the vehicle terminal, where the indication information is used to indicate the data format for the vehicle terminal to send detection information; or, the sending module is further configured to send the map layers supported by the device to the vehicle terminal for determining the data format of the detection information; or, the sending module is further configured to send the data processing capability of the device to the vehicle terminal for determining the data format of the detection information.

[0038] In a possible design, the map element change information includes at least one of whether a map element exists, the position information, shape information, color information, and size information of the map element.

[0039] In a possible design, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

[0040] In a possible design, when the second network device is a roadside unit, the sending module is specifically configured to: send the map element change information to the roadside unit corresponding to the map element, where the map element change information is used to determine whether to update the electronic map of the area corresponding to the roadside unit.

[0041] In a possible design, when the second network device is a cloud server, the sending module is specifically configured to: send the map element change information to the cloud server, where the map element change information is used to determine whether to update the electronic map stored in the cloud server.

[0042] In a fifth aspect, a vehicle terminal is provided, which includes: at least one processor and a memory; at least one memory stores program instructions and data, the program instructions are executed in at least one processor, and at least one processor runs the program instructions in the memory to enable the vehicle terminal to execute the data transmission method in any possible design of the first aspect above.

[0043] In a sixth aspect, a cloud server is provided, which includes: at least one processor and at least one memory; at least one memory stores program instructions and data, the program instructions are executed in at least one processor, and at least one processor runs the program instructions in at least one memory to enable the cloud server to execute the data transmission method in any possible design of the second aspect above.

[0044] In a seventh aspect, a roadside unit is provided, the roadside unit includes: at least one processor and at least one memory; at least one memory stores program instructions and data, the program instructions are executed in at least one processor, and at least one processor runs the program instructions in at least one memory to enable the roadside unit to execute the data transmission method in any possible design of the second aspect above.

[0045] In an eighth aspect, a communication system is provided. The communication system includes at least one vehicle terminal and at least one first network device. The vehicle terminal is configured to execute the data transmission method in any possible design manner of the first aspect, and the first network device is configured to execute the data transmission method described in any possible design manner of the second aspect.

[0046] In a ninth aspect, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium runs on a device, the device is caused to execute the data transmission method described in any possible design manner of the first aspect.

[0047] In a tenth aspect, a computer program product is provided. When the computer program product runs on a computer, the computer is caused to execute the data transmission method described in any possible design manner of the first aspect.

[0048] In an eleventh aspect, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium runs on a device, the device is caused to execute the data transmission method described in any possible design manner of the second aspect.

[0049] In a twelfth aspect, a computer program product is provided. When the computer program product runs on a computer, the computer is caused to execute the data transmission method described in any possible design manner of the second aspect.

[0050] It can be understood that any of the above-provided data transmission methods, apparatuses, electronic devices, communication systems, computer-readable storage media, and computer program products can be implemented by the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a system architecture diagram of the implementation environment of a data transmission method provided by an embodiment of the present application;

[0052] Figure 2 It is a flowchart of a data transmission method provided by an embodiment of the present application;

[0053] Figure 3 It is a flowchart of another data transmission method provided by an embodiment of the present application;

[0054] Figure 4 It is a flowchart of another data transmission method provided by an embodiment of the present application;

[0055] Figure 5Schematic structural diagram of a data transmission device provided by an embodiment of the present application;

[0056] Figure 6 Schematic structural diagram of a data transmission device provided by an embodiment of the present application;

[0057] Figure 7 Schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0058] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this embodiment, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0059] The data transmission method provided by the embodiment of the present application is mainly applied to the data update and maintenance application of the electronic map of crowdsourcing vehicles, and mainly realizes map update in a crowdsourcing mode. Specifically, the crowdsourcing mode refers to collecting a large amount of road recognition data collected by social vehicles, processing a large amount of road recognition data, and performing matching processing with the corresponding map elements on the electronic map, so as to complete the update of the electronic map database on the map cloud, enabling multiple social vehicles using the electronic map to perform electronic map update, and better guiding drivers to drive vehicles or realizing autonomous driving.

[0060] Among them, the map elements referred to in the embodiment of the present application refer to the road features marked on the electronic map and the road information used to guide vehicle driving, such as traffic lights, traffic poles, traffic signs, road signs, lane lines, zebra crossings, etc.

[0061] Updating and maintaining a high-precision electronic map in a crowdsourcing mode can solve the problem of rapid and timely update of the electronic map. At the same time, a large amount of detection data can ensure the accuracy of map data update and improve the safety of autonomous driving.

[0062] Next, in conjunction with Figure 1 An implementation environment diagram of an embodiment of the method for processing crowdsourcing data provided by the embodiment of the present application will be introduced. Figure 1 It is an implementation environment diagram of the method for processing crowdsourcing data provided by the embodiment of the present application. As Figure 1 shown, in the embodiment of the present application, a communication system is provided, and the system may include: at least one vehicle terminal 11 and a cloud server 12.

[0063] Among them, the vehicle terminal is a front-end device for vehicle communication and management and can be installed in various vehicles. At least one vehicle terminal 11 can be a communication device in large-scale social vehicles, or a communication device in intelligent vehicles with data processing and recognition capabilities, or can also consist of ordinary social vehicles and intelligent vehicles. The crowdsourced vehicle terminal 11 can serve as an important basis for map collection and update. Real-time road detection information can be obtained through in-vehicle sensors configured in the vehicle terminal. For example, through cameras, infrared sensors, radar detectors, global satellite navigation systems or inertial navigation systems (abbreviated as inertial navigation), etc. The detected road information can be uploaded to the cloud server 12 for real-time update and maintenance of map data. Specifically, the vehicle terminal 11 can upload the collected road data or updated target map elements to the cloud server 12 or other network devices through the network.

[0064] The cloud server 12 can provide real-time map data for multiple vehicles 11 through a wireless network. The cloud server 12 includes a relatively large storage space for storing map data. Specifically, the map data can be deployed on one or more servers. Optionally, in the cloud server 12, the network platform can decide whether to update the current map based on the road data reported by the crowdsourced vehicle terminal 11 or the updated target map elements, and perform the update work on the map data.

[0065] In one embodiment, the communication system may further include a roadside unit 13, which communicates with the vehicle terminal 11 or the cloud server 12 through a wired or wireless network, and can provide services such as road information, high-precision positioning, or high-precision maps within a certain area range to the vehicle terminal 11. The roadside unit 13 can also be used to collect the road detection information reported by the vehicle terminal 11 within a certain area range. After data processing and fusion, it is determined whether the corresponding map elements have changed, so as to decide whether to update the map.

[0066] The embodiment of the present application provides a data transmission method. By obtaining the road detection information of the in-vehicle sensors of the crowdsourced vehicle, the vehicle terminal can detect the change of the electronic map according to the detection information detected by the in-vehicle sensors and the relevant map elements in the current electronic map, or the cloud server can determine the detection of the change of the electronic map, or the roadside unit can detect the change of the electronic map. Then, the cloud server or the roadside unit decides whether to update the corresponding map elements according to the detection result, and sends the updated map information to at least one vehicle terminal.

[0067] Combined with Figure 1, an embodiment of the present application provides a data transmission method, which is applied to at least one vehicle terminal and a first network device. Among them, the first network device can be a cloud server, or the first network device can be a roadside unit. The processing flow of this method is as Figure 2 shown, and this method may include:

[0068] S01: The vehicle terminal determines the data format of the detection information.

[0069] Among them, the detection information can be detection data related to road features collected by on-vehicle sensors configured for the vehicle terminal. The on-vehicle sensors may include lidar, monocular camera, multi-camera, millimeter-wave radar, infrared detector, antenna, temperature sensor, global satellite navigation system, inertial navigation, somatosensory sensor, or gravity sensor, etc.

[0070] The detection information in the embodiment of the present application mainly refers to road detection information, which refers to the detection information obtained by the on-vehicle sensors of the vehicle terminal above and can be used to analyze and indicate the current road features. For example, the image data of the current road obtained by the camera can be subjected to corresponding data processing on the image data to identify road features in the image data, such as lane line information, zebra crossing information, speed limit sign information, etc. For example, lidar can be used to detect the distance and size of target objects existing on the current road, so as to identify road features according to the detection data, such as traffic pole information, road sign information, pedestrian information, etc.

[0071] In a possible implementation manner, the data format of the detection information obtained by the on-vehicle sensors of the vehicle terminal includes at least the following four formats:

[0072] Format 1: The original information collected by the on-vehicle sensor.

[0073] Among them, the original information refers to the unprocessed data information directly collected by the on-vehicle sensor, such as multiple frames of lidar point cloud data or multiple frames of image data, etc., or the data information that has only undergone simple data format processing or preprocessing, and has not undergone relatively complex data processing or data recognition, etc.

[0074] Specifically, the original information collected by the on-vehicle sensor may include lidar point cloud data, or pixel point data. For example, the lidar point cloud data obtained by the lidar is a set of vectors of target objects in a three-dimensional coordinate system obtained by the lidar through scanning.

[0075] The pixel point data obtained by the camera refers to the information of each pixel point included in the image data obtained by the camera. For example, the RGB color value, gray value, brightness information, depth information, etc. of each pixel point, and the computer can generate two-dimensional image data or three-dimensional image data according to the pixel point data.

[0076] Format 2: Target information detected by a single vehicle-mounted sensor.

[0077] Among them, the target information refers to the target information for indicating road features recognized after the original information obtained by the vehicle-mounted sensor undergoes data processing. For example, the target information can be used to indicate or identify traffic pole information, road sign information, lane line information, zebra crossing information, etc.

[0078] The algorithms for the above data processing can include algorithms in aspects such as semantic segmentation, clustering analysis, 3D modeling, and computer vision. They can process the original information obtained by the vehicle-mounted sensor and output a 3D model, lane model, or map element information, etc.

[0079] Exemplarily, the data information collected by lidar mainly includes process data such as synchronization time data, positioning data of the Global Positioning System (GPS), and inertial navigation attitude parameter data, as well as result data such as coordinate data and echo intensity data. The following is an exemplary description of the lidar point cloud data processing process. Based on this method, the scattered point cloud data can be organized into a spatial data structure that is easy for humans to understand, conforms to natural laws, and has a topological relationship through the point cloud segmentation method.

[0080] 1. By performing corresponding processing on the laser ranging data, inertial navigation attitude data, GPS data, and scanning angle data, calculate the three-dimensional coordinate information of the laser foot points.

[0081] 2. Apply certain mathematical algorithms to perform post-processing on the point cloud data, such as filtering, classification, building edge extraction, and building three-dimensional reconstruction.

[0082] 3. Convert the coordinate system of the point cloud data into the coordinate system required by the user.

[0083] 4. Generate final mapping products such as a Digital Elevation Model (DEM), Digital Surface Model (DSM), and Digital Orthophoto Map (DOM) from the ground points obtained through filtering and classification through corresponding operations.

[0084] Exemplarily, the presentation format of the target information can be image data. Among them, the image data can include identifiers of road features or identifier information for indicating corresponding map elements, etc. The presentation format of the target information can also be a code that can be recognized by a computer, used to indicate the specific data of the road features collected by the vehicle-mounted sensor, such as position information, shape information, size information, text information, etc.

[0085] It should be noted that the target information referred to in the embodiments of the present application and the map elements on the electronic map corresponding to the target information can be either a standard model uniformly formulated by the mass vehicle networking system or a model customized by technicians according to experimental data. The present application does not make specific limitations in this regard.

[0086] Format Three: Target information jointly detected by at least one vehicle-mounted sensor.

[0087] Format Three refers to the target information obtained after the vehicle terminal performs certain data processing and data fusion on the detection information detected by multiple vehicle-mounted sensors. Its data reliability is higher. For example, the system can superimpose Global Positioning System (GPS) data, lidar point cloud data, image data, etc., and through data recognition, identify road features such as lane lines, road edges, road signs, and traffic signs. The detection information or target information used to indicate the same road feature or map element is subjected to data fusion processing to obtain the target information of joint detection.

[0088] When the vehicle terminal sends the above detection information in the above data format, since the data collected by a variety of different sensors is fused and verified, the reliability and accuracy of the detection information can be improved; at the same time, the first network device receiving the detection information does not need to perform the above data recognition and processing, and can also reduce the data processing complexity of the first network device.

[0089] Exemplarily, after processing the scan data of the lidar, target information 1 is obtained, and target information 1 can be used to indicate the specific information of the speed limit sign and lane identification existing on the currently located road. When processing the image data captured by the camera, target information 2 can be obtained, and target information 2 includes the specific information of the speed limit sign and lane identification of the currently located road. For the target information 3 detected by another vehicle-mounted sensor, the system can perform data fusion processing on target information 1, target information 2, and target information 3 to eliminate the data with larger errors, so as to obtain the target information of joint detection by multiple vehicle-mounted sensors with higher accuracy.

[0090] Taking lane line extraction as an example, a data fusion algorithm based on image vision and lidar is as follows:

[0091] Step 1, preprocess the original lidar point cloud, extract the road surface point cloud data, and preprocess the original image to remove the influence of noise, light, etc.;

[0092] Step 2, extract the point cloud data of the road boundary from the road surface point cloud data extracted in Step 1, and use the principle that the distance between the lane line and the road boundary is constant to determine the point cloud position of the lane line;

[0093] Step 3: Register the lane line point cloud data obtained after the processing in Step 2 and the pre-processed image, and roughly determine the approximate positions of the lane lines on the image.

[0094] Step 4: Perform precise lane line detection within the image area determined in Step 3.

[0095] Specifically, the fusion processing of the detection data of multiple different vehicle-mounted sensors can be implemented through a classification algorithm of deep learning or through artificial intelligence algorithms such as neural networks. This application does not make specific limitations in this regard.

[0096] Format Four: Map element change information corresponding to the target information jointly detected with at least one vehicle-mounted sensor.

[0097] The map element change information refers to the updated value or incremental value of the map element obtained by comparing the target information jointly detected by multiple vehicle-mounted sensors with the map elements of the electronic map corresponding to the target information to determine that the map elements corresponding to the target information in the currently existing electronic map have changed. Among them, the electronic map corresponding to the target information refers to the currently stored electronic map that the user is using.

[0098] Among them, the system can match the target information jointly detected by multiple vehicle-mounted sensors with the map elements corresponding to the target information. If it is determined that they do not match, the map element change information of the map elements corresponding to the target information can be obtained through comparison.

[0099] Exemplarily, the map element change information may include binary semantic information such as whether the map element exists, the position information, shape information, color information, size information, etc. of the map element.

[0100] Exemplarily, the map element change information may further include relative change information, such as the position offset of the map element, etc.

[0101] It should be noted that the vehicle terminal sends the detection information in the above data format. After fusing the data collected by a variety of different sensors and comparing it with the local electronic map, the reliability and accuracy of the detection information can be improved. At the same time, the vehicle terminal detects the changes of the map elements according to the detection information and the current electronic map, and generates map element change information, which enables the first network device receiving the detection information not to perform the above data processing and map element change detection anymore. Therefore, it can also reduce the data processing complexity of the first network device.

[0102] S02: The vehicle terminal sends the detection information of the vehicle terminal to the first network device according to the data format, and the detection information is associated with the map elements.

[0103] Among them, the first network device can be a cloud server or a Road Side Unit (RSU). In the actual map collection application of the shared vehicle networking, multiple vehicle terminals can send the collected detection information to the first network device for the update and maintenance of the electronic map.

[0104] The detection information is associated with map elements and can be used to indicate the map elements detected by in-vehicle sensors. Further, the detection information includes detection data in Format 1, Format 2, or Format 3, which can be used by the first network device to determine whether the map elements corresponding to the detection information on the current electronic map have changed according to the detection information. The detection data in Format 4 in the detection information can be used by the first network device to determine whether to update the electronic map according to the confidence level of the detection information.

[0105] In a possible implementation manner, the first network device can be a road side unit, and multiple vehicle terminals can send the detection information of the vehicle terminals to the road side unit according to the determined data format.

[0106] Among them, since the road side unit is divided according to map regions, the vehicle terminal can send the collected detection information to the road side unit corresponding to the detection information according to the division of location regions, that is, the road side unit can be the road side unit of the location region corresponding to the detection information. The detection information can be used by the road side unit to determine whether the map elements corresponding to the detection information on the current electronic map have changed according to the detection information.

[0107] S03: The first network device receives the detection information sent by the vehicle terminal, determines whether the map elements corresponding to the detection information match. If they do not match, the first network device obtains map element change information according to the detection information.

[0108] Among them, matching means determining whether the map elements corresponding to the detection information are consistent with the corresponding map elements in the currently stored electronic map. If it is determined that the map elements have changed, it is considered that the detection information does not match the corresponding map elements.

[0109] The first network device identifies the map elements in the electronic map corresponding to the detection information according to the received detection information through data processing, that is, determines the map elements matching the detection information according to the map elements in the electronic map already existing locally in the first network device. For example, the corresponding map elements can be determined through the GPS positioning information included in the detection information. By comparing the detection information with the matching map elements, it is determined whether the current map elements have changed.

[0110] If it is determined that the map element corresponding to the detection information has changed, the first network device may obtain map element change information based on the detection information and perform step S04. If it is determined that the map element corresponding to the detection information has not changed, the first network device does not perform any operation, or the first network device may return a response message to the vehicle terminal, where the response message is used to indicate that the map element corresponding to the detection information sent by the vehicle terminal has not changed, and the vehicle terminal does not need to update the local electronic map.

[0111] In a possible implementation manner, the first network device may determine whether a certain map element has changed based on the detection information sent by multiple vehicle terminals, so as to improve the accuracy of the decision. At the same time, the first network device may obtain map element change information based on the detection information sent by multiple vehicle terminals, and improve the accuracy of map update.

[0112] In a possible implementation manner, the first network device may update the local electronic map of the first network device according to the map element change information. Wherein, the first network device may be a cloud server or a roadside unit, then the cloud server or the roadside unit may update the local electronic map of the cloud server or the roadside unit according to the map element change information. Other network devices may obtain the real-time updated electronic map through the first network device. For example, when the cloud server of another map manufacturer requests map data from this cloud server, it may obtain the updated electronic map; the vehicle terminal in a certain area may obtain the real-time updated electronic map from the cloud server through the roadside unit in this area or the vehicle terminal directly obtains the real-time updated electronic map from the cloud server, thereby improving the real-time performance and accuracy of electronic map update.

[0113] S04: The first network device sends map element change information to the vehicle terminal.

[0114] Among them, the first network device may send map element change information to multiple vehicle terminals for updating the local electronic maps of multiple vehicle terminals.

[0115] In a possible implementation manner, the first network device may be a cloud server, and the cloud server may send map element change information that matches the position to multiple vehicle terminals according to the positioning addresses and historical trajectory records of a large number of vehicle terminals. For example, the cloud server may send the map element change information within the area range to multiple vehicle terminals whose positioning addresses are within the area range according to the position area where the vehicle terminal is located, or send it to multiple vehicle terminals whose historical trajectory records include the area range.

[0116] In another possible implementation, the first network device may also be a roadside unit, and the roadside unit may send the map element change information of its affiliated area to multiple vehicle terminals within the scope of this area.

[0117] S05: The vehicle terminal receives the map element change information sent by the first network device.

[0118] After the vehicle terminal receives the map element change information sent by the first network device, it may update the local electronic map according to the received map element change information, so as to determine the change situation of the corresponding map elements in the electronic map based on the detection information collected by the crowdsourcing vehicles, thereby realizing the real-time update and maintenance of the electronic map.

[0119] In the above embodiments of the present application, the vehicle terminal may send detection information in different data formats to the first network device, such as Format Two, Format Three, or Format Four. The vehicle terminal undertakes part of the data fusion processing process of the detection information. Therefore, the data fusion process of the first network device, which is the receiving device, for the detection data of different sensors can be relatively simple, and the data processing complexity of the first network device can be effectively reduced.

[0120] In one implementation, in the above step S01, when the vehicle terminal determines the data format of the detection information, it may specifically include the following different methods, which will be described in detail below. The system may be determined according to one of the following methods, or determined comprehensively according to multiple of the following methods.

[0121] Method One: The vehicle terminal may determine the data format of the detection information according to the confidence level of the detection information.

[0122] The confidence level is also called the reliability, confidence level, or confidence coefficient, etc. In the estimated value of the population parameter, it is used to represent the probability that the value of the sampling parameter is within the allowable error range. That is, when making an estimate of the population parameter by sampling, based on the randomness of the sample, a probability representation method is adopted to represent the probability that the estimated value and the population parameter are within a certain allowable error range. This corresponding probability is called the confidence level.

[0123] The confidence level of the detection information is used to indicate the probability of the accuracy of the detection information obtained by the vehicle terminal. The greater the confidence level of the detection information, the higher the accuracy of the detection information; the smaller the confidence level of the detection information, the lower the accuracy of the detection information.

[0124] The vehicle terminal may determine the data format of the detection information to be one or several of the above formats according to the confidence level of the detection information.

[0125] Exemplarily, the system of the vehicle terminal can be configured as follows: if the confidence level of the detection information obtained by the in-vehicle sensor of the vehicle terminal is higher than the preset confidence level threshold, it is determined that the data format of the detection information is Format Three or Format Four; if the confidence level of the detection information obtained by the in-vehicle sensor of the vehicle terminal is lower than the preset confidence level threshold, it is determined that the data format of the detection information is Format One or Format Two.

[0126] Method Two: The vehicle terminal can determine the data format of the detection information according to the map layer supported by the first network device.

[0127] The map layer refers to the image information of each layer that constitutes the electronic map. The representation of the actual space by the electronic map is described by different map layers, and then expressed through the superposition display of the map layers.

[0128] Among them, the map layer refers to the classification of map information containing different elements, different features or different attributes. For example, from the frequency of change of map elements, the electronic map can be divided into static layers and dynamic layers; from the perspective of usage, the electronic map can be divided into positioning layers and positioning feature layers, etc.; from the type of map data information, it can also be divided into laser point cloud layers and image layers, etc.

[0129] Based on this, the system of the vehicle terminal can be configured as follows: the vehicle terminal determines that the data format of the detection information is one or several of the above formats according to the map layer supported by the first network device. Among them, before the vehicle terminal determines the data format of the detection information, the first network device can send indication information to the vehicle terminal to indicate the map layer supported by the first network device. For example, the first network device can send indication information to the vehicle terminal to indicate that the first network device supports the positioning layer based on laser point cloud.

[0130] Exemplarily, the system can be configured as follows: when the first network device supports the positioning layer based on laser point cloud, the vehicle terminal can determine that the data format of the detection information is Format One; when the first network device does not support the positioning layer based on laser point cloud and the supported map layer is an image layer or other types of layers, the vehicle terminal can determine that the data format of the detection information is Format Three or Format Four.

[0131] Method Three: The vehicle terminal can determine the data format of the detection information according to the data processing ability of the first network device.

[0132] The system of the vehicle terminal can be configured to: determine that the data format of the detection information is one or several of the above formats according to the data processing capability of the first network device. Before the vehicle terminal determines the data format of the detection information, the first network device can send indication information to the vehicle terminal for indicating the data processing capability of the first network device. For example, the first network device can send indication information to the vehicle terminal for indicating that the data processing capability of the first network device is strong, relatively strong, or weak, etc., or for indicating the score of the data processing capability of the first network device.

[0133] Exemplarily, when the data processing capability of the first network device meets the threshold, the vehicle terminal can determine that the data format of the detection information is Format One or Format Two; when the data processing capability of the first network device does not meet the threshold, the vehicle terminal can determine that the data format of the detection information is Format Three or Format Four. The threshold can be system-configured or preset.

[0134] Method Four: The vehicle terminal can determine the data format according to the indication information sent by the first network device, and the indication information is used to indicate the data format of the detection information.

[0135] The system of the vehicle terminal can be configured to: determine that the data format of the detection information is one or several of the above formats according to the indication information sent by the first network device. Before the vehicle terminal determines the data format of the detection information, the first network device can send indication information to the vehicle terminal for indicating the data format of the detection information sent by the vehicle terminal to the first network device. For example, the first network device can send indication information to the vehicle terminal indicating that the data format of the detection information can be Format One or Format Two.

[0136] Method Five: The vehicle terminal can determine the data format of the detection information according to the moment state when the detection information can be obtained.

[0137] The system of the vehicle terminal can be configured to: determine that the data format of the detection information is one or several of the above formats according to the moment when the detection information is obtained.

[0138] Exemplarily, the system of the vehicle terminal can be configured to: when the vehicle terminal determines that the current moment is Moment 1, the vehicle terminal sends the detection information to the first network device in Format One; when the vehicle terminal determines that the current moment is Moment 2, the vehicle terminal sends the detection information to the first network device in Format Two; when the vehicle terminal determines that the current moment is Moment 3, the vehicle terminal sends the detection information to the first network device in Format Three or Format Four.

[0139] Among them, different data formats corresponding to different moments can be configured according to the busy or idle state of the first network device respectively; or, they can be configured according to the busy or idle state or data processing ability of the vehicle terminal respectively. For example, when the vehicle terminal is in a busy state, the data format for sending detection information to the first network device can be configured as Format One; when the vehicle terminal is in an idle state, the data format for sending detection information to the first network device can be configured as Format Four, and so on. Among them, the busy state may mean that the vehicle terminal system is currently running multiple services, and the system running space or the running ability of the system is lower than a preset threshold; the idle state may mean that the vehicle terminal system has no services running currently or is running a small number of services, and the system running space or the running ability of the system is higher than a preset threshold.

[0140] Method Six: The vehicle terminal can determine the data format of the detection information according to the type of map element corresponding to the detection information.

[0141] The system of the vehicle terminal can be configured to: determine the data format of the detection information as one or several of the above formats according to the type of map element corresponding to the detection information.

[0142] In a possible implementation manner, the map elements corresponding to the detection information may include a first type and a second type. Among them, the first type may be a key map element, and the map elements of the first type may include road information, lane line information, traffic light information, road surface marking information, lamp post information, or stop line information, etc. The second type may be a non-key map element. For example, roadside building information, green belt information, or temporary road surface markings, etc.

[0143] Exemplarily, the system can be configured to: when the map element corresponding to the detection information is of the first type, the vehicle terminal determines that the data format of the detection information is Format One, Format Two, or Format Three; when the map element corresponding to the detection information is of the second type, the vehicle terminal determines that the data format of the detection information is Format Four.

[0144] The specific configuration methods of the above Method One to Method Six can be calculated by those skilled in the art according to the data processing ability of the vehicle terminal, combined with the data processing ability of the first network device and experimental data, and the configuration parameters can be adjusted and updated and maintained according to the actual application process. This application does not make specific limitations on this.

[0145] For the several different judgment methods for the vehicle terminal to determine the data format of the detection information, the system can be configured to choose one of them, that is, it can be configured according to one of the above determination methods. For example, the data format for sending the detection information is determined according to the confidence level of the detection information. The system can also consider multiple determination methods among the above several determination methods comprehensively.

[0146] Exemplarily, if the vehicle terminal determines that the electronic map of the first network device supports a positioning layer based on laser point cloud, the vehicle terminal may determine that the data format for uploading the detection information is Format 1; otherwise, the vehicle terminal further determines whether the confidence level of the detection information collected by the sensor is higher than a preset confidence level threshold or the data processing capability of the first network device, and determines that the data format for uploading the detection information may be Format 2 or Format 3.

[0147] In the embodiments of the present application described above, the vehicle terminal can send detection information in different data formats to the first network device, which can reduce the data processing complexity of the receiving device, i.e., the first network device. And the system can flexibly select the format for sending detection data according to the current situations of the sending device and the receiving device, improving the flexibility and accuracy of data processing, and realizing real-time map data collection and update of crowdsourcing vehicles.

[0148] In another possible implementation manner, when the first network device is a cloud server and the second network device is a roadside unit, then as Figure 3 shown, after step S03, the method may further include the following steps:

[0149] S06: The cloud server determines that the map element corresponding to the detection information has changed according to the detection information, and sends the obtained map element change information to the roadside unit.

[0150] When the cloud server receives multiple detection information sent by multiple vehicle terminals, it can perform data recognition and data fusion processing on the detection information, compare it with the currently stored electronic map, and when it determines that the detection information has changed the corresponding map element in the currently stored electronic map, it obtains the map element change information. As described above, the map element change information can be binary semantic information such as whether the map element exists, and can also be relative change information of the map element, such as an increment value or an update value, etc.

[0151] The cloud server sends the map element change information to the second network device, that is, sends it to the roadside unit.

[0152] Specifically, the cloud server sends the map element change information to the roadside unit according to the area corresponding to the map element change information, and sends the map element change information to the roadside unit associated with the corresponding area.

[0153] Exemplarily, multiple crowdsourced vehicle terminals directly report the detection information in Format Four to the corresponding map cloud server, that is, the vehicle terminals detect changes in map elements and determine the map element change information that does not match. The cloud server classifies the area according to the reporting results of the crowdsourced vehicle terminals, determines the map element change information corresponding to a certain area, and transmits the map element change information corresponding to the area to the roadside unit RSU corresponding to the area.

[0154] S07: The roadside unit receives the map element change information and determines whether to update the electronic map according to the map element change information.

[0155] The roadside unit can determine whether to update the electronic map according to the received map element change information in combination with the confidence level of the map element change information. Specifically, the map element change information is associated with whether the roadside unit determines to update the electronic map.

[0156] Exemplarily, if the roadside unit determines that the confidence level of the map element change information is higher than the confidence level of the electronic map stored in the current roadside unit, the electronic map of the roadside unit is updated according to the map element change information; if the roadside unit determines that the confidence level of the map element change information is lower than the confidence level of the electronic map stored in the current roadside unit, the roadside unit does not update the electronic map.

[0157] In a possible implementation manner, the roadside unit in a certain area can receive the map element change information sent by map cloud servers of multiple different manufacturers, specifically, it can be multiple map element change information sent by multiple different cloud servers. Then the roadside unit can perform double verification according to the multiple map element change information to improve the accuracy of the data. The multiple map element change information is the map element change information associated with the map elements within the preset management area of the roadside unit.

[0158] S08: The roadside unit determines to update the electronic map and sends the map element change information to the vehicle terminal.

[0159] If the roadside unit determines to update the electronic map, the map element change information obtained after data fusion processing is sent to the vehicle terminal for updating the electronic map of the vehicle terminal.

[0160] S09: The vehicle terminal receives the map element change information sent by the roadside unit.

[0161] After the vehicle terminal receives the map element change information sent by the second network device, that is, the roadside unit, it can update the local electronic map according to the map element change information. The purpose of determining the change situation of the corresponding map elements in the electronic map according to the detection information collected by the crowdsourced vehicles is realized, so as to update and maintain the electronic map.

[0162] In the above embodiments of the present application, the vehicle terminal directly reports the detection information or the map element change information that does not match to the corresponding cloud server. The cloud server determines the map element change information of a certain area according to the reporting results of the crowdsourced vehicle terminals, and sends this map element change information to the roadside unit corresponding to that area. The roadside unit makes a decision on whether to update and maintain the electronic map by integrating the reporting information from multiple different map manufacturers. In this process, since the cloud servers of each map manufacturer can transmit the obtained map element change information to the roadside unit corresponding to the area, the roadside unit can perform double verification based on the detection results of different cloud servers for the same area, and broadcast the update results to the vehicle terminal, thereby improving the reliability of the electronic map update.

[0163] In another possible implementation manner, when the first network device is a roadside unit and the second network device is a cloud server, then as Figure 4 shown, after step S03, the method may further include the following steps:

[0164] S10: The roadside unit determines that the map element corresponding to the detection information has changed according to the detection information, and sends the obtained map element change information to the cloud server.

[0165] When the roadside unit receives multiple detection information sent by multiple vehicle terminals, it can perform data recognition and data fusion processing on the multiple detection information, and compare it with the currently stored electronic map. When it is determined that the detection information has changed compared with the corresponding map element in the currently stored electronic map, the map element change information is obtained. As described above, the map element change information can be binary semantic information such as whether the map element exists, or relative change information of the map element, such as an increment value or an update value, etc.

[0166] The roadside unit sends the map element change information to the second network device, that is, sends it to the cloud server.

[0167] Among them, different roadside units are respectively used to manage the detection information sent by vehicle terminals within a preset area range, or to manage the detection of changes in map elements within a preset area range. Therefore, different roadside units can respectively receive road detection information in different areas. After the roadside unit performs data fusion processing on the detection information collected by various different vehicles and various on-vehicle sensors, it respectively reports the map element change information of different management areas to the cloud server. The cloud server can receive multiple map element change information reported by multiple different roadside units, so as to perform the maintenance and update of the electronic map.

[0168] S11: The cloud server receives the map element change information, and determines whether to update the electronic map according to the map element change information.

[0169] The cloud server can determine whether to update the electronic map based on the received map element change information and in combination with the confidence level of the map element change information. Specifically, the map element change information is associated with whether the cloud server determines to update the electronic map.

[0170] Exemplarily, if the cloud server determines that the confidence level of the map element change information is higher than the confidence level of the electronic map stored in the current cloud server, it updates the electronic map stored in the cloud server according to the map element change information; if the cloud server determines that the confidence level of the map element change information is lower than the confidence level of the electronic map stored in the current cloud server, the cloud server does not update the electronic map.

[0171] In a possible implementation manner, the cloud server can, according to the multiple map element change information reported by multiple different roadside units received, based on the verification algorithm, in combination with the confidence levels of the multiple map element change information, exclude the map element change information with relatively large errors, obtain data with higher reliability and accuracy according to the algorithm, and further determine whether to update the map element associated with the map element change information in the electronic map.

[0172] S12: The cloud server determines to update the electronic map and sends the map element change information to the vehicle terminal.

[0173] When the cloud server determines to update the electronic map, it can process the received map element change information according to the data fusion algorithm and send the map element change information to the vehicle terminal for updating the electronic map locally in the vehicle terminal.

[0174] S13: The vehicle terminal receives the map element change information sent by the cloud server.

[0175] After the vehicle terminal receives the map element change information sent by the second network device, i.e., the cloud server, it can then update the local electronic map according to the map element change information. The purpose of determining the change situation of the corresponding map element in the electronic map based on the detection information collected by the crowdsourcing vehicles is realized, thereby updating and maintaining the electronic map.

[0176] In the above embodiments of the present application, by performing data processing and data fusion on the detection information collected by the crowdsourcing vehicles within its area by the roadside unit RSU, the reliability of the collected data can be improved, and at the same time, the data processing complexity of the cloud server can be reduced, realizing the map data collection and update of the crowdsourcing vehicles.

[0177] In several embodiments of the present application, the change detection of map elements can be performed through a crowdsourced vehicle terminal, or through a cloud server, or through a roadside unit, improving the flexibility and accuracy of data processing. The crowdsourced vehicle networking system can determine which side of the vehicle, cloud, or road devices will perform the change detection of map elements and determine whether to update the electronic map based on the detection information, etc., considering factors such as the data processing capabilities of the detection information collection devices and the devices for map element change detection. This can effectively improve the accuracy and timeliness of map data updates, reduce the data processing complexity of the cloud server or roadside unit, and enhance the safety and user experience of autonomous driving.

[0178] An embodiment of the present application also provides a data transmission device, which can be a vehicle terminal. As Figure 5 shown, the device 500 includes: a determination module 501, a sending module 502, and a receiving module 503.

[0179] The determination module 501 can be used to determine the data format of the detection information, and the detection information is associated with map elements.

[0180] The sending module 502 can be used to send the detection information collected by the device 500 to a first network device according to the determined data format.

[0181] The receiving module 503 can be used to receive the map element change information sent by the first network device or the second network device.

[0182] In one embodiment, the data format of the detection information specifically includes: Format 1: the original information collected by in-vehicle sensors, or Format 2: the target information detected by a single in-vehicle sensor, or Format 3: the target information jointly detected by at least one in-vehicle sensor, or Format 4: the map element change information corresponding to the target information jointly detected by at least one in-vehicle sensor.

[0183] In one embodiment, the determination module 501 can specifically be used to: determine the data format of the detection information according to the confidence level of the detection information; or determine the data format of the detection information according to the map layer supported by the first network device; or determine the data format of the detection information according to the data processing capability of the first network device; or determine the data format of the detection information according to the type of map element corresponding to the detection information; or determine the data format of the detection information according to the indication information sent by the first network device, where the indication information is used to indicate the data format of the detection information; or determine the data format of the detection information according to the state at the moment when the indication detection information is obtained.

[0184] In one embodiment, the above-mentioned map element change information includes at least one of whether a map element exists, the position information, shape information, color information, and size information of the map element.

[0185] In one embodiment, the original information collected by the above-mentioned vehicle-mounted sensors includes at least one of laser point cloud data and pixel point data.

[0186] In one embodiment, the map elements corresponding to the above-mentioned detection information include a first type and a second type. The determination module 501 can specifically be used to: when the map element corresponding to the detection information is of the first type, determine that the data format of the detection information is format one, format two, or format three; when the map element corresponding to the detection information is of the second type, determine that the data format of the detection information is format four.

[0187] In one embodiment, the above-mentioned map elements of the first type include at least one of road information, lane line information, traffic light information, road surface marking information, lamp post information, and stop line information.

[0188] In one embodiment, the above-mentioned first network device can be a cloud server or a roadside unit.

[0189] In one embodiment, when the first network device is a roadside unit, the second network device is a cloud server, and the map element change information is associated with the map element change information uploaded by at least one roadside unit to the second network device.

[0190] In one embodiment, when the first network device is a cloud server, the second network device is a roadside unit, and the map element change information is associated with the map element change information uploaded by at least one cloud server to the second network device.

[0191] Regarding the device in the above-mentioned embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0192] The embodiments of the present application further provide a data transmission device, which can be a cloud server or a roadside unit. As Figure 6 shown, the device 600 may include: a receiving module 601, a detecting module 602, and a sending module 603.

[0193] The receiving module 601 can be used to receive the detection information sent by the vehicle terminal, and the detection information is associated with the map element.

[0194] The detecting module 602 can be used to determine whether the map element corresponding to the detection information matches according to the detection information. If not, the map element change information is obtained according to the detection information.

[0195] The sending module 603 can be used to send map element change information to the vehicle terminal; alternatively, the sending module 603 is used to send map element change information to the second network device, and the map element change information is used for the second network device to determine whether to update the electronic map.

[0196] In one implementation, the data format of the detection information sent by the vehicle terminal is as follows: Format 1: the original information collected by the vehicle-mounted sensor, or Format 2: the target information detected by a single vehicle-mounted sensor, or Format 3: the target information jointly detected by at least one vehicle-mounted sensor, or Format 4: the map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor.

[0197] In one implementation, the sending module 603 can also be used to send indication information to the vehicle terminal, where the indication information is used to indicate the data format of the detection information sent by the vehicle terminal; or, it is used to send the map layers supported by the device 600 to the vehicle terminal for determining the data format of the detection information; or, it is used to send the data processing capability of the device to the vehicle terminal for determining the data format of the detection information.

[0198] In one implementation, the map element change information includes at least one of whether the map element exists, the position information, shape information, color information, and size information of the map element.

[0199] In one implementation, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

[0200] In one implementation, when the second network device is a roadside unit, the sending module 603 can specifically also be used to: send the map element change information to the roadside unit corresponding to the map element, and the map element change information is used to determine whether to update the electronic map of the area corresponding to the roadside unit.

[0201] In one implementation, when the second network device is a cloud server, the sending module 603 can specifically also be used to: send the map element change information to the cloud server, and the map element change information is used to determine whether to update the electronic map stored in the cloud server.

[0202] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0203] This application embodiment also provides an electronic device, as Figure 7 shown, the electronic device 700 may include at least one processor 701, a communication line 702, and a memory 703.

[0204] The processor 701 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the programs of the present disclosure solution.

[0205] The communication line 702 may include a path for transmitting information between the above components, such as a bus.

[0206] The memory 703 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor through the communication line 702. The memory may also be integrated with the processor. The memory provided in the embodiments of the present disclosure generally has non-volatility. Among them, the memory 703 is used to store the computer execution instructions involved in implementing the present disclosure solution, and is controlled by the processor 701 to execute. The processor 701 is used to execute the computer execution instructions stored in the memory 703, so as to implement the method provided in the embodiments of the present disclosure.

[0207] Optionally, the computer execution instructions in the embodiments of the present disclosure may also be referred to as application code, and the embodiments of the present disclosure do not make specific limitations thereto.

[0208] In a specific implementation, as an embodiment, the processor 701 may include one or more CPUs, such as Figure 7 CPU0 and CPU1 in

[0209] In a specific implementation, as an embodiment, the electronic device 700 may include multiple processors, such as Figure 7The processors 701 and 707 therein. Each of these processors can be a single-CPU processor or a multi-CPU processor. The processors here can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0210] In a specific implementation, as an embodiment, the electronic device 700 may further include a communication interface 704. The communication interface 704 uses any device such as a transceiver to communicate with other devices or communication networks, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area networks (WLAN) interface, etc.

[0211] In a specific implementation, as an embodiment, the electronic device 700 may further include an output device 705 and an input device 706. The output device 705 communicates with the processor 701 and can display information in various ways. For example, the output device 705 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device 706 communicates with the processor 701 and can receive user input in various ways. For example, the input device 706 can be a mouse, a keyboard, a touch screen device, or a sensing device, etc.

[0212] In a specific implementation, the electronic device 700 can be a desktop computer, a laptop computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, an in-vehicle computer, a wireless terminal device, an embedded device, or a device with a Figure 7 similar structure therein. The embodiments of the present disclosure do not limit the type of the electronic device 700.

[0213] In some embodiments, Figure 7 the processor 701 therein can call the computer-executable instructions stored in the memory 703 to cause the device 700 to execute the data transmission method in the above method embodiments.

[0214] Exemplarily, Figure 5 the function / implementation process of the determination module 501 therein or Figure 6 the function / implementation process of the detection module 602 therein can be implemented by Figure 7 the processor 701 therein calling the computer-executable instructions stored in the memory 703.

[0215] In an exemplary embodiment, a storage medium including instructions is also provided, such as a memory 703 including instructions, and the above instructions can be executed by a processor 701 of the electronic device 700 to complete the above method.

[0216] In the above embodiment, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0217] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0218] Finally, it should be noted that: the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A data transmission method, characterized in that, the method includes: The vehicle terminal determines the data format of the detection information according to the map element type corresponding to the detection information, and the detection information is associated with the map element. Among them, the map elements corresponding to the detection information include a first type and a second type. When the map element corresponding to the detection information is of the first type, it is determined that the data format of the detection information is the first format; the first format is the original information collected by the vehicle-mounted sensor, or the target information detected by a single vehicle-mounted sensor, or the target information jointly detected by at least one vehicle-mounted sensor; When the map element corresponding to the detection information is of the second type, it is determined that the data format of the detection information is the second format, and the first format is different from the second format; the second format is the map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor; The map elements of the first type include key map elements, including at least one of road information, lane line information, traffic light information, road surface sign information, lamp post information, stop line information; the map elements of the second type include non-key map elements; The vehicle terminal sends the detection information of the vehicle terminal to the first network device according to the data format; The vehicle terminal receives the map element change information sent by the first network device or the second network device.

2. The method according to claim 1, characterized in that, The map element change information includes at least one of whether the map element exists, the position information, shape information, color information, size information of the map element.

3. The method according to claim 1 or 2, characterized in that, The original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

4. The method according to claim 1 or 2, characterized in that, The first network device is a cloud server or a roadside unit.

5. The method according to claim 4, characterized in that, When the first network device is a roadside unit, the vehicle terminal receiving the map element change information sent by the second network device specifically includes: The second network device is a cloud server, and the map element change information is associated with the map element change information uploaded by at least one roadside unit to the second network device.

6. The method according to claim 4, characterized in that, When the first network device is a cloud server, the vehicle terminal receiving the map element change information sent by the second network device specifically includes: The second network device is a roadside unit, and the map element change information is associated with the map element change information uploaded by at least one cloud server to the second network device.

7. A data transmission method, characterized in that, the method includes: The first network device receives detection information sent by a vehicle terminal, where the detection information is associated with a map element. Among them, the map elements corresponding to the detection information include a first type and a second type. When the map element corresponding to the detection information is of the first type, it is determined that the data format of the detection information is the first format; the first format is the original information collected by an in-vehicle sensor, or the target information detected by a single in-vehicle sensor, or the target information jointly detected by at least one in-vehicle sensor. When the map element corresponding to the detection information is of the second type, it is determined that the data format of the detection information is the second format, and the first format is different from the second format; the second format is the map element change information corresponding to the target information jointly detected by at least one in-vehicle sensor. The map elements of the first type include key map elements, including at least one of road information, lane line information, traffic light information, road surface sign information, lamp post information, stop line information, etc.; the map elements of the second type include non-key map elements. The first network device determines whether the map element corresponding to the detection information matches according to the detection information. If not, the first network device obtains map element change information according to the detection information. The first network device sends the map element change information to the vehicle terminal. Or, The first network device sends the map element change information to the second network device, and the map element change information is used for the second network device to determine whether to update the electronic map.

8. According to the method described in claim 7, It is characterized in that, Before the first network device receives the detection information sent by the vehicle terminal, the method further includes: The first network device sends indication information to the vehicle terminal, and the indication information is used to indicate the data format of the detection information sent by the vehicle terminal; or, The first network device sends the map layers supported by the first network device to the vehicle terminal for determining the data format of the detection information; or, The first network device sends the data processing capability of the first network device to the vehicle terminal for determining the data format of the detection information.

9. According to the method described in claim 7, It is characterized in that, The map element change information includes at least one of whether the map element exists, the position information, shape information, color information, size information of the map element.

10. According to the method described in claim 9, It is characterized in that, The original information collected by the in-vehicle sensor includes at least one of laser point cloud data and pixel point data.

11. According to the method described in claim 7 or 8, It is characterized in that, The first network device is a cloud server or a roadside unit.

12. According to the method described in claim 11, It is characterized in that, When the first network device is a roadside unit, the first network device sending the map element change information to the second network device specifically includes: The second network device is a cloud server, and the map element change information is associated with whether the second network device determines to update the electronic map.

13. The method according to claim 11, wherein, when the first network device is a cloud server, the first network device sending the map element change information to the second network device specifically includes: the second network device is a roadside unit, and the map element change information is associated with whether to update the electronic map determined by the second network device.

14. A data transmission device, wherein, the device includes: a determination module, configured to determine the data format of the detection information according to the map element type corresponding to the detection information, the detection information being associated with a map element, wherein the map element corresponding to the detection information includes a first type and a second type. When the map element corresponding to the detection information is of the first type, it is determined that the data format of the detection information is a first format; the first format is the original information collected by a vehicle-mounted sensor, or the target information detected by a single vehicle-mounted sensor, or the target information jointly detected by at least one vehicle-mounted sensor; when the map element corresponding to the detection information is of the second type, it is determined that the data format of the detection information is a second format, and the first format is different from the second format; the second format is the map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor; the map elements of the first type include key map elements, including at least one of road information, lane line information, traffic light information, road surface sign information, lamp post information, and stop line information; the map elements of the second type include non-key map elements; a sending module, configured to send the detection information of the device to the first network device according to the data format; a receiving module, configured to receive the map element change information sent by the first network device or the second network device.

15. The device according to claim 14, wherein, the map element change information includes at least one of whether the map element exists, the position information, shape information, color information, and size information of the map element.

16. The device according to claim 14, wherein, the original information collected by the vehicle-mounted sensor includes at least one of laser point cloud data and pixel point data.

17. The device according to claim 14 or 15, wherein, the first network device is a cloud server or a roadside unit.

18. The device according to claim 17, wherein, when the first network device is a roadside unit, the second network device is a cloud server, and the map element change information is associated with the map element change information uploaded by at least one roadside unit to the second network device.

19. The device according to claim 17, wherein, when the first network device is a cloud server, the second network device is a roadside unit, and the map element change information is associated with the map element change information uploaded by at least one cloud server to the second network device.

20. A data transmission device, wherein, the device includes: A receiving module, configured to receive detection information sent by a vehicle terminal, where the detection information is associated with map elements. Among them, the map elements corresponding to the detection information include a first type and a second type. When the map element corresponding to the detection information is of the first type, it is determined that the data format of the detection information is a first format; the first format is the original information collected by vehicle-mounted sensors, or the target information detected by a single vehicle-mounted sensor, or the target information jointly detected by at least one vehicle-mounted sensor; When the map element corresponding to the detection information is of the second type, it is determined that the data format of the detection information is a second format, and the first format is different from the second format; the second format is the map element change information corresponding to the target information jointly detected by at least one vehicle-mounted sensor; The map elements of the first type include key map elements, including at least one of road information, lane line information, traffic light information, road surface marking information, lamp post information, stop line information, etc.; the map elements of the second type include non-key map elements; A detection module, configured to determine whether the map element corresponding to the detection information matches according to the detection information. If not, map element change information is obtained according to the detection information; A sending module, configured to send the map element change information to the vehicle terminal; Or, The sending module is configured to send the map element change information to a second network device, and the map element change information is used for the second network device to determine whether to update the electronic map.

21. The device according to claim 20, characterized in that, The sending module is further configured to send indication information to the vehicle terminal, and the indication information is used to indicate the data format of the detection information sent by the vehicle terminal; or, The sending module is further configured to send the map layers supported by the device to the vehicle terminal for determining the data format of the detection information; or, The sending module is further configured to send the data processing capability of the device to the vehicle terminal for determining the data format of the detection information.

22. The device according to claim 20, characterized in that, The map element change information includes at least one of whether the map element exists, the position information, shape information, color information, size information of the map element.

23. The device according to claim 20, characterized in that, The original information collected by the vehicle-mounted sensors includes at least one of laser point cloud data and pixel point data.

24. The device according to claim 20, characterized in that, When the second network device is a roadside unit, the sending module is specifically configured to: send the map element change information to the roadside unit corresponding to the map element, and the map element change information is used to determine whether to update the electronic map of the area corresponding to the roadside unit.

25. The device according to claim 20, characterized in that, When the second network device is a cloud server, the sending module is specifically configured to: send the map element change information to the cloud server, where the map element change information is used to determine whether to update the electronic map stored in the cloud server.

26. A vehicle terminal, characterized in that the vehicle terminal includes: at least one processor, a memory; the at least one memory stores program instructions and data, the program instructions are executed in the at least one processor, and the at least one processor runs the program instructions in the memory to cause the vehicle terminal to execute the data transmission method according to any one of claims 1-6 above.

27. A cloud server, characterized in that the cloud server includes: at least one processor, at least one memory; the at least one memory stores program instructions and data, the program instructions are executed in the at least one processor, and the at least one processor runs the program instructions in the at least one memory to cause the cloud server to execute the data transmission method according to any one of claims 7-13 above.

28. A roadside unit, characterized in that the roadside unit includes: at least one processor, at least one memory; the at least one memory stores program instructions and data, the program instructions are executed in the at least one processor, and the at least one processor runs the program instructions in the at least one memory to cause the roadside unit to execute the data transmission method according to any one of claims 7-13 above.

29. A communication system, the communication system includes at least one vehicle terminal and at least one first network device, characterized in that the vehicle terminal is used to execute the data transmission method according to any one of claims 1-6, and the first network device is used to execute the data transmission method according to any one of claims 7-13.

30. A computer-readable storage medium, characterized in that instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium runs on a device, the device is caused to execute the data transmission method according to any one of claims 1-6.

31. A computer-readable storage medium, characterized in that instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium runs on a device, the device is caused to execute the data transmission method according to any one of claims 7-13.

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