Map data repair method, device, electronic device and readable storage medium

Abstract

The present disclosure provides a method, device, electronic device and readable storage medium for repairing map data, and relates to technical fields such as cloud services and intelligent transportation. The method for repairing map data includes: obtaining target driving data; determining map problem information and expected behavior corresponding to the target driving data; repairing the map data according to the map problem information; using the target driving data and the repaired map data to simulate and obtain simulated behavior; and when it is determined that the simulated behavior is consistent with the expected behavior, using the repaired map data as the repair result of the map data. The present disclosure can verify the repaired map data by means of simulation, which reduces the cost of repairing the map data and improves the accuracy and efficiency of repairing the map data.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to the field of artificial intelligence technology such as cloud services and intelligent transportation. A method, device, electronic device and readable storage medium for repairing map data are provided. Background Art

[0002] The quality of map data is crucial for map navigation applications. When there are some map problems in the map data, it will reduce the user experience and even cause traffic accidents. When repairing map data, the existing technology usually adopts a manual visual method or a logic-based quality inspection method, which leads to the problem of low recall rate and low repair accuracy when repairing map data. Summary of the invention

[0003] According to a first aspect of the present disclosure, a method for repairing map data is provided, comprising: acquiring target driving data; determining map problem information and expected behavior corresponding to the target driving data; repairing the map data according to the map problem information; simulating using the target driving data and the repaired map data to obtain a simulated behavior; and when it is determined that the simulated behavior is consistent with the expected behavior, using the repaired map data as a repair result of the map data.

[0004] According to a second aspect of the present disclosure, a map data repairing device is provided, comprising: an acquisition unit for acquiring target driving data; a determination unit for determining map problem information and expected behavior corresponding to the target driving data; a repairing unit for repairing the map data according to the map problem information; a simulation unit for performing simulation using the target driving data and the repaired map data to obtain a simulated behavior; and a processing unit for using the repaired map data as a repair result of the map data when it is determined that the simulated behavior is consistent with the expected behavior.

[0005] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0006] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method as described above.

[0007] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program implements the method as described above when executed by a processor.

[0008] It can be seen from the above technical solutions that the present disclosure can verify the repaired map data by means of simulation, further reducing the cost of repairing the map data and improving the accuracy and efficiency of repairing the map data.

[0009] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0011] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure;

[0012] Figure 2 is a schematic diagram according to a second embodiment of the present disclosure;

[0013] Figure 3 The present invention is a block diagram of an electronic device for implementing the method for repairing map data according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0014] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, the description of well-known functions and mechanisms is omitted in the following description.

[0015] The map data repair method disclosed in the present invention, after acquiring the target driving data of the vehicle, first determines the map problem information and expected behavior corresponding to the acquired target driving data, then repairs the map data according to the determined map problem information, and then uses the acquired target driving data and the repaired map data to simulate to obtain the simulated behavior, and finally releases the repaired map data when it is determined that the obtained simulated behavior is consistent with the expected behavior. The present invention can verify the repaired map data by means of simulation, further reducing the cost of repairing the map data and improving the accuracy and efficiency of repairing the map data.

[0016] Figure 1 Schematic diagram of the first embodiment of the present disclosure. Figure 1As shown, the map data repair method of this embodiment specifically includes the following steps:

[0017] S101. Obtain target driving data.

[0018] The target driving data obtained by executing S101 in this embodiment is the driving data when the vehicle generates unexpected behaviors during the driving process; the unexpected behaviors in this embodiment include the vehicle changing lanes and crossing the solid line, the vehicle running a red light, the vehicle driving on a blocked road, the vehicle hitting a roadside railing, the vehicle driving on a non-motorized vehicle lane, the vehicle speeding, etc.

[0019] It can be understood that when the vehicle in this embodiment produces unexpected behavior during driving, it will report the unexpected behavior to the server and simultaneously upload the driving data recorded when the unexpected behavior occurs to the server. The recorded driving data includes at least one of the external environment data and internal state data of the vehicle when the unexpected behavior occurs.

[0020] In this embodiment, the external environment data recorded by the vehicle are data such as videos, images, and point clouds of the vehicle's surrounding environment collected by sensors installed on the vehicle; the internal state data recorded by the vehicle are data such as the direction and planned path of the vehicle during driving; the vehicle in this embodiment is a vehicle with automatic driving capabilities.

[0021] When executing S101 to obtain target driving data, this embodiment can obtain driving data uploaded by the vehicle from the server as target driving data; when executing S101 to obtain target driving data, this embodiment can also obtain in real time driving data when the vehicle produces unexpected behavior during driving as target driving data.

[0022] That is to say, this embodiment can analyze the driving data already existing in the server to complete the repair of the map data, and can also analyze the driving data obtained in real time to complete the repair of the map data.

[0023] In order to ensure that the acquired target driving data corresponds to the problem with the map data, avoid traffic accidents caused by map data problems, and improve the timeliness of repairing map data, when executing S101 to acquire the target driving data, this embodiment may adopt the following optional implementation method: acquiring in real time the driving data when the vehicle generates unexpected behavior during driving; and when it is determined that the unexpected behavior generated by the vehicle belongs to a preset behavior type, using the acquired driving data as the target driving data.

[0024] Among them, the preset behavior type in this embodiment is pre-set, and the preset behavior type can be at least one of the behavior of the vehicle changing lanes and pressing the solid line, the behavior of the vehicle running a red light, the behavior of the vehicle hitting the roadside railing, etc.

[0025] That is to say, this embodiment can analyze the driving data when unexpected behaviors occur in real time according to the vehicle's driving process, and then use the driving data whose unexpected behaviors meet the preset behavior types as target driving data. On the one hand, it can improve the timeliness when repairing map data, and on the other hand, it can avoid the occurrence of traffic accidents caused by problems with map data, thereby improving the safety of vehicle driving.

[0026] S102: Determine map problem information and expected behavior corresponding to the target driving data.

[0027] In this embodiment, after executing S101 to obtain the target driving data of the vehicle, S102 is executed to determine the map problem information and the expected behavior corresponding to the obtained target driving data.

[0028] In this embodiment, the map problem information corresponding to the acquired target driving data determined in S102 includes at least one of a map problem location and a map problem type. When the vehicle generates an unexpected behavior, the generated unexpected behavior and the location where the unexpected behavior is generated are recorded.

[0029] Among them, the map problem location determined by executing S102 in this embodiment is used to indicate the geographical location of the map data where the problem occurs in the map data, such as longitude and latitude information; the map problem type determined by executing S102 in this embodiment is used to indicate the problem type of the map problem that occurs, such as the problem types of traffic lights not being marked on the map data, motor vehicle lanes being marked as non-motor vehicle lanes on the map data, and dashed lane lines being marked as solid lane lines on the map data.

[0030] It is understandable that when a vehicle produces unexpected behavior during driving, in addition to problems with the map data, the vehicle's own reasons, the vehicle's external environment data, etc. may also cause the vehicle to produce unexpected behavior.

[0031] Therefore, in this embodiment, when executing S102, if the map problem information corresponding to the target driving data cannot be determined, it means that the unexpected behavior corresponding to the target driving data is not caused by a problem with the map data, and the target driving data can be abandoned.

[0032] After executing S102 to determine the map problem information corresponding to the acquired target driving data, this embodiment further determines the expected behavior corresponding to the acquired target driving data. The determined expected behavior is the correct behavior that the vehicle should perform during driving and is consistent with the actual road.

[0033] When executing S102 to determine the expected behavior corresponding to the acquired target driving data, the present embodiment may adopt an optional implementation method as follows: determining an unexpected behavior corresponding to the acquired target driving data; and taking the driving behavior corresponding to the determined unexpected behavior as the expected behavior. The present embodiment may determine the expected behavior based on the correspondence between the preset unexpected behavior and the driving behavior.

[0034] For example, if the target driving data acquired by executing S101 in this embodiment is recorded when the vehicle runs a red light during driving, then the expected behavior corresponding to the target driving data determined by executing S102 in this embodiment is not running a red light.

[0035] S103: Repair the map data according to the map problem information.

[0036] In this embodiment, after executing S102 to determine the map problem information and the expected behavior corresponding to the acquired target driving data, executing S103 to repair the map data according to the determined map problem information.

[0037] Specifically, when executing S103 to repair the map data according to the determined map problem information, the optional implementation method that can be adopted in this embodiment is: determining the position to be repaired in the map data according to the determined map problem location; obtaining the repair method corresponding to the determined map problem type; using the obtained repair method to repair the determined position to be repaired, and obtaining the repair result of the map data.

[0038] That is to say, this embodiment realizes automatic repair of map data through the determined map problem information, thereby reducing the labor cost when repairing the map data and improving the efficiency of map data repair.

[0039] In some application scenarios, the driving range of the vehicle is limited, that is, the vehicle travels within a preset driving range. Therefore, when executing S103, this embodiment may also repair the map data only according to the determined map problem type.

[0040] For example, if the determined map problem type is unmarked traffic lights, then the repair method corresponding to unmarked traffic lights in this embodiment is to mark traffic lights; if the determined map problem type is solid lane lines marked as dashed lane lines, then the repair method corresponding to solid lane lines marked as dashed lane lines in this embodiment is to mark dashed lane lines as solid lane lines.

[0041] S104: Use the target driving data and the repaired map data to perform simulation to obtain simulation behavior.

[0042] In this embodiment, after executing S103 to repair the map data according to the determined map problem information, executing S104 to perform simulation using the acquired target driving data and the repaired map data to obtain a simulation behavior.

[0043] The simulation program used when executing S104 in this embodiment is obtained in advance, and the simulation program can output the driving behavior of the vehicle under the corresponding map data and driving data according to the input map data and driving data.

[0044] S105 . When it is determined that the simulated behavior is consistent with the expected behavior, the repaired map data is used as a repair result of the map data.

[0045] In this embodiment, after executing S104 to obtain the simulated behavior, executing S105, if it is determined that the obtained simulated behavior is consistent with the determined expected behavior, takes the repaired map data as the map data repair result.

[0046] That is to say, in this embodiment, when it is determined that the obtained simulation behavior is consistent with the determined expected behavior, it can be considered that the repaired map data contains accurate map information, so the repaired map data is used as the repair result of the original map data, thereby realizing the iteration of map data.

[0047] In this embodiment, after executing S105 and taking the repaired map data as the map data repair result, the repaired map data may be published, that is, the original map data may be replaced with the repaired map data.

[0048] It can be understood that, in this embodiment, when it is determined in S105 that the obtained simulation behavior is inconsistent with the determined expected behavior, it indicates that the map data cannot be accurately repaired, and the process can be turned to S103 to repair the map data according to the determined map problem information, and continue in this way until the obtained simulation behavior is consistent with the determined expected behavior.

[0049] That is to say, this embodiment can continuously verify the restoration result of the map data to ensure that the restored map data is more accurate.

[0050] Figure 2 is a schematic diagram according to the second embodiment of the present disclosure. Figure 2 As shown, the map data repairing device 200 of this embodiment includes:

[0051] The acquisition unit 201 is used to acquire target driving data.

[0052] The target driving data acquired by the acquisition unit 201 is the driving data when the vehicle generates unexpected behaviors during the driving process; the unexpected behaviors in this embodiment include the vehicle changing lanes and crossing the solid line, the vehicle running a red light, the vehicle driving on a blocked road, the vehicle hitting a roadside railing, the vehicle driving on a non-motorized vehicle lane, the vehicle speeding, etc.

[0053] It can be understood that when the vehicle in this embodiment produces unexpected behavior during driving, it will report the unexpected behavior to the server and simultaneously upload the driving data recorded when the unexpected behavior occurs to the server. The recorded driving data includes at least one of the external environment data and internal state data of the vehicle when the unexpected behavior occurs.

[0054] In this embodiment, the external environment data recorded by the vehicle are data such as videos, images, and point clouds of the vehicle's surrounding environment collected by sensors installed on the vehicle; the internal state data recorded by the vehicle are data such as the direction of the vehicle during driving and the planned path.

[0055] When the acquisition unit 201 acquires the target driving data, it can acquire the driving data uploaded by the vehicle from the server as the target driving data; when the acquisition unit 201 acquires the target driving data, it can also acquire in real time the driving data when the vehicle generates unexpected behavior during driving as the target driving data.

[0056] That is, the acquisition unit 201 can analyze the driving data already existing in the server to complete the repair of the map data, and can also analyze the driving data acquired in real time to complete the repair of the map data.

[0057] In order to ensure that the acquired target driving data corresponds to the problem with the map data, avoid traffic accidents caused by map data problems, and improve the timeliness of repairing map data, the acquisition unit 201 can adopt the following optional implementation method when acquiring the target driving data: real-time acquisition of driving data when the vehicle generates unexpected behavior during driving; when it is determined that the unexpected behavior generated by the vehicle belongs to a preset behavior type, the acquired driving data is used as the target driving data.

[0058] Among them, the preset behavior type in this embodiment is pre-set, and the preset behavior type can be at least one of the behavior of the vehicle changing lanes and pressing the solid line, the behavior of the vehicle running a red light, the behavior of the vehicle hitting the roadside railing, etc.

[0059] That is to say, the acquisition unit 201 can analyze the driving data when unexpected behaviors occur in real time according to the vehicle's driving process, and then use the driving data whose unexpected behaviors meet the preset behavior types as target driving data. On the one hand, it can improve the timeliness when repairing map data, and on the other hand, it can avoid the occurrence of traffic accidents caused by problems with map data, thereby improving the safety of vehicle driving.

[0060] The determination unit 202 is used to determine the map problem information and the expected behavior corresponding to the target driving data.

[0061] In this embodiment, after the acquisition unit 201 acquires the target driving data of the vehicle, the determination unit 202 determines the map problem information and the expected behavior corresponding to the acquired target driving data.

[0062] The map problem information corresponding to the acquired target driving data determined by the determination unit 202 includes at least one of a map problem location and a map problem type. When the vehicle generates an unexpected behavior, the generated unexpected behavior and the location where the unexpected behavior is generated are recorded.

[0063] The map problem location determined by the determination unit 202 is used to indicate the geographical location of the map data where the problem occurs in the map data; the map problem type determined by the determination unit 202 is used to indicate the problem type of the map problem that occurs.

[0064] It is understandable that when a vehicle produces unexpected behavior during driving, in addition to problems with the map data, the vehicle's own reasons, the vehicle's external environment data, etc. may also cause the vehicle to produce unexpected behavior.

[0065] Therefore, if the determination unit 202 cannot determine the map problem information corresponding to the target driving data, it indicates that the unexpected behavior corresponding to the target driving data is not caused by a problem with the map data, and the target driving data can be abandoned.

[0066] After determining the map problem information corresponding to the acquired target driving data, the determination unit 202 determines the expected behavior corresponding to the acquired target driving data. The determined expected behavior is the correct behavior that the vehicle should perform during driving and is consistent with the actual road.

[0067] When determining the expected behavior corresponding to the acquired target driving data, the determination unit 202 may adopt an optional implementation method as follows: determining the unexpected behavior corresponding to the acquired target driving data; and taking the driving behavior corresponding to the determined unexpected behavior as the expected behavior. This embodiment may determine the expected behavior based on the correspondence between the preset unexpected behavior and the driving behavior.

[0068] The repairing unit 203 is used to repair the map data according to the map problem information.

[0069] In this embodiment, after the determining unit 202 determines the map problem information and the expected behavior corresponding to the acquired target driving data, the repairing unit 203 repairs the map data according to the determined map problem information.

[0070] Specifically, when the repair unit 203 repairs the map data according to the determined map problem information, the optional implementation method that can be adopted is: determine the position to be repaired in the map data according to the determined map problem location; obtain the repair method corresponding to the determined map problem type; use the obtained repair method to repair the determined position to be repaired, and obtain the repair result of the map data.

[0071] In some application scenarios, the driving range of the vehicle is limited, that is, the vehicle travels within a preset driving range, so the repairing unit 203 may also repair the map data only according to the determined map problem type.

[0072] The simulation unit 204 is used to perform simulation using the target driving data and the repaired map data to obtain a simulation behavior.

[0073] In this embodiment, after the repairing unit 203 repairs the map data according to the determined map problem information, the simulation unit 204 performs simulation using the acquired target driving data and the repaired map data to obtain a simulation behavior.

[0074] The simulation program used by the simulation unit 204 is obtained in advance, and the simulation program can output the driving behavior of the vehicle under the corresponding map data and driving data according to the input map data and driving data.

[0075] The processing unit 205 is configured to use the repaired map data as a repair result of the map data when it is determined that the simulated behavior is consistent with the expected behavior.

[0076] In this embodiment, after the simulation unit 204 obtains the simulation behavior, the processing unit 205 uses the repaired map data as the map data repair result when it is determined that the obtained simulation behavior is consistent with the determined expected behavior.

[0077] That is, when the processing unit 205 determines that the obtained simulation behavior is consistent with the determined expected behavior, it can be considered that the repaired map data contains accurate map information, and thus the repaired map data is used as the repair result of the original map data, thereby realizing the iteration of map data.

[0078] After taking the repaired map data as the repair result of the map data, the processing unit 205 may publish the repaired map data, that is, replace the original map data with the repaired map data.

[0079] It can be understood that when the processing unit 205 determines that the obtained simulation behavior is inconsistent with the determined expected behavior, it indicates that the map data cannot be accurately repaired, and the repair unit 203 can proceed to the step of repairing the map data according to the determined map problem information, and continue in this way until the obtained simulation behavior is consistent with the determined expected behavior.

[0080] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0081] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0082] like Figure 3 , is a block diagram of an electronic device for a method for repairing map data according to an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0083] like Figure 3 As shown, the device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the device 300 can also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0084] A number of components in the device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0085] The computing unit 301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 301 performs the various methods and processes described above, such as a method for repairing map data. For example, in some embodiments, the method for repairing map data may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 308.

[0086] In some embodiments, part or all of the computer program may be loaded and / or installed on the device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method for repairing map data described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method for repairing map data in any other appropriate manner (e.g., by means of firmware).

[0087] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0088] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable map data repair device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0089] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0090] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0091] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0092] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server for a distributed system, or a server combined with a blockchain.

[0093] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0094] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for repairing map data, comprising: Acquire target driving data, where the target driving data is external environment data and internal state data recorded when the vehicle generates unexpected behavior during driving; Determining map problem information and expected behavior corresponding to the target driving data, wherein the expected behavior is a correct behavior that the vehicle should perform in accordance with the actual road during driving; Repairing the map data according to the map problem information; Perform simulation using the target driving data and the repaired map data to obtain simulation behavior; In a case where it is determined that the simulated behavior is consistent with the expected behavior, using the repaired map data as a repair result of the map data; Wherein, obtaining target driving data includes: Real-time acquisition of driving data when the vehicle produces unexpected behaviors during driving; In a case where it is determined that the unexpected behavior generated by the vehicle belongs to a preset behavior type, using the driving data as the target driving data; The repairing of the map data according to the map problem information includes: Determining a location to be repaired in the map data according to the map problem location in the map problem information; Obtaining a repair method corresponding to the map problem type in the map problem information; The location to be repaired is repaired using the repair method.

2. The method according to claim 1, wherein: The determining of the expected behavior corresponding to the target driving data comprises: determining an unexpected behavior corresponding to the target driving data; The driving behavior corresponding to the unexpected behavior is regarded as the expected behavior.

3. The method according to claim 1, further comprising: When it is determined that the simulated behavior is inconsistent with the expected behavior, the step of repairing the map data according to the map problem information is performed, and this step is continued until it is determined that the simulated behavior is consistent with the expected behavior.

4. A map data repair device, comprising: An acquisition unit, used to acquire target driving data, wherein the target driving data is external environment data and internal state data recorded when the vehicle generates unexpected behavior during driving; A determination unit, used to determine map problem information and expected behavior corresponding to the target driving data, wherein the expected behavior is a correct behavior that the vehicle should perform during driving and is consistent with the actual road; A repair unit, used for repairing the map data according to the map problem information; A simulation unit, used to perform simulation using the target driving data and the repaired map data to obtain a simulation behavior; a processing unit, configured to use the repaired map data as a repair result of the map data when it is determined that the simulated behavior is consistent with the expected behavior; Wherein, when acquiring the target driving data, the acquisition unit specifically performs: Real-time acquisition of driving data when the vehicle produces unexpected behaviors during driving; In a case where it is determined that the unexpected behavior generated by the vehicle belongs to a preset behavior type, using the driving data as the target driving data; When the repairing unit repairs the map data according to the map problem information, the repairing unit specifically performs: Determining a location to be repaired in the map data according to the map problem location in the map problem information; Obtaining a repair method corresponding to the map problem type in the map problem information; The location to be repaired is repaired using the repair method.

5. The device according to claim 4, wherein: When determining the expected behavior corresponding to the target driving data, the determining unit specifically performs: determining an unexpected behavior corresponding to the target driving data; The driving behavior corresponding to the unexpected behavior is regarded as the expected behavior.

6. The apparatus according to claim 4, wherein the processing unit is further configured to execute: When it is determined that the simulated behavior is inconsistent with the expected behavior, the repair unit performs a step of repairing the map data according to the map problem information, and this process is continued until it is determined that the simulated behavior is consistent with the expected behavior.

7. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 3.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 3.

9. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 3.

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