Map updating method, map updating device, computer equipment and storage medium

Abstract

The present application discloses a map updating method, a map updating device, a computer device and a storage medium. The map updating method displays trajectory data and mutually matching landmark elements in a map road network, receives a verification result based on the displayed landmark element input, and based on the verification result, determines the verified landmark element as a target landmark element, adjusts the position of the trajectory data so that the target landmark element in the trajectory data coincides with the target landmark element in the map road network, and adds the trajectory data to the map road network. When updating the map road network based on the trajectory data, the user verifies the matching landmark elements, so that after the trajectory data is verified and corrected, the map road network is updated according to the trajectory data, thereby improving the accuracy of the map road network update, thereby expanding the display range of the map road network and increasing the reliability of the map road network.

Description

Technical Field

[0001] The present application relates to the field of map processing technology, and more specifically, to a map updating method, a map updating device, a computer device and a storage medium. Background Art

[0002] As vehicles become more intelligent, problems such as difficulty in positioning and navigating in parking lots and other complex environments with weak signals are becoming increasingly prominent. Most map navigation software also do not implement navigation functions in parking lots and other environments. Drivers can easily get lost in parking lots and even get into accidents due to unfamiliarity with road conditions. Summary of the invention

[0003] In view of the above problems, the present application proposes a map updating method, apparatus, computer equipment and storage medium to solve the problem of unstable map road network quality.

[0004] In a first aspect, an embodiment of the present application provides a map updating method, the method comprising: displaying trajectory data and mutually matching landmark elements in a map road network, the trajectory data being driving trajectory data of a vehicle; receiving a verification result based on the input of the displayed landmark elements; based on the verification result, determining the verified landmark elements as target landmark elements; adjusting the position of the trajectory data so that the target landmark elements in the trajectory data overlap with the target landmark elements in the map road network; and adding the trajectory data to the map road network.

[0005] In the second aspect, the embodiment of the present application provides a map updating device, which includes: an element display module, an element verification module, a target determination module, a position adjustment module and a road network update module. Among them, the element display module is used to display the trajectory data and the road sign elements that match each other in the map road network, and the trajectory data is the driving trajectory data of the vehicle; the element verification module is used to receive the verification result based on the input of the displayed road sign element; the target determination module is used to determine the verified road sign element as the target road sign element based on the verification result; the position adjustment module is used to adjust the position of the trajectory data so that the target road sign element in the trajectory data coincides with the target road sign element in the map road network; the road network update module is used to add the trajectory data to the map road network.

[0006] In a third aspect, an embodiment of the present application provides a computer device comprising: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the map update method provided in the first aspect above.

[0007] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a program code is stored. The program code can be called by a processor to execute the map updating method provided in the first aspect above.

[0008] The solution provided in the embodiment of the present application realizes that when the map road network is updated based on trajectory data, the user verifies the matching landmark elements, so that after the trajectory data is verified and corrected, the map road network is updated according to the trajectory data, thereby improving the accuracy of the map road network update, thereby expanding the display range of the map road network and increasing the reliability of the map road network. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A schematic diagram of the hardware environment involved in the map updating method provided in the embodiment of the present application is shown.

[0011] Figure 2 A flowchart of a map updating method provided by an embodiment of the present application is shown.

[0012] Figure 3 A flowchart of a map updating method provided by yet another embodiment of the present application is shown.

[0013] Figure 4 A flowchart of a map updating method provided by another embodiment of the present application is shown.

[0014] Figure 5 A schematic diagram of the driving trajectory of a vehicle in another embodiment of the present application is shown.

[0015] Figure 6 A specific flow chart of step S310 in another embodiment of the present application is shown.

[0016] Figure 7 A flowchart of a map updating method provided in yet another embodiment of the present application is shown.

[0017] Figure 8 A structural block diagram of a map updating device provided in an embodiment of the present application is shown.

[0018] Fig. 9 A structural block diagram of a computer device provided in an embodiment of the present application is shown.

[0019] Fig.10 A structural block diagram of a computer-readable storage medium provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0021] At present, the intelligentization of automobiles is developing rapidly, and the use scenarios and functions of automobiles are numerous, but most of them are about the extended application of vehicles in the process of road driving. There are still some problems in realizing intelligent driving of vehicles in low-speed and complex environments such as parking lots. For example, most parking lots are in underground environments, the signal of the Global Positioning System (GPS) is weak, the vehicle positioning ability is poor, and it is not easy to realize navigation in the parking lot. It is also difficult to obtain the navigation map of the parking lot, which makes the automatic driving of vehicles in the parking lot lack positioning and map support.

[0022] In view of the above problems, the embodiments of the present application propose a map updating method, a map updating device, a computer device and a storage medium to realize drawing a map road network based on the driving trajectory of the vehicle. The specific map updating method will be described in detail in the subsequent embodiments.

[0023] The following is an introduction to the hardware environment of the map updating method provided in the embodiment of the present application.

[0024] See also Figure 1 , which shows an update system 10 for implementing the map update method of an embodiment of the present application, the update system 10 includes multiple vehicles 300 (only one vehicle is taken as an example), a user terminal 400 and a computer device 100, and the vehicle 300 and the computer device 100 can be connected wirelessly. The vehicle 300 may include a sensor for obtaining the driving trajectory data of the vehicle, and the vehicle 300 may upload the driving trajectory data to the computer device 100, so that the computer device 100 updates the map road network according to the driving trajectory data uploaded by the vehicle 300. Of course, the user terminal 400 and the display terminal in the vehicle 300 can receive the map road network sent by the computer device 100 to display the map road network. The computer device 100 can also output prompt information to the user terminal 400 or the display terminal in the vehicle 300, so as to manually judge the trajectory data when the computer device 100 cannot determine how to update the map road network based on the trajectory data.

[0025] The map updating method provided in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0026] See also Figure 2 , shows a flow chart of a map updating method provided by an embodiment of the present application. The map updating method may specifically include the following steps:

[0027] Step S110: Display the vehicle's driving trajectory data and the road sign elements that match each other in the map road network.

[0028] In an embodiment of the present application, the computer device can display the landmark elements that match the trajectory data and the map road network after matching each landmark element in the vehicle's driving trajectory data with that in the map road network, so as to obtain the user's confirmation of the matching relationship obtained by the computer device based on the algorithm, and then update the map road network based on the confirmed matching relationship to make the update of the map road network more accurate.

[0029] It can be understood that the computer device confirms the matching relationship between the landmark elements in the trajectory data and the landmark elements in the map road network, and the computer device can obtain multiple trajectory data that partially overlap or even completely overlap. Therefore, for any landmark element in the map road network, there may be multiple landmark elements in the trajectory data that have a matching relationship with the landmark element.

[0030] In some embodiments, when a computer device displays the matching relationship between landmark elements, it may display all landmark elements in trajectory data that match any landmark element in the map road network, that is, one matching relationship may include a landmark element in the map road network and multiple landmark elements in multiple trajectory data; it may also display any landmark element in the map road network and each of all matching landmark elements in the trajectory data separately, that is, only one pair of mutually matching landmark elements is displayed each time.

[0031] In some embodiments, the computer device may obtain the driving trajectory data of the vehicle in the environment of the map road network through the sensor in the vehicle, wherein the driving trajectory data may be the coordinate points of the vehicle during driving, or may include various road sign elements during driving of the vehicle acquired by the vehicle-mounted camera. It is understood that the road sign elements may be road signs in the environment of the map road network that can be used to significantly identify the current location, such as in the map road network corresponding to the parking lot, the road sign elements may be road signs such as parking spaces, lane lines, speed bumps, pillars, etc.

[0032] In some embodiments, the computer device may confirm whether the image information of the landmark elements in the trajectory data obtained by a camera installed in the vehicle matches the landmark elements in the map road network through an image recognition module; it may also confirm whether the landmark elements match the landmark elements in the map road network based on the coordinate points corresponding to the landmark elements in the trajectory data.

[0033] In some embodiments, the computer device may use the first acquired vehicle trajectory data as a map network, match the second and subsequent trajectory data with the first trajectory data, i.e., the map network, and display the landmark elements that match the trajectory data and the map network. After manual verification, the trajectory data may be added to the map network to increase the display range of the map network. In this way, after adding multiple trajectory data to the map network, a relatively complete map network may be obtained.

[0034] In some embodiments, the computer device can display the landmark elements in the trajectory data that match the map road network on the display interface of the user terminal, such as a smart phone, tablet, etc., and can also be displayed on a display terminal installed in a vehicle.

[0035] In some embodiments, the computer device may only display information such as images or coordinate points of landmark elements that match each other in the trajectory data and the map road network, so that the user can intuitively confirm whether the landmark elements match; the relevant information of the landmark elements may also be displayed in the trajectory data and the map road network, and the user can specifically view the images or coordinate points and other information corresponding to each landmark element with a matching relationship through the operation of the display terminal.

[0036] Step S120: receiving a verification result based on the displayed road sign element input.

[0037] In an embodiment of the present application, the computer device may receive a verification result input based on the displayed signpost element after displaying the matching relationship. The verification result may be confirmation information of the matching relationship between the signpost elements by the user, and the computer device may determine that the matching relationship is correct after receiving the confirmation information, or it may be a denial information of the matching relationship input when the user believes that the matching relationship is incorrect, to instruct the computer device to re-match the signpost element.

[0038] In some embodiments, the verification result received by the computer device may also be the user's correction information regarding the incorrect matching relationship between road sign elements. After receiving the correction information, the computer device can not only confirm that the matching relationship between the corresponding road sign elements is incorrect, but also obtain the correct matching relationship corresponding to the road sign elements based on the correction information.

[0039] Step S130: Based on the verification result, determine the verified landmark element as the target landmark element.

[0040] In the embodiment of the present application, the computer device can confirm the correct matching relationship between the road sign elements based on the received verification result. Specifically, if the verification result is positive, that is, it is determined that the matching relationship between the corresponding road sign elements is correct, the computer device directly uses the road sign element as the target road sign element. If the verification result is negative, that is, the matching relationship between the road sign elements is incorrect, the computer device can re-match the road sign elements and display the road sign elements with matching relationships again until confirmation information about the road sign elements is received. Thus, the computer device can use these verified road sign elements as target road sign elements to update the map road network based on the target road sign elements.

[0041] Step S140: adjusting the position of the trajectory data so that the target landmark element in the trajectory data overlaps with the target landmark element in the map road network.

[0042] In an embodiment of the present application, after determining the mutually matching target landmark elements, the target landmark elements in the trajectory data may not coincide with the target landmark elements in the map road network, that is, in the same coordinate system, the coordinates of these mutually matching target landmark elements are not the same. Therefore, after determining the target landmark elements, the computer device can adjust the position of the trajectory data based on the relative position relationship between the mutually matching target landmark elements, so that the target landmark elements in the trajectory data coincide with the corresponding target landmark elements with a matching relationship in the map road network. It can be understood that after the trajectory data coincides with the target landmark elements in the map road network, the relative position relationship between the trajectory data where the target landmark elements are located and the map road network is also correct.

[0043] Specifically, the computer device expands the display range of the map road network through the vehicle's trajectory data. Then, a valid trajectory data must have part of the trajectory data that is not displayed in the map road network. At this time, the trajectory data is added to the map road network to achieve effective gain to the map road network. Therefore, in order to ensure that the relative position between the added data in the map road network and the original data is correct, the computer device needs to first overlap the trajectory data with the part of the map road network that can overlap, so as to ensure that the added part of the trajectory data is in the correct position. Therefore, the computer device adjusts the position of the trajectory data based on the trajectory data and the target landmark elements with matching relationships in the map road network. When the target landmark elements overlap, the part of the trajectory data that can overlap with the map road network is overlapped, so that the added part of the trajectory data is in the correct position.

[0044] Step S150: Add the trajectory data to the map road network.

[0045] In an implementation manner of the present application, when a computer device makes a target landmark element in trajectory data coincide with a corresponding target landmark element in a map road network, part of the trajectory corresponding to the target landmark element in the trajectory data will also coincide with the map road network. At this time, the trajectory data can be added to the map road network, part of the trajectory in the trajectory data that does not have a gain effect will coincide with the map road network, and part of the trajectory with a gain effect will form a new branch in the map road network to expand the display range of the map road network.

[0046] The map updating method provided in the embodiment of the present application fully utilizes the advantages of the visualization of the front-end editor, adds a manual verification process, ensures that the relationship between the crowdsourced trajectory and the landmarks of the map data is complete and correct, reduces the errors caused by the automatic matching errors of the algorithm, and ensures the accuracy of data alignment and fusion; and can provide a complete mapping system, realize the expansion of the display range of the map road network, and also improve the quality of the map road network through manual verification.

[0047] See also Figure 3 , shows a flowchart of a map updating method provided by another embodiment of the present application. The map updating method may specifically include the following steps:

[0048] Step S210: adjusting the relative position relationship between the trajectory data and the map road network so that the matching degree between the trajectory data and the map road network satisfies a preset matching condition.

[0049] In the embodiment of the present application, before updating the map road network based on the trajectory data, the computer device can first adjust the relative position relationship between the trajectory data and the map road network, so that the matching degree between the trajectory data and the map road network meets the preset matching condition, so as to more conveniently match and verify the landmark elements between the trajectory data and the map road network. Among them, the preset matching condition can be that the matching degree between the trajectory data and the map road network reaches the maximum value, that is, the ratio of the length of the overlapping road section to the total length is the largest; it can also be that the matching starts from a fixed point and the matching degree reaches the maximum value, that is, the matching starts from the same entrance between the trajectory data and the map road network, and the ratio of the length of the overlapping road section to the total length is the largest. It can be understood that the adjustment of the relative position between the trajectory data and the map road network at this time is only to adjust the trajectory data as a whole by translation or rotation, so that the trajectory data and the map road network are roughly overlapped, and it is not required that the trajectory data and the map road network are completely overlapped. Based on the trajectory data and the map road network after the relative position is adjusted, the computer device can more conveniently match the landmark elements between the trajectory data and the map road network, and then obtain the matching relationship between the landmark elements.

[0050] In some embodiments, the adjustment of the relative position relationship between the trajectory data and the map road network by the computer device may be to translate the position of the trajectory data, so that the entrance of the trajectory data coincides with the entrance of the map road network, and then the same entrance is fixed and the trajectory data is rotated, so that the trajectory data coincides with the trajectory extending from the entrance in the map road network to the greatest extent. Among them, the trajectory data may not completely coincide with the map road network. It is understandable that the trajectory data and the map road network in the confirmed coincident part may also have a certain range of deviations. Since the relative position adjustment at this time is only used for the computer device to confirm the matching relationship between the trajectory data and the landmark elements in the map road network, and the map road network is not updated based on the relative position relationship between the trajectory data and the map road network at this time, it is not required that the trajectory data and the map road network completely coincide.

[0051] In some embodiments, a computer device determines whether the degree of match between trajectory data and a map road network satisfies a preset condition. The degree of match between the trajectory data and the map road network can be calculated, that is, the ratio of the length of the trajectory data that overlaps with the map road network to the total length of the trajectory data. When the degree of match reaches a maximum value, it is considered that the degree of match between the trajectory data and the map road network satisfies the preset matching condition. At this time, the relative position relationship between the trajectory data and the map road network is regarded as a correct relative position relationship, and the computer device can obtain the matching relationship between the landmark elements based on the relative position relationship.

[0052] Step S220: Acquire the trajectory data and the landmark elements that match each other in the map road network.

[0053] In an embodiment of the present application, after adjusting the relative position relationship between the trajectory data and the map road network, the computer device can sequentially match the landmark elements in the trajectory data with those in the map road network, and then obtain the landmark elements that match each other in the trajectory data and the map road network, and use them to display the landmark elements that match each other, and then confirm the relative position relationship between the trajectory data and the map road network, thereby realizing the update of the map road network based on the trajectory data.

[0054] In some implementations, the computer device may obtain landmark elements that match the trajectory data and the map road network based on a nearest neighbor search algorithm.

[0055] Step S230: Marking the matched landmark elements in the displayed trajectory data and map road network.

[0056] In an embodiment of the present application, when the computer device displays the landmark elements that match each other in the trajectory data and the map road network, it can mark the matching landmark elements so that the user can verify the landmark elements with the same mark to confirm whether they match each other. Among them, the computer device can give the landmark elements in the trajectory data and the map road network that have a matching relationship the same mark, such as the same number, color or name, and can also give different marks to the trajectory data that do not have a matching relationship, such as different colors and numbers, to facilitate the distinction between different landmark elements. At this time, the user can confirm whether the displayed landmark elements with the same mark are the same landmark elements, and input feedback results to the computer device based on the confirmation results.

[0057] Step S240: Receive a verification result based on the displayed signpost element input.

[0058] Step S250: Based on the verification result, determine the verified landmark element as the target landmark element.

[0059] Step S260: adjusting the position of the trajectory data so that the target landmark element in the trajectory data overlaps with the target landmark element in the map road network.

[0060] Step S270: Add the trajectory data to the map road network.

[0061] In the embodiment of the present application, steps S240 to S270 can refer to Figure 1 The contents of the illustrated embodiment will not be repeated here.

[0062] The map updating method provided in the embodiment of the present application adjusts the relative position relationship between the trajectory data and the map road network, obtains the landmark elements that match the trajectory data and the map road network and finally adds the trajectory data to the map road network, which not only realizes the update of the map road network but also improves the efficiency of map updating.

[0063] See also Figure 4 , shows a flow chart of a map updating method provided by another embodiment of the present application. The map updating method may specifically include the following steps:

[0064] Step S310: Obtain floor segmentation points based on the height change rate corresponding to the trajectory data.

[0065] The trajectory data includes trajectories of multiple floors.

[0066] In an embodiment of the present application, before the computer device updates the map road network based on the trajectory data, it is necessary to pre-process the trajectory data. It can be understood that the driving trajectory data of the vehicle obtained in some environments can include not only the changes of the vehicle in the plane coordinates, but also the changes in the three-dimensional space, that is, between the upper and lower floors. When constructing a map road network based on the driving trajectory data of the vehicle, if a layer of the map road network is updated based on the driving trajectory data passing through the upper and lower floors, it is not only a waste of trajectory data, but also easy to cause erroneous display of the map road network.

[0067] Therefore, if Figure 5 As shown, it shows a vehicle driving trajectory passing through a multi-story parking space, wherein the N2 section is the vehicle driving trajectory on the lower floor, the N1 section is the vehicle's upward trajectory section, and the P1 section is the vehicle's driving trajectory on the upper floor. If the map road network is updated based on the trajectory data, it is necessary to first segment the entire trajectory, and separate the trajectory segments in the trajectory data that pass through the first layer of the map road network and the trajectory segments that pass through the second layer of the map road network, so as to avoid mixing trajectory data belonging to different floors and causing errors in the generated map road network. Therefore, before updating the map road network based on the trajectory data, the computer device can obtain the floor segmentation points, i.e., the trajectory points located between different floors in the trajectory data, based on the height change rate corresponding to the trajectory data, so as to segment the trajectory data based on the floor segmentation points, so as to make full use of the trajectory data and ensure the security of the trajectory data corresponding to each layer of the map road network.

[0068] In some embodiments, the computer device can obtain the position data of the vehicle during driving through the sensor installed in the vehicle, and match it with the trajectory data of the vehicle, so as to determine whether the inclination angle of the vehicle has changed to a large extent based on the position data of the vehicle, and then confirm whether the vehicle has changed the current floor. When the vehicle is driving on the same floor, its inclination angle may also change slightly, so the computer device can confirm that the vehicle has changed the current floor when the obtained vehicle inclination angle exceeds a certain threshold.

[0069] In some embodiments, Figure 6 As shown, after obtaining the floor segmentation points in step S310, the following steps may be performed:

[0070] Step S311: displaying the segmentation points in the trajectory data.

[0071] In the embodiment of the present application, in order to avoid the error of the segmentation point obtained due to the complex road conditions in the real environment, the computer device can display the floor segmentation points in the trajectory data after obtaining them, so as to confirm the position of the segmentation points according to manual judgment and make full use of the trajectory data. The display of the segmentation points can refer to the steps of displaying the mutually matching road sign elements in the above embodiment, which will not be elaborated in detail here.

[0072] Step S312: If a first determination result based on the displayed segmentation point is received, the step of performing floor segmentation on the trajectory data based on the floor segmentation point to obtain trajectory data corresponding to different floors is executed, and the first determination result indicates that the segmentation point is correct.

[0073] In an embodiment of the present application, a computer device may receive feedback information input based on a segmentation point in the displayed trajectory data. If the feedback information is a first confirmation result, it indicates that the segmentation point in the trajectory data is correct after manual verification by the user. At this time, the computer device may segment the trajectory data based on the floor segmentation point to obtain trajectory data corresponding to different floors.

[0074] In some embodiments, the feedback information received by the computer device may also be denial information, which is used to indicate that the floor segmentation point is incorrect after confirmation by the user. At this time, the computer device may abandon the segmentation point, and re-search for the floor segmentation point in the trajectory data based on the height change rate and display it until the first determination result is received to confirm the floor segmentation point in the trajectory data; the computer device may also receive correction information, which is used to obtain the user's modification or addition action on the trajectory segmentation point when the user confirms that the segmentation point is wrong, so that the computer device obtains the correct trajectory segmentation point; the computer device may also obtain judgment information fed back by the user, which is used to indicate that the trajectory data of the computer device has not passed through multiple floors, and stop searching for the floor segmentation point in the trajectory data. At this time, the computer device may execute the step of displaying the trajectory data and the landmark elements that match each other in the map road network.

[0075] In some implementations, the computer device may also receive deletion information input by the user based on the trajectory data, where the deletion information is used to characterize that the trajectory data is abnormal and may instruct the computer device to delete the trajectory data.

[0076] In some embodiments, the computer device can also receive name information added by the user based on the confirmed trajectory segmentation points, that is, the user can name the confirmed floor segmentation points to facilitate the computer device to obtain the floor segmentation points in different trajectories and segment the trajectory data based on the floor segmentation points.

[0077] Step S320: Based on the floor segmentation points, the trajectory data is segmented by floors to obtain trajectory data corresponding to different floors.

[0078] In the embodiment of the present application, after obtaining the floor segmentation points in the trajectory data, the computer device can divide the trajectory data into multiple trajectory data segments located on different floors based on the segmentation points, so as to update the map road network corresponding to the floor based on the trajectory data of different floors. The floor corresponding to each segment of trajectory data can be marked, so as to update the corresponding map road network based on each trajectory segment; or generate index information of each trajectory segment and store it in the trajectory data set corresponding to the road network map of the floor where it is located.

[0079] Step S330: Display the trajectory data corresponding to different floors and the mutually matching landmark elements in the map road network corresponding to the floors.

[0080] In the embodiment of the present application, after the computer device performs preprocessing such as segmentation on the trajectory data, different trajectory data located on each floor in the map road network can be obtained. At this time, the trajectory data on each floor and the landmark elements that match each other in the map road network of that floor can be displayed to obtain the correct positional relationship between the trajectory data on each floor and the map road network, thereby updating the map road network. The display process of the trajectory data on each floor and the landmark elements that match each other in the map road network can refer to the explanation in other embodiments and will not be elaborated in detail here.

[0081] Step S340: Receive a verification result based on the displayed signpost element input.

[0082] Step S350: Based on the verification result, determine the verified landmark element as the target landmark element.

[0083] Step S360: adjusting the position of the trajectory data so that the target landmark element in the trajectory data overlaps with the target landmark element in the map road network.

[0084] Step S370: Add the trajectory data to the map road network.

[0085] In the embodiment of the present application, steps S340 to S370 may refer to the contents of other embodiments and will not be described in detail here.

[0086] The map updating method provided in the embodiment of the present application obtains the floor segmentation point based on the height change rate corresponding to the trajectory data, and can perform floor segmentation on the trajectory data by displaying the floor segmentation point and receiving the first confirmation result based on the displayed segmentation point, obtain the trajectory data corresponding to different floors, match the trajectory data corresponding to different floors with the landmark elements in the map road network corresponding to the floors, display the mutually matching landmark elements, confirm the relative position relationship between the trajectory data and the map road network, and then update the map road network based on the trajectory data. The full use of the trajectory data passing through multiple floors is achieved, and the reliability of the map road network is also increased.

[0087] See also Figure 7 , shows a flow chart of a map updating method provided by another embodiment of the present application. The map updating method may specifically include the following steps:

[0088] Step S401: displaying the trajectory data and the road sign elements that match each other in the map road network, wherein the trajectory data is the driving trajectory data of the vehicle.

[0089] Step S402: Receive a verification result based on the displayed signpost element input.

[0090] Step S403: Based on the verification result, determine the verified landmark element as the target landmark element.

[0091] In the embodiment of the present application, steps S401 to S403 may refer to the contents of other embodiments and will not be described in detail here.

[0092] Step S404: obtaining the trajectory segment corresponding to the target landmark element from the trajectory data as the target trajectory segment, and obtaining the road network segment corresponding to the target landmark element from the map road network as the target road network segment.

[0093] In the embodiment of the present application, in order to more accurately confirm the relative positional relationship between the trajectory data and the map road network, after obtaining the landmark elements that match the trajectory data and the map road network, the computer device can obtain the corresponding segment in the trajectory data as the target trajectory segment and the segment in the map road network as the target road network segment based on the target landmark element, so as to confirm the overall positional relationship between the trajectory data and the map road network based on the positional relationship between the target trajectory segment and the target road network segment, thereby updating the map road network. It can be understood that if the trajectory data is translated and rotated as a whole to adjust its relative positional relationship with the map road network, the overlapping part between the trajectory data and the map road network may not completely overlap, thereby causing deviations after the non-overlapping part is added to the map road network. Therefore, the computer device divides the trajectory data and the map road network into multiple segments based on the matching landmark elements in the trajectory data and the map road network, and adjusts the relative position relationship between the segments based on the landmark elements, so that the overlapping parts between the trajectory data and the map road network are closer. At this time, adding the non-overlapping parts to the map road network can make the map road network more accurate.

[0094] In some embodiments, the standard by which a computer device segments the target trajectory data and the map road network may be based on a fixed length, that is, the target trajectory data and the map road network start from the same starting point, and are cut once every preset length. The segments corresponding to the target trajectory data thus obtained may have an associated relationship with the segments corresponding to the map road network, wherein the associated trajectory segments and road network segments may both represent a same actual road condition.

[0095] Step S405: Based on the target trajectory segment and according to the weights corresponding to the target trajectory segment and the target road network segment respectively, determining adjustment information corresponding to the target trajectory segment and adjustment information corresponding to the target road network segment, wherein the adjustment information includes a rotation angle and a translation distance.

[0096] In an embodiment of the present application, when adjusting the relative position relationship between the target trajectory segment and the target road network segment, the adjustment information for each segment can be determined based on the weights corresponding to the target trajectory segment and the target road network segment, that is, the larger the weight corresponding to the target trajectory segment, the larger the adjustment information such as the translation distance or rotation angle for the position adjustment of the target trajectory segment. Among them, the weight corresponding to the target road network segment can be zero, that is, at this time, only the position of the target trajectory segment is adjusted so that the target landmark element corresponding to the target trajectory segment coincides with the corresponding target landmark element in the target road network segment. At this time, the target trajectory segment and the target road network segment can be regarded as being in the correct relative position.

[0097] Step S406: Based on the adjustment information corresponding to the target trajectory segment and the adjustment information corresponding to the target road network segment, adjust the relative position relationship between the target trajectory segment and the target road network segment so that the target landmark element corresponding to the target trajectory segment coincides with the target landmark element corresponding to the target road network segment.

[0098] In the embodiment of the present application, after determining the adjustment information of the target track segment and the target road network segment, the relative position thereof can be adjusted based on the adjustment information. When the target road sign element is overlapped, the target track segment and the target road network segment corresponding to the target road sign element can also be regarded as being in the correct relative position, wherein the correct relative position does not mean that the target road network segment overlaps with the target track segment. It can be understood that in this scheme, updating the map road network based on the track data means adding the part of the track data that does not overlap with the map road network to the map road network to achieve the expansion of the display range of the map road network. At this time, the adjustment of the relative position between the target track segment and the target road network segment based on the target road sign element is to make the part of the track data that does not overlap with the map road network in its correct relative position, that is, the relative position relationship between the track of the non-overlapping part and the map road network is correct. Therefore, the target track segment and the target road network segment do not necessarily overlap, and the computer device only needs to confirm that the target track segment overlaps with the road sign elements in the target road network segment.

[0099] Step S407: displaying the trajectory data and the map road network after adjusting the relative position relationship.

[0100] In the embodiment of the present application, the computer device can display the trajectory data and the map road network after the relative position is adjusted, so as to receive feedback information from the user based on the displayed content, and then confirm whether the adjustment of the trajectory data and the map road network is correct. At this time, the user can view the trajectory data and any segment in the map road network in detail based on the terminal display device, and can assist in confirmation based on the image information and coordinate information corresponding to the road sign elements.

[0101] Step S408: receiving a verification result based on the displayed trajectory data and the map road network input.

[0102] In an embodiment of the present application, the verification result received by the computer device may be confirmation information of the relative position relationship between the trajectory data and the map road network fed back by the user, which is used to characterize that their position relationship is correct. In this case, the computer device may update the map road network based on the trajectory data; the verification result received by the computer device may also be adjustment information of the relative position relationship between the trajectory data and the map road network, which is used to characterize that their position relationship is wrong and provide correct adjustment information of the position relationship between the trajectory data and the map road network. In this case, the computer device may adjust the position relationship between the trajectory data and the map road network based on the feedback adjustment information, and display the adjusted trajectory data and map road network again until confirmation information of the adjustment relationship is received.

[0103] Step S409: Based on the verification result, the relative position relationship between the target trajectory segment and the target road network segment is adjusted.

[0104] In the embodiment of the present application, if the verification result received by the computer device is confirmation information, which is used to indicate that the relative position is correct, then the computer device can make corresponding adjustments to the remaining segments in the trajectory data and the map road network based on the adjustment information, so that the partial segments representing the same path between the trajectory data and the map road network completely overlap, and the non-overlapping parts of the trajectory data have a correct relative position relationship with the map road network. If the verification result received by the computer device is denial information, the computer device can readjust the adjustment information corresponding to the target trajectory segment and the target road network segment respectively, so that the target road sign elements included therein overlap.

[0105] Step S410: Add the trajectory data to the map road network.

[0106] In the embodiment of the present application, step S410 can refer to the contents of other embodiments and will not be repeated here.

[0107] The map updating method provided in the embodiment of the present application obtains the corresponding target trajectory segment and target road network segment after confirming the target landmark element, confirms the position adjustment information of the target trajectory segment and the target road network segment based on their respective corresponding weights, displays them after adjustment, and receives the verification results based on the display, and then adjusts the positions of the remaining segments in the trajectory data and the remaining segments in the map road network. After the adjustment is completed, the trajectory data is added to the map road network, so as to realize the update of the map road network and improve the quality of the map road network.

[0108] See also Figure 8, which shows a structural block diagram of a map updating device 200 provided in an embodiment of the present application, and the map updating device 200 includes: an element display module 210, an element verification module 220, a target determination module 230, a position adjustment module 240 and a road network update module 250. Among them, the element display module 210 is used to display the trajectory data and the landmark elements that match each other in the map road network, and the trajectory data is the driving trajectory data of the vehicle; the element verification module 220 is used to receive the verification result based on the displayed landmark element input; the target determination module 230 is used to determine the verified landmark element as the target landmark element based on the verification result; the position adjustment module 240 is used to adjust the position of the trajectory data so that the target landmark element in the trajectory data coincides with the target landmark element in the map road network; the road network update module 250 is used to add the trajectory data to the map road network.

[0109] As a possible implementation, the element display module 210 includes a landmark acquisition unit and a landmark marking unit. The landmark acquisition unit is used to acquire landmark elements that match the trajectory data and the map road network; the landmark marking unit is used to mark the matching landmark elements in the displayed trajectory data and the map road network.

[0110] As a possible implementation, the element display module 210 further includes a position adjustment unit for adjusting the relative position relationship between the trajectory data and the map road network so that the matching degree between the trajectory data and the map road network satisfies a preset matching condition.

[0111] As a possible implementation, the trajectory data includes trajectories of multiple floors, and the map updating device 200 includes a segmentation point acquisition module and a floor segmentation module. The segmentation point acquisition module is used to obtain the floor segmentation point based on the height change rate corresponding to the trajectory data; the floor segmentation module is used to perform floor segmentation on the trajectory data based on the floor segmentation point to obtain trajectory data corresponding to different floors; the element display module 210 is also used to display the trajectory data corresponding to different floors and the landmark elements matching each other in the map road network corresponding to the floors.

[0112] As a possible implementation, the map updating device 200 further includes a segmentation point display module and a segmentation point determination module. The segmentation point display module is used to display the segmentation points in the trajectory data; the segmentation point determination module is used to perform the step of performing floor segmentation on the trajectory data based on the floor segmentation points to obtain trajectory data corresponding to different floors if a first determination result based on the displayed segmentation points is received, and the first determination result indicates that the segmentation points are correct.

[0113] As a possible implementation, the position adjustment module 240 includes a segmentation acquisition unit, an adjustment information determination unit, and a position adjustment unit. The segmentation acquisition unit is used to obtain the trajectory segment corresponding to the target landmark element from the trajectory data as the target trajectory segment, and to obtain the road network segment corresponding to the target landmark element from the map road network as the target road network segment; the adjustment information determination unit is used to determine the adjustment information corresponding to the target trajectory segment and the adjustment information corresponding to the target road network segment based on the target trajectory segment and according to the weights corresponding to the target trajectory segment and the target road network segment, respectively, and the adjustment information includes a rotation angle and a translation distance; the position adjustment unit is used to adjust the relative position relationship between the target trajectory segment and the target road network segment based on the adjustment information corresponding to the target trajectory segment and the adjustment information corresponding to the target road network segment, so that the target landmark element corresponding to the target trajectory segment coincides with the target landmark element corresponding to the target road network segment.

[0114] As a possible implementation, the position adjustment module 240 further includes a display adjustment unit, a result receiving unit and a position adjustment unit. The display adjustment unit is used to display the trajectory data and the map road network after the relative position relationship is adjusted; the result receiving unit is used to receive the verification result based on the displayed trajectory data and the map road network input; the position adjustment unit is used to adjust the relative position relationship between the target trajectory segment and the target road network segment based on the verification result.

[0115] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0116] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0117] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0118] In summary, in the map updating method provided by the present application, by displaying the trajectory data and the landmark elements that match each other in the map road network, receiving the verification results based on the displayed landmark elements input, and based on the verification results, determining the verified landmark elements as the target landmark elements, adjusting the position of the trajectory data so that the target landmark elements in the trajectory data coincide with the target landmark elements in the map road network, and adding the trajectory data to the map road network. When updating the map road network based on the trajectory data, the user verifies the matching landmark elements, so that after the trajectory data is verified and corrected, the map road network is updated according to the trajectory data, which improves the accuracy of the map road network update, thereby expanding the display range of the map road network and increasing the reliability of the map road network.

[0119] Please refer to Fig. 9 , which shows a structural block diagram of a computer device 100 provided in an embodiment of the present application. The computer device 100 in the present application may include one or more of the following components: a processor 110, a memory 120, and one or more application programs, wherein the one or more application programs may be stored in the memory 120 and configured to be executed by one or more processors 110, and the one or more programs are configured to execute the method described in the aforementioned method embodiment.

[0120] The processor 110 may include one or more processing cores. The processor 110 uses various interfaces and lines to connect various parts of the entire computer device, and executes various functions of the computer device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 120, and calling data stored in the memory 120. Optionally, the processor 110 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 110 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 110, but may be implemented separately through a communication chip.

[0121] The memory 120 may include a random access memory (RAM) or a read-only memory (ROM). The memory 120 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data (such as a phone book, audio and video data, chat record data) created by the computer device during use.

[0122] Please refer to Fig.10 , which shows a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 800 stores program codes, which can be called by a processor to execute the method described in the above method embodiment.

[0123] The computer readable storage medium 800 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium 800 includes a non-transitory computer-readable storage medium. The computer readable storage medium 800 has storage space for program code 810 that performs any method step in the above method. These program codes can be read from or written to one or more computer program products. The program code 810 can be compressed, for example, in an appropriate form.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A map updating method, characterized in that: The method comprises: Display the vehicle's trajectory data and the matching road sign elements in the map network; receiving a verification result based on the displayed road sign element input; Based on the verification result, determining the verified landmark element as a target landmark element; The position of the trajectory data is adjusted so that the target landmark element in the trajectory data overlaps with the target landmark element in the map road network, wherein the step of adjusting the position of the trajectory data so that the target landmark element in the trajectory data overlaps with the target landmark element in the map road network comprises: Acquire the trajectory segment corresponding to the target landmark element from the trajectory data as the target trajectory segment, and acquire the road network segment corresponding to the target landmark element from the map road network as the target road network segment; Based on the target trajectory segment and according to the weights corresponding to the target trajectory segment and the target road network segment respectively, determining adjustment information corresponding to the target trajectory segment and adjustment information corresponding to the target road network segment, wherein the adjustment information includes a rotation angle and a translation distance; Based on the adjustment information corresponding to the target trajectory segment and the adjustment information corresponding to the target road network segment, adjusting the relative position relationship between the target trajectory segment and the target road network segment so that the target landmark element corresponding to the target trajectory segment coincides with the target landmark element corresponding to the target road network segment; The trajectory data is added to the map road network.

2. The method according to claim 1, characterized in that: The display of the vehicle's trajectory data and the road sign elements that match each other in the map road network include: Obtain the trajectory data and the landmark elements that match each other in the map network; In the displayed trajectory data and map road network, the matching landmark elements are marked.

3. The method according to claim 2, characterized in that Before acquiring the trajectory data and the landmark elements matching each other in the map road network, the method further includes: The relative position relationship between the trajectory data and the map road network is adjusted so that the matching degree between the trajectory data and the map road network satisfies a preset matching condition.

4. The method according to claim 1, characterized in that: The trajectory data includes trajectories of multiple floors. Before displaying the trajectory data of the vehicle and the road sign elements that match each other in the map road network, the method further includes: Based on the height change rate corresponding to the trajectory data, the floor segmentation points are obtained; Based on the floor segmentation points, the trajectory data is segmented by floors to obtain trajectory data corresponding to different floors; The display of the vehicle's trajectory data and the mutually matching landmark elements in the map road network includes: displaying the trajectory data corresponding to different floors and the mutually matching landmark elements in the map road network corresponding to the floors.

5. The method according to claim 4, characterized in that Before performing floor segmentation on the trajectory data based on the floor segmentation points to obtain trajectory data corresponding to different floors, the method further includes: Displaying the segmentation points in the trajectory data; If a first determination result based on the displayed segmentation point is received, the step of segmenting the trajectory data by floor based on the floor segmentation point to obtain trajectory data corresponding to different floors is performed, and the first determination result indicates that the segmentation point is correct.

6. The method according to claim 1, characterized in that After adjusting the relative positional relationship between the target trajectory segment and the target road network segment based on the adjustment information corresponding to the target trajectory segment and the adjustment information corresponding to the target road network segment so that the target landmark element corresponding to the target trajectory segment overlaps with the target landmark element corresponding to the target road network segment, the method further includes: Displaying the trajectory data and the map road network after adjusting the relative position relationship; Receiving a verification result based on the displayed trajectory data and the map road network input; Based on the verification result, the relative position relationship between the target trajectory segment and the target road network segment is adjusted.

7. A map updating device, characterized in that: The device comprises: an element display module, an element verification module, a target determination module, a position adjustment module and a road network update module, wherein: The element display module is used to display the vehicle's trajectory data and the road sign elements that match each other in the map road network; The element verification module is used to receive a verification result based on the displayed signpost element input; The target determination module is used to determine the verified landmark element as the target landmark element based on the verification result; The position adjustment module is used to adjust the position of the trajectory data so that the target landmark element in the trajectory data overlaps with the target landmark element in the map road network, wherein the position adjustment module is further used to obtain the trajectory segment corresponding to the target landmark element from the trajectory data as the target trajectory segment, and to obtain the road network segment corresponding to the target landmark element from the map road network as the target road network segment; based on the target trajectory segment, and according to the weights corresponding to the target trajectory segment and the target road network segment respectively, determine the adjustment information corresponding to the target trajectory segment and the adjustment information corresponding to the target road network segment, wherein the adjustment information includes a rotation angle and a translation distance; based on the adjustment information corresponding to the target trajectory segment and the adjustment information corresponding to the target road network segment, adjust the relative position relationship between the target trajectory segment and the target road network segment so that the target landmark element corresponding to the target trajectory segment overlaps with the target landmark element corresponding to the target road network segment; The road network updating module is used to add the trajectory data to the map road network.

8. A computer device, characterized in that: include: one or more processors; Memory; One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, which can be called by a processor to execute the method according to any one of claims 1 to 6.

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