A map updating method, related device, readable storage medium and system

Abstract

A map updating method, related device, readable storage medium and system are used to improve the accuracy of the updated map. In the present application, the first error information of the first vehicle and the first position information of the map elements collected by the first vehicle are obtained, and the map is updated according to the first error information and the first position information. The first error information includes the error information of the positioning system of the first vehicle for positioning the first vehicle. Since the map can be updated in combination with the first error information, the accuracy of the updated map can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, and in particular to a map updating method, related device, readable storage medium and system. BACKGROUND

[0002] High Definition Map (HD Map) is a kind of map with high positioning accuracy and real-time data updating. Unlike traditional navigation maps, high-definition maps can provide not only road-level navigation information but also lane-level navigation information. High-definition electronic maps mainly serve autonomous vehicles and provide lane-level planning and self-positioning assistance within the route for autonomous vehicles. In addition to high accuracy, high-definition maps also require high activity, that is, changes in traffic scenarios can be updated in real time to high-definition maps and distributed to vehicles using high-definition maps.

[0003] In one solution, data is collected by professional map collection vehicles, and map updates are performed based on the data collected by the professional map collection vehicles. However, professional map collection vehicles are costly and in limited quantity, and the amount of data collected is difficult to meet the needs of autonomous vehicles for high-definition map updates at an hourly or even minute level. Therefore, high-definition maps can be updated frequently through crowdsourcing.

[0004] With the continuous development of intelligentization in the entire vehicle industry, more and more vehicles are equipped with various sensors. Although these sensors are not as complete and professional as those on professional map collection vehicles, they can rely on the advantages of quantity and cost to achieve high-frequency updates of high-definition maps. When updating maps through crowdsourcing, terminal devices can transmit images collected by sensors to cloud servers through a network, and cloud servers can generate and update high-definition maps based on the data collected by terminal devices, and then distribute the updated high-definition maps to vehicles. Therefore, how to improve the accuracy of updated maps has become a problem to be solved. SUMMARY

[0005] The present application provides a map updating method, related device, readable storage medium and system for improving the accuracy of updated maps.

[0006] First, embodiments of the present application provide a map updating method that can be applied to a server and executed by a server-side map updating device. For ease of reference, the server-side map updating device is referred to as a second map updating device in the embodiments of the present application. The second map updating device can be implemented as a cloud-based server, computing platform, or virtual machine. In this method, the second map updating device obtains first error information of a first vehicle and first position information of a map element collected by the first vehicle. The first error information includes error information obtained by the first vehicle's positioning system regarding the first vehicle's positioning. The map is then updated based on the first error information and the first position information. Because the map can be updated in conjunction with the first error information, the accuracy of the updated map can be improved.

[0007] In a possible implementation manner, the second map updating device updates the current position information of the map element on the map according to the first error information and the first position information.

[0008] In one possible implementation, the second map updating device updates the map based on the first error information and the first position information, including: determining a first weight based on the first error information, the first weight being used to represent the degree of correction of the current position information of the map element by the first position information; and updating the current position information of the map element on the map based on the first position information and the first weight.

[0009] In one possible implementation, when the error value corresponding to the first error information is greater than a first error threshold, the first weight may be determined to be 0, and the second map updating device does not use the first position information of the map element to update the current position information of the map element on the map. In another possible implementation, when the error value corresponding to the first error information is not greater than the first error threshold, the first weight may be determined to be 1. In this case, since the first weight is 1, it indicates that the first position information corrects the current position information of the map element by 100%, and therefore, the second map updating device uses the first position information of the map element to update the current position information of the map element on the map.

[0010] In one possible implementation, before updating the map based on the first error information and the first position information, the second map updating device further includes: obtaining second error information from the second vehicle and second position information of the map element collected by the second vehicle, the second error information including error information regarding the positioning of the second vehicle by its positioning system. The second map updating device determines a second weight based on the first error information and the second error information, the second weight representing the degree to which the second position information corrects the current position information of the map element. Determining the first weight based on the first error information includes: the second map updating device determines the first weight based on the first error information and the second error information. Updating the current position information of the map element on the map based on the first position information and the first weight includes: the second map updating device updates the current position information of the map element on the map based on the first position information, the second position information, the first weight, and the second weight. In this manner, when the second map updating device obtains multiple pieces of position information for a map element, it can determine the reliability of the position information reported by each vehicle based on the error information from multiple vehicles, thereby making the updated map more accurate.

[0011] In one possible implementation, the second map updating device updates the current position information of the map element on the map based on the first position information, the second position information, the first weight, and the second weight, including: performing weighted addition on the first position information and the second position information based on the first weight and the second weight to obtain updated position information; and updating the position information of the map element on the map to the updated position information.

[0012] In one possible implementation, the first weight can also be used to represent the proportion of the first error information in the first error information and the second error information. The second weight can also be used to represent the proportion of the second error information in the first error information and the second error information. As can be seen, the error information of each vehicle will affect each other, and the second map updating device can also comprehensively consider the error information of each vehicle to determine the weight of each vehicle. In this way, the determined weight can better reflect the credibility of the location information reported by the vehicle.

[0013] In one possible implementation, if the first error information is smaller than the second error information, the first weight is greater than the second weight; if the first error information is greater than the second error information, the first weight is smaller than the first weight; if the first error information is equal to the second error information, the first weight is equal to the second weight.

[0014] In one possible implementation, the error value corresponding to the first error information is no greater than a first error threshold, and the error value corresponding to the second error information is no greater than the first error threshold. By setting the first error threshold, location information reported by vehicles with large error information can be filtered out and no longer used in map updates, thereby further improving map accuracy.

[0015] In one possible implementation, the difference between the reciprocal of the first proportional relationship and the second proportional relationship is less than a first difference threshold. Alternatively, the reciprocal of the first proportional relationship may be approximately equal to a second proportional relationship between the first weight and the second weight. The first proportional relationship is the ratio of the error value corresponding to the first error information to the error value corresponding to the second error information. The second proportional relationship is the ratio of the error values ​​corresponding to the first weight and the second weight.

[0016] In one possible implementation, when the second map updating device receives only two pieces of position information reported by the first and second vehicles within a preset time period, the sum of the first weight and the second weight can be set to 100%. In this way, the first and second position information can be weighted and fused to obtain more accurate position information.

[0017] In one possible implementation, the first error information further includes a measurement error of a first sensor of the first vehicle used to collect the first position information. In another possible implementation, the first error information further includes a calibration error of the first sensor. In yet another possible implementation, the first error information further includes both the measurement error and the calibration error of the first sensor of the first vehicle used to collect the first position information. In this way, the first error information can more accurately reflect the accuracy of the first position information.

[0018] In one possible implementation, the error information for locating the first vehicle by the positioning system of the first vehicle includes the covariance corresponding to the measurement values ​​of the positioning system of the first vehicle. The measurement error of the first sensor of the first vehicle used to collect the first position information includes the covariance corresponding to the measurement values ​​of the first sensor. The calibration error of the first sensor includes the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle. In this way, the first error information can more accurately reflect the accuracy of the first position information.

[0019] In a second aspect, the embodiments of the present application provide a map updating method, which can be applied to a server side. In the method, a second map updating device obtains third error information of each of N third vehicles and third position information of a map element obtained by each of the N third vehicles. The second map updating device determines a third weight corresponding to each of the N third vehicles according to N third error information of the N third vehicles. The second map updating device performs weighted addition on the N third position information of the map element according to N third weights corresponding to the N third vehicles to obtain updated position information. The second map updating device updates the position information of the map element on the map to the updated position information. When N is 1, the N third vehicles can be the first vehicle described above. When N is more than one, the solution in this application scenario can refer to the application scenario of the second map updating device to the first vehicle and the second vehicle described above. For example, when N is 2, the N third vehicles can be the first vehicle and the second vehicle. The processing solution of the second map updating device to the N third vehicles can also refer to the processing solution of the first vehicle and the second vehicle in the first aspect described above.

[0020] In a possible implementation, the sum of the N third weights is 100%. In this way, the N third position information can be fused by weighting to obtain more accurate position information.

[0021] In a possible implementation, one third weight can be used to represent the correction degree of the third position information corresponding to the third weight to the current position information of the map element. In a possible implementation, one third weight can also be used to represent the proportion of the third error information corresponding to the third weight in the N third error information. Alternatively, one third weight can also be used to represent the proportion of the third error information corresponding to the third weight in M third error information. M is a positive integer not greater than N, and the M third error information is M error information in the N third error information, and each of the M third error information corresponds to an error value less than a first error threshold. By setting the first error threshold, the position information reported by the vehicle with larger error information can be excluded, and the map is no longer updated according to the position information, so that the accuracy of the map can be further improved.

[0022] In a possible implementation, for one of the N third vehicles, the third error information of the third vehicle includes one or more of the following: error information of a positioning system of the third vehicle for positioning the third vehicle; measurement error of a third sensor of the third vehicle for collecting the third position information corresponding to the third vehicle; calibration error of the third sensor. In this way, the third error information can more accurately reflect the accuracy of the third position information.

[0023] In a third aspect, embodiments of the present application provide a map updating method that can be applied to a terminal device and executed by a map updating device on the terminal device. The map updating device on the terminal device can be a component within a vehicle, the vehicle itself, or a mobile phone. For ease of reference, in the embodiments of the present application, the map updating device on the first terminal device is referred to as the first map updating device, the map updating device on the second terminal device is referred to as the third map updating device, and the map updating device on the third terminal device is referred to as the fourth map updating device. Taking the terminal device as a vehicle as an example, this method can be applied to the first terminal device, the second terminal device, or any of the N third vehicles mentioned above. In this method, the terminal device scenario is described using the first vehicle as an example. In this scenario, a first map updating device, located on the first vehicle, obtains first position information of a map element. The first map updating device obtains first error information, which includes error information regarding the positioning of the first vehicle by its positioning system. The first map updating device then transmits the first position information and the first error information of the map element to the second map updating device. In this way, the second map updating device can update the map in combination with the first error information, thereby improving the accuracy of the updated map.

[0024] In one possible implementation, a first sensor of a first vehicle captures a first image, the first image including map elements. A first map updating device reports the first image and the global pose of the first vehicle at the time the first image was captured to a second map updating device, and the first vehicle reports first error information to the second map updating device. In this way, the second map updating device can calculate the global pose of each map element in the first image based on the global pose of the first vehicle at the time the first image was captured.

[0025] In one possible implementation, the first error information also includes a measurement error of a first sensor of the first vehicle used to collect the first position information. In another possible implementation, the first error information also includes a calibration error of the first sensor. In another possible implementation, the first error information also includes both the measurement error and the calibration error of the first sensor of the first vehicle used to collect the first position information. In this way, the first error information can more accurately reflect the accuracy of the first position information.

[0026] In a possible implementation, the error information of the positioning system of the first vehicle positioning the first vehicle comprises a covariance corresponding to a measurement value of the positioning system of the first vehicle. The measurement error of the first sensor of the first vehicle for collecting the first position information comprises a covariance corresponding to a measurement value of the first sensor. The calibration error of the first sensor comprises a relative calibration covariance between the first sensor and the inertial sensor of the first vehicle. In this way, the first error information can more accurately reflect the accuracy of the first position information.

[0027] In a possible implementation, the first map updating apparatus sends the first position information of the map element, comprising: when one of the following conditions is met, the first map updating apparatus sends the first position information of the map element:

[0028] The first preset region of the map does not include the map element; the first preset region is a region on the map with the first position information as the center and a preset first distance threshold as the radius;

[0029] The distance between the position information of the map element on the map and the first position information is greater than a preset second distance threshold.

[0030] In this way, the amount of data reported by the first map updating apparatus to the second map updating apparatus can be reduced, thereby reducing the network load.

[0031] Corresponding to any one of the communication methods of the first aspect to the third aspect, the application further provides a communication apparatus. The communication apparatus can be any one of a sending device or a receiving device for data transmission in a wireless manner. For example, a communication chip, a map updating apparatus of a terminal device (for example, the first map updating apparatus provided on the first vehicle), or a second map updating apparatus. In the communication process, the sending device and the receiving device are relative. In some communication processes, the communication apparatus can be the second map updating apparatus or a communication chip for the second map updating apparatus; in some communication processes, the communication apparatus can be the map updating apparatus of the terminal device or a communication chip for the map updating apparatus of the terminal device.

[0032] The fifteenth aspect provides a communication apparatus, comprising a communication unit and a processing unit, to execute any one of the implementations of the communication method of the first aspect to the third aspect. The communication unit is used to perform functions related to sending and receiving. Optionally, the communication unit comprises a receiving unit and a sending unit. In one design, the communication apparatus is a communication chip, and the communication unit can be an input / output circuit or a port of the communication chip.

[0033] In another design, the communication unit can be a transmitter and a receiver, or the communication unit is a transmitter and a receiver.

[0034] Optionally, the communication device further includes modules that can be used to execute any implementation of any communication method of the first to third aspects above.

[0035] In a fourth aspect, a communication device is provided. The communication device is the map update device on the terminal device side (e.g., the first map update device on the first terminal device side) or the map update device on the server side (e.g., the second map update device). The communication device includes a processor and a memory. Optionally, the communication device also includes a transceiver. The memory is used to store computer programs or instructions. The processor is used to call and run the computer program or instructions from the memory. When the processor executes the computer program or instructions in the memory, the communication device executes any implementation of any communication method of the first to third aspects.

[0036] Optionally, there are one or more processors and one or more memories.

[0037] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0038] Optionally, the transceiver may include a transmitter (transmitter) and a receiver (receiver).

[0039] In a fifth aspect, a communication device is provided, comprising a processor. The processor is coupled to a memory and can be configured to execute the method of any one of aspects 1 to 3, and any possible implementation of aspects 1 to 3. Optionally, the communication device further comprises a memory. Optionally, the communication device further comprises a communication interface, the processor being coupled to the communication interface.

[0040] In one implementation, the communication device is a map updating device on a terminal device (e.g., a first map updating device on a first terminal device). When the communication device is a map updating device on a terminal device, the communication interface may be a transceiver or an input / output interface. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input / output interface may be an input / output circuit.

[0041] In another implementation, the communication device is a server-side map update device (e.g., a second map update device). When the communication device is a server-side map update device, the communication interface may be a transceiver or an input / output interface. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input / output interface may be an input / output circuit.

[0042] In another implementation, the communication device is a chip or a chip system. When the communication device is a chip or a chip system, the communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processor can also be embodied as a processing circuit or a logic circuit.

[0043] In a sixth aspect, a system is provided, which includes the above-mentioned map updating device on the terminal side (such as the first map updating device on the first terminal side) and the map updating device on the server side (such as the second map updating device).

[0044] In a seventh aspect, a vehicle is provided, comprising the map updating device at the terminal device end, such as the first map updating device at the first terminal device end.

[0045] In an eighth aspect, a computer program product is provided, which includes: a computer program (also referred to as code, or instructions), which, when run, enables a computer to execute a method in any possible implementation of the first aspect, or enables a computer to execute a method in any implementation of the first to third aspects.

[0046] In the ninth aspect, a computer-readable storage medium is provided, which stores a computer program (also referred to as code, or instructions) which, when run on a computer, enables the computer to execute the method in any possible implementation of the first aspect, or enables the computer to execute the method in any implementation of the first to third aspects.

[0047] In the tenth aspect, a chip system is provided, which may include a processor. The processor is coupled to a memory and can be used to perform any one of the first to third aspects, and any one of the possible implementations of any one of the first to third aspects. Optionally, the chip system also includes a memory. The memory is used to store a computer program (also referred to as code, or instructions). The processor is used to call and run the computer program from the memory so that the device equipped with the chip system performs any one of the first to third aspects, and any one of the possible implementations of any one of the first to third aspects.

[0048] Eleventh, a signal is received through an input circuit and a signal is transmitted through an output circuit, so that the method in any one of the first to third aspects and any possible implementation manner of the first to third aspects is implemented.

[0049] In a specific implementation, the processing device may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the processing circuit may be a transistor, a gate circuit, a trigger, or various logic circuits. The input signal received by the input circuit may be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit may be, for example, but not limited to, output to and transmitted by a transmitter. The input circuit and the output circuit may be the same circuit, which functions as an input circuit and an output circuit at different times. The embodiments of the present application do not limit the specific implementation of the processor and various circuits. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1a A schematic diagram of a scenario applicable to an embodiment of the present application;

[0051] Figure 1b for Figure 1a A schematic structural diagram of vehicle 201;

[0052] Figure 2a A flowchart of a map updating method provided in an embodiment of the present application;

[0053] Figure 2b A flowchart of another map updating method provided in an embodiment of the present application;

[0054] Figure 2c A flowchart of another map updating method provided in an embodiment of the present application;

[0055] Figure 3 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0056] Figure 4 A schematic structural diagram of another communication device provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The vehicle positioning method provided by the embodiments of the present application is further described below with reference to the accompanying drawings. Figure 1a A schematic diagram exemplarily shows a scenario in which the embodiment of the present application is applicable, such as Figure 1a As shown, the application scenario may include one or more terminal devices. Figure 1a The terminal device is a vehicle as an example. Figure 1a As shown, Figure 1a Schematically shows three vehicles, namely vehicle 201, vehicle 202 and vehicle 203. Optionally, Figure 1aThe application scenario shown may also include a cloud computing platform, which may be implemented by a cloud server 204 or a virtual machine. In the embodiment of the present application, the computing platform is implemented by a cloud server 204 as an example. In the embodiment of the present application, the device that executes the cloud solution is referred to as a server-side map update device. For ease of reference, the server-side map update device is referred to as a second map update device. Figure 1a As shown, this application scenario may also include a storage device 205. The vehicle can be used to perform operations such as capturing images and reporting information to a second map update device. The second map update device can be used to perform operations such as receiving information, updating maps based on the received information, and issuing updated maps. Storage device 205 can be used to store data, such as updated maps sent by the second map update device in the cloud.

[0059] In the embodiment of the present application, the terminal device is taken as an example of a vehicle. Any one of the vehicles in the embodiment of the present application may be a smart car or a non-smart car, and the embodiment of the present application does not limit this. Each vehicle is provided with a sensor for collecting images near the vehicle, wherein the sensor includes a lidar, a millimeter-wave radar, and a camera. In addition, each vehicle may be provided with one or more sensors, and the number of each sensor may be one or more. The sensor may be installed on the top of the vehicle (for example, it may be provided in the middle of the top of the vehicle), at the front end of the vehicle, and so on. The embodiment of the present application does not limit the installation position and number of sensors in each vehicle.

[0060] In the embodiments of the present application, a vehicle may include a map update device. The map update device on the terminal device in the embodiments of the present application may be a component within the vehicle, the vehicle itself, or a mobile phone. The map update device may include a map update device for the vehicle's positioning system, a map update device for intelligent driving, or any other device with computing capabilities. For ease of reference, in the embodiments of the present application, the map update device on the first terminal device is referred to as the first map update device, the map update device on the second terminal device is referred to as the third map update device, and the map update device on the third terminal device is referred to as the fourth map update device.

[0061] In embodiments of the present application, a vehicle may communicate with other objects based on vehicle-to-external wireless communication technology (e.g., vehicle-to-everything (V2X)). For example, communication between the vehicle and a second map update device may be implemented based on vehicle-to-vehicle wireless communication technology (e.g., vehicle-to-vehicle (V2V)). Communication between the vehicle and other objects may be based on wireless high-fidelity (e.g., wireless fidelity (Wi-Fi)), fifth-generation (5G) mobile communication technology, and the like. For example, communication between the vehicle and the second map update device may be implemented based on 5G.

[0062] To facilitate understanding, the proprietary concepts and nouns involved in the embodiments of this application are explained below.

[0063] (1) Global pose.

[0064] The global pose can also be called the absolute pose, which refers to the position and posture of an object in a reference coordinate system. In the embodiment of the present application, the position in the global pose can also be understood as the position information in a reference coordinate system, and the posture in the global pose can also be understood as the posture information in a reference coordinate system. Among them, the reference coordinate system can be a multidimensional coordinate system, and the multidimensional coordinate system includes a coordinate system with multiple dimensions, such as a two-dimensional coordinate system, a three-dimensional coordinate system, and other multidimensional coordinate systems, specifically a geodetic coordinate system, a universal transverse mercator (UTM) grid system, etc.

[0065] The position of an object (or it can be called position information) can be represented by the coordinate values ​​of the coordinate axes in the coordinate system. The coordinate values ​​of the same object may be different in different coordinate systems. In the embodiment of the present application, the position of the vehicle can be represented by the coordinate values ​​of each coordinate axis in the coordinate system where the vehicle is located. For the convenience of calculation, it can also be represented by the coordinate values ​​of the coordinate axes in a reference coordinate system. Among them, when multiple objects use multiple coordinate systems to identify their positions, one coordinate system can be used as the basis to determine the positions of all objects, and then further determine the positions of other objects in the reference coordinate system. The coordinate system used as a reference is also called a reference coordinate system, which can be the coordinate system where any object is located, or it can be a third-party public coordinate system. The embodiment of the present application does not limit this.

[0066] For a vehicle, an object's posture (or posture information) can be understood as the orientation of the vehicle's front end, or the orientation of any position on the vehicle body. Specifically, it can be determined by the angle between the vehicle's corresponding vector and the horizontal axis in a multidimensional coordinate system. A vector is a quantity that has both magnitude and direction. The vehicle's posture can be used to determine the vehicle's front end orientation and its direction of travel.

[0067] (2) Vehicle positioning system.

[0068] A vehicle positioning system (VPS) is installed on a vehicle and is used to determine the vehicle's current global position based on measured data. The VPS can be composed of a global positioning system (GPS) and a geographic information system (GIS), enabling vehicle tracking and positioning.

[0069] The vehicle positioning system in the embodiment of the present application can locate the vehicle based on GPS to obtain the positioning information of the vehicle. In another possible implementation, since there will be errors when positioning the vehicle based on GPS, the positioning information obtained based on GPS can be fused with the information obtained based on other technologies (such as inertial measurement unit (IMU)), and the fused result is used as the global position of the vehicle at the current moment. This method of fusing the information obtained based on GPS with the information obtained based on other technologies (such as IMU) to achieve positioning can be called combined positioning.

[0070] There are various technical solutions for integrating GPS positioning technology into combined positioning. These solutions can calculate a vehicle's relative position over a period of time. These solutions can be based on, for example, wheel odometers, visual odometers, and IMUs. Data pre-integration is often used to calculate relative position over a period of time. For ease of explanation, the following example uses an IMU method.

[0071] (3) Map elements.

[0072] Map elements refer to elements within a map, including but not limited to roads, lane markings, signs, ground markings, traffic lights, and drivable area markings. Roads can include guardrails and curbs; signs include road signs, directional signs, height limit signs, and other types; and ground markings include diversion signs, entrance and exit signs, speed limit signs, and time limit signs.

[0073] In one possible implementation, embodiments of the present application may be applied to high-precision maps. Generally speaking, high-precision maps are electronic maps with higher precision, more data dimensions, and more map elements. This higher precision is reflected in the fact that the element information contained in the map is accurate to the centimeter level.

[0074] (4) Calculation of the position information of map elements in the reference coordinate system.

[0075] Figure 1b The schematic diagram of the structure of a vehicle is shown as an example. Figure 1b As shown, Figure 1a Taking vehicle 201 in the figure as an example, a sensor 2011 may be provided on vehicle 201, for example, the sensor 2011 may be provided on the top of vehicle 201. First coordinate system 2012 may be a multi-dimensional coordinate system where sensor 2011 of vehicle 201 is located. For example, first coordinate system 2012 may be a coordinate system established with the center position of sensor 2011 of vehicle 201 as the origin.

[0076] On the other hand, the second coordinate system 2013 of a vehicle mentioned in the embodiments of the present application may specifically refer to a coordinate system established with the positioning system deployed on the vehicle as the origin. In one possible implementation, since the vehicle's positioning system can generally be combined with an IMU to determine the vehicle's global position, in this implementation, the second coordinate system of the vehicle 201 may be said to be a coordinate system established with the center position of the IMU as the origin.

[0077] Thirdly, generally speaking, the vehicle 201 is positioned by the positioning system to obtain the global position of the vehicle 201 in the reference coordinate system. The position information in the global position of the vehicle 201 may refer to the position information of the center position of the positioning system in the vehicle 201 in the reference coordinate system.

[0078] Based on the descriptions of the three aspects above, in one possible implementation, the position information of a map element in an image captured by sensor 2011 is position information in first coordinate system 2012. The position information of the map element can be further converted from first coordinate system 2012 to second coordinate system 2013, and then further converted to a reference coordinate system, thereby obtaining the position information of the map element in the reference coordinate system. The position information of the map element in the reference coordinate system can also be referred to as the global position information of the map element. The position information of a map element in a map refers to the position information of the map element in the reference coordinate system.

[0079] The image captured by the sensor may include one or more map elements. In the embodiment of the present application, the following formula (1) is provided for calculating the position information of the i-th map element in the image captured by the sensor in the reference coordinate system, where the value of i is a positive integer:

[0080]

[0081] In formula (1), (x represents the type of sensor 2011) is the rotational external parameter between the sensor 2011 and the vehicle positioning system, or the rotational external parameter between the first coordinate system 2012 and the second coordinate system 2013;

[0082] P x_i is the position information of the i-th map element in the first image captured by the sensor 2011 in the first coordinate system 2012;

[0083] P ix (x represents the sensor type) is the translation extrinsic parameter between the sensor 2011 and the vehicle positioning system, or the translation extrinsic parameter between the first coordinate system 2012 and the second coordinate system 2013;

[0084] is the posture information of the vehicle 201 in the reference coordinate system;

[0085] P v is the position information of the vehicle 201 in the reference coordinate system;

[0086] P o_i is the position information of the i-th map element in the reference coordinate system.

[0087] The above formula (1) is only one possible implementation method for calculating the position information of the i-th map element in the reference coordinate system. Computer personnel in this field can also calculate the position information of the i-th map element in the reference coordinate system through other calculation methods, which is not limited in the embodiments of the present application.

[0088] Based on the above, an embodiment of the present application provides a map updating method. In this map updating method, a second map updating device may receive N pieces of location information for a map element reported by N vehicles within a preset period of time, where N can be a positive integer. Furthermore, the second map updating device may update the map based on the N pieces of location information reported by the N vehicles and the error information from the N vehicles. Because the vehicle error information can reflect the accuracy of the location information of the map element collected by the vehicle, updating the map based on the vehicle error information can improve the accuracy of the updated map.

[0089] In the embodiment of the present application, the second map updating device can update the map based on the location information collected from N vehicles, where N can be 1 or a positive integer greater than 1. The following content will provide detailed descriptions of different values ​​of N. The following describes the terminal device solution using the first vehicle as an example. The solution implemented by any terminal device in the implementation of this application is similar to the solution implemented by the terminal device of the first vehicle mentioned below.

[0090] Based on the above, Figure 2a A flowchart of a map updating method provided by an embodiment of the present application is shown as follows: Figure 2a As shown, the method includes:

[0091] Step 201: A first sensor disposed on a first vehicle captures a first image.

[0092] Specifically, the first vehicle may be provided with one or more sensors for collecting images, such as a laser radar, a millimeter-wave radar, and a camera, and the first sensor may be one of the sensors for collecting images provided on the first vehicle. In one possible implementation, when the first vehicle is in a startup state, the sensor on the first vehicle may periodically collect images near the first vehicle with a preset time length as a period. Alternatively, when the first vehicle is in a startup state, the sensor on the first vehicle may collect images near the first vehicle in real time. In the embodiment of the present application, there is no restriction on the frequency with which the sensor of the first vehicle collects images. In order to more clearly introduce the embodiment of the present application, an image is used as an example for introduction in the embodiment of the present application. For the convenience of reference, the image is referred to as the first image. The processing method of other images is similar and will not be repeated.

[0093] When the first sensor captures the first image, the first map updating device may preprocess the first image to identify various map elements in the first image. The first image may include one or more map elements. For clarity, the following description uses one map element in the first image as an example. The solutions implemented for other map elements are similar and are not further described.

[0094] In step 202 , a first map updating device obtains first position information of a map element in the first image based on the first image. The first map updating device is disposed on a first vehicle.

[0095] Step 203: The first map updating apparatus sends first location information of the map element to the second map updating apparatus.

[0096] In the above step 203, the first position information can be the position information of the map element in the first coordinate system, or the position information of the map element in the reference coordinate system. The first coordinate system can be a coordinate system established with the center position of the first sensor of the first vehicle as the origin, and the second coordinate system of the first vehicle refers to a coordinate system established with the positioning system deployed on the first vehicle as the origin. Figure 1b , if the vehicle 201 is the first vehicle in this embodiment, the first coordinate system corresponding to the first vehicle can be Figure 1b The first coordinate system 2012 in the first vehicle, the second coordinate system corresponding to the first vehicle can be Figure 1b The first coordinate system 2013 in the embodiment is described in detail below through the following possible implementation a1, possible implementation a2 and possible implementation a3.

[0097] In a possible implementation a1, the first position information may refer to position information of the map element in the first coordinate system of the first vehicle.

[0098] In the possible implementation a1, in the above step 203, the first map updating device sends the first position information of the map element to the second map updating device, which specifically includes: the first map updating device reports the first image captured by the first sensor to the second map updating device, and the position information of the map element included in the first image in the first coordinate system.

[0099] Furthermore, in the above-described possible implementation a1, the first map updating device may also report to the second map updating device the global pose of the first vehicle in the reference coordinate system when the first sensor captured the first image. In this way, the second map updating device can combine the global pose of the first vehicle and the first image captured by the first sensor of the first vehicle to calculate the position information of the map elements in the first image in the reference coordinate system.

[0100] In the above-described possible implementation a1, the first map updating device may further report the rotational extrinsic parameters and the translational extrinsic parameters between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle to the second map updating device, so that the second map updating device can calculate the position information of the map element in the reference coordinate system according to the above-described formula (1). In another possible implementation, the rotational extrinsic parameters and the translational extrinsic parameters between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle may not be reported to the second map updating device, but may be pre-set as preset parameters on the second map updating device.

[0101] In a possible implementation a2, the first position information may refer to the position information of the map element in the reference coordinate system.

[0102] In this possible implementation a2, in step 203, the first map updating device transmits the first position information of map elements to the second map updating device. Specifically, the first map updating device reports to the second map updating device the first image captured by the first sensor, including the position information of the map elements included in the first image in the first coordinate system. The first map updating device also reports to the second map updating device the global pose of the first vehicle when the first sensor captured the first image. The first map updating device also reports to the second map updating device the calculated position information of each map element in the first image in the reference coordinate system. This allows the second map updating device to update the map based on the first image while also directly using the position information of each map element in the reference coordinate system reported by the first map updating device without having to recalculate it, thereby reducing computational effort.

[0103] In the above possible implementation a1, the first map updating device may also report the rotational extrinsic parameters and the translational extrinsic parameters between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle to the second map updating device, so that the second map updating device can calculate the position information of the map element in the reference coordinate system according to the above formula (1). In another possible implementation, the rotational extrinsic parameters and the translational extrinsic parameters between the second coordinate system of the first vehicle and the first coordinate system of the first vehicle may not be reported to the second map updating device.

[0104] In a possible implementation a3, the first position information may refer to the position information of the map element in the reference coordinate system.

[0105] In this possible implementation a3, the first map updating device can calculate the position information of each map element in the first image in the reference coordinate system based on the first image and the above formula (1) and report it. Optionally, the first map updating device may no longer report the global pose of the first vehicle when the first sensor captured the first image to the second map updating device. This can further reduce the amount of data required to be transmitted between the first vehicle and the second map updating device.

[0106] In this embodiment of the present application, the first map updating device may not filter the collected images, that is, data is uploaded for each image collected by the first sensor. Alternatively, the first map updating device may filter the images collected by the first map updating device and upload data to the second map updating device based on the images that pass the filter. This embodiment is described below using possible implementations b1 and b2.

[0107] In a possible implementation b1, the first map updating device does not filter the collected images.

[0108] In a possible implementation b1, for example, the first map update device can upload every image captured by the first sensor to the second map update device. In this implementation, the second map update device can acquire a large number of images, which can be combined to create a high-precision map, thereby improving map accuracy. Furthermore, since the first terminal device is only responsible for capturing and uploading images, the computing power requirements of the first vehicle's hardware are relatively low, thereby increasing the number of vehicles that can be used and further facilitating the application of crowdsourcing map updates.

[0109] In a possible implementation b2, the images collected by the first map updating device are screened, and data is uploaded to the second map updating device based on the images that pass the screening.

[0110] In a possible implementation b2, the first vehicle may filter the collected images and upload data to the second map updating device based on the images that pass the filter, thereby reducing the amount of data that needs to be transmitted between the first vehicle and the second map updating device.

[0111] In a possible implementation of the above-mentioned step 203, the first map updating device sends the first position information of the map element to the second map updating device, specifically including: when the first map updating device determines that at least one map element in the first image satisfies the first condition, determining to send the first position information of the map element (the map element may be one of the at least one map element in the first image that satisfies the first condition) to the second map updating device.

[0112] There are many ways to implement the first condition. For example, the first condition can be any one of the following conditions 1 and 2.

[0113] Condition 1: The first preset area of ​​the map does not include any map elements; the first preset area is an area on the map with the first location information as the center and a preset first distance threshold as the radius.

[0114] Condition 2: the distance between the position information of the map element on the map and the first position information is greater than a preset second distance threshold, and the fourth position information is the position information of the map element on the map including the first preset area.

[0115] For a map element in the first image, several examples are used below to illustrate situations where the map element satisfies condition 1, does not satisfy condition 1, satisfies condition 2, and does not satisfy condition 2.

[0116] Example 1: The map element meets condition 1.

[0117] The map element is a traffic light. In condition 1, the first map updating device may obtain a map from the second map updating device and search for a traffic light within a first preset area. The first distance threshold may be a preset value, for example, 1 meter based on empirical experience. If no traffic light is found within the first preset area, it indicates that the traffic light may be a newly added map element. In this case, the map element is determined to meet condition 1.

[0118] Example 2: The map element meets condition 2.

[0119] In condition 2, the first map updating device can obtain a map from the second map updating device and search for a traffic light in the first preset area. If so, the current position information of the traffic light on the map can be compared with the first position information. If the distance between the position information of the map element on the map and the first position information is greater than a preset second distance threshold, it means that the position information of the traffic light may have changed significantly. In this case, it is determined that the map element meets condition 2.

[0120] Example 3: The map element does not meet condition 2.

[0121] If the distance between the position information of the map element on the map and the first position information is not greater than the preset second distance threshold, it means that the position information of the traffic light may not have changed (it is possible that an error in the calculation process or an error in the hardware equipment has caused the calculated position information of the traffic light to change), or a small change has occurred. In this case, it is determined that the map element does not meet condition 2.

[0122] In the above example, the first distance threshold may be greater than the second distance threshold. The second distance threshold may be set in combination with the amount of error that may occur when the vehicle calculates the position information of the map element. For example, the map element is a traffic light, and the error between the position information of the traffic light calculated by the first vehicle and the actual position information may be 5 centimeters. The second distance threshold may be set to 5 centimeters. In this way, when the position information of the map element on the map is different from the first position information, and the distance between the two is not greater than 5 centimeters, it is possible that the error in the calculation process or the error in the hardware device has caused the calculated position information of the traffic light to change, while the actual position information of the traffic light has not changed. In this example, the map element does not meet condition 2.

[0123] Step 204: The first map updating device obtains first error information.

[0124] Step 205: The first map updating apparatus sends first error information to the second map updating apparatus.

[0125] There is no necessary order between step 204 and step 201. Step 204 may be performed first, followed by step 201. There is no necessary order between step 204 and step 202. Step 204 may be performed first, followed by step 202. There is no necessary order between step 204 and step 203. Step 204 may be performed first, followed by step 203.

[0126] The first error information in the embodiment of the present application may include any one or more of the following error information c1, error information c2, and error information c3:

[0127] Error information c1: error information of the first vehicle's positioning system when positioning the first vehicle.

[0128] Error information c2: measurement error of the first sensor of the first vehicle used to collect the first position information;

[0129] Error information c3: calibration error of the first sensor.

[0130] According to the above formula (1), taking the first vehicle as an example, the disturbance error is added to the above formula (1) to obtain the following formula (2), which can also be described as the error model of the i-th map element:

[0131]

[0132] In formula (2), P o_i is the position information of the i-th map element in the reference coordinate system;

[0133] δP o_i is the error of the position information of the i-th map element in the reference coordinate system;

[0134] P v is the position information of the first vehicle in the reference coordinate system;

[0135] δP v is the position information error of the first vehicle in the reference coordinate system;

[0136] I is a 3*3 identity matrix;

[0137] φ is the error of the posture information of the first vehicle in the reference coordinate system;

[0138] is the posture information of the first vehicle in the reference coordinate system;

[0139] θ is the rotation error in the calibration error of the first sensor;

[0140] (x represents the first sensor type) is the rotational extrinsic parameter between the first sensor and the vehicle positioning system, or the rotational extrinsic parameter between the first coordinate system and the second coordinate system of the first vehicle;

[0141] P x_i Position information of the i-th map element in the first image captured by the first sensor in the first coordinate system;

[0142] δP x_i is the error of position information of the i-th map element in the first image captured by the first sensor in the first coordinate system;

[0143] P ix (x represents the sensor type) is the translation extrinsic parameter between the first sensor and the vehicle positioning system, or the translation extrinsic parameter between the first coordinate system and the second coordinate system of the first vehicle;

[0144] δP ix (x represents the sensor type) is the translation extrinsic parameter between the first sensor and the vehicle positioning system, or the error in the translation extrinsic parameter between the first coordinate system and the second coordinate system of the first vehicle;

[0145] In formula (2), “×” is the antisymmetric matrix of a matrix, for example:

[0146] φ× is the antisymmetric matrix of the error of the posture information of the first vehicle in the reference coordinate system;

[0147] θ× is the antisymmetric matrix of the rotation error in the calibration error of the first sensor.

[0148] By simplifying the above formula (2), we can get the following formula (3):

[0149]

[0150] The definitions of the various parameters in formula (3) can be found in the aforementioned formula (2). Based on formula (3), the total covariance formula can be calculated, as shown in formula (4):

[0151]

[0152] The definitions of the various parameters in formula (4) can be found in the aforementioned formulas (2) and (3). In addition, formula (4) also includes the following:

[0153] “T” is the transpose of a matrix;

[0154] R p_o is the total covariance of the first vehicle;

[0155] R pis the covariance of the position information in the measurement value of the positioning system of the first vehicle, where

[0156] R r is the covariance of the attitude information in the measurement value of the positioning system of the first vehicle, where R r =φφ T ;

[0157] R pr is the covariance of the pose information (also described as position information and attitude information) in the measurement value of the positioning system of the first vehicle, where R pr =δP v φ T ;

[0158] R bx_p is the covariance information of the translation part in the calibration error of the first sensor, or can be said to be the covariance information of the translation part in the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle;

[0159] R bx_r is the covariance information of the rotational part in the calibration error of the first sensor, or can be said to be the covariance information of the rotational part in the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle;

[0160] R p_i is the covariance corresponding to the measurement value of the first sensor. For example, when the first sensor is a camera, it may be the covariance of the measurement noise of the camera.

[0161] In a possible implementation, in the above-mentioned error information b1, the error information of the first vehicle's positioning system for positioning the first vehicle includes: at least one of the covariance or variance corresponding to the measurement value of the first vehicle's positioning system. For example, the error information of the first vehicle's positioning system for positioning the first vehicle includes: the covariance corresponding to the measurement value of the first vehicle's positioning system. For another example, the error information of the first vehicle's positioning system for positioning the first vehicle includes: the variance corresponding to the measurement value of the first vehicle's positioning system. For another example, the error information of the first vehicle's positioning system for positioning the first vehicle includes: the covariance and variance corresponding to the measurement value of the first vehicle's positioning system. The error information of the first vehicle's positioning system for positioning the first vehicle can also be called the vehicle position error information. It can include the parameter R in the above formula (4) p 、R r and R prOne or more of the following. The positioning system of the first vehicle can calculate the error information of the positioning of the first vehicle in real time and report it frequently. In one possible implementation, when reporting the content of the error information b1, the content of the error information b1 can be reported along with the image captured by the first sensor.

[0162] In one possible implementation, in the above-mentioned error information b2, the measurement error of the first sensor of the first vehicle used to collect the first position information includes: at least one of the covariance or variance corresponding to the measurement value of the first sensor. For example, the measurement error of the first sensor of the first vehicle used to collect the first position information includes: the covariance corresponding to the measurement value of the first sensor. For another example, the measurement error of the first sensor of the first vehicle used to collect the first position information includes: the variance corresponding to the measurement value of the first sensor. For another example, the measurement error of the first sensor of the first vehicle used to collect the first position information includes: the covariance and variance corresponding to the measurement value of the first sensor. The covariance corresponding to the measurement value of the first sensor may include the parameter R in the above-mentioned formula (4) p_i The measurement error of the first sensor is mainly related to the measurement accuracy of the sensor and can be obtained from the sensor manual or offline measurement data statistics. The measurement error of the first sensor can be reported to the second map updating device through an independent signaling.

[0163] In one possible implementation, in the error information b3, the calibration error of the first sensor includes: at least one of the relative calibration covariance or variance between the first sensor and the inertial sensor of the first vehicle. For example, the calibration error of the first sensor includes: the relative calibration covariance between the first sensor and the inertial sensor of the first vehicle. For another example, the calibration error of the first sensor includes: the relative calibration variance between the first sensor and the inertial sensor of the first vehicle. For another example, the calibration error of the first sensor includes: the relative calibration covariance and variance between the first sensor and the inertial sensor of the first vehicle. The calibration error of the first sensor may include the parameter R in the above formula (4) bx_r , and R bx_p The calibration error of the first sensor can be periodically reported to the second map update device over a longer period. The calibration error of the first sensor is primarily related to calibration accuracy. The calibration error of the first sensor can be obtained using offline statistical methods. The calibration error of the first sensor can be reported to the second map update device via a separate signaling message.

[0164] In step 205, the first map updating device may transmit at least one item of the first location information or the first error information in step 203 to the second map updating device in a single signaling message. In another possible implementation, the signaling message carrying the first location information does not include any item of the first error information. In another possible implementation, the error information b1, error information b2, and error information b3 may be transmitted separately via multiple signaling messages or via a single signaling message.

[0165] Based on the above content, the second map update device side content is introduced below. The solution implemented by the second map update device side can be divided into two scenarios according to the amount of received map element location information:

[0166] In scenario 1, the value of N is 1, that is, for a map element, the second map updating device only receives the first position information of the map element reported by the first vehicle within a preset period of time.

[0167] In scenario 2, the value of N is an integer greater than 1, that is, for a map element, the second map updating device receives multiple position information of the map element reported by multiple vehicles (such as the first vehicle and the second vehicle) within a preset period of time.

[0168] The following describes the above two scenarios respectively.

[0169] Scenario 1: The second map updating device receives the first position information of the map element reported by the first vehicle within a preset period of time. Figure 2a This section introduces scenario 1. Figure 2a As shown, the second map updating device may execute step 221 and step 222 .

[0170] In step 221 , the second map updating device obtains first error information and first position information of the map element collected by the first vehicle.

[0171] In the embodiment of the present application, in step 204 , there are multiple ways for the second map updating apparatus to obtain the first error information. For example, the second map updating apparatus may receive the first error information sent by the first map updating apparatus in step 205 .

[0172] In another possible implementation, the second map update device may also pre-store a correspondence between the identifier of the vehicle positioning system and the error information of the vehicle positioning system used to locate the vehicle. In this manner, the second map update device can determine the error information of the vehicle positioning system used to locate the vehicle after obtaining the identifier of the vehicle positioning system installed on the first vehicle. In this implementation, the second map update device may obtain the identifier of the vehicle positioning system installed on the first vehicle in a variety of ways. For example, the second map update device may receive the identifier of the first vehicle's positioning system reported to the second map update device by the first map update device. Alternatively, the second map update device may receive the identifier of the first vehicle reported to the second map update device by the first map update device and determine the identifier of the vehicle positioning system installed on the first vehicle based on the correspondence between the identifier of the vehicle and the identifier of the positioning system installed on the vehicle, which is pre-stored on the second map update device.

[0173] In step 222 , the second map updating device updates the map according to the first error information and the first location information.

[0174] In step 222, the second map updating device may execute the map update process in conjunction with the first error information. In one possible implementation, a first error threshold may be set. If the error value corresponding to the first error information is greater than the first error threshold, it indicates that the error in positioning the first vehicle by the vehicle positioning system of the first vehicle is large. In this case, the first position information of the map element obtained by the first map updating device on the first vehicle may differ significantly from the actual position information of the map element. In this case, the first position information of the map element may not be used to update the current position information of the map element on the map. That is, when the error value corresponding to the first error information is greater than the first error threshold, the second map updating device stops executing the map update process, i.e., the first position information is no longer used to update the current position information of the map element on the map.

[0175] In another possible implementation, if the error value corresponding to the first error information is no greater than a first error threshold, this indicates that the positioning error of the first vehicle by the vehicle positioning system of the first vehicle is relatively small. In this case, the first position information of the map element obtained by the first map updating device on the first vehicle may also be relatively small in difference from the actual position information of the map element. In this case, the second map updating device may use the first position information of the map element to update the current position information of the map element on the map.

[0176] In one possible implementation of step 222, the second map updating device may determine a first weight based on the first error information, where the first weight is used to indicate the degree of correction of the current position information of the map element by the first position information. The second map updating device updates the current position information of the map element on the map based on the first position information and the first weight.

[0177] In one possible implementation, when the error value corresponding to the first error information is greater than the first error threshold, the first weight may be determined to be 0. In this case, since the first weight is 0, it indicates that the degree of correction of the current position information of the map element by the first position information is 0%. Therefore, the second map updating device updates the current position information of the map element on the map based on the first position information and the first weight. The specific implementation process includes: the second map updating device does not use the first position information of the map element to update the current position information of the map element on the map.

[0178] In another possible implementation, when the error value corresponding to the first error information is not greater than the first error threshold, the first weight can be determined to be 1. In this case, since the first weight is 1, it indicates that the degree of correction of the current position information of the map element by the first position information is 100%. Therefore, the second map updating device updates the current position information of the map element on the map based on the first position information and the first weight. The specific implementation process includes: the second map updating device uses the first position information of the map element to update the current position information of the map element on the map.

[0179] In one embodiment of the present application, a second map updating device obtains a first image reported by a first vehicle, preprocesses the first image, and determines the location information of each map element included in the first image. Furthermore, the second map updating device compares the preprocessed first image with a map. For a map element in the first image, if the map element is newly added or has moved, the second map updating device may update the current location information of the map element on the map based on the first location information of the map element in the first image. Alternatively, the second map updating device compares the first image with the map. If a map element is located on the map but not in the corresponding area of ​​the first image—that is, the map element is not located at the location information of the map element in the first image—then the second map updating device may determine that the map element has been removed, and the second map updating device needs to remove the map element from the map.

[0180] In scenario two, the value of N is an integer greater than 1. That is, for a map element, the second map updating device receives multiple location information of the map element reported by multiple vehicles within a preset period of time. For example, the first vehicle reports the first location information of the map element, and the second vehicle reports the second location information of the map element. Figure 2b A flowchart of a map updating method in an embodiment of the present application is shown below. Figure 2b Introduce scenario 2.

[0181] In this scenario 2, multiple vehicles report the location information of map elements. The solutions on the terminal device side are similar to the solutions on the first terminal device side described in steps 201 to 205 above. The following example takes scenario 2 in which a second vehicle is also included. Figure 2b As shown, a brief introduction is given to steps 211 to 215 executed by the second terminal device. Steps 211 to 215 are similar to steps 201 to 205, and will not be elaborated on in detail.

[0182] In step 211 , a second sensor provided on a second vehicle collects a second image.

[0183] In step 212, a third map updating device, located on the second vehicle, obtains second position information of a map element in the second image based on the second image. The map element is the same map element as that in step 202. The method for obtaining the second position information of the map element in the second image by the third map updating device can be similar to the method for obtaining the first position information by the first map updating device described above, and will not be elaborated upon here.

[0184] Step 213: The third map updating apparatus sends the second location information of the map element to the second map updating apparatus.

[0185] In step 214, the third map updating device obtains second error information, which includes error information of the second vehicle's positioning system. For details about the second error information, refer to the first error information, and will not be elaborated on here.

[0186] Step 215: The third map updating apparatus sends second error information to the second map updating apparatus.

[0187] In step 231, the second map updating apparatus determines a first weight based on the first error information and the second error information. The first weight indicates the degree to which the first position information corrects the current position information of the map element. The second map updating apparatus determines a second weight based on the first error information and the second error information. The second weight indicates the degree to which the second position information corrects the current position information of the map element.

[0188] In step 231, in one possible implementation, the larger the error value corresponding to the error information of a vehicle, the smaller the weight corresponding to the vehicle, and the smaller the error value corresponding to the error information of a vehicle, the larger the weight corresponding to the vehicle.

[0189] In one possible implementation, the second map updating device may compare the first error information and the second error information. For example, the device may compare a first proportional relationship between the error value corresponding to the first error information and the error value corresponding to the second error information. The inverse of the first proportional relationship may be approximately equal to a second proportional relationship between the first weight and the second weight. Alternatively, the difference between the inverses of the first proportional relationship and the second proportional relationship may be less than a first difference threshold. In one possible implementation, if the second map updating device receives only the first and second position information of a map element within a preset period of time, the sum of the first and second weights may be set to 100%.

[0190] In one possible implementation, if the first error information is smaller than the second error information, the first weight is greater than the second weight; if the first error information is larger than the second error information, the first weight is less than the first weight; and if the first error information is equal to the second error information, the first weight is equal to the second weight. Thus, it can be seen that the weights of the error information reported by each vehicle are mutually affected, and the position information reported by the vehicle with the smaller error value is always given a higher weight. In other words, the second map updating device always trusts the position information of the map element reported by the vehicle with the smaller error value more, while the position information of the map element reported by the vehicle with the larger error value is less trusted. This can further improve the accuracy of map updates.

[0191] For example, if the ratio of the error value corresponding to the first error information to the error value corresponding to the second error information is 2:8, indicating that the error value corresponding to the second error information is four times the error value corresponding to the first error information, then the first weight can be set to 80% and the second weight can be set to 20%. The sum of the first and second weights equals 100%. It can be seen that the first weight indicates the proportion of the first error information in the first and second error information, and the second weight indicates the proportion of the second error information in the first and second error information.

[0192] By setting the weights, we can see that the error value corresponding to the first error information is smaller, so the first weight is larger. As a result, the first position information has a greater degree of correction for the map element. The error value corresponding to the second error information is larger, so the second weight is smaller. As a result, the second position information has a smaller degree of correction for the map element. This shows that in actual applications, some vehicles may have large error information due to various reasons, such as weak GNSS signals. In this case, the position information of the map element collected by this vehicle may be less accurate. If the map is updated in combination with the position information of the map element collected by other vehicles with stronger GNSS signals, the accuracy of the map update can be improved.

[0193] In step 231, in another possible implementation, a first error threshold may be set. If the error value corresponding to the error information (first error information or second error information) of a vehicle is greater than the first error threshold, the weight corresponding to the vehicle may be determined to be 0. In other words, in this possible implementation, the location information of map elements reported by multiple vehicles may be filtered using the first error threshold, and the location information reported by vehicles whose error information has an error value greater than the first error threshold may be directly discarded. Furthermore, the weight corresponding to each location information may be determined based on the location information of the remaining map elements after filtering and the error information corresponding to the remaining location information after filtering.

[0194] Step 232 : The second map updating device updates the current position information of the map element on the map according to the first position information, the second position information, the first weight, and the second weight.

[0195] In the above step 232, in one possible implementation, the second map updating device may perform weighted addition on the first position information and the second position information according to the first weight and the second weight to obtain updated position information; and update the position information of the map element on the map to the updated position information.

[0196] In steps 231 and 232, the behavior of the second map update device is described using the first and second vehicles. When the second map update device receives N pieces of position information reported by N vehicles (for ease of reference, N third vehicles are used for illustration), where N is a positive integer greater than 1, and the N third vehicles may include the first and second vehicles, the second map update device receives N pieces of position information reported by N vehicles.

[0197] For a third vehicle, when the third vehicle is the above-mentioned first vehicle, the fourth map updating device set on the third vehicle is the first map updating device, the third sensor set on the third vehicle is the above-mentioned first sensor, the third image collected by the third sensor on the third vehicle is the above-mentioned first image, the third error information of the third vehicle is the above-mentioned first error information, and the third position information of the map element determined by the fourth map updating device is the above-mentioned first position information.

[0198] For a third vehicle, when the third vehicle is the above-mentioned second vehicle, the fourth map updating device set on the third vehicle is the third map updating device, the third sensor set on the third vehicle is the above-mentioned second sensor, the third image collected by the third sensor on the third vehicle is the above-mentioned second image, the third error information of the third vehicle is the above-mentioned second error information, and the third position information of the map element determined by the fourth map updating device is the above-mentioned second position information.

[0199] In this embodiment, see Figure 2c The flowchart of the map updating method shown in FIG. Figure 2c As shown:

[0200] For each of the N third vehicles, the third vehicle may perform steps 241 to 245:

[0201] In step 241 , a third sensor provided on a third vehicle captures a third image.

[0202] In step 242 , a fourth map updating device, which is located on a third vehicle, obtains third position information of a map element in the third image based on the third image. The map element is the same as the map element in step 202 .

[0203] Step 243: The fourth map updating apparatus sends the third position information of the map element to the second map updating apparatus.

[0204] In step 244 , the fourth map updating device obtains third error information, where the third error information includes error information of positioning the third vehicle by the positioning system of the third vehicle.

[0205] Step 245: The fourth map updating apparatus sends third error information to the second map updating apparatus.

[0206] In step 246 , the second map updating device obtains third error information of each of the N third vehicles and third position information of the map element obtained by the fourth map updating device of each of the N third vehicles.

[0207] In step 247 , the second map updating device determines a third weight corresponding to each of the N third vehicles based on the N third error information of the N third vehicles.

[0208] In one possible implementation, the sum of the N third weights is 1.

[0209] In a possible implementation manner, when the error value corresponding to the third error information of a third vehicle is less than the first error threshold:

[0210] The larger the error value corresponding to the third error information, the smaller the third weight corresponding to the third error information; and the smaller the error value corresponding to the third error information, the larger the third weight corresponding to the third error information.

[0211] Among them, a third weight can be used to represent the degree of correction of the current position information of the map element by the third position information corresponding to the third weight. A third weight can also be used to represent the proportion of the third error information corresponding to the third weight in the N third error information. Or, it can be said that a third weight can also be used to represent the proportion of the third error information corresponding to the third weight in the M third error information. Among them, M is a positive integer not greater than N, the M third error information is M error information out of the N third error information, and the error value corresponding to each third error information in the M third error information is less than the first error threshold.

[0212] In step 248 , the second map updating device performs weighted addition on the N third position information of the map element according to the N third weights corresponding to the N third vehicles to obtain updated position information.

[0213] In step 249 , the second map updating device updates the position information of the map elements on the map to the updated position information.

[0214] The terms "system" and "network" in the embodiments of the present application can be used interchangeably. "At least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0215] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not used to define the order, sequence, priority, or importance of multiple objects. For example, the first vehicle and the second vehicle are only used to distinguish different vehicles and do not indicate a difference in priority or importance between the two vehicles.

[0216] It should be noted that the names of the above-mentioned messages are merely examples. With the evolution of communication technology, the names of any of the above-mentioned messages may change. However, no matter how the names change, as long as their meanings are the same as those of the above-mentioned messages in this application, they fall within the scope of protection of this application.

[0217] The above mainly introduces the solution provided by the present application from the perspective of the interaction between various network elements. It can be understood that in order to realize the above functions, the above-mentioned network elements include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software-driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0218] According to the above method, Figure 3 A schematic diagram of the structure of a communication device provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the communication device can be a map updating device on a terminal device (e.g., the first map updating device of the first vehicle, the third map updating device of the second vehicle, or the fourth map updating device of the third vehicle) or a map updating device on a server (e.g., the second map updating device). It can also be a chip or circuit, such as a chip or circuit that can be provided in a map updating device on a terminal device, or a chip or circuit that can be provided in a second map updating device.

[0219] Furthermore, the communication device 1301 may further include a bus system, wherein the processor 1302 , the memory 1304 , and the transceiver 1303 may be connected via the bus system.

[0220] It should be understood that the processor 1302 may be a chip. For example, the processor 1302 may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0221] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor 1302 or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor 1302. The software module can be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 1304, and the processor 1302 reads the information in the memory 1304 and completes the steps of the above method in conjunction with its hardware.

[0222] It should be noted that the processor 1302 in the embodiments of the present application can be an integrated circuit chip with a signal processing capability. In the implementation process, the steps of the above method embodiments can be completed by the integrated logic circuit or the instruction in the form of software in the processor. The processor mentioned above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method.

[0223] It is understood that the memory 1304 in the embodiment of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0224] When the communication device 1301 corresponds to the second map updating device in the above method, the communication device may include a processor 1302, a transceiver 1303 and a memory 1304. The memory 1304 is used to store instructions, and the processor 1302 is used to execute the instructions stored in the memory 1304 to implement the above method. Figures 1a to 2c A related solution of the second map updating device in any one or more corresponding methods shown in .

[0225] When the communication device 1301 is the above-mentioned second map updating device, the transceiver 1303 is used to obtain the first position information of the map element collected by the first vehicle; the processor 1302 is used to obtain the first error information of the first vehicle, and the first error information includes the error information of the first vehicle's positioning system for positioning the first vehicle; the map is updated according to the first error information and the first position information.

[0226] In one possible implementation, the processor 1302 is specifically configured to: determine a first weight based on the first error information, where the first weight is used to represent the degree of correction of the current position information of the map element by the first position information; and update the current position information of the map element on the map based on the first position information and the first weight.

[0227] In one possible implementation, the processor 1302, before updating the map based on the first error information and the first position information, is further configured to: obtain second error information of the second vehicle and second position information of the map element collected by the second vehicle, the second error information including error information of positioning the second vehicle by a positioning system of the second vehicle; determine a second weight based on the first error information and the second error information, the second weight being used to represent a degree of correction of the current position information of the map element by the second position information;

[0228] The first weight is determined according to the first error information and the second error information; and the current position information of the map element on the map is updated according to the first position information, the second position information, the first weight and the second weight.

[0229] When the communication device 1301 corresponds to the map updating device at the terminal end in the above method, the communication device may include a processor 1302, a transceiver 1303 and a memory 1304. The memory 1304 is used to store instructions, and the processor 1302 is used to execute the instructions stored in the memory 1304 to implement the above Figures 1a to 2c A solution of a map updating device on a terminal device in any one or more of the corresponding methods shown in . The solution of the map updating device on the terminal device is described using the first map updating device of the first vehicle as an example, but the solution is also applicable to map updating devices of other vehicles, such as the third map updating device of the second vehicle or the fourth map updating device of the third vehicle.

[0230] When the communication device 1301 is the first map updating device at the first terminal device end, the processor 1302 is used to obtain the first position information of the map element; obtain the first error information, the first error information including the error information of the first vehicle's positioning system for positioning the first vehicle; the transceiver 1303 is used to send the first position information and the first error information of the map element to the second map updating device.

[0231] In one possible implementation, the transceiver 1303 is specifically configured to send first position information and first error information of a map element to a second map updating device when one of the following conditions is met: the map element is not included in a first preset area of ​​the map; the first preset area is an area on the map with the first position information as the center and a preset first distance threshold as the radius; and the distance between the position information of the map element on the map and the first position information is greater than a preset second distance threshold.

[0232] For the concepts, explanations, detailed descriptions and other steps involved in the communication device and related to the technical solutions provided in the embodiments of the present application, please refer to the descriptions of these contents in the aforementioned methods or other embodiments, which will not be repeated here.

[0233] According to the above method, Figure 4 A schematic diagram of the structure of a communication device provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the communication device 1401 may include a communication interface 1403, a processor 1402, and a memory 1404. The communication interface 1403 is used to input and / or output information; the processor 1402 is used to execute computer programs or instructions so that the communication device 1401 can achieve the above Figures 1a to 2c The method of the map updating device side of the terminal device in the related scheme, or the communication device 1401 implements the above Figures 1a to 2c In the embodiment of the present application, the communication interface 1403 can implement the above Figure 3 The solution implemented by the transceiver 1303, the processor 1402 can implement the above Figure 3 The processor 1302 implements the solution, and the memory 1404 can implement the above Figure 3 The solution implemented by the memory 1304 will not be described in detail here.

[0234] Based on the above embodiments and the same concept, Figure 5 A schematic diagram of a communication device provided in an embodiment of the present application, such as Figure 5 As shown, the communication device 1501 can be a map updating device or a second map updating device at the terminal device end, or can be a chip or circuit, such as a chip or circuit that can be set at the map updating device or the second map updating device at the terminal device end.

[0235] The communication device can correspond to the map updating device at the terminal end in the above method. Figures 1a to 2c The communication device may include a processing unit 1502, a communication unit 1503 and a storage unit 1504.

[0236] When the communication device 1501 corresponds to the server-side map updating device in the above method, the communication unit 1503 is used to obtain the first position information of the map element collected by the first vehicle; the processing unit 1502 is used to obtain the first error information of the first vehicle, and the first error information includes the error information of the first vehicle's positioning system for positioning the first vehicle; and the map is updated according to the first error information and the first position information.

[0237] When the communication device 1501 corresponds to the above-mentioned first map updating device, the processing unit 1502 is used to obtain the first position information of the map element; obtain the first error information, the first error information includes the error information of the first vehicle's positioning system for positioning the first vehicle; the communication unit 1503 is used to send the first position information and the first error information of the map element.

[0238] For the concepts, explanations, detailed descriptions and other steps involved in the communication device and related to the technical solutions provided in the embodiments of the present application, please refer to the descriptions of these contents in the aforementioned methods or other embodiments, which will not be repeated here.

[0239] It can be understood that the functions of the various units in the above-mentioned communication device 1501 can be implemented with reference to the corresponding method embodiments, and will not be repeated here.

[0240] It should be understood that the division of the units of the above communication device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In the embodiment of the present application, the communication unit 1503 can be composed of the above Figure 3 The transceiver 1303 is implemented, and the processing unit 1502 can be implemented by the above Figure 3 The processor 1302 is implemented.

[0241] According to the method provided in the embodiment of the present application, the present application also provides a computer program product, which includes: computer program code or instructions, which, when the computer program code or instructions are executed on a computer, causes the computer to execute Figures 1a to 2c A method according to any one of the embodiments shown.

[0242] According to the method provided in the embodiment of the present application, the present application also provides a computer-readable storage medium, which stores a program code, and when the program code is run on a computer, the computer executes Figures 1a to 2c A method according to any one of the embodiments shown.

[0243] According to the method provided in the embodiment of the present application, the present application also provides a chip system, which may include a processor. The processor is coupled to the memory and can be used to execute Figures 1a to 2cThe method of any one of the embodiments shown. Optionally, the chip system also includes a memory. The memory is used to store computer programs (also called codes or instructions). The processor is used to call and run the computer program from the memory so that the device equipped with the chip system executes Figures 1a to 2c A method according to any one of the embodiments shown.

[0244] According to the method provided in the embodiment of the present application, the present application also provides a system, which includes one or more vehicles as mentioned above and a map updating device on the server side, wherein the map updating device is provided in the vehicle.

[0245] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. Available media may be magnetic media (eg, floppy disks, hard disks, tapes), optical media (eg, high-density digital video discs (DVDs)), or semiconductor media (eg, solid state discs (SSDs)).

[0246] Note: A portion of this patent application contains material which is subject to copyright protection. The copyright owner reserves all rights reserved except for copies of the materials in the patent file or patent record in the Patent Office.

[0247] The second map updating device in each of the aforementioned apparatus embodiments corresponds to the second map updating device or the map updating device on the terminal device side in the method embodiments. The corresponding modules or units perform the corresponding steps. For example, the communication unit (transceiver) performs the receiving or sending steps in the method embodiments, while all other steps except sending and receiving can be performed by the processing unit (processor). The functions of the specific units can be referenced in the corresponding method embodiments. There can be one or more processors.

[0248] As used in this specification, the terms "component," "module," "system," and the like are used to refer to computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. By way of illustration, both an application running on a computing device and a computing device can be a component. One or more components can reside in a process and / or an execution thread, and a component can be located on one computer and / or distributed between two or more computers. In addition, these components can be executed from various computer-readable media having various data structures stored thereon. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component across a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0249] Those skilled in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0250] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0251] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electric, mechanical or in other forms.

[0252] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0253] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0254] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, etc.) to execute all or part of the steps of the methods in the embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various media that can store program codes.

[0255] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A map updating method, characterized in that: include: The first map updating device obtains first position information and first error information of a map element, and sends the first position information and the first error information of the map element to the second map updating device, wherein the first error information includes error information of positioning the first vehicle by a positioning system of the first vehicle; The second map updating device receives the first error information and the first position information, obtains second error information of the second vehicle and second position information of the map element collected by the second vehicle, the second error information including error information of the second vehicle's positioning by the positioning system; determines a first weight based on the first error information and the second error information, the first weight being used to represent the proportion of the first error information in the first error information and the second error information, and the first weight being used to represent the degree of correction of the current position information of the map element by the first position information; determines a second weight based on the first error information and the second error information, the second weight being used to represent the proportion of the second error information in the first error information and the second error information, and the second weight being used to represent the degree of correction of the current position information of the map element by the second position information; and updates the current position information of the map element on the map based on the first position information, the second position information, the first weight, and the second weight.

2. A map updating method, characterized in that: include: Acquire first error information of a first vehicle and first position information of a map element collected by the first vehicle, wherein the first error information includes error information of a positioning system of the first vehicle in positioning the first vehicle; Acquire second error information of the second vehicle and second position information of the map element collected by the second vehicle, wherein the second error information includes error information of positioning the second vehicle by a positioning system of the second vehicle; determining a first weight based on the first error information and the second error information, the first weight being used to represent a proportion of the first error information in the first error information and the second error information, and the first weight being used to represent a degree of correction of the current position information of the map element by the first position information; determining a second weight based on the first error information and the second error information, the second weight being used to represent a proportion of the second error information in the first error information and the second error information, and the second weight being used to represent a degree of correction of the current position information of the map element by the second position information; The current position information of the map element on the map is updated according to the first position information, the second position information, the first weight, and the second weight.

3. The method according to claim 2, wherein The first error information further includes: At least one of a measurement error of a first sensor of the first vehicle used to acquire the first position information or a calibration error of the first sensor.

4. The method according to claim 3, wherein Error information of positioning the first vehicle by the positioning system of the first vehicle includes: covariance corresponding to measurement values ​​of the positioning system of the first vehicle; The measurement error of the first sensor of the first vehicle used to collect the first position information includes: a covariance corresponding to the measurement value of the first sensor; The calibration error of the first sensor includes a relative calibration covariance between the first sensor and an inertial sensor of the first vehicle.

5. A map updating method, characterized in that: include: Get the first position information of the map element; Obtaining first error information, the first error information including error information resulting from positioning the first vehicle by a positioning system of the first vehicle, the first error information and second error information being used to determine a first weight, the first weight being used to indicate a proportion of the first error information relative to the first error information and the second error information, the first weight being used to indicate a degree of correction of the current position information of the map element by the first position information, the second error information including error information resulting from positioning the second vehicle by a positioning system of the second vehicle, the first error information and the second error information being used to determine a second weight, the second weight being used to indicate a proportion of the second error information relative to the first error information and the second error information; The first position information and the first error information of the map element are sent to a second map updating device, where the first position information, the second position information, the first weight, and the second weight are used to update the current position information of the map element on the map, and the second position information is the position information of the map element collected by the second vehicle.

6. The method according to claim 5, wherein The first error information further includes: At least one of a measurement error of a first sensor of the first vehicle used to acquire the first position information or a calibration error of the first sensor.

7. The method according to claim 6, wherein Error information of positioning the first vehicle by the positioning system of the first vehicle includes: covariance corresponding to measurement values ​​of the positioning system of the first vehicle; The measurement error of the first sensor of the first vehicle used to collect the first position information includes: a covariance corresponding to the measurement value of the first sensor; The calibration error of the first sensor includes a relative calibration covariance between the first sensor and an inertial sensor of the first vehicle.

8. The method according to any one of claims 5 to 7, wherein: The sending the first position information and the first error information of the map element to the second map updating apparatus includes: When at least one of the following conditions is met, the first position information and the first error information of the map element are sent to the second map updating apparatus: The map element is not included in a first preset area of ​​the map, wherein the first preset area is an area on the map with the first location information as the center and a preset first distance threshold as the radius; or; The distance between the position information of the map element on the map and the first position information is greater than a preset second distance threshold.

9. A map updating device, characterized in that: include: a communication unit, configured to obtain first position information of a map element collected by the first vehicle; a processing unit configured to obtain first error information of a first vehicle, the first error information including error information of a positioning system of the first vehicle in positioning the first vehicle; and obtain second error information of a second vehicle and second position information of the map element collected by the second vehicle, the second error information including error information of a positioning system of the second vehicle in positioning the second vehicle; determining a first weight based on the first error information and the second error information, the first weight being used to represent a proportion of the first error information in the first error information and the second error information, and the first weight being used to represent a degree of correction of the current position information of the map element by the first position information; determining a second weight based on the first error information and the second error information, the second weight being used to represent a proportion of the second error information in the first error information and the second error information, and the second weight being used to represent a degree of correction of the current position information of the map element by the second position information; The current position information of the map element on the map is updated according to the first position information, the second position information, the first weight, and the second weight.

10. The map updating device according to claim 9, wherein: The first error information further includes: At least one of a measurement error of a first sensor of the first vehicle used to acquire the first position information or a calibration error of the first sensor.

11. The map updating device according to claim 10, wherein: Error information of positioning the first vehicle by the positioning system of the first vehicle includes: covariance corresponding to measurement values ​​of the positioning system of the first vehicle; The measurement error of the first sensor of the first vehicle used to collect the first position information includes: a covariance corresponding to the measurement value of the first sensor; The calibration error of the first sensor includes a relative calibration covariance between the first sensor and an inertial sensor of the first vehicle.

12. A map updating device, characterized in that: include: A processing unit, configured to obtain first position information of a map element; Acquire first error information, where the first error information includes error information of positioning the first vehicle by a positioning system of the first vehicle; A communication unit, used to send the first position information and the first error information of the map element, the first error information and the second error information are used to determine a first weight, the first weight is used to indicate the degree of correction of the current position information of the map element by the first position information, the first weight is used to indicate the proportion of the first error information in the first error information and the second error information, the second error information includes error information of the second vehicle positioned by the positioning system of the second vehicle, the first error information and the second error information are used to determine a second weight, the second weight is used to indicate the proportion of the second error information in the first error information and the second error information, the first position information, the second position information, the first weight and the second weight are used to update the current position information of the map element on the map, the second position information is the position information of the map element collected by the second vehicle.

13. The map updating device according to claim 12, wherein: The first error information further includes: At least one of a measurement error of a first sensor of the first vehicle used to acquire the first position information or a calibration error of the first sensor.

14. The map updating device according to claim 13, wherein: Error information of positioning the first vehicle by the positioning system of the first vehicle includes: covariance corresponding to measurement values ​​of the positioning system of the first vehicle; The measurement error of the first sensor of the first vehicle used to collect the first position information includes: a covariance corresponding to the measurement value of the first sensor; The calibration error of the first sensor includes a relative calibration covariance between the first sensor and an inertial sensor of the first vehicle.

15. The map updating device according to any one of claims 12 to 14, characterized in that: The communication unit is specifically configured to: The first position information and the first error information of the map element are sent when at least one of the following conditions is met: The map element is not included in a first preset area of ​​the map, wherein the first preset area is an area on the map with the first location information as the center and a preset first distance threshold as the radius; or The distance between the position information of the map element on the map and the first position information is greater than a preset second distance threshold.

16. A map updating device, characterized in that: The map updating device comprises a processor and a memory, wherein the memory is used to store computer-executable instructions. When the map updating device is running, the processor executes the computer-executable instructions in the memory to utilize the hardware resources in the map updating device to perform the operation steps of any one of the methods described in claims 2-8.

17. A map updating device, characterized in that: Including processor and communication interface, The communication interface is used to input and / or output information; The processor is configured to execute a computer program so that the method according to any one of claims 2 to 8 is performed.

18. A map updating device, characterized in that: The map updating device comprises a processor and a memory, wherein the memory is used to store computer-executable instructions. When the map updating device is running, the processor executes the computer-executable instructions in the memory to utilize the hardware resources in the map updating device to perform the operation steps of any one of the methods described in claims 2-8.

19. A map updating device, characterized in that: Including processor and communication interface, The communication interface is used to input and / or output information; The processor is configured to execute a computer program so that the method according to any one of claims 2 to 8 is performed.

20. A map updating system, characterized in that: The invention comprises a map updating device for executing the method according to any one of claims 2 to 4, and a map updating device for executing the method according to any one of claims 5 to 8.

21. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer-executable program, and when the computer-executable program is called by a computer, the computer executes the method according to any one of claims 2 to 8.

22. A chip system, characterized in that: include: a communication interface for inputting and / or outputting information; A processor, configured to execute a computer program through the communication interface so that a device equipped with the chip system executes the method according to any one of claims 2 to 8.

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