Method, device, equipment and medium for processing map data

Abstract

The embodiments of this specification disclose a method, apparatus, device, and medium for processing map data. The method includes: obtaining map acquisition perception data uploaded by a data acquisition terminal; classifying the map acquisition data according to a map update task to obtain first-category map data and second-category map data; sending the first-category map data to a map update system so that the map update system completes the map update task based on the first-category map data; and sending the second-category map data to the map update system when the map update system is idle.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a method, apparatus, device and medium for processing map data. Background Art

[0002] Autonomous driving is a key technology for modern automobiles. High-precision maps, used as sensors for autonomous driving beyond visual range, place high demands on real-time mapping. Traditional methods for updating high-precision maps are increasingly unable to meet the demand for nationwide, wide-area, high-precision maps required for autonomous driving. The industry generally believes that crowdsourcing will become the primary method for updating high-precision maps.

[0003] Crowdsourcing is a common solution for updating high-precision maps. However, this traditional crowdsourcing model typically involves the crowdsourcing map update system receiving all collected data from a map data collection client. This data may contain data not needed for the map update and may also contain duplicate data, resulting in data redundancy in the map update system. This data also generates a large number of computations, consuming computing resources.

[0004] Therefore, how to effectively improve the utilization of computing resources during map updating is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The embodiments of this specification provide a method and apparatus for processing map data to solve the problem of low computing resource utilization in the existing map update process.

[0006] To solve the above technical problems, the embodiments of this specification are implemented as follows:

[0007] An embodiment of this specification provides a method for processing map data, including:

[0008] Acquire map collection perception data uploaded by a data collection terminal; the map collection perception data includes perception data provided by multiple data collection terminals;

[0009] Classifying the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; and the second-category map data is data that does not match the map update task;

[0010] sending the first type of map data to a map updating system so that the map updating system completes the map updating task based on the first type of map data;

[0011] When the map updating system is in an idle state, the second type of map data is sent to the map updating system so that the map updating system updates the existing map data according to the second type of map data.

[0012] An embodiment of this specification provides a map data processing device, including:

[0013] A data acquisition module is used to acquire map acquisition perception data uploaded by a data acquisition terminal; the map acquisition perception data includes perception data provided by multiple data acquisition terminals;

[0014] a data classification module, configured to classify the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; and the second-category map data is data that does not match the map update task;

[0015] a first data sending module, configured to send the first type of map data to a map updating system, so that the map updating system completes the map updating task based on the first type of map data;

[0016] The second data sending module is configured to send at least part of the second type of map data to the map updating system when the map updating system is in an idle state, so that the map updating system updates existing map data according to the second type of map data.

[0017] An embodiment of this specification provides a device for processing map data, including:

[0018] at least one processor; and,

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0021] Acquire map collection perception data uploaded by a data collection terminal; the map collection perception data includes perception data provided by multiple data collection terminals;

[0022] Classifying the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; and the second-category map data is data that does not match the map update task;

[0023] sending the first type of map data to a map updating system so that the map updating system completes the map updating task based on the first type of map data;

[0024] When the map updating system is in an idle state, the second type of map data is sent to the map updating system so that the map updating system updates the existing map data according to the second type of map data.

[0025] An embodiment of this specification provides a computer-readable medium having computer-readable instructions stored thereon. The computer-readable instructions can be executed by a processor to implement a method for processing map data.

[0026] The embodiment of this specification provides a map data processing platform, which includes a map data processing system and a map update system; the map processing system is used to execute the above-mentioned map data processing method;

[0027] The map data processing system sends the first type of map data to the map updating system;

[0028] The map updating system receives the first type of map data;

[0029] The map updating system completes the map updating task based on the first type of map data;

[0030] The map data processing system sends the second type of map data to the map updating system;

[0031] The map updating system receives the second type of map data;

[0032] The map updating system updates the existing map data according to the second type of map data.

[0033] One embodiment of this specification achieves the following beneficial effects:

[0034] In the embodiments of the present specification, the server can classify the map collection perception data uploaded by the data collection terminal according to the map update task, and can send the data matching the map update task to the map update system, thereby reducing the amount of data irrelevant to the map update task received by the map update system, reducing the redundancy of data in the map update system, reducing the resources of the map update system occupied by irrelevant data, and improving the resource utilization of the map update system.

[0035] Furthermore, in the embodiments of this specification, the server may also send data that does not match the map update task to the map update system when the map update system is in an idle state. This does not affect the map update system's processing of the map update task, and allows the map update system to update the received map data to ensure the freshness of the map update. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 A schematic diagram of an application scenario of a map data processing method provided in an embodiment of this specification;

[0038] Figure 2 A flowchart of a map data processing method provided in an embodiment of this specification;

[0039] Figure 3 A schematic diagram of a method for filtering map acquisition data provided in an embodiment of this specification;

[0040] Figure 4 A schematic diagram of the structure of a map data processing device provided in an embodiment of this specification;

[0041] Figure 5 A schematic diagram of the structure of a map data processing device provided in an embodiment of this specification;

[0042] Figure 6 This is a structural diagram of a map data processing platform provided in an embodiment of this specification. DETAILED DESCRIPTION

[0043] To make the purpose, technical solutions, and advantages of one or more embodiments of this specification more clear, the technical solutions of one or more embodiments of this specification will be clearly and completely described below in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of one or more embodiments of this specification.

[0044] The technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0045] In the prior art, for crowdsourcing map updates, a large number of map data collection terminals usually send all the collected data to the crowdsourcing map update system. The sent data usually contains some data that does not meet the map update task. In particular, due to the function settings or function limitations of the map data collection terminal, the map data collection terminal cannot receive the issued collection tasks. In this way, the map data collection terminal will send any collected map data to the crowdsourcing map update system, which will cause a large amount of data redundancy in the system and seriously affect the system's processing capabilities.

[0046] In order to solve the defects in the prior art, this solution provides the following embodiments:

[0047] Figure 1 This is a schematic diagram of an application scenario of a method for processing map data provided in an embodiment of this specification. Figure 1 As shown, the solution may include several data collection terminals 1, a server 2, and a map update system 3. The server 2 may obtain the map collection perception data uploaded by the data collection terminal 1, classify the received map collection perception data according to the map update tasks of the map update system 3, and send the data that matches the map update tasks to the map update system 3. It may also send at least some data that does not match the map update tasks to the map update system when the map update system is in an idle state.

[0048] Next, a method for processing map data provided in an embodiment of the specification will be described in detail with reference to the accompanying drawings:

[0049] Figure 2 This is a flowchart of a method for processing map data provided by an embodiment of this specification. From a program perspective, the execution subject of the process can be a program installed on an application server or an application client.

[0050] like Figure 2 As shown, the process may include the following steps:

[0051] Step 202: Acquire map acquisition perception data uploaded by a data acquisition terminal; the map acquisition perception data includes perception data provided by multiple data acquisition terminals.

[0052] In practical applications, data collection terminals can be vehicles, terminals, etc. capable of collecting map data, or devices such as sensors. Data collection terminals can include sensors for collecting data, and the data collected by the data collection terminals can be sensor data collected by the sensors. The server can obtain sensor data collected by multiple data collection terminals through sensors and other collection components.

[0053] Step 204: Classify the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; the second-category map data is data that does not match the map update task.

[0054] In practical applications, as real-life objects such as roads and buildings change, electronic map data needs to be updated periodically or irregularly to better reflect actual conditions. In the embodiments of this specification, a server can obtain a map update task for obtaining map data. Map update tasks can be manually determined or issued by another server capable of issuing map update tasks. Map update tasks can also be determined based on the needs of data requesters, and the specific method is not specifically limited here.

[0055] Step 206: Send the first type of map data to a map updating system, so that the map updating system completes the map updating task based on the first type of map data.

[0056] Step 208: When the map updating system is in an idle state, at least part of the second type of map data is sent to the map updating system, so that the map updating system updates existing map data according to the second type of map data.

[0057] In the embodiments of the present specification, the map update system can perform processing based on the acquired map data. Specifically, the server can send first-category map data that matches the map update task to the map update system. The map update system can perform map updates based on the acquired map data, generate electronic map data, and complete the update of the electronic map. The server can also send all or part of the second-category map data that does not match the map update task to the map update system. The map update system can also compare the acquired map data with the original map data to determine areas that need to be updated or areas that have changed, etc.

[0058] It should be understood that the order of some steps in the methods described in one or more embodiments of this specification can be interchanged according to actual needs, or some steps can be omitted or deleted.

[0059] Figure 2In the method, in the embodiment of this specification, the server can classify the map collection perception data uploaded by the data collection terminal according to the map update task, and can send the data matching the map update task to the map update system, thereby reducing the amount of data irrelevant to the map update task received by the map update system, reducing the redundancy of data in the map update system, reducing the resources of the map update system occupied by irrelevant data, and improving the resource utilization of the map update system.

[0060] Furthermore, in the embodiments of this specification, the server may also send data that does not match the map update task to the map update system when the map update system is in an idle state. This does not affect the map update system's processing of the map update task, and allows the map update system to update the received map data to ensure the freshness of the map update.

[0061] based on Figure 2 The present specification also provides some specific implementation plans of the method, which are described below.

[0062] In actual applications, during crowdsourced map updates, due to factors such as the performance or function settings of the data collection terminal, the data collection terminal may be unable to receive collection tasks or unable to collect data according to the collection task requirements. The data collection terminal can only upload any collected data. The embodiments of this specification can also address such data collection terminals. Specifically, the map collection data described in the embodiments of this specification includes map data collected when the data collection terminal does not receive a collection task generated based on the map update task.

[0063] In the embodiments of this specification, the server may be a server installed in the cloud, and the data collection terminal may upload the collected data to the cloud server. The server may classify the acquired map collection data and send it to the map update system. Specifically, the map collection data may include multiple map collection sub-data. Classifying the map collection data according to the map update task to obtain the first category of map data and the second category of map data may include:

[0064] filtering each of the map collection sub-data according to task requirement information corresponding to the map update task;

[0065] Each map collection sub-data is determined as the first category of map data or the second category of map data according to the degree of matching with the task requirement information.

[0066] In practical applications, each data collection terminal can upload collected information to the server in real time. The map collection perception data obtained by the server can contain several map collection sub-data, which can be the collected data uploaded by each data collection terminal. In practical applications, data collection terminals usually upload collected map data to the server at a certain frequency. Here, the map collection perception data uploaded to the server by a data collection terminal at one time can be regarded as a map collection sub-data.

[0067] A map update task can represent a task to update a specific area. For example, if a data requester or map update system needs to complete a map update for District B in City A between November 1st and 3rd, the map update task can be a task to acquire map data for District B in City A between November 1st and 3rd. The data for this area acquired by the data collection end can be map data that matches the map update task. In the embodiments of this specification, various map collection sub-data can be filtered based on the task requirement information of the map update task to obtain first-category map data that matches the task requirement information and second-category map data that does not match the task requirement information.

[0068] In the embodiments of this specification, a server can obtain multiple map update tasks from multiple data requesters. To improve task processing efficiency, the server can also fuse multiple map update tasks to obtain a fused map update task, and classify the map collection data based on the fused map update task. Specifically, in the embodiments of this specification, a map update task can be obtained by fusing several map update subtasks.

[0069] The first map update subtask may be a task for requesting map data for a first area; the second map update subtask may be a task for requesting map data for a second area. After receiving the first and second map update subtasks, the server may merge the first and second areas to obtain a third area, and then generate a map update task for collecting map data for the third area. The area of ​​the third area is smaller than the sum of the areas of the first and second areas, and the locations of the first and second areas are both contained within the third area.

[0070] It can be understood that the server can calculate the union area corresponding to the union of the first area and the second area, and obtain the map update task for collecting the union area, thereby avoiding repeated processing of task requests for the common area of ​​the first area and the second area, and can also reduce the workload of the server and improve the processing efficiency of the map update task.

[0071] In the embodiments of this specification, actual collection requirement information such as the collection time, collection range, and collection elements corresponding to the acquired map collection perception data can be determined based on the acquired map collection perception data. The acquired map collection perception data can be classified based on a comparison of the actual collection requirement information with the requirement information corresponding to the collection task. Optionally, in the embodiments of this specification, determining each map collection sub-data as the first category of map data or the second category of map data based on the degree to which each map collection sub-data matches the task requirement information corresponding to the map update task may specifically include:

[0072] According to each map collection sub-data, determine the actual collection requirement information corresponding to each map collection sub-data;

[0073] Determine whether there is an intersection between the actual collection requirement information and the task requirement information;

[0074] determining each map collection sub-data having an intersection between actual collection requirement information and the task requirement information as the first type of map data;

[0075] Each map collection sub-data for which actual collection requirement information has no intersection with the task requirement information is determined as the second type of map data.

[0076] In the embodiments of this specification, task collection requirement information may include at least one of task collection time information indicating the collection time, task collection range information indicating the collection range, and task collection element information indicating the collection elements. After the server obtains map collection perception data, it can determine the actual collection requirement information corresponding to the map collection perception data, such as the actual collection time and collection range corresponding to the map collection perception data, the collection elements included in the map collection perception data, and other information. Data classification can be performed based on one or more of the following relationships: the relationship between the task collection time and the actual collection time, the relationship between the task collection range and the actual collection range, and the relationship between the task collection elements and the actual collection elements.

[0077] As an implementation manner, in the embodiment of this specification, the task requirement information may include task collection time information. The above-mentioned determination of whether there is an intersection between the actual collection requirement information and the task requirement information may specifically include:

[0078] It is determined whether the actual collection time corresponding to each map collection sub-data is between the task collection start time and the task collection end time corresponding to the task collection time information.

[0079] The task collection start time and task collection end time corresponding to the map update task can be determined based on the task collection time information, and each map collection sub-data whose actual collection time is between the task collection start time and the task collection end time can be determined as the first type of map data. Furthermore, each map collection sub-data whose actual collection time is outside the task collection start time and the task collection end time can be determined as the second type of map data.

[0080] Assume that the start time of the task collection corresponding to the current map update task is t1 and the end time is t2. The collection time of all points in a certain map collection sub-data collected by the data collection end is expressed by the set R as R = {s1, s2, ..., s n If all the times in set R are less than t1, it means that the map collection sub-data is outside the task collection time corresponding to the map update task, and the data needs to be filtered out, and no crowdsourcing update fusion processing is required; in actual applications, if some of the times in set R are between the start time t1 and the end time t2, it can be considered that the data points corresponding to this part of the time match the map update task; if all the times in set R are between the start time t1 and the end time t2, it can be considered that the map collection sub-data matches the map update task.

[0081] In the embodiment of this specification, the task requirement information may include task collection scope information indicating the task collection scope; wherein, determining whether the actual collection requirement information and the task requirement information have an intersection may specifically include:

[0082] It is determined whether the actual collection range corresponding to each map collection sub-data has a common range with the task collection range corresponding to the task collection range information.

[0083] In the embodiment of this specification, the task collection range corresponding to the map update task can be determined according to the map update task; the actual collection range corresponding to each map collection sub-data can be determined according to each map collection sub-data;

[0084] The map collection sub-data whose actual collection range and the task collection range have a common range can be determined as the first type of map data; and the map collection sub-data whose actual collection range and the task collection range do not have a common range can be determined as the second type of map data.

[0085] In the embodiment of this specification, the task collection range may be composed of multiple polygonal surfaces representing any area, or may be composed of multiple strip-shaped surfaces representing any road.

[0086] In practical applications, each GPS (Global Positioning System) point in each map collection sub-data can uniquely express the absolute position of the point in the real world using longitude, latitude, and elevation. The line connecting the coordinates of each GPS point can represent the driving path of the data. The spatial relationship between the driving path of the data and the task collection range can be used to determine whether the sensor data is within the task collection range. If the path traversed by the current data is not within the task collection range, then the sensor data is invalid and needs to be filtered out.

[0087] The more precise the task collection range is, the higher the accuracy of filtering the map collection data will be. Therefore, in the embodiment of this specification, the strip shape corresponding to the road within the task collection range corresponding to the map collection task can be used for filtering judgment.

[0088] Assuming that the mission collection range contains strip shapes corresponding to multiple roads, if the line formed by the driving path corresponding to the map collection sub-data has no intersection with all the strips in the mission collection range, it means that the map collection sub-data is not within the mission collection range.

[0089] Figure 3 This is a schematic diagram of a method for filtering map acquisition data provided in an embodiment of this specification. Figure 3 Assume that road strip R1 represents a road within the task collection range, driving path a and driving path b represent line segments connected by different map collection sub-data GPS points, driving path a has no intersection with strip R1 and is not within the task collection range, and needs to be filtered out; driving path b has an intersection with strip R1 and is within the task collection range, and can be sent to the map update system as the first type of map data.

[0090] In practical applications, the data of the intersection of the driving path b and the strip R1 can be used as the first type of map data, or the entire data of the driving path b can be used as the first type of map data.

[0091] In the embodiment of this specification, the acquired map collection data may also be classified according to the collection element information. Specifically, in the embodiment of this specification, the task requirement information may include task collection element information representing the task collection element. The above-mentioned determination of whether there is an intersection between the actual collection requirement information and the task requirement information may specifically include:

[0092] It is determined whether the actual collection elements corresponding to each map collection sub-data include the collection elements in the task collection element information.

[0093] In the embodiments of this specification, the task collection elements corresponding to the map update task can be determined based on the map update task; and the actual collection elements corresponding to each map collection sub-data can be determined based on each map collection sub-data. Map collection sub-data whose actual collection elements include collection elements in the task collection elements corresponding to the map update task can be determined as the first type of map data; and map collection sub-data whose actual collection elements do not include collection elements in the task collection elements corresponding to the map update task can be determined as the second type of map data.

[0094] In the embodiments of this specification, collection elements are used to indicate which things in a preset area need to be collected. For example, collection elements may include road information such as lane markings, lane type, lane width, lane slope, and lane curvature. They may also include traffic signs, traffic lights, lane height limits, sewer entrances, obstacles, ground prints, and other road details. Specific collection elements can be determined based on actual requests and are not specifically limited here.

[0095] Among them, if the actual collection elements corresponding to the map collection sub-data and the task collection elements corresponding to the map update task have an intersection, that is, the actual collection elements corresponding to the map collection sub-data include all or part of the collection elements in the task collection elements corresponding to the map update task, then the map collection sub-data can be determined as the first type of map data matching the map update task; if the actual collection elements corresponding to the map collection sub-data and the task collection elements corresponding to the map update task do not have an intersection, that is, the actual collection elements corresponding to the map collection sub-data do not include any collection elements in the task collection elements corresponding to the map update task, then the map collection sub-data can be determined as the second type of map data matching the map update task.

[0096] In actual applications, for the collection time information, collection range information, collection element information, etc. involved in the task requirement information, when classifying the acquired map collection perception data, classification can be based on one of the information, or classification can be combined with multiple information. For example, classification can be based on collection time and then classification based on collection range; classification can also be based on collection range and then classification based on collection elements; or classification can be based on collection elements first and then classification based on collection time and range. The specific classification method can be set according to actual needs and is not specifically limited here.

[0097] In actual applications, the server can send data matching the map update task to the map update system in real time or periodically. The map update system can also gradually complete the map update task based on the acquired first-category map data. The map update system can perform crowdsourcing update processing based on the received map acquisition data, for example, generating a new map.

[0098] If the range of the continuously uploaded map collection data corresponds to the area where the crowdsourcing update has been completed, sending the map collection data within this range to the map update system at this time will actually have a very limited effect on the crowdsourcing update, and will continue to occupy the computing resources for the crowdsourcing update processing, which will affect the timeliness of the crowdsourcing update.

[0099] To avoid excessive acquisition of duplicate map collection data, the map collection data may be filtered according to the completed collection range in the embodiment of this specification. Specifically, the method in the embodiment of this specification may further include:

[0100] determining, based on a completed map update result of the map update system, completed collection requirement information corresponding to the map update task; the completed map update result is obtained by the map update system based on the received first type of map data;

[0101] The map collection perception data is classified according to the completed collection requirement information.

[0102] In actual applications, when completing a map update task, the map update system may need to gradually complete the map update task based on map data obtained multiple times. After receiving the first type of map data, the map update system can first complete part of the map update for the map update task based on the received data. The above-mentioned completed map update result can be the update result obtained by the map update system based on the received first type of map data.

[0103] In the embodiments of this specification, the server can monitor the results of map updates performed by the map update system using the first type of map data, or the map update system can proactively transmit the update results to the server. The server can then determine completed collection requirement information based on the update results. For example, the collection requirement information can include information indicating requirements such as collection time, collection scope, and collection elements. Based on the update results, the server can determine information such as the completed collection scope and collection elements in the map collection task. In the embodiments of this specification, map collection perception data can be categorized based on each completed requirement information.

[0104] As an implementation manner, the completed collection requirement information in the embodiments of this specification includes a completed collection range; wherein, the classification of the map collection perception data according to the completed collection requirement information may specifically include:

[0105] Determining whether the actual collection range corresponding to each map collection sub-data is included in the completed collection range;

[0106] The map collection sub-data whose actual collection range is entirely included in the completed collection range is determined as the second type of map data.

[0107] The map collection sub-data whose actual collection range is not entirely included in the completed collection range and has a common range with the task collection range may also be determined as the first type of map data.

[0108] In the embodiment of this specification, the completed collection range may mean that all collection elements required by the collection task within the range corresponding to the map collection task have been acquired, and the map update system can generate a crowdsourcing update result that fully meets the collection task requirements.

[0109] In actual applications, due to performance limitations of the data collection end and other reasons, the server may have obtained map data of a certain area multiple times and sent it to the map update system multiple times, but the collection elements contained in the map data obtained by the map update system still cannot fully meet the collection element requirements of the map collection task. That is, even if the data collection end collects data of the area multiple times, it still cannot fully meet the collection element requirements of the map collection task. In this regard, the map update system can also perform crowdsourcing update processing based on the received map collection data, and the server can also determine the range corresponding to the processing result as the completed collection range.

[0110] In the embodiment of this specification, the server can obtain the completed collection elements corresponding to the update results of the map update system. If the completed collection elements cannot completely include the collection elements corresponding to the map collection task, the map collection data that meets the collection range can be sent to the map update system. If the completed collection elements still cannot completely include the collection elements corresponding to the map collection task within the preset time period, the sending of the map collection data of the range after the preset time period can be terminated.

[0111] In actual applications, the map update results corresponding to the completed collection range may still contain unacquired collection elements. In order to enable the map update system to complete the map update task as perfectly as possible, the task requirement information in the embodiments of this specification may include requirement information indicating the task collection elements; wherein the completed collection requirement information includes information indicating the completed collection elements; the above-mentioned classification of the map collection perception data based on the completed collection requirement information may specifically include:

[0112] Determining whether all actual collection elements corresponding to each map collection sub-data are included in the completed collection elements;

[0113] The map collection sub-data in which all the actual collection elements are included in the completed collection elements are determined as the second type of map data.

[0114] In the embodiments of this specification, the server can determine information about completed acquisition elements based on the map update results completed by the map update system. Specifically, map acquisition sub-data whose actual acquisition elements are all included in the completed acquisition elements can be determined as second-category map data, and this type of data can be temporarily stored in a cache database and not sent to the map update system. Alternatively, map acquisition sub-data whose actual acquisition elements are not all included in the completed acquisition elements can be determined as first-category map data, and this type of data can be sent to the map update system so that the map update system can complete the map update task based on this data.

[0115] In an embodiment of the present specification, if the actual collection elements corresponding to the map collection sub-data do not include any collection elements other than the actually completed collection elements in the task collection elements, it can be determined that the map collection sub-data is of limited use for the map update task, and the map collection sub-data may no longer be sent to the map collection system. If the actual collection elements corresponding to the map collection sub-data include any collection elements other than the actually completed collection elements in the task collection elements, that is, the map update system has not previously acquired map collection sub-data containing the actual collection elements, the map collection sub-data is useful for the map update task. Even if the actual collection range corresponding to the map collection sub-data is already included in previously sent map collection data, the map collection sub-data may be sent to the map update system to facilitate the map update system's more comprehensive processing of the map update task.

[0116] In the embodiment of this specification, whether the map update system is in an idle state can be determined based on the performance of the map update system. Specifically, the method in the embodiment of this specification can further include:

[0117] monitoring the amount of map acquisition data to be processed by the map updating system;

[0118] Determine whether the map update system is in an idle state according to the amount of data.

[0119] In the embodiments of this specification, the performance of the map update system can be expressed by the number of kilometers that can be processed per core CPU per minute. Assume that the mileage of the map acquisition data to be processed by the current system within a certain period is a kilometers, the resources allocated to the current system are b cores, and the performance of the system is c KM / Core / Minute. Then the amount of map acquisition data that the current system can process per minute S = b * c; if a < S, it means that the resources of the current system are idle, and the state of the map update system is an idle state.

[0120] In practical applications, the map update system can gradually complete the map update task according to the received map acquisition data. During the process of completing the task, the map update may be performed based on the map data obtained at an earlier time within the acquisition time period corresponding to the task. In the actual scenario of the map, the map situation may also have changed within the acquisition time period.

[0121] For example, the acquisition time period is from November 3rd to November 10th. Assume that the map update system has completed the map update of area A in the task acquisition range according to the map data obtained on the 4th, and saved the map acquisition data for area A after the 4th as the second type of acquisition data. When the map update system is idle, at least part of the second type of acquisition data can be sent to the map update system so that the map update system can verify the existing data according to the second type of acquisition data and determine whether the existing data is the latest map data within the task period. If not, it can be updated. For example, assume that the map data of area A is obtained again on the 10th, and the server temporarily saves this data. When the map update system is idle, the data obtained on the 10th can be provided to the map update system. Assume that the data of area A obtained on the 10th is inconsistent with the data of area A obtained on the 4th, then the data obtained on the 4th can be updated with the data obtained on the 10th, and further a map closer to the actual situation can be generated, so that the map update system can obtain the latest map data as much as possible and improve the freshness of the update result of the map update system.

[0122] Specifically, in the embodiments of this specification, sending at least part of the second type of map data to the map update system may specifically include:

[0123] Determine the actual acquisition time of each map acquisition sub-data in the second type of map data;

[0124] Sort each map acquisition sub-data in the second type of map data in the order from the most recent actual acquisition time to the oldest;

[0125] A preset number of map collection sub-data in the first order are sent to the map updating system.

[0126] In the embodiment of this specification, the second category of map data may include map collection data that meets the task collection scope corresponding to the map update task. In order to ensure the effectiveness of the map update task and improve the freshness of the map update results, in the embodiment of this specification, the map collection data in the second category of map data that meets the task collection scope corresponding to the map update task can be sorted in the order of actual collection time, and the map collection data with a closer actual collection time can be sent to the map update system.

[0127] In actual applications, the second type of map data may include data outside the task collection range corresponding to the map update task. In the embodiment of this specification, the data outside the task collection range corresponding to the map update task in the second type of map data may also be sorted, and the closer part of the data may be sent to the map update system. If the map update system has previously obtained data for the corresponding area, it can determine whether there is a change in the map data of the corresponding area based on the latest data obtained. If there is a change, a map update task including the area can be generated to update the electronic map in a timely manner.

[0128] Similarly, in the embodiments of this specification, the second type of map data can also be sorted as a whole, and the sorted part of the data can be sent to the map update system, so that the map update system can verify the accuracy of the map update results based on the received data, and can also promptly discover areas that may need to be updated.

[0129] To facilitate the management of map collection data, in the embodiment of this specification, the second type of map data can be saved in a cache database. When the map update system is idle, the data in the cache database can be sent to the map update system.

[0130] To reduce storage space usage, in the embodiment of this specification, after sending at least part of the second type of map data to the map updating system, the following steps may also be performed:

[0131] The at least part of the second type of map data sent to the map updating system is deleted from the cache database.

[0132] In actual applications, when a new map update task needs to be processed or a new map update cycle begins, since the data stored in the cache database is data for the previous map update task and has limited value for the new map update task, the data in the cache database can be deleted to better process the new map collection data. Specifically, the method in the embodiment of this specification may further include:

[0133] Get new map update tasks;

[0134] The second type of map data in the cache database is deleted. In the embodiment of this specification, by classifying and processing the continuously uploaded map collection data, the crowdsourcing update computing resources are effectively utilized while ensuring the accuracy of the crowdsourcing update results, and the freshness of the crowdsourcing update results is also improved.

[0135] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method. Figure 4 This is a schematic diagram of the structure of a map data processing device provided in an embodiment of this specification. The device can be a device deployed in the cloud or a cloud system. Figure 4 As shown, the device may include: a data acquisition module 402, a data classification module 404, a first data sending module 406, and a second data sending module 408, wherein the data acquisition module 402 may be connected to the data classification module 404, and the data classification module 404 may be connected to the first data sending module 406 and the second data sending module 408 respectively; specifically:

[0136] The data acquisition module 402 is used to acquire map acquisition perception data uploaded by the data acquisition terminal; the map acquisition perception data includes perception data provided by multiple data acquisition terminals;

[0137] A data classification module 404 is configured to classify the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; and the second-category map data is data that does not match the map update task.

[0138] A first data sending module 406 is configured to send the first type of map data to a map updating system so that the map updating system completes the map updating task based on the first type of map data;

[0139] The second data sending module 408 is configured to send at least part of the second type of map data to the map updating system when the map updating system is in an idle state, so that the map updating system updates existing map data according to the second type of map data.

[0140] Optionally, the map collection data in the embodiment of this specification may include map data collected when the data collection terminal does not receive a collection task generated based on the map update task.

[0141] Optionally, the map collection data in the embodiments of this specification may include a plurality of map collection sub-data, wherein the data classification module may include a data filtering unit and a data matching unit.

[0142] The data filtering unit may be used to filter each of the map collection sub-data according to the task requirement information corresponding to the map update task;

[0143] The data matching unit may be configured to determine each map collection sub-data as the first category of map data or the second category of map data according to a degree of matching with the task requirement information.

[0144] Optionally, the data matching unit may include an information determination subunit, a judgment subunit, and a classification subunit.

[0145] Among them, the information determination subunit can be used to determine the actual collection requirement information corresponding to each map collection sub-data based on each map collection sub-data; the judgment subunit can be used to judge whether there is an intersection between the actual collection requirement information and the task requirement information; the classification subunit can be used to determine each map collection sub-data for which the actual collection requirement information and the task requirement information have an intersection as the first type of map data, and can also be used to determine each map collection sub-data for which the actual collection requirement information and the task requirement information do not have an intersection as the second type of map data.

[0146] In the embodiment of this specification, the task requirement information includes at least one of task collection time information, task collection range information, and task collection element information; the judgment subunit may include one or more of the first judgment subunit, the second judgment subunit, and the third judgment subunit.

[0147] Among them, the first judgment subunit can be used to judge whether the actual collection time corresponding to each map collection sub-data is between the task collection start time and the task collection end time corresponding to the task collection time information; the second judgment subunit can be used to judge whether the actual collection range corresponding to each map collection sub-data has a common range with the task collection range corresponding to the task collection range; the third judgment subunit can be used to judge whether the actual collection elements corresponding to each map collection sub-data include the collection elements in the task collection element information.

[0148] Optionally, the device in the embodiment of this specification may also include a result acquisition module, which can be used to determine the completed collection requirement information corresponding to the map update task based on the map update results completed by the map update system; wherein, the data classification module can also be used to classify the map collection perception data according to the completed collection requirement information.

[0149] Optionally, the completed collection requirement information may include a completed collection range; wherein the data classification module may be specifically used to determine whether the actual collection range corresponding to each map collection sub-data is included in the completed collection range; and the map collection sub-data whose actual collection range is entirely included in the completed collection range is determined as the second type of map data.

[0150] Optionally, the completed collection requirement information includes information indicating completed collection elements; wherein the data classification module can be specifically used to determine whether the actual collection elements corresponding to each map collection sub-data are all included in the completed collection elements; and the map collection sub-data whose actual collection elements are all included in the completed collection elements are determined as the second type of map data.

[0151] Optionally, the map data processing device provided in the embodiments of this specification may further include a status monitoring module for monitoring the amount of map acquisition data to be processed by the map updating system; and determining whether the map updating system is in an idle state based on the data amount.

[0152] Optionally, the second data sending module may include a time determination unit, a sorting unit, and a sending unit, wherein the time determination unit may be used to determine the actual acquisition time of each map acquisition sub-data in the second type of map data; the sorting unit may be used to sort each map acquisition sub-data in the second type of map data in order of the actual acquisition time from near to far; and the sending unit may be used to send a preset number of map acquisition sub-data in the front order to the map update system.

[0153] Optionally, the map data processing device provided in the embodiments of this specification may further include: a cache processing module, configured to save the second type of map data to a cache database.

[0154] Optionally, the cache processing module may be further configured to delete the at least part of the second type of map data sent to the map updating system from the cache database.

[0155] Optionally, the map data processing apparatus provided in the embodiments of this specification may also be used to: obtain a new map update task; and delete the second type of map data in the cache database.

[0156] Based on the same idea, the embodiments of this specification also provide devices corresponding to the above methods.

[0157] Figure 5 This is a schematic diagram of the structure of a map data processing device provided in the embodiment of this specification. Figure 5 As shown, the device 500 may include:

[0158] at least one processor 510; and,

[0159] A memory 530 in communication with the at least one processor; wherein,

[0160] The memory 530 stores instructions 520 executable by the at least one processor 510. The instructions are executed by the at least one processor 510 to enable the at least one processor 510 to:

[0161] Acquire map collection perception data uploaded by a data collection terminal; the map collection perception data includes perception data provided by multiple data collection terminals;

[0162] Classifying the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; and the second-category map data is data that does not match the map update task;

[0163] sending the first type of map data to a map updating system so that the map updating system completes the map updating task based on the first type of map data;

[0164] When the map updating system is in an idle state, at least part of the second type of map data is sent to the map updating system, so that the map updating system updates existing map data according to the second type of map data.

[0165] Based on the same idea, the embodiments of this specification also provide a computer-readable medium corresponding to the above method. The computer-readable medium stores computer-readable instructions, which can be executed by a processor to implement the above map data processing method.

[0166] Based on the same idea, this specification also provides a map data processing platform. Figure 6 This is a schematic diagram of the structure of a map data processing platform provided in the embodiment of this specification. Figure 6 As shown, the platform may include a map data processing system 602 and a map updating system 604; the map processing system 602 may be used to execute the map data processing method according to any one of claims 1 to 10;

[0167] The map data processing system 604 may send the first type of map data to the map updating system 604 ;

[0168] The map updating system 604 may receive the first type of map data;

[0169] The map updating system 604 may complete the map updating task based on the first type of map data;

[0170] The map data processing system 602 may send the second type of map data to the map updating system 604 ;

[0171] The map updating system 604 may receive the second type of map data;

[0172] The map updating system 604 updates the existing map data according to the second type of map data.

[0173] The map data processing platform in the embodiments of this specification can be a data processing platform deployed in the cloud or a data processing platform deployed on a local server. The map data processing system and the map update system can be deployed simultaneously in the cloud or separately in the cloud and locally. The specific deployment scenario can be set based on actual needs and is not specifically limited here.

[0174] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. Figure 5 The equipment shown and Figure 6 As for the platform shown, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0175] In the 1990s, technological improvements could be clearly distinguished as either hardware improvements (for example, improvements to circuit structures such as diodes, transistors, and switches) or software improvements (improvements to process flows). However, with the advancement of technology, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always create the corresponding hardware circuit structure by programming the improved process flow into the hardware circuit. Therefore, it cannot be said that a process flow improvement cannot be implemented using hardware modules. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system onto a PLD through their own programming, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0176] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the means for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the means for implementing various functions can be considered as both a software module implementing the method and a structure within the hardware component.

[0177] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0178] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0179] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0180] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0181] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0182] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0183] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0184] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0185] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0186] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0187] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0188] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0189] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for processing map data, comprising: Obtain map collection perception data uploaded by the data collection terminal; The map collection perception data includes perception data provided by multiple data collection terminals; Classifying the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; and the second-category map data is data that does not match the map update task; sending the first type of map data to a map updating system so that the map updating system completes the map updating task based on the first type of map data; monitoring the amount of map acquisition data to be processed by the map updating system, and determining whether the system is in an idle state based on the amount of data; When the map updating system is in an idle state, sending the second type of map data to the map updating system so that the map updating system updates the existing map data according to the second type of map data; The sending of the second type of map data to the map updating system specifically includes: determining the actual collection time of each map collection sub-data in the second type of map data; sorting the map collection sub-data in the second category of map data in the order of the actual collection time from recent to far; A preset number of map collection sub-data in the first order are sent to the map updating system.

2. The method according to claim 1, wherein the map acquisition perception data includes a plurality of map acquisition sub-data, and wherein the map acquisition data is classified according to the map update task to obtain first-category map data and second-category map data, specifically comprising: Each map collection sub-data is determined as the first type of map data or the second type of map data according to the degree to which each map collection sub-data matches the task requirement information corresponding to the map update task.

3. The method according to claim 2, wherein determining each map collection sub-data as the first type of map data or the second type of map data based on the degree to which each map collection sub-data matches the task requirement information corresponding to the map update task specifically comprises: According to each map collection sub-data, determine the actual collection requirement information corresponding to each map collection sub-data; Determine whether there is an intersection between the actual collection requirement information and the task requirement information; determining each map collection sub-data having an intersection between actual collection requirement information and the task requirement information as the first type of map data; Each map collection sub-data for which actual collection requirement information has no intersection with the task requirement information is determined as the second type of map data.

4. The method according to claim 3, wherein the task requirement information includes at least one of task collection time information, task collection scope information, and task collection element information; The determining whether the actual collection requirement information and the task requirement information have an intersection specifically includes: Determine whether the actual collection time corresponding to each map collection sub-data is between the task collection start time and the task collection end time corresponding to the task collection time information; and / or, determining whether the actual collection range corresponding to each map collection sub-data has a common range with the task collection range corresponding to the task collection range; And / or, determining whether the actual collection elements corresponding to each map collection sub-data include the collection elements in the task collection element information.

5. The method according to claim 2, further comprising: Determining completed collection requirement information corresponding to the map update task based on the map update results completed by the map update system; The map collection perception data is classified according to the completed collection requirement information.

6. The method according to claim 5, wherein the completed acquisition requirement information includes the completed acquisition scope; The classifying of the map collection perception data according to the completed collection requirement information specifically includes: Determining whether the actual collection range corresponding to each map collection sub-data is included in the completed collection range; The map collection sub-data whose actual collection range is entirely included in the completed collection range is determined as the second type of map data.

7. The method according to claim 5, wherein the completed collection requirement information includes information indicating completed collection elements; Determining whether all actual collection elements corresponding to each map collection sub-data are included in the completed collection elements; The map collection sub-data in which all the actual collection elements are included in the completed collection elements are determined as the second type of map data.

8. A map data processing device, comprising: A data acquisition module, a data classification module, a first data sending module, and a second data sending module, wherein the data acquisition module is connected to the data classification module, and the data classification module is connected to the first data sending module and the second data sending module; The data acquisition module is used to acquire map acquisition perception data uploaded by the data acquisition terminal; the map acquisition perception data includes perception data provided by multiple data acquisition terminals; The data classification module is configured to classify the map acquisition perception data according to the acquired map update task to obtain first-category map data and second-category map data; the first-category map data is data that matches the map update task; and the second-category map data is data that does not match the map update task; The first data sending module is configured to send the first type of map data to a map updating system so that the map updating system completes the map updating task based on the first type of map data; the second data sending module is configured to send the second type of map data to the map updating system when the map updating system is in an idle state, so that the map updating system updates the existing map data according to the second type of map data; The state monitoring module is used to monitor the amount of map acquisition data to be processed by the map updating system; and determine whether the map updating system is in an idle state based on the amount of data.

9. A device for processing map data, comprising: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to implement the map data processing method according to any one of claims 1 to 7.

10. A computer-readable medium having computer-readable instructions stored thereon, wherein the computer-readable instructions can be executed by a processor to implement the map data processing method according to any one of claims 1 to 7.

11. A map data processing platform, comprising a map data processing system and a map updating system; the map processing system is configured to execute the map data processing method according to any one of claims 1 to 7; The map data processing system sends the first type of map data to the map updating system; The map updating system receives the first type of map data; The map updating system completes the map updating task based on the first type of map data; The map data processing system sends the second type of map data to the map updating system; The map updating system receives the second type of map data; The map updating system updates the existing map data according to the second type of map data.

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