Method, apparatus, electronic device, and medium for updating map data

Abstract

The present disclosure provides a method, an apparatus, an electronic device, and a medium for updating map data, relating to the field of autonomous driving technology, and particularly to the field of high-precision map technology. The implementation solution is as follows: updating first map data and determining the corresponding scenario for the update; in response to the scenario being an intersection scenario including at least two intersecting roads, updating the lane connection lines in the corresponding intersection scenario in the second map data based on the updated first map data; and in response to the scenario being a road section scenario without road intersections, updating the lane center lines and lane dividing lines in the corresponding road section scenario in the second map data based on the updated first map data.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and more particularly to the field of high-precision map technology. Specifically, it relates to a method, apparatus, electronic device, computer-readable storage medium, and computer program product for updating map data. Background Art

[0002] A high-precision map, also known as a high-accuracy map, is a map used by autonomous vehicles. The high-precision map has accurate vehicle position information and rich road element data information, which can help the vehicle predict complex road surface information, such as slope, curvature, heading, etc., so as to better avoid potential risks. With the development of positioning technologies such as Beidou and the autonomous driving industry, high-precision maps have gradually become indispensable data. High-precision maps express refined lane boundaries, lane centerlines, etc., with higher accuracy requirements. Map manufacturers usually need to maintain both traditional standard map data for navigation and high-precision map data at the same time. How to achieve consistent synchronous maintenance of these two types of map data is an urgent problem to be solved.

[0003] The methods described in this section are not necessarily methods that have been previously conceived or adopted. Unless otherwise specified, no method described in this section should be considered prior art solely because it is included in this section. Similarly, unless otherwise specified, the problems mentioned in this section should not be considered to have been recognized in any prior art. Summary of the Invention

[0004] The present disclosure provides a method, apparatus, electronic device, computer-readable storage medium, and computer program product for updating map data.

[0005] According to one aspect of the present disclosure, there is provided a method for updating map data, including: updating first map data and determining the corresponding scenario of the update; in response to the scenario being an intersection scenario including at least two intersecting roads, updating the lane connection lines in the corresponding intersection scenario in the second map data based on the updated first map data; and in response to the scenario being a road section scenario without road intersections, updating the lane centerlines and lane dividing lines in the corresponding road section scenario in the second map data based on the updated first map data.

[0006] According to another aspect of the present disclosure, there is provided an apparatus for updating map data, including: a first update module configured to update first map data and determine a scene corresponding to the update; a second update module configured to, in response to the scene being an intersection scene including at least two intersecting roads, update lane connection lines in the corresponding intersection scene in the second map data based on the updated first map data; and a third update module configured to, in response to the scene being a road section scene without road intersections, update lane center lines and lane dividing lines in the corresponding road section scene in the second map data based on the updated first map data.

[0007] According to another aspect of the present disclosure, there is provided an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute a method for updating map data.

[0008] According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to execute a method for updating map data.

[0009] According to another aspect of the present disclosure, there is provided a computer program product including a computer program, wherein the computer program, when executed by a processor, implements a method for updating map data.

[0010] According to one or more embodiments of the present disclosure, there is provided a method for updating map data. During the process of updating the map, first update the traditional standard map for navigation, and then update the corresponding scene in the high-precision map based on the corresponding method of the updated scene, so as to realize automatic update of the high-precision map, reduce manual input and the cost of updating the map.

[0011] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings exemplarily show embodiments and form a part of the specification, and are used together with the written description of the specification to explain the exemplary embodiments of the embodiments. The shown embodiments are only for illustrative purposes and do not limit the scope of the claims. In all the drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0013] Figure 1A schematic diagram of an exemplary system in which various methods described herein can be implemented according to an embodiment of the present disclosure;

[0014] Figure 2 A flowchart of a method for updating map data according to an embodiment of the present disclosure;

[0015] Figure 3a and Figure 3b A schematic diagram of updating an intersection scene according to an embodiment of the present disclosure.

[0016] Figure 4 A schematic diagram of updating a road segment scene according to an embodiment of the present disclosure.

[0017] Figure 5 A structural block diagram of an apparatus for updating map data according to an embodiment of the present disclosure; and

[0018] Figure 6 A structural block diagram of an exemplary electronic device that can be used to implement an embodiment of the present disclosure. Detailed implementation manners

[0019] The following describes exemplary embodiments of the present disclosure in conjunction with the accompanying drawings. Various details of the embodiments of the present disclosure are included to assist in understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0020] In the present disclosure, unless otherwise specified, the terms "first", "second", etc. are used to describe various elements and are not intended to limit the positional relationship, timing relationship, or importance relationship of these elements. Such terms are only used to distinguish one element from another. In some examples, the first element and the second element may refer to the same instance of the element, and in certain cases, based on the description of the context, they may also refer to different instances.

[0021] In the description of various examples in the present disclosure, the terms used are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element may be one or more. In addition, the term "and / or" used in the present disclosure covers any one of the listed items and all possible combinations.

[0022] In the related technology, two sets of road network data, namely standard map data and high-precision map data, need to be manually maintained. When the road data is updated, the two sets of road network data need to be updated separately, which has a high maintenance cost and requires relevant technical personnel to master the operational skills to update the two sets of road network data at the same time, which places high demands on technical personnel.

[0023] To solve the above problems, the present disclosure provides a method for updating map data. During the map updating process, the traditional standard map used for navigation is first updated, and then the corresponding scene in the high-precision map is updated based on the corresponding method of the updated scene. The high-precision map is automatically updated based on the update of the standard map, thereby achieving consistency between the two sets of road network data and reducing manpower investment and the cost of updating the map.

[0024] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0025] Figure 1 FIG. 1 is a schematic diagram of an exemplary system 100 in which various methods and apparatuses described herein may be implemented according to an embodiment of the present disclosure. Figure 1 , the system 100 includes one or more client devices 101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120. The client devices 101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.

[0026] In an embodiment of the present disclosure, the server 120 may run one or more services or software applications that enable execution of any of the aforementioned methods.

[0027] In some embodiments, server 120 may also provide other services or software applications that may include non-virtualized environments and virtualized environments. In some embodiments, these services may be provided as web-based services or cloud services, such as provided to users of client devices 101, 102, 103, 104, 105, and / or 106 under a software as a service (SaaS) model.

[0028] exist Figure 1In the configuration shown, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof that may be executed by one or more processors. Users operating client devices 101, 102, 103, 104, 105, and / or 106 may in turn utilize one or more client applications to interact with server 120 to utilize the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Thus, Figure 1 is an example of a system for implementing the various methods described herein and is not intended to be limiting.

[0029] Users may use client devices 101, 102, 103, 104, 105, and / or 106 to perform methods for updating map data. The client device may provide an interface that enables a user of the client device to interact with the client device. The client device may also output information to the user via the interface. Although Figure 1 only six client devices are depicted, those skilled in the art will be able to understand that the present disclosure may support any number of client devices.

[0030] Client devices 101, 102, 103, 104, 105, and / or 106 may include various types of computer devices, such as portable handheld devices, general-purpose computers (such as personal computers and laptop computers), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, gaming systems, thin clients, various messaging devices, sensors, or other sensing devices, etc. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux or Linux-like operating systems (such as GOOGLE Chrome OS); or include various mobile operating systems, such as MICROSOFT WindowsMobile OS, iOS, Windows Phone, Android. Portable handheld devices may include cellular phones, smart phones, tablets, personal digital assistants (PDAs), etc. Wearable devices may include head-mounted displays (such as smart glasses) and other devices. Gaming systems may include various handheld gaming devices, Internet-enabled gaming devices, etc. The client device is capable of executing a variety of different applications, such as various Internet-related applications, communication applications (such as email applications), short message service (SMS) applications, and may use a variety of communication protocols.

[0031] Network 110 can be any type of network well-known to those skilled in the art, which can support data communication using any one of a variety of available protocols (including but not limited to TCP / IP, SNA, IPX, etc.). By way of example only, one or more networks 110 can be a local area network (LAN), an Ethernet-based network, token ring, wide area network (WAN), the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a public switched telephone network (PSTN), an infrared network, a wireless network (such as Bluetooth, WIFI), and / or any combination of these and / or other networks.

[0032] Server 120 can include one or more general-purpose computers, dedicated server computers (such as PC (personal computer) servers, UNIX servers, midrange servers), blade servers, mainframes, server clusters, or any other suitable arrangement and / or combination. Server 120 can include one or more virtual machines running a virtual operating system, or other computing architectures involving virtualization (such as one or more flexible pools of logical storage devices that can be virtualized to maintain virtual storage devices for the server). In various embodiments, server 120 can run one or more services or software applications that provide the functions described below.

[0033] The computing units in server 120 can run one or more operating systems including any of the above operating systems as well as any commercially available server operating systems. Server 120 can also run any one of a variety of additional server applications and / or middleware applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0034] In some embodiments, server 120 can include one or more applications to analyze and merge data feeds and / or event updates received from users of client devices 101, 102, 103, 104, 105, and 106. Server 120 can also include one or more applications to display data feeds and / or real-time events via one or more display devices of client devices 101, 102, 103, 104, 105, and 106.

[0035] In some embodiments, server 120 can be a server of a distributed system, or a server incorporating a blockchain. Server 120 can also be a cloud server, or an intelligent cloud computing server or intelligent cloud host with artificial intelligence technology. A cloud server is a host product in the cloud computing service system, which is used to solve the problems of difficult management and weak business scalability existing in traditional physical hosts and virtual private server (VPS) services.

[0036] System 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as audio files and video files. The databases 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The databases 130 may be of different types. In some embodiments, the database used by the server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to commands.

[0037] In some embodiments, one or more of the databases 130 may also be used by an application to store application data. The database used by the application may be a different type of database, such as a key-value store, an object store, or a conventional store supported by a file system.

[0038] Figure 1 The system 100 can be configured and operated in various ways to enable the application of the various methods and apparatuses described in this disclosure.

[0039] Figure 2 A flowchart showing a method for updating map data according to an embodiment of the present disclosure is shown. As Figure 2 shown, the method 200 for updating map data includes: step S201, updating the first map data and determining the scene corresponding to the update; step S202, in response to the scene being an intersection scene including at least two intersecting roads, updating the lane connection lines in the corresponding intersection scene in the second map data based on the updated first map data; and step S203, in response to the scene being a section scene without road intersections, updating the lane centerlines and lane dividing lines in the corresponding section scene in the second map data based on the updated first map data.

[0040] During the process of updating the map, first update the first map data, that is, the traditional standard map for navigation, and identify the updated scene in the first map data to determine the update rule corresponding to the scene, and then update the corresponding scene in the high-precision map based on the update rule corresponding to the updated scene. Thus, the automatic update of the high-precision map is realized based on the update of the standard map, the consistent update of the two sets of road network data is achieved, and the labor input and the cost of updating the map are reduced.

[0041] It can be understood that there are significant differences in the level of abstraction of the same road element in standard map data and high-precision map data. Exemplarily, in traditional standard map data for navigation, a road is usually represented by its centerline. In high-precision map data, more refined lines and / or icons are used to represent road elements. For example, the representation of a road in a high-precision map can include the road boundary line, lane centerline, lane division line, and road connection lines indicating the driving direction of the road. Therefore, in the process of updating a high-precision map based on a standard map, it is necessary to determine the update rules for the corresponding scenarios in the high-precision map according to the specific update scenarios and update content in the standard map, and implement the automatic update of the high-precision map based on the corresponding update rules.

[0042] According to some embodiments, step S202 includes: in response to the deletion of the road centerline in the intersection scenario in the first map data, determining a first road that changes from connected to unconnected; based on the unconnected first road, deleting at least one first lane connection line in the corresponding intersection scenario in the second map data, where the driving directions corresponding to the at least one first lane connection line cannot pass due to the disconnection of the first road; and generating a boundary line corresponding to the unconnected part of the unconnected first road in the second map data.

[0043] Exemplarily, when a road at an intersection changes from connected to unconnected due to factors such as the extension of a green belt, the disconnection of the road at this intersection may cause at least two traffic flows to separate and not communicate with each other. Such an update is represented as the deletion of the road centerline in the first map data. In response to this type of update in the first map data, at least one first lane connection line corresponding to the direction that cannot pass due to the disconnection of the road is deleted in the corresponding intersection scenario in the second map data, and a boundary line corresponding to the disconnection of the road is generated to indicate that this is the road boundary that cannot be connected.

[0044] In one example, after the above operation of deleting the lane connection line, if the only lane connection line of a certain road is deleted, indicating that the road is no longer connected to any other road after the above deletion operation, then lane connection lines in other directions of the road are generated in the second map data with reference to the lane arrows corresponding to the road.

[0045] According to some embodiments, step S202 further includes: in response to an increase in the road center line in the intersection scene of the first map data, determining a second road that is updated from unconnected to connected; based on the connected second road, adding at least one second lane connection line in the corresponding intersection scene in the second map data, wherein the driving directions corresponding to the at least one second lane connection line can be passed due to the connection of the second road; and deleting the boundary line corresponding to the second road at the connection in the second map data.

[0046] It can be understood that for the update of the intersection, there are two update states for the roads in the intersection, from connected to unconnected and from unconnected to connected. The update process of the roads in the intersection from unconnected to connected also corresponds to the update process of the roads from connected to unconnected. Exemplarily, in response to an increase in the road center line in the first map data, indicating the connection of the corresponding road, lane connection lines are added in the corresponding intersection scene in the second map data to represent the additional driving directions due to the road connection. At the same time, the boundary line corresponding to the road at the connection is deleted.

[0047] Figure 3a and Figure 3b shows a schematic diagram of updating an intersection scene according to an embodiment of the present disclosure. As Figure 3a shown, due to the disconnection of the roads in the up-down direction at the intersection, the corresponding road connection lines 301 and 302 are deleted in the first map data to update the road from connected to unconnected in the first map data, so as to obtain Figure 3a the lower figure in. Correspondingly, in response to the deletion of the road connection lines 301 and 302 in the first map data and determining that this deletion occurs in the intersection scene where the roads meet, determining the first road that is updated from connected to unconnected. In the second map data Figure 3b , the driving directions corresponding to the lane connection lines 303, 304, and 305 cannot be passed due to the disconnection of the first road. Therefore, in Figure 3b , the lane connection lines 303, 304, and 305 are deleted and the road boundary line 306 is generated, indicating that the first road is unconnected at this point, so as to update the corresponding intersection scene in the second map data and obtain the updated Figure 3b the lower figure in.

[0048] Exemplarily, the roads corresponding to the starting points of the lane connection lines 303 and 304 are not connected to any other roads due to the deletion of the lane connection lines 303 and 304. Lane connection lines in other directions of the road can be generated according to the lane arrows corresponding to the road. For example, the lane connection line 307 is generated according to the lane arrow indicating the right direction on the road.

[0049] The update process of the road from unconnected to connected in the intersection scenario corresponds to the above process, and the present disclosure will not repeat it here.

[0050] According to some embodiments, step S203 includes: in response to the update of the attribute value of the road center line in the road segment scenario in the first map data, where the attribute value of the road center line represents the number of lanes of the corresponding road, deleting the lane center line and lane dividing line of the corresponding road in the corresponding road segment scenario in the second map data; generating an updated lane dividing line of the corresponding road in the second map data based on the updated attribute value; and generating an updated lane center line of the corresponding road based on the updated lane dividing line.

[0051] The update for the road segment scenario may include a change in the number of lanes. In the standard map, i.e., the first map data, the number of lanes is represented by the attribute value of the road center line. Therefore, the update of the number of lanes is reflected as the update of the attribute value of the road center line in the first map data. For example, when the attribute value is updated from 3 to 4, it means that the corresponding road is updated from 3 lanes to 4 lanes. In response to the update of the attribute value of the road center line in the road segment scenario in the first map data, the lane center line and lane dividing line of the corresponding road in the corresponding road segment scenario in the second map data are deleted, and the lanes of the updated road are re-divided. An updated lane dividing line is generated equidistantly based on the updated attribute value, and an updated lane center line is generated after determining the updated lane dividing line to achieve the update of the second map data.

[0052] According to some embodiments, the method 200 further includes: in response to the update of the attribute value of the road center line in the road segment scenario in the first map data, updating the lane connection lines at the starting point and the ending point of the corresponding road in the second map data. It can be understood that after the number of lanes of a road is updated, the connection relationship with other roads at the starting point and the ending point of this road will also be updated accordingly. Therefore, it is necessary to update the lane connection lines at the starting point and the ending point of the corresponding road in the second map data.

[0053] Figure 4 shows a schematic diagram of a method for updating map data according to an embodiment of the present disclosure. As Figure 4 shown, in response to the update of the attribute value of the road center line in the road segment scenario in the first map data from 3 to 4, first, the original lane center line and lane dividing line of the corresponding road in the corresponding road segment scenario in the second map data are deleted. Then, based on the updated attribute value of 4, three updated lane dividing lines are determined, and corresponding lane dividing lines are generated based on the three updated lane dividing lines to obtain the updated second map data and achieve the update of the second map data.

[0054] According to another aspect of the present disclosure, there is provided an apparatus for updating map data. As Figure 5 shown, the apparatus 500 for updating map data includes: a first update module 501 configured to update first map data and determine a scene corresponding to the update; a second update module 502 configured to, in response to the scene being an intersection scene including at least two intersecting roads, update lane connection lines in the corresponding intersection scene in the second map data based on the updated first map data; and a third update module 503 configured to, in response to the scene being a road section scene without road intersections, update lane centerlines and lane dividing lines in the corresponding road section scene in the second map data based on the updated first map data.

[0055] During the process of the apparatus 500 for updating map data updating the map, first, the first map data, that is, the traditional standard map for navigation, is updated, and the updated scene in the first map data is identified to determine the update rule corresponding to the scene, and then the corresponding scene in the high-precision map is updated based on the update rule corresponding to the updated scene. Thus, the automatic update of the high-precision map is realized based on the update of the standard map, the consistent update of the two sets of road network data is achieved, and the labor input and the cost of updating the map are reduced.

[0056] It can be understood that there are significant differences in the abstraction levels of the same road element in the standard map data and the high-precision map data. Exemplarily, in the traditional standard map data for navigation, a road is usually represented by the centerline of the road. In the high-precision map data, more refined lines and / or icons are used to represent road elements, etc. For example, the representation of a road in the high-precision map may include the road boundary line, lane centerline, lane dividing line, and road connection lines indicating the traffic direction of the road. Therefore, during the process of the apparatus 500 for updating map data updating the high-precision map based on the standard map, it is necessary to determine the update rule for the corresponding scene in the high-precision map according to the specific update scene and update content in the standard map, and realize the automatic update of the high-precision map based on the corresponding update rule.

[0057] According to some embodiments, the second update module 502 includes: a first determination unit configured to, in response to the deletion of the road centerline in the intersection scene in the first map data, determine a first road that changes from connected to unconnected; a first deletion unit configured to, based on the unconnected first road, delete at least one first lane connection line in the corresponding intersection scene in the second map data, where the driving directions corresponding to the at least one first lane connection line cannot pass due to the disconnection of the first road; and a first generation unit configured to generate a boundary line corresponding to the disconnection of the unconnected first road in the second map data.

[0058] Exemplarily, when the road at an intersection is updated from being connected to being unconnected due to factors such as the extension of a green belt, etc., at this intersection, the disconnection of the road may cause at least two traffic flows to separate and not communicate with each other. Such an update is represented as the deletion of the center line of the road in the first map data. The first deletion unit responds to this type of update in the first map data, deletes at least one first lane connection line corresponding to the non-passable direction due to the disconnection of the road in the corresponding intersection scene in the second map data, and the first generation unit generates a boundary line corresponding to the disconnection of the road to indicate that this is the non-connectable road boundary.

[0059] In one example, after the first deletion unit completes the above operation of deleting the lane connection line, if the only lane connection line of a certain road is deleted, indicating that this road is no longer connected to any other road after the above deletion operation, the first generation unit generates lane connection lines in other directions of this road in the second map data with reference to the lane arrows corresponding to this road.

[0060] According to some embodiments, the second update module 502 further includes: a second determination unit configured to determine a second road updated from being unconnected to being connected in response to the increase of the center line of the road in the intersection scene in the first map data; an addition unit configured to add at least one second lane connection line in the corresponding intersection scene in the second map data based on the connected second road, where the driving directions corresponding to each of the at least one second lane connection lines can pass due to the connection of the second road; and a second deletion unit configured to delete the boundary line corresponding to the connection of the second road in the second map data.

[0061] It can be understood that for the update of an intersection, there are two update states for the roads in the intersection, from being connected to being unconnected and from being unconnected to being connected. The update process of the roads in the intersection from being unconnected to being connected also corresponds to the update process of the roads from being connected to being unconnected. Exemplarily, in response to the increase of the center line of the road in the first map data, indicating the connection of the corresponding road, the addition unit adds lane connection lines in the corresponding intersection scene in the second map data to represent the increased passing directions due to the connection of the road. At the same time, the second deletion unit deletes the boundary line corresponding to the connection of the road.

[0062] According to some embodiments, the third update module 503 includes: a third deletion unit configured to, in response to an update of an attribute value of a road centerline in a road segment scene in the first map data, where the attribute value of the road centerline represents the number of lanes of the corresponding road, delete the lane centerlines and lane dividers of the corresponding road in the corresponding road segment scene in the second map data; a second generation unit configured to generate updated lane dividers of the corresponding road in the second map data based on the updated attribute value; and a third generation unit configured to generate updated lane centerlines of the corresponding road based on the updated lane dividers.

[0063] The update for a road segment scene may include a change in the number of lanes. In the standard map, i.e., the first map data, the number of lanes is represented by the attribute value of the road centerline. Therefore, the update of the number of lanes is reflected as an update of the attribute value of the road centerline in the first map data. For example, when the attribute value is updated from 3 to 4, it means that the corresponding road is updated from 3 lanes to 4 lanes. In response to the update of the attribute value of the road centerline in the road segment scene in the first map data, the third deletion unit deletes the lane centerlines and lane dividers of the corresponding road in the corresponding road segment scene in the second map data, and the third generation unit re-divides the lanes of the updated road, generates updated lane dividers at equal intervals based on the updated attribute value, and generates updated lane centerlines after determining the updated lane dividers, so as to implement the update of the second map data.

[0064] According to some embodiments, the apparatus 500 further includes: a fourth update module configured to, in response to an update of an attribute value of a road centerline in a road segment scene in the first map data, update the lane connection lines at the start point and the end point of the corresponding road in the second map data. It can be understood that after the number of lanes of a road is updated, the connection relationship with other roads at the start point and the end point of this road will also be updated accordingly. Therefore, the fourth update module is required to update the lane connection lines at the start point and the end point of the corresponding road in the second map data.

[0065] As Figure 6 shown, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 602 or the computer program loaded from the storage unit 608 into the random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. The input / output (I / O) interface 605 is also connected to the bus 604.

[0066] Multiple components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 can be any type of device capable of inputting information into the electronic device 600. The input unit 606 can receive input digital or character information, and generate key signal inputs related to the user settings and / or function controls of the electronic device, and can include, but is not limited to, a mouse, a keyboard, a touch screen, a trackpad, a trackball, a joystick, a microphone, and / or a remote control. The output unit 607 can be any type of device capable of presenting information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 608 can include, but is not limited to, magnetic disks and optical discs. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth TM device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0067] The computing unit 601 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 executes the various methods and processes described above, such as the method of updating map data. For example, in some embodiments, the method of updating map data can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the method of updating map data described above can be executed. Alternatively, in other embodiments, the computing unit 601 can be configured to execute the method of updating map data in any other suitable manner (e.g., by means of firmware).

[0068] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0069] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0070] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0071] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0072] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0073] A computer system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, can also be a server of a distributed system, or a server incorporating a blockchain.

[0074] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and no limitations are imposed herein.

[0075] Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above methods, systems, and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but is only defined by the authorized claims and their equivalent scope. Various elements in the embodiments or examples may be omitted or replaced by their equivalent elements. In addition, the steps may be executed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples may be combined in various ways. Importantly, with the evolution of technology, many of the elements described herein may be replaced by equivalent elements that emerge after the present disclosure.

Claims

1. A method for updating map data, comprising: Updating first map data and determining the scenario corresponding to the update; In response to the scenario being an intersection scenario including at least two intersecting roads, updating the lane connection lines in the corresponding intersection scenario in the second map data based on the updated first map data; And In response to the scenario being a road section scenario without road intersections, updating the lane center lines and lane dividing lines in the corresponding road section scenario in the second map data based on the updated first map data, wherein the first map data is standard map data and the second map data is high-precision map data.

2. The method according to claim 1, wherein, The updating the lane connection lines in the corresponding intersection scenario in the second map data based on the updated first map data in response to the scenario being an intersection scenario including at least two intersecting roads includes: In response to the deletion of the road center line in the intersection scenario in the first map data, determining a first road that changes from connected to unconnected; Based on the unconnected first road, deleting at least one first lane connection line in the corresponding intersection scenario in the second map data, wherein the driving directions corresponding to the at least one first lane connection line cannot pass due to the disconnection of the first road; and Generating a boundary line corresponding to the disconnection of the unconnected first road in the second map data.

3. The method according to claim 1 or 2, wherein The updating the lane connection lines in the corresponding intersection scenario in the second map data based on the updated first map data in response to the scenario being an intersection scenario including at least two intersecting roads further includes: In response to the addition of the road center line in the intersection scenario in the first map data, determining a second road that changes from unconnected to connected; Based on the connected second road, adding at least one second lane connection line in the corresponding intersection scenario in the second map data, wherein the driving directions corresponding to the at least one second lane connection line can pass due to the connection of the second road; and Deleting the boundary line corresponding to the connection of the second road in the second map data.

4. The method according to any one of claims 1 to 3, wherein The updating the lane center lines and lane dividing lines in the corresponding road section scenario in the second map data based on the updated first map data in response to the scenario being a road section scenario without road intersections includes: In response to the update of the attribute value of the road center line in the road section scenario in the first map data, where the attribute value of the road center line represents the number of lanes of the corresponding road, deleting the lane center line and lane dividing line of the corresponding road in the corresponding road section scenario in the second map data; Based on the updated attribute value, generating an updated lane dividing line of the corresponding road in the second map data; and Based on the updated lane dividing line, generating an updated lane center line of the corresponding road.

5. The method according to claim 4, further comprising: In response to the update of the attribute value of the road center line in the road section scenario in the first map data, updating the lane connection lines at the start point and end point of the corresponding road in the second map data.

6. An apparatus for updating map data, comprising: A first update module, configured to update first map data and determine the scenario corresponding to the update; A second update module, configured to, in response to the scenario being an intersection scenario including at least two intersecting roads, update the lane connection lines in the corresponding intersection scenario in the second map data based on the updated first map data; And A third update module, configured to, in response to the scenario being a road section scenario without road intersections, update the lane center lines and lane dividing lines in the corresponding road section scenario in the second map data based on the updated first map data, wherein the first map data is standard map data for navigation, and the second map data is high-precision map data.

7. The apparatus according to claim 6, wherein, The second update module includes: A first determination unit, configured to, in response to the deletion of the road center line in the intersection scenario in the first map data, determine a first road that changes from connected to unconnected; A first deletion unit, configured to, based on the unconnected first road, delete at least one first lane connection line in the corresponding intersection scenario in the second map data, wherein the driving directions corresponding to the at least one first lane connection line cannot pass due to the disconnection of the first road; and A first generation unit, configured to generate a boundary line corresponding to the disconnection of the unconnected first road in the second map data.

8. The device according to claim 6 or 7, wherein The second update module further includes: A second determination unit, configured to, in response to the addition of the road center line in the intersection scenario in the first map data, determine a second road that changes from unconnected to connected; An addition unit, configured to, based on the connected second road, add at least one second lane connection line in the corresponding intersection scenario in the second map data, wherein the driving directions corresponding to the at least one second lane connection line can pass due to the connection of the second road; and A second deletion unit, configured to delete the boundary line corresponding to the connection of the second road in the second map data.

9. The device according to any one of claims 6-8, wherein, The third update module includes: A third deletion unit, configured to, in response to the update of the attribute value of the road center line in the road section scenario in the first map data, wherein the attribute value of the road center line represents the number of lanes of the corresponding road, delete the lane center line and lane dividing line of the corresponding road in the corresponding road section scenario in the second map data; A second generation unit, configured to generate an updated lane dividing line of the corresponding road in the second map data based on the updated attribute value; and A third generation unit, configured to generate an updated lane center line of the corresponding road based on the updated lane dividing line.

10. The apparatus according to claim 9, further comprising: A fourth update module, configured to, in response to the update of the attribute value of the road center line in the road section scenario in the first map data, update the lane connection lines at the start point and end point of the corresponding road in the second map data.

11. An electronic device, comprising: At least one processor; And A memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1-5.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are for causing the computer to perform the method according to any one of claims 1-5.

13. A computer program product comprising a computer program, wherein, The computer program, when executed by a processor, implements the method according to any one of claims 1-5.

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