A data updating method and device and electronic equipment

Abstract

The application discloses a data updating method and device and electronic equipment, and relates to the technical field of data updating. The method comprises the following steps: acquiring at least one map vector segment corresponding to each specified moment in multiple specified moments; matching the same map vector segment corresponding to different specified moments in all map vector segments to obtain each first matching result corresponding to the same map vector segment; determining each second matching result in each first matching result; and updating all map vector segments corresponding to the nearest specified moment in each second matching result. Through the above data updating method, the full amount of all map information in the map tile range can be avoided to be updated, the data updating amount is reduced, and the timeliness and updating speed of data updating are improved. In addition, the data updating method can also support historical backtracking and has a high fault tolerance.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of data updating, and in particular to a data updating method and device and electronic equipment. BACKGROUND

[0002] A high-precision map is an electronic map with higher precision and more data dimensions. The higher precision means that the high-precision map has centimeter-level precision, and the more data dimensions means that the high-precision map includes surrounding static information related to traffic in addition to road information. As one of the keys to realizing vehicle automatic driving, the high-precision map can effectively supplement the current sensor for automatic driving and provide more reliable perception capability for vehicles. Therefore, it is necessary to construct an accurate high-precision map and update the map information when the geographical environment data such as roads, rivers, and buildings changes.

[0003] The current map information updating method generally divides the map into multiple map tiles, and then updates all the map information in the map tile range, that is, updates all the map information corresponding to the map tile, including the part that has not changed. This updating method has a long updating cycle, which leads to slow map information updating speed, and this updating method cannot support historical rollback and has a low fault tolerance. SUMMARY

[0004] The present application discloses a data updating method, device and electronic equipment, which can avoid full updating of all map information in the map tile range, reduce the amount of data updating, and thus improve the timeliness and updating speed of data updating. Moreover, this data updating method can also support historical rollback and has a high fault tolerance.

[0005] In a first aspect, the present application provides a data updating method, which comprises:

[0006] obtaining at least one map vector segment corresponding to each specified time in a plurality of specified times respectively;

[0007] matching the same map vector segment between different specified times in all map vector segments to obtain each first matching result corresponding to the same map vector segment;

[0008] determining each second matching result in each first matching result, wherein the number and / or reliability of the map vector segment corresponding to the second matching result meet a preset requirement;

[0009] updating all map vector segments corresponding to the most recent specified time in each second matching result.

[0010] By the method, all map information in the map tile range can be avoided from full quantity updating, data updating quantity is less, and thus the timeliness and updating speed of data updating are improved. Moreover, the data updating manner can also support history backtracking, and has high fault tolerance.

[0011] In a possible design, the matching between the same map vector segments corresponding to different specified time points in all map vector segments comprises the following steps.

[0012] matching between the same map vector segments corresponding to any two adjacent specified time points in all map vector segments.

[0013] judging whether the same map vector segments corresponding to different specified time points are all matched;

[0014] If not, matching between the same map vector segments corresponding to two specified time points with any M time points therebetween, wherein M is initially 1, and is increased by 1 each time until the same map vector segments corresponding to different specified time points are all matched.

[0015] By the method, the matching relationship between the same map vector segments corresponding to different specified time points can be established.

[0016] In a possible design, the determining of the second matching result from the first matching result comprises the following steps.

[0017] calculating a confidence degree corresponding to each first matching result, wherein the confidence degree is determined according to map information contained in the map vector segment;

[0018] selecting a target confidence degree greater than a preset threshold value from the confidence degree values;

[0019] taking the first matching result corresponding to each target confidence degree as the second matching result.

[0020] By the method, the target matching result with reliable matching reliability can be selected from the first matching result.

[0021] In a possible design, the calculating of the confidence degree corresponding to each first matching result comprises the following steps.

[0022] determining each sub-matching result between the same map vector segments corresponding to different specified time points in each first matching result, wherein the sub-matching result represents a matching relationship between two map vector segments;

[0023] evaluating a matching score corresponding to each sub-matching result according to map information corresponding to each sub-evaluation result;

[0024] According to each matching score, a confidence degree corresponding to each first matching result is calculated.

[0025] By the above method, each first matching result can be scored.

[0026] In a possible design, the determining of each second matching result from the first matching results comprises:

[0027] A number value of map vector segments corresponding to each first matching result is determined.

[0028] A target number value greater than a preset number value is selected from all number values.

[0029] The first matching result corresponding to each target number value is taken as each second matching result.

[0030] By the above method, a target matching result meeting a requirement can be selected from the first matching results.

[0031] In a second aspect, the present application provides a data updating apparatus, which comprises:

[0032] An acquisition module, configured to acquire at least one map vector segment corresponding to each specified time in a plurality of specified times;

[0033] A matching module, configured to match the same map vector segments corresponding to different specified times in all map vector segments, to obtain each first matching result corresponding to the same map vector segment;

[0034] A determination module, configured to determine each second matching result from the first matching results, wherein the number of map vector segments and / or the reliability degree corresponding to the second matching result meet a preset requirement;

[0035] An updating module, configured to update all map vector segments corresponding to the most recent specified time in each second matching result.

[0036] In a possible design, the matching module is specifically configured to:

[0037] Match the same map vector segments corresponding to any two adjacent specified times in all map vector segments;

[0038] Judge whether the same map vector segments corresponding to different specified times are all matched;

[0039] If not, match the same map vector segments corresponding to any two specified times separated by M time points, wherein M takes 1 as an initial value, and is increased by 1 each time until the same map vector segments corresponding to different specified times are all matched.

[0040] In a possible design, the determining module is specifically configured to:

[0041] calculate a confidence degree corresponding to each first matching result, where the confidence degree is determined according to map information contained in the map vector segment;

[0042] screen a target confidence degree from the confidence degrees, where the target confidence degree is greater than a preset threshold;

[0043] take the first matching result corresponding to each target confidence degree as the second matching result.

[0044] In a possible design, the determining module is further configured to:

[0045] determine each sub-matching result between the same map vector segment at different specified moments in each first matching result, where the sub-matching result represents a matching relationship between two map vector segments;

[0046] evaluate a matching score corresponding to each sub-matching result according to map information corresponding to each sub-evaluation result;

[0047] calculate a confidence degree corresponding to each first matching result according to each matching score.

[0048] In a possible design, the determining module is further configured to:

[0049] determine a quantity value of map vector segments corresponding to each first matching result;

[0050] screen a target quantity value from the quantity values, where the target quantity value is greater than a preset quantity value;

[0051] take the first matching result corresponding to each target quantity value as the second matching result.

[0052] In a third aspect, a kind of electronic equipment is provided, comprising:

[0053] a memory for storing computer programs;

[0054] a processor for executing the computer programs stored on the memory, to realize the above-mentioned data updating method steps.

[0055] In a fourth aspect, a kind of computer readable storage medium is provided, and the computer readable storage medium stores computer programs, and the computer programs are executed by processor to realize the above-mentioned data updating method steps.

[0056] Based on the above data updating method, all map information in the map tile range can be avoided from full updating, the data updating amount is less, and the timeliness and updating speed of data updating are improved. Moreover, the data updating method can also support historical backtracking and has high fault tolerance.

[0057] The above aspects and the technical effects that can be achieved by each aspect in the second aspect to the fourth aspect are described above with reference to the technical effects that can be achieved by the first aspect or each possible solution in the first aspect, and thus will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1 A flowchart of a data updating method provided by the present application;

[0059] Figure 2 A schematic diagram of a map vector segment vertex provided by the present application;

[0060] Figure 3 One of the matching result schematic diagrams of a map vector segment vertex provided by the present application;

[0061] Figure 4 The second matching result schematic diagram of a map vector segment vertex provided by the present application;

[0062] Figure 5 The third matching result schematic diagram of a map vector segment vertex provided by the present application;

[0063] Figure 6 The fourth matching result schematic diagram of a map vector segment vertex provided by the present application;

[0064] Figure 7 A structural schematic diagram of a data updating device provided by the present application;

[0065] Figure 8 A structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0066] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. The specific operation methods in the method embodiments can also be applied to the device embodiments or system embodiments. It should be noted that in the description of the present application, "multiple" is understood as "at least two". The association relationship of the associated objects is described, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. A and B are connected, which means that A and B are directly connected and A and B are connected through C. In addition, in the description of the present application, "first", "second", etc. are used only for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order.

[0067] The embodiments of the present application will be described in detail below with reference to the drawings.

[0068] The current map information updating method generally divides the map into multiple map tiles, and then updates all the map information in the map tile range, that is, updates all the map information corresponding to the map tile, including the unchanged part. The updating method corresponds to a long updating period, which further leads to slow map information updating speed, and this updating method cannot support historical backtracking and has low fault tolerance.

[0069] In order to solve the above problems, the present application provides a data updating method, by which full updating of all map information in the map tile range can be avoided, the data updating amount is reduced, and the timeliness and updating speed of data updating are improved. Moreover, this data updating method can support historical backtracking and has high fault tolerance. The method and device described in the embodiments of the present application are based on the same technical concept, and the embodiments of the device and the method can be mutually referred to because the principles of the problems solved by the method and the device are similar, and the repeated parts will not be described again.

[0070] As shown in FIG. 1, a flowchart of a data updating method provided by the present application is shown, which specifically includes the following steps: Figure 1

[0071] S11, obtaining at least one map vector segment corresponding to each specified time in multiple specified times respectively;

[0072] S12, matching between the same map vector segments corresponding to different specified times in all map vector segments to obtain each first matching result corresponding to the same map vector segment;

[0073] S13, determining each second matching result in each first matching result;

[0074] ​S14, update all map vector fragments corresponding to the most recent specified time in each of the second matching results.

[0075] In this embodiment, the high-precision map data can be updated according to a preset cycle, such as once every day or every two days. Alternatively, the high-precision map can be updated in real time after a change in the map data is detected. When updating the high-precision map in real time, at least one map vector segment corresponding to multiple specified times within the most recent time period is preferentially selected. The most recent time period can be the most recent 6 hours, the most recent 1 day, or the most recent 2 days, etc.

[0076] For example, you can refer to Figure 2 , Figure 2 The circles in the diagram represent the vertices of map vector segments. t1, t2, t3, t4, t5, t6, t7, and t8 are eight specified time points. Time points t1 and t8 each contain eight map vector segment vertices, time points t2, t3, t6, and t7 each contain three map vector segment vertices, and time points t4 and t5 each contain two map vector segment vertices.

[0077] After obtaining at least one map vector fragment corresponding to each specified time, the next step is to match the same map vector fragments corresponding to different specified times. Specifically:

[0078] First, match any two adjacent map vector segments corresponding to the same map vector segment at a specified time from all map vector segments. For example, you can refer to... Figure 2 , Figure 2 Each row of circles in the diagram represents the vertices of the same map vector segment at different specified times. Figure 2 After matching any two adjacent map vector segments corresponding to the same time point, the matching results are as follows: Figure 3 As shown. In Figure 3 In the diagram, a matching relationship is established between the vertices of the map vector segments corresponding to two adjacent specified times in each row. This matching relationship is represented by a directed arrow, where the direction of the arrow indicates the direction of time continuation. Taking row A as an example, the map vector segments corresponding to times t1 and t2, times t2 and t3, and times t7 and t8 have all been matched.

[0079] However, not all two adjacent specified times necessarily contain the same map vector segment, for example... Figure 3The vertex of the map vector fragment corresponding to time t1 in the Cth row exists, but the vertex of the map vector fragment corresponding to time t2 in the Cth row does not exist, which corresponds to the same map vector fragment vertex as that corresponding to time t1. Therefore, when matching between the same map vector fragments corresponding to any two specified time points is performed according to the above method, the vertex of the map vector fragment corresponding to time t1 in the Cth row cannot be matched with the vertex of the map vector fragment corresponding to time t3. Similarly, the map vector fragments corresponding to time t4 and time t6 in the Dth row also cannot be matched.

[0080] To avoid the above situation, it is further determined whether all the same map vector fragments corresponding to different specified time points are matched. If not, the same map vector fragments corresponding to any two specified time points separated by M time points are matched, where M is initially 1, and is increased by 1 each time until all the same map vector fragments corresponding to different specified time points are matched.

[0081] For example, referring to Figure 3 , the same map vector fragments corresponding to any two specified time points separated by 1 time point in Figure 3 are matched first, and the matching result is shown in Figure 4 . In Figure 4 , the map vector fragment corresponding to time t4 in the Dth row is matched with the map vector fragment corresponding to time t6, the map vector fragment corresponding to time t1 in the Cth row is matched with the map vector fragment corresponding to time t3, and the map vector fragment corresponding to time t6 in the Cth row is matched with the map vector fragment corresponding to time t8. At this time, it is detected that the same map vector fragment vertices corresponding to time t2 and time t5 in the Bth row and the same map vector fragment vertices corresponding to time t3 and time t7 in the A row still cannot be matched in Figure 3 .

[0082] Next, the same map vector fragments corresponding to any two specified time points separated by 2 time points in Figure 3 are matched, and the matching result is shown in Figure 5 . In Figure 5 , the map vector fragment corresponding to time t2 in the Bth row is matched with the map vector fragment corresponding to time t6. At this time, it is detected that the same map vector fragment vertices corresponding to time t3 and time t7 in the A row still cannot be matched in Figure 5 , so the same map vector fragments corresponding to any two specified time points separated by 3 time points in Figure 3 are matched, and the matching result is shown in Figure 6 .

[0083] In Figure 6In the case that the matching between the vertices of the same map vector segment corresponding to different specified time instants is completed, a first matching result is obtained. At this time, the first matching result represents the trajectories of the same map vector segment corresponding to different specified time instants.

[0084] After the matching between the vertices of the same map vector segment corresponding to different specified time instants is completed, a first matching result is obtained, further, each second matching result is selected from the first matching results, wherein the number of map vector segments corresponding to the second matching result and / or the reliability degree satisfies a preset requirement. In the embodiments of the present application, the method for determining the second matching result can be as follows:

[0085] The confidence degree corresponding to each first matching result is calculated, wherein the confidence degree is determined according to the map information contained in the map vector segment. Specifically,

[0086] First, each sub-matching result between the same map vector segments corresponding to different specified time instants in each first matching result is determined, wherein the sub-matching result represents the matching relationship between two map vector segments. For example, Figure 6 each row in the table represents a first matching result, Figure 6 each directed arrow in the table represents a sub-matching result. Taking the first matching result corresponding to the first row as an example, the first matching result contains four sub-matching results, which are the matching result between the map vector segments corresponding to time instants t1 and t2, the matching result between the map vector segments corresponding to time instants t2 and t3, the matching result between the map vector segments corresponding to time instants t3 and t7, and the matching result between the map vector segments corresponding to time instants t7 and t8.

[0087] Further, the matching score corresponding to each sub-matching result is evaluated according to the map information corresponding to each sub-evaluation result. The matching score is determined according to the similarity value between the two map vector segments corresponding to the sub-matching result. For example: the current sub-matching result is the matching result between map vector segment A and map vector segment B, then when evaluating the matching score, the similarity value between map vector segment A and map vector segment B is calculated first, and then the similarity value is mapped into the matching score according to a preset rule. If the similarity value is 90%, then the similarity value can be mapped into the matching score 90, of course, it can also be 95, etc.

[0088] In the above process, the similarity value between the two map vector fragments is calculated according to map information, wherein the map information includes each target object in the map vector fragments, such as lane lines, buildings, etc. In the embodiments of the present application, each sub-matching result actually contains the matching between each target object between the map vector fragments, and then the similarity value between the map vector fragments is calculated according to the similarity value between each target object.

[0089] For example, it is assumed that the matching between the current map vector fragment 1 and the map vector fragment 2 is based on target object 1, target object 2 and target object 3. When calculating the similarity value, the similarity value p1 corresponding to the target object 1, the similarity value p2 corresponding to the target object 2 and the similarity value p3 corresponding to the target object 3 are calculated respectively. Then, according to the attribute information of each target object, a weight value is set for each similarity value, and the similarity value between the map vector fragment 1 and the map vector fragment 2 is calculated. Specifically, if the weight value corresponding to the similarity value p1 is the weight k1, the weight value corresponding to the similarity value p2 is the weight k2, and the weight value corresponding to the similarity value p3 is the weight k3, then the similarity value between the map vector fragment 1 and the map vector fragment 2 can be calculated as (p1×k1+p2×k2+p3×k3).

[0090] Through the above method, the matching score corresponding to each sub-matching result can be obtained. Next, the sub-matching scores corresponding to each first matching result are summed up, so that each matching score can be converted into a confidence degree corresponding to each first matching result, wherein the confidence degree represents the reliability of the matching result.

[0091] For example, Figure 6 The first matching result corresponding to the Bth row in the table contains six sub-matching results, which are the sub-matching result 1 corresponding to the time t1 and the time t2, the sub-matching result 2 corresponding to the time t2 and the time t5, the sub-matching result 3 corresponding to the time t5 and the time t6, the sub-matching result 8 corresponding to the time t6 and the time t7, and the sub-matching result 6 corresponding to the time t7 and the time t8. Now, the matching scores corresponding to the sub-matching results 1-6 are added up, so that the confidence degree of the first matching result corresponding to the Cth row can be calculated.

[0092] After calculating the confidence degrees corresponding to each first matching result, the target confidence degrees greater than a preset threshold value are selected from the confidence degrees, and the first matching result corresponding to each target confidence degree is taken as the second matching result of each reliable degree.

[0093] In the embodiments of the present application, the method for determining the second matching result can also be: determining the number of map vector segments corresponding to each first matching result, then screening out target number values greater than the preset number value from all number values, and taking the first matching result corresponding to each target number value as each second matching result.

[0094] For example, reference can be made to Figure 6 In the Figure 6 , the number of map vector segments contained in the first matching result corresponding to the first row is 5, the number of map vector segments contained in the first matching results corresponding to the second and third rows is 6, and the number of map vector segments contained in the first matching result corresponding to the fourth row is 7. If the preset number value is 5, the first matching results corresponding to the second, third and fourth rows can be taken as each second matching result.

[0095] In a possible application scenario, the above two methods for determining the second matching result can be combined, such as meeting the matching score condition and the preset number value condition at the same time, or setting a weight value for each of the two determination methods and then summing them up.

[0096] After each second matching result is determined from each first matching result, further, all map vector segments corresponding to the nearest specified time in each second matching result are updated. For example, in Figure 6 , the second matching results determined are the first matching results corresponding to the second, third and fourth rows, then the map vector segments of the second, third and fourth rows in time t8 are updated.

[0097] Through the above data updating method, the full amount of map information in the map tile range can be avoided, the amount of data updating is reduced, and the timeliness and updating speed of data updating are improved. Moreover, this data updating method also supports historical backtracking and has a high fault tolerance.

[0098] Based on the same inventive concept, the embodiments of the present application also provide a data updating device, as shown in Figure 7 , which is a structural schematic diagram of the data updating device, comprising:

[0099] The acquisition module 71 is configured to acquire at least one map vector segment corresponding to each specified time in a plurality of specified times;

[0100] The matching module 72 is configured to match the same map vector segments corresponding to different specified times in all map vector segments, to obtain each first matching result corresponding to the same map vector segment.

[0101] determining module 73 is configured to determine a second matching result from the first matching results, wherein the second matching result corresponds to a number of map vector segments and / or a reliability that meet preset requirements;

[0102] updating module 74 is configured to update all map vector segments corresponding to a latest specified time in the second matching result.

[0103] In a possible design, the matching module 72 is specifically configured to:

[0104] match the same map vector segments corresponding to any adjacent two specified times in all map vector segments;

[0105] determine whether the same map vector segments corresponding to different specified times are all matched;

[0106] if not, match the same map vector segments corresponding to any two specified times that are separated by M time points, wherein M is initially set as 1, and is increased by 1 each time until the same map vector segments corresponding to different specified times are all matched.

[0107] In a possible design, the determining module 73 is specifically configured to:

[0108] calculate a confidence level corresponding to each first matching result, wherein the confidence level is determined according to map information contained in the map vector segments;

[0109] screen a target confidence level greater than a preset threshold value from the confidence levels;

[0110] determine each first matching result corresponding to each target confidence level as a second matching result.

[0111] In a possible design, the determining module is further configured to:

[0112] determine each sub-matching result between the same map vector segments corresponding to different specified times in each first matching result, wherein the sub-matching result represents a matching relationship between two map vector segments;

[0113] evaluate a matching score corresponding to each sub-matching result according to map information corresponding to each sub-evaluation result;

[0114] calculate a confidence level corresponding to each first matching result according to each matching score.

[0115] In a possible design, the determining module 73 is further configured to:

[0116] determine a number of map vector segments corresponding to each first matching result;

[0117] Screening target numerical values greater than a preset numerical value from all numerical values;

[0118] Taking the first matching result corresponding to each target numerical value as each second matching result.

[0119] Through the above data updating device, all map information in the map tile range can be avoided to be updated in full amount, the data updating amount is less, and the timeliness and updating speed of data updating are improved. Moreover, the data updating manner can also support historical backtracking, and the fault tolerance is high.

[0120] Based on the same inventive concept, the embodiment of the present application also provides an electronic device, which can realize the functions of the foregoing data updating method and device, and refer to Figure 8 The electronic device comprises:

[0121] At least one processor 81 and a memory 82 connected with the at least one processor 81, and the specific connection medium between the processor 81 and the memory 82 is not limited in the embodiment of the present application, Figure 8 The connection between the processor 81 and the memory 82 is taken as an example of connection through a bus 80 in the embodiment of the present application. The bus 80 is represented by a thick line in the embodiment of the present application, Figure 8 The connection mode between other components is only schematically illustrated, and is not limited. The bus 80 can be divided into an address bus, a data bus, a control bus, etc., for the convenience of representation, Figure 8 In the embodiment of the present application, only one thick line is used to represent the bus 80, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 81 can also be referred to as a controller, and the name is not limited.

[0122] In the embodiment of the present application, the memory 82 stores instructions executable by the at least one processor 81, and the at least one processor 81 can execute the foregoing data updating method by executing the instructions stored in the memory 82. The processor 81 can realize the functions of various modules in the device shown in Figure 7

[0123] The processor 81 is the control center of the device, can utilize various interfaces and lines to connect each part of the entire control device, and through running or executing the instructions stored in the memory 82 and calling the data stored in the memory 82, the various functions and processing data of the device are realized, so as to perform overall monitoring on the device.

[0124] ​In one possible design, the processor 81 can include one or more processing units, which can integrate an application processor and a modem processor, where the application processor mainly processes operating systems, user interfaces, and application programs, and the modem processor mainly processes wireless communication. It can be understood that the modem processor can also not be integrated into the processor 81. In some embodiments, the processor 81 and the memory 82 can be implemented on the same chip, and in some embodiments, they can also be implemented on separate chips respectively.

[0125] The processor 81 can be a general processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor. The steps of the data updating method disclosed in the embodiments of the present application can be directly embodied as execution by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0126] The memory 82, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 82 can include at least one type of storage medium, such as flash memory, a hard disk, a multimedia card, a card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), a magnetic storage, a magnetic disk, an optical disk, and the like. The memory 82 can be any other medium capable of carrying or storing desired program codes in the form of instructions or data structures and capable of being accessed by a computer, but is not limited thereto. The memory 82 in the embodiments of the present application can also be a circuit or any other device capable of realizing a storage function, for storing program instructions and / or data.

[0127] By designing and programming the processor 81, the codes corresponding to the data updating method introduced in the foregoing embodiments can be fixed into the chip, so that the chip can execute the codes when running Figure 1The steps of the data updating method of the illustrated embodiment. How to design and program the processor 81 is known to those skilled in the art, and will not be described here.

[0128] Based on the same inventive concept, the embodiments of the present application also provide a storage medium, which stores computer instructions, and when the computer instructions run on a computer, the computer instructions make the computer execute the data updating method discussed above.

[0129] In some possible implementation manners, various aspects of the data updating method provided by the present application can also be implemented in the form of a program product, which includes program codes for making the control device execute the steps in the data updating method according to various exemplary embodiments of the present application described above in the specification when the program product runs on the device.

[0130] Those skilled in the art should understand that the embodiments of the present application can be provided in the form of a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) containing computer-usable program code.

[0131] The present application is described with reference to the flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows 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 general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data updating devices to produce a machine, so that the instructions executed by the computer or other programmable data updating devices generate a device implemented in the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The device that implements the function specified in one block or multiple blocks.

[0132] These computer program instructions can also be stored in a computer-readable memory that can guide the computer or other programmable data updating device to work in a specific way, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction devices that implement the flowcharts and / or block diagrams. Figure 1 The function specified in one flow or multiple flows and / or blocks Figure 1 The device that implements the function specified in one block or multiple blocks.

[0133] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operations steps are performed on the computer or other programmable data processing devices to generate computer-implemented processes, thus the instructions executed on the computer or other programmable data processing devices provide processes for implementing the flow Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or steps of the functions specified in the flow

[0134] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A data update method, characterized in that, The method includes: Retrieve at least one map vector fragment corresponding to each of multiple specified time points; Match any two adjacent map vector segments corresponding to the same map vector at any specified time. Determine if all map vector segments corresponding to the same map vector at different specified times are matched. If not, match any two map vector segments corresponding to the same map vector at any time interval M, where M is initially 1 and increments by 1 with each match, until all map vector segments corresponding to the same map vector at different specified times are matched. This yields the first matching results for each map vector segment. Each first matching result represents the trajectory of the same map vector segment at different specified times. The relationships between map vector segments are represented by directed arrows. Each second matching result is determined from each first matching result, wherein the number of map vector segments and / or the reliability of the second matching result meet preset requirements; the reliability of each second matching result is determined by the confidence level of each first matching result. Update all map vector fragments corresponding to the most recent specified time in each of the second matching results.

2. The method as described in claim 1, characterized in that, Determining each second matching result from each first matching result includes: Calculate the confidence level corresponding to each first matching result, wherein the confidence level is determined based on the map information contained in the map vector fragment; Filter out target confidence levels that are greater than a preset threshold from among the various confidence levels; The first matching result corresponding to each target confidence level is used as the second matching result.

3. The method as described in claim 2, characterized in that, The calculation of the confidence level corresponding to each first matching result includes: Determine the sub-matching results between the same map vector segments at different specified times in each first matching result, where the sub-matching results represent the matching relationship between the two map vector segments; Based on the map information corresponding to each sub-evaluation result, evaluate the matching score corresponding to each sub-matching result; Based on each matching score, the confidence level corresponding to each first matching result is calculated.

4. The method as described in claim 1, characterized in that, Determining each second matching result from each first matching result includes: Determine the numerical value of the map vector segment corresponding to each first matching result; Filter out the target number of values ​​that are greater than a preset value from all the values; The first matching result corresponding to each target value is used as the second matching result.

5. A data update device, characterized in that, The device includes: The acquisition module is used to acquire at least one map vector fragment corresponding to each of multiple specified times. The matching module is used to match any two adjacent map vector segments corresponding to the same map vector at any specified time from all map vector segments, and to determine whether all map vector segments corresponding to the same map vector at different specified times are matched. If not, it matches any two map vector segments corresponding to the same map vector at any two specified times separated by M times, where M is initially set to 1 and increments by 1 with each match, until all map vector segments corresponding to the same map vector at different specified times are matched, thus obtaining each first matching result corresponding to the same map vector segment. Each first matching result represents the trajectory of the same map vector segment at different specified times. The relationships between the same map vector segments are represented by directed arrows. The determination module is used to determine each second matching result from each first matching result, wherein the number of map vector segments and / or the reliability of the second matching result meet preset requirements; the reliability of each second matching result is determined by the confidence level of each first matching result. The update module is used to update all map vector fragments corresponding to the most recent specified time in each second matching result.

6. The apparatus as claimed in claim 5, characterized in that, The determining module is specifically used for: Calculate the confidence level corresponding to each first matching result, wherein the confidence level is determined based on the map information contained in the map vector fragment; Filter out target confidence levels that are greater than a preset threshold from among the various confidence levels; The first matching result corresponding to each target confidence level is used as the second matching result.

7. The apparatus as claimed in claim 6, characterized in that, The determining module is also used for: Determine the sub-matching results between the same map vector segments at different specified times in each first matching result, where the sub-matching results represent the matching relationship between the two map vector segments; Based on the map information corresponding to each sub-evaluation result, evaluate the matching score corresponding to each sub-matching result; Based on each matching score, the confidence level corresponding to each first matching result is calculated.

8. The apparatus as claimed in claim 5, characterized in that, The determining module is also used for: Determine the numerical value of the map vector segment corresponding to each first matching result; Filter out the target number of values ​​that are greater than a preset value from all the values; The first matching result corresponding to each target value is used as the second matching result.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method steps of any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method steps of any one of claims 1-4.

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