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

Abstract

An electronic map updating method, device, computer equipment and storage medium, including: obtaining a map node topology map; parsing the map node topology map to obtain the dependency relationship between the nodes in the map node topology map; determining the updated nodes in the map node topology map according to the dependency relationship between the nodes and the update time contained in each node; filtering out dependent nodes that directly or indirectly depend on the updated nodes from the map node topology map according to the dependency relationship between the nodes, and determining the calling order of each dependent node and the updated node; calling the updated nodes and dependent nodes according to the calling order to obtain the updated electronic map. The method can improve the updating efficiency of the electronic map update.

Description

Technical Field

[0001] The present application relates to an electronic map updating method, device, computer equipment and storage medium. Background Art

[0002] With the development of science and technology, electronic maps have become an important supporting element for autonomous driving. Each module in an autonomous driving vehicle can obtain different prior information from different nodes in the electronic map, and then realize autonomous driving by comprehensively obtaining the prior information. For example, the positioning module can match more robust positioning results based on the visual features provided by the positioning node, and the planning module can plan more reliable driving strategies based on the semantic information provided by the semantic node.

[0003] Due to reasons such as road renovation, electronic maps often need to be maintained and updated during use. Currently, all nodes in the electronic map are updated based on the update request when an update request is received. However, the method of updating all nodes in the electronic map based on the update request is prone to unnecessary update operations, making the update efficiency of the electronic map low. Summary of the invention

[0004] According to various embodiments disclosed in the present application, there is provided an electronic map updating method, apparatus, computer device and storage medium capable of improving the updating efficiency of the electronic map.

[0005] An electronic map updating method, characterized by comprising:

[0006] Get the map node topology;

[0007] Parsing the map node topology graph to obtain the dependency relationship between nodes in the map node topology graph;

[0008] Determine updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time included in each node;

[0009] According to the dependency relationship between nodes, filter out the dependent nodes that directly or indirectly depend on the updated nodes from the map node topology graph, and determine the calling order of each dependent node and the updated node;

[0010] The updated nodes and dependent nodes are called in the calling sequence to obtain an updated electronic map.

[0011] An electronic map updating device, characterized by comprising:

[0012] A dependency determination module is used to obtain a map node topology map; parse the map node topology map to obtain the dependency relationship between nodes in the map node topology map;

[0013] An updated node determination module, used to determine updated nodes in the map node topology diagram according to the dependency relationship between the nodes and the update time contained in each node;

[0014] The update module is used to filter out dependent nodes that directly or indirectly depend on the updated nodes from the map node topology diagram according to the dependency relationship between the nodes, and determine the calling order of each dependent node and the updated node; call the updated nodes and dependent nodes according to the calling order to obtain the updated electronic map.

[0015] A computer device includes a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processors, the one or more processors perform the following steps:

[0016] Get the map node topology;

[0017] Parsing the map node topology graph to obtain the dependency relationship between nodes in the map node topology graph;

[0018] Determine updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time contained in the nodes;

[0019] According to the dependency relationship between nodes, filter out the dependent nodes that directly or indirectly depend on the updated nodes from the map node topology graph, and determine the calling order of each dependent node and the updated node;

[0020] The updated nodes and dependent nodes are called in the calling sequence to obtain an updated electronic map.

[0021] One or more non-volatile computer-readable storage media storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the following steps:

[0022] Get the map node topology;

[0023] Parsing the map node topology graph to obtain the dependency relationship between nodes in the map node topology graph;

[0024] Determine updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time contained in the nodes;

[0025] According to the dependency relationship between nodes, filter out the dependent nodes that directly or indirectly depend on the updated nodes from the map node topology graph, and determine the calling order of each dependent node and the updated node;

[0026] The updated nodes and dependent nodes are called in the calling sequence to obtain an updated electronic map.

[0027] The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A diagram showing an application scenario of an electronic map updating method in an embodiment;

[0030] Figure 2 is a schematic diagram of a flow chart of an electronic map updating method in one embodiment;

[0031] Figure 3 A schematic diagram of a map node topology diagram in an embodiment;

[0032] Figure 4 A flowchart of a method for determining a calling order according to an embodiment;

[0033] Figure 5 is a block diagram of an electronic map updating device in one embodiment;

[0034] Figure 6 is a block diagram of an electronic map updating device in another embodiment;

[0035] Figure 7 FIG. 1 is a block diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0036] In order to make the technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] The electronic map updating method provided in this application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The server 104 is used to store the map node topology map, manage the update of the electronic map based on the map node topology map, and after the update operation is called, send the updated electronic map to the terminal 102, and the terminal 102 displays the electronic map accordingly. Among them, the terminal 102 can be but not limited to various personal computers, laptops, smart phones, tablet computers and portable wearable devices, and the server 104 can be implemented by an independent server or a server cluster composed of multiple servers.

[0038] In one embodiment, Figure 2 As shown, a method for updating an electronic map is provided, which is applied to Figure 1 Taking the server 104 in the example as an example, the following steps are included:

[0039] S202, obtaining a map node topology map.

[0040] Among them, reference Figure 3 , Figure 3 Schematic diagram of a map node topology in an embodiment. The map node topology refers to a topological structure composed of program nodes, data nodes and edges required to generate an electronic map. A program node refers to a program module written to implement a functional module in an electronic map, such as Figure 3 As shown in the figure, the program node can be a positioning layer program node, so that the autonomous driving vehicle can determine its own positioning result based on the visual features provided by the positioning node. The data node refers to the node that receives the call result of the program node and provides source data for the program node, such as Figure 3 As shown, the data node may be a positioning layer data node, through which the positioning layer data node may receive the positioning data output by the positioning layer node, and use the positioning data as the data input source of the map data packaging node.

[0041] Specifically, when generating a map node topology, developers only need to define the direct dependency between every two nodes, and based on the data nodes and program nodes, as well as the defined direct dependency, a map node topology can be generated. Figure 3 As shown, two nodes connected by an edge are directly dependent, for example, the posture optimization program node directly depends on the original data node; the posture optimization data node directly depends on the posture optimization program node, etc. When a data node directly depends on a program node, it indicates that the data node receives the execution result of the program node; when a program node depends on a data node, it indicates that the program node needs to read data from the data node and process the data based on the read data. When the electronic map needs to be updated, the server obtains the map node topology map.

[0042] In one embodiment, the server may read the map node topology from the cloud.

[0043] In one embodiment, after determining that the developer updates all or part of the nodes required for generating the electronic map, the server triggers the electronic map update operation.

[0044] In one embodiment, the server updates the electronic map based on a developer's click-to-update control operation.

[0045] In one embodiment, when the terminal opens the electronic map, the terminal generates an electronic map update query instruction and sends the electronic map update query instruction to the server, and the server triggers the electronic map update operation according to the electronic map update query instruction.

[0046] S204, parsing the map node topology to obtain the dependency relationship between the nodes.

[0047] The dependency relationship refers to the relationship of assistance in the process of data processing performed by the node. The dependency relationship includes direct dependency relationship and indirect dependency relationship. Figure 3 As shown in the figure, two nodes directly connected by an edge are directly dependent, such as the positioning layer program node and the positioning layer data node. Two nodes connected by two or more edges are indirectly dependent, for example, the positioning layer program node and the map data packaging node are connected by two edges, so the map data packaging node indirectly depends on the positioning layer program node. When node A depends on node B, it means that node A needs to use the output result of node B during data processing. At this time, node B is dependent on node A, for example, Figure 3 As shown, when the posture optimization data node stores the execution results output by the posture optimization program node, the posture optimization data node depends on the posture optimization program node, and the posture optimization program node is dependent on the posture optimization data node.

[0048] Specifically, since the developer has defined the direct dependency between every two nodes, the server can determine the indirect dependency between each node based on the direct dependency between each two nodes. Therefore, after obtaining the map node topology, the server can determine the direct and indirect dependencies between each node based on the map node topology.

[0049] S206: Determine updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time included in each node.

[0050] The update time refers to the time when a program node or data node is changed. When a developer changes a program in a program node, the server obtains the change time of the program node and embeds the change time in the program node as the update time; when a developer changes the data in a data node, or when a data node receives an execution result sent by a program node and stores the execution result accordingly, the server obtains the change time when the developer changes the data in the data node, or the reception time when the data node receives the execution result, and embeds the change time or reception time in the data node as the update time.

[0051] Specifically, the server extracts the update time of each node in the map node topology diagram, and determines at least one pair of nodes with direct dependency relationships based on the dependency relationships between the nodes, for example, a positioning layer program node and a positioning layer data node are a pair of nodes. The server determines the current node in the node pair and the directly dependent node that directly depends on the current node, and when the update time of the current node is later than the update time of the directly dependent node that directly depends on the current node, the server treats the current node as an updated node. For example, Figure 3 As shown, when the current node is a positioning layer program node, and the directly dependent node of the directly dependent positioning layer program node is a positioning layer data node, the server determines whether the update time of the positioning layer program node is later than the update time of the positioning layer data node. When the update time of the positioning layer program node is later than the update time of the positioning layer data node, the server regards the positioning layer program node as an updated node.

[0052] In one embodiment, the electronic map updating method further includes: when an update operation of the node to be updated is triggered, obtaining an update time of the triggering update operation; and updating the node to be updated based on the update time.

[0053] Specifically, the server monitors the update operation of each node in the map node topology diagram. When determining to trigger the update operation of the node to be updated, the server determines the time of triggering the update operation of the node to be updated, and embeds the determined time as the update time in the node to be updated.

[0054] In one embodiment, when the node to be updated is updated successfully, the server determines the time point when the update operation is successfully executed, and embeds the time point when the update operation is successfully executed in the node to be updated as the update time.

[0055] S208, based on the dependency relationship between the nodes, filter out the dependent nodes that are directly or indirectly dependent on the updated node from the map node topology graph, and determine the calling order of each dependent node and the updated node.

[0056] The dependent nodes include directly dependent nodes and indirectly dependent nodes.

[0057] Specifically, the server selects directly dependent nodes that directly depend on updated nodes and indirectly dependent nodes that indirectly depend on updated nodes from the map node topology graph according to the dependency relationship between the nodes. Figure 3 As shown, when the updated node is a visualization data node, the directly dependent node that directly depends on the updated node is a map data packaging node, and the indirectly dependent node that indirectly depends on the updated node is a map data publishing node. The server determines the calling priority of the updated node as the first calling priority; determines the calling priority of the directly dependent node as the second calling priority; and determines the calling priority of the indirectly dependent node as the third calling priority. The server determines the calling order of each dependent node and the updated node according to the calling priorities of the updated node, the directly dependent node, and the indirectly dependent node. It is easy to understand that the server preferentially calls the node with the first calling priority; when the node with the first calling priority is called, the server calls the node with the second calling priority; when the node with the second calling priority is called, the server calls the node with the third calling priority.

[0058] In one embodiment, when there are multiple indirect dependent nodes whose calling priority is the third calling priority, the dependency relationship between the indirect dependent nodes is determined according to the dependency relationship between the nodes; the calling order of the indirect dependent nodes is determined according to the dependency relationship between the indirect dependent nodes; the calling order of each dependent node and the updated node is determined according to the calling priorities of the updated node, the direct dependent node and the indirect dependent node, including: determining the calling order of each dependent node and the updated node according to the calling priority of the updated node, the direct dependent node, and the calling order of the indirect dependent nodes.

[0059] Specifically, when there are two or more indirectly dependent nodes, the server determines the calling order between the multiple indirectly dependent nodes according to the dependency relationship between the nodes, so that after the nodes with the first calling priority and the nodes with the second calling priority are called, the server can call the indirectly dependent nodes according to the calling order between the indirectly dependent nodes. More specifically, the server determines the indirect dependent nodes on which the direct dependent node is directly dependent according to the dependency relationship between the nodes, and sets the calling order of the determined indirect dependent nodes to the first calling order. For example, when the semantic layer program node is an updated node, the directly dependent node is a data node to be annotated, and the indirect dependent node that directly depends on the data node to be annotated is a semantic layer data node. At this time, the server sets the calling order of the semantic layer data node to the first calling order in the third calling priority.

[0060] Further, the server uses the indirect dependent node with the first calling order as the starting node, and determines whether there is an indirect dependent node that directly depends on the starting node in the map node topology. If so, the server sets the calling order of the indirect dependent node that directly depends on the starting node to the second calling order in the third calling priority, and uses the indirect dependent node with the second calling order as the new starting node. The server determines the calling order of the indirect dependent nodes that directly depend on the new starting node in the above manner until there is no indirect dependent node that directly depends on the new starting node.

[0061] For example, in the above example, when the server sets the calling order of the semantic layer data node to the first calling order in the third calling priority, the server determines that the indirectly dependent node that directly depends on the semantic layer data node is a map data packaging node, and at this time the server sets the calling order of the map data packaging node to the second calling order in the third calling priority. The server determines that the indirectly dependent node that directly depends on the map data packaging node is a published map data node, and at this time the server sets the calling order of the published map data node to the third calling order in the third calling priority, so that the final complete calling order is, in order, the semantic layer program node with the first calling priority, the data node to be annotated with the second calling priority, the semantic layer data node with the first calling order in the third calling priority, the map data packaging node with the second calling order in the third calling priority, and the published map data node with the second calling order in the third calling priority.

[0062] S210, calling the updated nodes and dependent nodes in a calling sequence to obtain an updated electronic map.

[0063] Specifically, the server calls the updated nodes and dependent nodes in the calling order to obtain the updated electronic map. Since the updated electronic map can be obtained by calling only the updated nodes and dependent nodes, compared with the traditional method of calling all nodes in the map node topology from beginning to end, the present application can reduce unnecessary calling processes, thereby improving the efficiency of electronic map generation.

[0064] In one embodiment, the server stores the node identifier of the program node with the last call sequence in the map node topology. When the server receives the electronic map update instruction, the server determines the program node with the last call sequence and the data node that the program node with the last call sequence directly depends on according to the node identifier of the program node with the last call sequence. For example, Figure 3As shown, when the program node with the last calling sequence is a map data packaging node, the server determines that the data nodes that the map data packaging node directly depends on are a positioning layer data node, a visualization data node, and a semantic layer data node.

[0065] Furthermore, the server extracts the update time in the program node with the last call sequence and the update time in the corresponding directly dependent data node. When the update time in the program node with the last call sequence is later than the update time in the corresponding directly dependent data node, the server generates an updated electronic map based on the program node with the last call sequence. For example, in the above example, the server calls the map data packaging node and publishes the map data node to generate an updated electronic map. When the update time in the program node with the last call sequence is earlier than the update time in the directly dependent data node, the server determines the updated nodes in the map node topology map according to the above method, and determines the dependent nodes that directly or indirectly depend on the updated nodes, and calls the updated nodes and dependent nodes in sequence to obtain the updated electronic map.

[0066] In one embodiment, when there are two or more updated nodes, the server determines the dependent nodes corresponding to each updated node, respectively, to obtain multiple sequences of nodes to be called. The server determines the calling order between the updated nodes and the corresponding dependent nodes in each sequence of nodes to be called according to the above method, and calls the sequence of nodes to be called based on multiple threads simultaneously according to the determined calling order to obtain multiple updated electronic maps. The server determines the generation time of each updated electronic map, and uses the electronic map with the latest generation time as the updated electronic map that is finally output.

[0067] In one embodiment, when there are two or more updated nodes, the server determines the program node with the last call sequence, and traverses multiple updated nodes. The server determines the program nodes that directly or indirectly depend on the updated nodes in the current traversal order, except the program node with the last call sequence, and uses the determined program nodes and the updated nodes in the current traversal order as a sequence of nodes to be called. The server calls the sequence of nodes to be called simultaneously based on multi-threading. When it is determined that each node in the multiple sequences of nodes to be called has been called, the server calls the program node with the last call sequence to generate an updated electronic map.

[0068] In this embodiment, by obtaining a map node topology map, the obtained map node topology map can be analyzed to obtain the dependency relationship between each node; by determining the dependency relationship between each node and extracting the update time of each node, the updated node can be determined based on the dependency relationship and the update time; by determining the updated node, the dependent node that directly or indirectly depends on the updated node can be determined, so that the server can determine the calling order of each dependent node and the updated node, and call the updated node and the dependent node in sequence according to the calling order to obtain the updated electronic map. Since only the updated node and the dependent node need to be called to obtain the updated electronic map, compared with the traditional method of calling all nodes in the map node topology map from beginning to end, the present application can reduce unnecessary calling processes, thereby improving the efficiency of generating electronic maps.

[0069] In one embodiment, the step of generating a map node topology diagram includes: obtaining a configuration file of an electronic map; the configuration file of the electronic map includes a node identifier of at least one data node required for generating the electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node; generating a map node topology diagram according to the node identifier of at least one data node required for generating the electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node.

[0070] The server obtains a map configuration file required for generating a map node topology map, determines the dependency relationship between the nodes according to the map configuration file, and generates a map node topology map according to the dependency relationship between the nodes. The map configuration file includes a node identifier of at least one data node required for generating an electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node.

[0071] In one embodiment, the developer can configure a node configuration file for each data node in advance, so that the server can obtain a map configuration file by integrating the node configuration files of each data node. Among them, the node configuration file of the current data node includes at least one configuration item such as the data input path of the current data node, the node identifier corresponding to the node directly dependent on the current data node, the node identifier corresponding to the node directly dependent on by the current data node, and the data storage path of the current data node. It is easy to understand that the developer can make corresponding configurations for each configuration item, or only configure some configuration items.

[0072] In one embodiment, the developer can configure a node configuration file for each data node and each program node in advance, so that the server can combine the node configuration files of each data node and the node configuration files of the program node to obtain the map configuration file. Among them, the current program configuration file includes at least one configuration item such as the calling method of the current program node and the node identifier corresponding to the node directly dependent on the program node. The configuration file of the current data node includes at least one configuration item such as the data input path of the current data node, the node identifier corresponding to the node directly dependent on the current data node, and the data storage path of the data node.

[0073] In one of the embodiments, the configuration file of the electronic map includes node identifiers of data nodes required for generating the electronic map, and node identifiers corresponding to nodes on which each data node directly depends; node identifiers of program nodes required for generating the electronic map, and node identifiers corresponding to nodes on which each program node directly depends; the server determines the dependency relationship between each node based on the electronic map configuration file, and generates a map node topology diagram based on the dependency relationship between each node.

[0074] In this embodiment, the server only needs to obtain the map configuration file to generate the map node topology map, which greatly improves the generation efficiency of the map node topology map.

[0075] In one embodiment, determining updated nodes in a map node topology graph according to dependencies between nodes and update times of nodes includes:

[0076] S402, traversing the nodes in the map node topology graph;

[0077] S404, determining the current traversal order node and the directly dependent node that directly depends on the current traversal order node;

[0078] S406, extracting the update time of the currently traversed sequence node and the update time of the directly dependent node;

[0079] S408: When the update time of the current traversal sequence node is later than the update time of the directly dependent node, determine that the current traversal sequence node is an updated node.

[0080] Specifically, the server traverses the nodes in the map node topology graph. When the current traversal sequence node is a program node, the server determines the data node that directly depends on the current traversal sequence node based on the map node topology graph, and extracts the update time in the current traversal sequence node and the update time of the data node that directly depends on the current traversal sequence node, that is, extracts the update time of the current traversal sequence node and the update time of the directly dependent node. When the update time of the current traversal sequence node is later than the update time of the directly dependent node, the server uses the current traversal sequence node as the update node.

[0081] Since the data node is directly dependent on the program node in the current traversal order, when the server calls the program node to perform data operations, obtains the execution result, and stores the execution result in the data node, the update time of the data node will be later than the update time of the program node. When the developer updates the program node, the server updates the original update time based on the latest update time of the program node in the current traversal order, so that the update time of the program node will be later than the update time of the data node. Therefore, when the current traversal order node is an update node, the server can determine whether the current traversal order node is an updated node based on the update time of the current traversal order node and the update time of the data node that directly depends on the current traversal order node.

[0082] For example, when the positioning layer data node directly depends on the positioning layer program node, the server will input the execution result of the positioning layer program node into the positioning layer data node. Therefore, when the update time of the positioning layer data node is later than the update time of the positioning layer program node, it indicates that the developer has not updated the positioning layer program node; when the update time of the positioning layer data node is earlier than the update time of the positioning layer program node, it indicates that the developer has updated the positioning layer program node. At this time, the server will treat the positioning layer program node as an updated node.

[0083] When the current traversal order node is a data node, the server determines the node that directly depends on the current traversal order node. It is easy to understand that the node that directly depends on the current traversal order node can be a program node or a data node, for example, Figure 3 As shown, the nodes that directly depend on the visualization data nodes are map data packaging nodes; the nodes that directly depend on the data nodes to be annotated are semantic layer data nodes. The server extracts the update time of the current traversal sequence node, as well as the update time of the program node or data node that directly depends on the current traversal sequence node. When the update time of the current traversal sequence node is later than the update time of the program node or data node that directly depends on the current traversal sequence node, the server treats the current traversal sequence node as an updated node, that is, when the update time of the current traversal sequence node is later than the update time of the directly dependent node, the server treats the current traversal sequence node as an updated node.

[0084] Since the program node depends on the data node of the current traversal order, the server can only input the data in the data node as source data to the program node when data already exists in the data node of the current traversal order, so that the program node can perform data processing based on the source data. Therefore, the update time of the data node of the current traversal order is earlier than the update time of the program node. When the developer updates the data node of the current traversal order, the server updates the original update time based on the latest update time of the data node of the current traversal order, so that the update time of the program node of the data node of the current traversal order will be later than the update time of the data node. Therefore, the server can determine whether the current traversal order node is an updated node based on the update time of the current traversal order node and the update time of the dependent node that directly depends on the current traversal order node.

[0085] For example, when the map data packaging node directly depends on the visualization data node, and the update time of the visualization data node is later than the update time of the map data packaging node, it indicates that the developer has updated the visualization data node. At this time, the server regards the visualization data node as an updated node; when the update time of the visualization data node is later than the update time of the map data packaging node.

[0086] In this embodiment, the server only needs to compare the update time of the current traversal sequence node with the update time of the directly dependent node that directly depends on the current traversal sequence node to quickly determine the updated node, which greatly improves the efficiency of determining the updated node.

[0087] In one embodiment, the calling order of each dependent node and the updated node is determined according to the dependency relationship between each node, including: determining the direct dependent nodes that directly depend on the updated node, and the indirect dependent nodes that indirectly depend on the updated node according to the dependency relationship between each node; determining the calling priority of the updated node as the first calling priority; determining the calling priority of the directly dependent node as the second calling priority that is lower than the first calling priority; determining the calling priority of the indirectly dependent node as the third calling priority that is lower than the second calling priority; determining the calling order of each dependent node and the updated node according to the calling priorities of the updated node, the directly dependent node and the indirectly dependent node.

[0088] Specifically, the server determines the directly dependent nodes that directly depend on the updated nodes, and the indirectly dependent nodes that indirectly depend on the updated nodes, based on the dependency relationship between the nodes. The server sets the calling priority of the updated nodes to the first calling priority, the priority of the directly dependent nodes to the second calling priority, and the calling priority of the indirectly dependent nodes to the third calling priority, so that the server preferentially calls the nodes with the first calling priority. After the nodes with the first calling priority are successfully called, the server calls the nodes with the second calling priority, and so on, until the nodes indicated by the calling order are called.

[0089] In this embodiment, the calling sequence is determined by setting the priority, so that the server can preferentially call nodes with higher priority, thereby ensuring the efficiency of generating the electronic map.

[0090] In one embodiment, determining the calling order of each dependent node and updated node includes: obtaining the calling order between each program node in a preset map node topology map; filtering out program nodes from the updated nodes and dependent nodes; determining the calling order of program nodes filtered out from the updated nodes and dependent nodes according to the calling order between each program node in the map node topology map; calling the dependent nodes according to the calling order to obtain an updated electronic map, including: calling the program nodes according to the calling order of program nodes filtered out from the updated nodes and dependent nodes to obtain an updated electronic map.

[0091] Specifically, the server obtains the calling order between each program node in the preset map node topology map, and filters out the program nodes from the updated nodes and the dependent nodes. The server determines the calling order of the program nodes filtered out from the updated nodes and the dependent nodes according to the calling order between each program node in the map node topology map, and calls the program nodes filtered out from the updated nodes and the dependent nodes according to the determined calling order to obtain an updated electronic map. For example, the server obtains the node identifiers of each program node in the map node topology map, and sorts the node identifiers of the program nodes according to the calling order to obtain an identifier sequence. The server deletes the node identifiers that are not updated nodes and the node identifiers that are not dependent nodes from the identifier sequence to obtain an updated identifier sequence. The server calls the program nodes filtered out from the updated nodes and the dependent nodes in sequence according to the updated identifier sequence to obtain an updated electronic map.

[0092] In one of the embodiments, after the server obtains the map node topology, the server sorts the calling order of each program node based on a preset logical sorting algorithm, and when it is determined that calling each program node according to the current calling order can eventually generate an updated electronic map, the server stores the current calling order and uses the stored current calling order as the calling order of each program node in the map node topology.

[0093] In this embodiment, when a data node directly depends on a program node, the program node will input the execution result to the corresponding data node, so that the corresponding data node is executed passively. Therefore, the server only needs to call the program node in the map node to obtain the updated electronic map. In addition, by obtaining the preset calling sequence, the calling sequence of the program nodes in the updated node and the dependent node can be quickly determined, thereby improving the updating efficiency of the electronic map.

[0094] In one embodiment, the updated nodes and dependent nodes are called in a calling order to obtain an updated electronic map, including: determining the current node to be called based on the calling order; determining the data input path and the data output path of the current node to be called; reading the source data from the data input path, and calling the current node to be called to execute the processing of the source data to obtain the execution result; storing the execution result according to the data output path; determining the next node to be called of the current node to be called based on the calling order, and continuing the iterative processing with the next node to be called as the current node to be called until the node indicated by the calling order is called.

[0095] Specifically, the server calls the nodes in sequence according to the calling order, and generates an updated electronic map based on the called nodes. More specifically, the server determines the current node to be called, and determines the data input path and data output path of the current node to be called according to the map configuration file or the node configuration file. The server reads the source data according to the data input path, and inputs the source data into the current node to be called, so that the current node to be called performs a data processing process on the source data to obtain an execution result. The server stores the execution result according to the data output path. The server determines the next calling node of the current node to be called according to the calling order, and continues to iterate with the next calling node as the current node to be called until the node call indicated by the calling order is completed.

[0096] In one embodiment, when the current node to be called is a data node, the server reads the source data from the data input path and outputs the source data according to the data output path, for example, Figure 3As shown, when the current node to be called is the original data node, the original data node reads the source data from the data input source, and outputs the read source data to the posture optimization program node, the positioning layer program node, the visualization layer program node, and the semantic layer generation program node.

[0097] In one of the embodiments, when the current node to be called is a program node, the server reads source data from a data input path, performs data processing on the source data, obtains an execution result, and outputs the execution result according to the corresponding data output path.

[0098] In this embodiment, the server only needs to call the updated nodes and the dependent nodes in sequence to obtain the updated electronic map, thus greatly improving the updating efficiency of the electronic map.

[0099] In one embodiment, determining the data input source and data output path of the current node to be called includes: when the current node to be called is a data node, obtaining a node configuration file of the current node to be called; the node configuration file includes a call result storage path of a node on which the current node to be called directly depends, and a data output path of the current node to be called; and using the call result storage path of the node on which the current node to be called directly depends as the data input path of the current node to be called.

[0100] Specifically, when the current node to be called is a data node, the server obtains a node configuration file pre-configured for the current node to be called. The node configuration file includes the execution result storage path of the node that the current node to be called directly depends on, and the data output path of the current node to be called. The server uses the execution result storage path of the node that the current node to be called directly depends on as the data input path of the current node to be called. For example, when the positioning layer data node directly depends on the positioning layer program node, the server uses the execution result storage path of the positioning layer program node as the data input path of the positioning layer data node.

[0101] In one of the embodiments, when the current node to be executed does not have any directly dependent node, the developer can directly specify the data input path of the current node to be executed in the corresponding node configuration file.

[0102] In this embodiment, since the data node can directly depend on the program node, the server only needs to determine the execution result storage path of the directly dependent program node to determine the data input path of the corresponding data node, thereby improving the convenience of determining the data input path and further improving the efficiency of determining the data input path.

[0103] In one embodiment, the above-mentioned electronic map updating method also includes: when the current node to be called is a program node, determining the data node that the current node to be called directly depends on, and the data node that directly depends on the current node to be called; according to the node configuration file of the data node that the current node to be called directly depends on, and the node configuration file of the data node that directly depends on the current node to be called, determining the data input source and data output path of the node to be called in the current traversal order.

[0104] Specifically, when the current node to be called is a program node, the server obtains and determines the data nodes directly dependent on by the current node to be called and the data nodes directly dependent on by the currently calling node, and obtains the node configuration files of the data nodes directly dependent on by the current node to be called and the node configuration files of the data nodes directly dependent on by the currently calling node. Figure 3 As shown, when the current node to be called is a positioning layer program node, the node directly dependent on by the current node to be called is the original data node, and the node directly dependent on by the current node to be called is the positioning layer data node. Therefore, the server obtains the node configuration file of the original data node and the node configuration file of the positioning layer data node. For the convenience of description, the node configuration file of the data node directly dependent on by the current node to be called is referred to as the first node configuration file, and the node configuration file of the data node directly dependent on by the current node to be called is referred to as the second node configuration file.

[0105] Further, the server reads the data output path from the first node configuration file, and uses the data output path read from the first node configuration file as the data input path of the current node to be called. The server reads the data input path from the second node configuration file, and uses the data input path read from the second node configuration file as the data output path of the current node to be called. For example, in the above example, the server uses the data output path in the node configuration file corresponding to the original data node as the data input path of the positioning layer program node. The server uses the data input path in the node configuration file corresponding to the positioning layer data node as the data output path of the positioning layer program node.

[0106] In one of the embodiments, when the data nodes in the map node topology diagram are managed by a unified database, an absolute path can be used to define the data output path and the data input path; when the data nodes in the map node topology diagram are not managed by a unified database, a relative path can be used to define the data output path and the data input path.

[0107] In this embodiment, developers only need to define the data input path and data output path of the data node to indirectly define the data input path and data output path of the program node, thereby reducing unnecessary path configuration processes and improving the configuration efficiency of the data input path and data output path.

[0108] It should be understood that although Figure 2 , 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily called in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for calling these steps, and these steps can be called in other orders. Moreover, Figure 2 , 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily called and completed at the same time, but can be called at different times. The order of calling these sub-steps or stages is not necessarily one by one, but can be called in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0109] In one embodiment, if Figure 5 As shown, an electronic map updating device 500 is provided, including: a dependency determination module 502 , an updated node determination module 504 , and an updating module 506 .

[0110] The dependency determination module 502 is used to obtain a map node topology map; analyze the map node topology map to obtain the dependency relationships between the nodes in the map node topology map.

[0111] The updated node determination module 504 is used to determine the updated nodes in the map node topology diagram according to the dependency relationship between the nodes and the update time contained in each node.

[0112] The updating module 506 is used to filter out dependent nodes that directly or indirectly depend on the updated nodes from the map node topology diagram according to the dependency relationship between the nodes, and determine the calling order of each dependent node and the updated node; call the updated nodes and dependent nodes according to the calling order to obtain an updated electronic map.

[0113] In one embodiment, if Figure 6As shown, the electronic map updating device 500 is also used to obtain a map configuration file; the map configuration file includes a node identifier of at least one data node required for generating an electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node; a map node topology diagram is generated based on the node identifier of at least one data node required for generating an electronic map, the node identifier corresponding to a node directly dependent on the data node, and the node identifier corresponding to a node directly dependent on the data node.

[0114] In one embodiment, the updated node determination module 504 also includes an update time extraction module 5041, which is used to traverse the nodes in the map node topology diagram according to the dependency relationship between the nodes; determine the current traversal sequence node, and the directly dependent node that directly depends on the current traversal sequence node; extract the update time of the current traversal sequence node and the update time of the directly dependent node; when the update time of the current traversal sequence node is later than the update time of the directly dependent node, determine the current traversal sequence node as an updated node.

[0115] In one embodiment, the updated node determination module 504 further includes a time update module 5042, which is used to obtain the update time of the triggering update operation when the update operation of the node to be updated is triggered; and update the node to be updated based on the update time.

[0116] In one embodiment, the update module 506 also includes a call order determination module 5061, which is used to determine the directly dependent nodes that directly depend on the updated node, and the indirect dependent nodes that indirectly depend on the updated node according to the dependency relationship between the nodes; determine the call priority of the updated node as the first call priority; determine the call priority of the directly dependent node as the second call priority that is second to the first call priority; determine the call priority of the indirectly dependent node as the third call priority that is second to the second call priority; and determine the call order of each dependent node and the updated node according to the call priorities of the updated node, the directly dependent node and the indirectly dependent node.

[0117] In one of the embodiments, the calling order determination module 5061 is also used to determine the dependency relationship between the indirect dependent nodes according to the dependency relationship between the nodes when there are multiple indirect dependent nodes with a calling priority of the third calling priority; determine the calling order of the indirect dependent nodes according to the dependency relationship between the indirect dependent nodes; determine the calling order of each dependent node and the updated node according to the calling priorities of the updated node, the direct dependent node and the indirect dependent node, including: determining the calling order of each dependent node and the updated node according to the calling priority of the updated node, the direct dependent node, and the calling order of the indirect dependent nodes.

[0118] In one of the embodiments, the calling order determination module 5061 is also used to obtain the calling order between each program node in a preset map node topology diagram; filter out program nodes from updated nodes and dependent nodes; and determine the calling order of program nodes filtered out from updated nodes and dependent nodes based on the calling order between each program node in the map node topology diagram.

[0119] In one embodiment, the update module 506 also includes an execution module 5062, which is used to determine the current node to be called based on the calling order; determine the data input path and data output path of the current node to be called; read the source data from the data input path, and call the current node to be called to execute the processing of the source data to obtain the execution result; store the execution result according to the data output path; based on the calling order, determine the next node to be called of the current node to be called, and continue to iterate the next node to be called as the current node to be called until the node indicated by the calling order is called.

[0120] In one embodiment, the execution module 5062 is also used to obtain a node configuration file of the current node to be called when the current node to be called is a data node; the node configuration file includes the execution result storage path of the node on which the current node to be called directly depends, and the data output path of the current node to be called; the execution result storage path of the node on which the current node to be called directly depends is used as the data input path of the current node to be called.

[0121] In one embodiment, the execution module 5062 is also used to determine the data nodes directly dependent on the current node to be called and the data nodes directly dependent on the current node to be called when the current node to be called is a program node; determine the data input source and data output path of the node to be called in the current traversal order according to the node configuration files of the data nodes directly dependent on the current node to be called and the node configuration files of the data nodes directly dependent on the current node to be called.

[0122] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer-readable instructions and a database. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the non-volatile storage medium. The database of the computer device is used to store electronic map data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer-readable instructions are called by the processor, an electronic map updating method is implemented.

[0123] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0124] A computer device includes a memory and one or more processors. The memory stores computer-readable instructions. When the computer-readable instructions are called by the processor, the one or more processors implement the steps in the above method embodiment.

[0125] One or more non-volatile computer-readable storage media storing computer-readable instructions, which, when called by one or more processors, enable the one or more processors to implement the steps in the above method embodiments.

[0126] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through computer-readable instructions, and the computer-readable instructions can be stored in a non-volatile computer-readable storage medium. When the computer-readable instructions are called, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0127] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An electronic map updating method, characterized in that: include: Get the map node topology; Parsing the map node topology graph to obtain the dependency relationship between the nodes in the map node topology graph; Determine updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time included in each node; According to the dependency relationship between each node, the dependent nodes that directly or indirectly depend on the updated node are screened out from the map node topology map, and the calling order of each dependent node and the updated node is determined; wherein the calling priority of the updated node is higher than the calling priority of the dependent node, and among the dependent nodes, the calling priority corresponding to the dependent node that directly depends on the updated node is higher than the calling priority corresponding to the dependent node that indirectly depends on the updated node; The updated nodes and the dependent nodes are called in the calling sequence to obtain an updated electronic map.

2. The method according to claim 1, characterized in that The nodes include program nodes and data nodes; the steps of generating the map node topology diagram include: Acquire a map configuration file; the map configuration file includes a node identifier of at least one data node required for generating an electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node; A map node topology diagram is generated according to the node identifier of at least one data node required for generating the electronic map, the node identifier corresponding to the node directly dependent on the data node, and the node identifier corresponding to the node directly dependent on the data node.

3. The method according to claim 1, characterized in that Determining updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time of each node includes: Traversing the nodes in the map node topology graph according to the dependency relationship between the nodes; Determine the current traversal order node and the directly dependent node that directly depends on the current traversal order node; Extracting the update time of the currently traversed sequence node and the update time of the directly dependent node; When the update time of the current traversal order node is later than the update time of the directly dependent node, the current traversal order node is determined to be an updated node.

4. The method according to claim 3, characterized in that The method further comprises: When the update operation of the node to be updated is triggered, the update time of the triggering update operation is obtained; Based on the update time, the node to be updated is updated.

5. The method according to claim 1, characterized in that The determining of the calling order of each of the dependent nodes and the updated nodes comprises: Determine, according to the dependency relationship between the nodes, directly dependent nodes that directly depend on the updated node, and indirectly dependent nodes that indirectly depend on the updated node; Determine that the calling priority of the updated node is the first calling priority; Determine the calling priority of the directly dependent node as a second calling priority that is lower than the first calling priority; Determine the calling priority of the indirectly dependent node as a third calling priority that is lower than the second calling priority; The calling order of each of the dependent nodes and the updated node is determined according to the calling priorities of the updated node, the directly dependent node and the indirectly dependent node.

6. The method according to claim 5, characterized in that The method further comprises: When there are multiple indirect dependent nodes whose call priority is the third call priority, determining the dependency relationship between the indirect dependent nodes according to the dependency relationship between the nodes; Determine the calling order of each indirect dependent node according to the dependency relationship between each indirect dependent node; The step of determining the calling order of each dependent node and the updated node according to the calling priorities of the updated node, the directly dependent node and the indirectly dependent node comprises: The calling order of each of the dependent nodes and the updated node is determined according to the calling priorities of the updated node and the directly dependent node, and the calling order of each of the indirectly dependent nodes.

7. The method according to claim 1, characterized in that The nodes include program nodes and data nodes; and determining the calling order of each of the dependent nodes and the updated nodes includes: Obtaining a preset calling sequence between program nodes in the map node topology diagram; Filter out program nodes from the updated nodes and the dependent nodes; Determining the calling order of the program nodes screened from the updated nodes and the dependent nodes according to the calling order between the program nodes in the map node topology diagram; The calling of the updated nodes and dependent nodes in the calling order to obtain an updated electronic map includes: According to the calling sequence of the program nodes screened out from the updated nodes and the dependent nodes, the program nodes are called to obtain the updated electronic map.

8. The method according to claim 1, characterized in that: The calling of the updated nodes and the dependent nodes in the calling order to obtain an updated electronic map includes: Based on the calling sequence, determining the current node to be called; Determine the data input path and data output path of the current node to be called; Reading source data from the data input path, and calling the current node to be called to execute the processing of the source data to obtain an execution result; storing the execution result according to the data output path; Based on the calling sequence, the next node to be called of the current node to be called is determined, and the next node to be called is used as the current node to be called for continued iterative processing until the nodes indicated by the calling sequence are called.

9. The method according to claim 8, characterized in that The nodes include program nodes and data nodes; the step of determining the data input path and data output path of the current node to be called includes: When the current node to be called is a data node, a node configuration file of the current node to be called is obtained; the node configuration file includes an execution result storage path of a node on which the current node to be called directly depends, and a data output path of the current node to be called; The execution result storage path of the node on which the current node to be called directly depends is used as the data input path of the current node to be called.

10. The method according to claim 9, characterized in that The method further comprises: When the current node to be called is a program node, determining a data node directly dependent on the current node to be called and a data node directly dependent on the current node to be called; The data input source and data output path of the node to be called in the current traversal order are determined according to the node configuration files of the data nodes directly dependent on the current node to be called and the node configuration files of the data nodes directly dependent on the current node to be called.

11. An electronic map updating device, characterized in that: include: A dependency determination module is used to obtain a map node topology diagram; Parsing the map node topology graph to obtain the dependency relationship between the nodes in the map node topology graph; An updated node determination module, used to determine updated nodes in the map node topology diagram according to the dependency relationship between the nodes and the update time contained in each node; An updating module, used for screening out dependent nodes that directly or indirectly depend on the updated node from the map node topology diagram according to the dependency relationship between the nodes, and determining the calling order of each dependent node and the updated node; wherein the calling priority of the updated node is higher than the calling priority of the dependent node, and among the dependent nodes, the calling priority corresponding to the dependent node that directly depends on the updated node is higher than the calling priority corresponding to the dependent node that indirectly depends on the updated node; The updated nodes and the dependent nodes are called in the calling sequence to obtain an updated electronic map.

12. The device according to claim 11, characterized in that The electronic map updating device is further used to obtain a map configuration file; the map configuration file includes a node identifier of at least one data node required to generate the electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node; A map node topology diagram is generated according to the node identifier of at least one data node required for generating the electronic map, the node identifier corresponding to the node directly dependent on the data node, and the node identifier corresponding to the node directly dependent on the data node.

13. The device according to claim 11, characterized in that The updated node determination module also includes an update time extraction module, which is used to traverse the nodes in the map node topology diagram according to the dependency relationship between the nodes; determine the current traversal sequence node, and the directly dependent node that directly depends on the current traversal sequence node; Extracting the update time of the currently traversed sequence node and the update time of the directly dependent node; When the update time of the current traversal order node is later than the update time of the directly dependent node, the current traversal order node is determined to be an updated node.

14. A computer device comprising a memory and one or more processors, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the one or more processors, the one or more processors perform the following steps: Get the map node topology; Parsing the map node topology graph to obtain the dependency relationship between the nodes in the map node topology graph; Determine updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time included in each node; According to the dependency relationship between each node, the dependent nodes that directly or indirectly depend on the updated node are screened out from the map node topology map, and the calling order of each dependent node and the updated node is determined; wherein the calling priority of the updated node is higher than the calling priority of the dependent node, and among the dependent nodes, the calling priority corresponding to the dependent node that directly depends on the updated node is higher than the calling priority corresponding to the dependent node that indirectly depends on the updated node; The updated nodes and the dependent nodes are called in the calling sequence to obtain an updated electronic map.

15. The computer device according to claim 14, characterized in that The processor, when invoking the computer readable instructions, also invokes the following steps: Acquire a map configuration file; the map configuration file includes a node identifier of at least one data node required for generating an electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node; A map node topology diagram is generated according to the node identifier of at least one data node required for generating the electronic map, the node identifier corresponding to the node directly dependent on the data node, and the node identifier corresponding to the node directly dependent on the data node.

16. The computer device according to claim 14, characterized in that When the processor executes the computer readable instructions, the processor further performs the following steps: Traversing the nodes in the map node topology graph according to the dependency relationship between the nodes; Determine the current traversal order node and the directly dependent node that directly depends on the current traversal order node; Extracting the update time of the currently traversed sequence node and the update time of the directly dependent node; When the update time of the current traversal order node is later than the update time of the directly dependent node, the current traversal order node is determined to be an updated node.

17. The computer device according to claim 16, characterized in that When the processor executes the computer readable instructions, the processor further performs the following steps: When the update operation of the node to be updated is triggered, the update time of the triggering update operation is obtained; Based on the update time, the node to be updated is updated.

18. One or more non-volatile computer-readable storage media storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the following steps: Get the map node topology; Parsing the map node topology graph to obtain the dependency relationship between the nodes in the map node topology graph; Determine updated nodes in the map node topology graph according to the dependency relationship between the nodes and the update time included in each node; According to the dependency relationship between each node, the dependent nodes that directly or indirectly depend on the updated node are screened out from the map node topology map, and the calling order of each dependent node and the updated node is determined; wherein the calling priority of the updated node is higher than the calling priority of the dependent node, and among the dependent nodes, the calling priority corresponding to the dependent node that directly depends on the updated node is higher than the calling priority corresponding to the dependent node that indirectly depends on the updated node; The updated nodes and the dependent nodes are called in the calling sequence to obtain an updated electronic map.

19. The storage medium according to claim 18, characterized in that The computer readable instructions, when invoked by the processor, further invoke the following steps: Acquire a map configuration file; the map configuration file includes a node identifier of at least one data node required for generating an electronic map, a node identifier corresponding to a node directly dependent on the data node, and a node identifier corresponding to a node directly dependent on the data node; A map node topology diagram is generated according to the node identifier of at least one data node required for generating the electronic map, the node identifier corresponding to the node directly dependent on the data node, and the node identifier corresponding to the node directly dependent on the data node.

20. The storage medium according to claim 19, characterized in that The computer readable instructions, when invoked by the processor, further invoke the following steps: Traversing the nodes in the map node topology graph according to the dependency relationship between the nodes; Determine the current traversal order node and the directly dependent node that directly depends on the current traversal order node; Extracting the update time of the currently traversed sequence node and the update time of the directly dependent node; When the update time of the current traversal order node is later than the update time of the directly dependent node, the current traversal order node is determined to be an updated node.

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