Map positioning method and device, storage medium and electronic equipment

Abstract

The application discloses a map positioning method and device, a storage medium and an electronic device. The method comprises the following steps: obtaining a first data set, wherein the first data set is used for detecting and positioning a target area, and the target area is a changed road section in an original map used by a target vehicle; determining whether the target area exists in the original map based on the first data set; in response to the existence of the target area in the original map, obtaining a second data set, wherein the second data set is used for constructing a target patch map corresponding to the target area; generating the target patch map based on the second data set; and controlling the target vehicle to adopt the target patch map for positioning in the target area. The application solves the technical problems of poor robustness of vehicle positioning and low safety of the vehicle caused by the related art of positioning the vehicle based on the pre-established map.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a map positioning method and device, a storage medium and an electronic device. BACKGROUND

[0002] In an automatic driving scenario, a related technology performs positioning of a vehicle based on a pre-established map, which is usually a snapshot of a three-dimensional physical world at a specific time. However, as time goes by, when the three-dimensional physical world changes greatly, the vehicle cannot be accurately positioned based on the pre-established map, which reduces the safety of the vehicle.

[0003] At present, no effective solution has been proposed for the above problems. SUMMARY

[0004] Embodiments of the present application provide a map positioning method and device, a storage medium and an electronic device to at least solve the technical problem of poor robustness of vehicle positioning and low safety of the vehicle caused by the related technology of performing vehicle positioning based on a pre-established map.

[0005] According to an aspect of an embodiment of the present application, a map positioning method is provided, comprising: obtaining a first data set, wherein the first data set is used to detect and locate a target area, and the target area is a changed road section in an original map used by a target vehicle; determining whether the target area exists in the original map based on the first data set; in response to the target area existing in the original map, obtaining a second data set, wherein the second data set is used to construct a target patch map corresponding to the target area; generating the target patch map based on the second data set; and controlling the target vehicle to perform positioning in the target area using the target patch map.

[0006] According to another aspect of an embodiment of the present application, a map positioning device is also provided, comprising: a first obtaining module configured to obtain a first data set, wherein the first data set is used to detect and locate a target area, and the target area is a changed road section in an original map used by a target vehicle; a determining module configured to determine whether the target area exists in the original map based on the first data set; a second obtaining module configured to obtain a second data set in response to the target area existing in the original map, wherein the second data set is used to construct a target patch map corresponding to the target area; a generating module configured to generate the target patch map based on the second data set; and a positioning module configured to control the target vehicle to perform positioning in the target area using the target patch map.

[0007] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which includes a stored program, wherein the program, when executed, controls a device where the storage medium is located to perform any one of the map positioning methods.

[0008] According to another aspect of the embodiments of the present application, an electronic device is also provided, which includes a processor, and a memory connected with the processor, for providing the processor with instructions to process the following processing steps: obtaining a first data set, wherein the first data set is used to detect and locate a target area, and the target area is a changed road segment in an original map used by a target vehicle; determining whether the target area exists in the original map based on the first data set; in response to the target area existing in the original map, obtaining a second data set, wherein the second data set is used to construct a target patch map corresponding to the target area; generating the target patch map based on the second data set; and controlling the target vehicle to use the target patch map for positioning in the target area.

[0009] In the embodiments of the present application, by obtaining a first data set, wherein the first data set is used to detect and locate a target area, and the target area is a changed road segment in an original map used by a target vehicle, further determining whether the target area exists in the original map based on the first data set, when it is determined that the target area exists in the original map, obtaining a second data set, wherein the second data set is used to construct a target patch map corresponding to the target area, generating the target patch map based on the second data set in a manner of generating the target patch map based on the second data set; and controlling the target vehicle to use the target patch map for positioning in the target area, the purpose of positioning the target vehicle based on the target patch map when there is a changed road segment area in the original map used by the target vehicle is achieved, thereby realizing the technical effect of enhancing the robustness of vehicle positioning and improving the safety of the vehicle, and further solving the technical problems of poor robustness of vehicle positioning and low safety of the vehicle caused by the related art of positioning the vehicle based on the pre-established map. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0011] Figure 1 A hardware structure block diagram of a computer terminal (or mobile device) for implementing the map positioning method is shown;

[0012] Figure 2 A flowchart of a map positioning method according to an embodiment of the present application is shown;

[0013] Figure 3is a schematic diagram of an optional vehicle positioning process according to an embodiment of the present application;

[0014] Figure 4 is a structural schematic diagram of a map positioning device according to an embodiment of the present application;

[0015] Figure 5 is a structural schematic diagram of another map positioning device according to an embodiment of the present application;

[0016] Figure 6 is a structural schematic diagram of another map positioning device according to an embodiment of the present application;

[0017] Figure 7 is a structural block diagram of another computer terminal according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0019] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0020] First, some nouns or terms appearing in the description of the embodiments of the present application are applicable to the following explanations:

[0021] Change scenario: refers to a scenario in which the online detection result of a certain area is inconsistent with the content of the area in the offline map.

[0022] Embodiment 1

[0023] According to the embodiment of the present application, a map positioning method is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0024] The method provided by the embodiment of the present application can be executed in a mobile terminal, a computer terminal or similar computing device. Figure 1 A hardware structure block diagram of a computer terminal (or mobile device) for implementing the map positioning method is shown. As shown in Figure 1 , the computer terminal 10 (or mobile device 10) can include one or more processors 102 (the processor 102 can include but not limited to a microprocessor MCU or a programmable logic device FPGA processing device), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it can also include a display, a keyboard, a cursor control device (such as a mouse), an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports in the BUS bus), a network interface, a power supply and / or a camera. Those skilled in the art can understand that Figure 1 The structure shown is only schematic, which does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 can include more or less components than those shown in Figure 1 , or have a different configuration than that shown in Figure 1 .

[0025] It should be noted that the one or more processors 102 and / or other data processing circuits described above can be referred to herein as "data processing circuits" in general. The data processing circuit can be embodied in whole or in part as software, hardware, firmware or any other combination. In addition, the data processing circuit can be a single independent processing module, or any one of the other elements combined into the computer terminal 10 (or mobile device) in whole or in part. As referred to in the embodiments of the present application, the data processing circuit serves as a processor control (for example, the selection of the variable resistance terminal path connected with the interface).

[0026] The memory 104 can be used to store software programs of application software and modules, such as program instructions / data storage means corresponding to the map positioning method in the embodiments of the present application. The processor 102 executes various functional applications and data processing, i.e. implements the above-mentioned map positioning method, by running the software programs and modules stored in the memory 104. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include memories remotely arranged with respect to the processor 102, which can be connected to the computer terminal 10 through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0027] The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network can include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a network adapter (NIC), which can be connected to other network devices through a base station so as to be able to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0028] The display can be, for example, a touch screen type liquid crystal display (LCD), which can enable a user to interact with the user interface of the computer terminal 10 (or mobile device).

[0029] It should be noted that, in some optional embodiments, the above-mentioned Figure 1 The computer device (or mobile device) shown can include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that, Figure 1 is only one example of a particular implementation and is intended to illustrate the types of components that can exist in the above-mentioned computer device (or mobile device).

[0030] Under the above-mentioned operating environment, the present application provides a map positioning method as shown in Figure 2 . Figure 2 is a flowchart of a map positioning method according to an embodiment of the present application, as shown in Figure 2 , the map positioning method includes:

[0031] S21, obtaining a first data set, wherein the first data set is used to detect and locate a target region, and the target region is a changed road section in an original map used by the target vehicle;

[0032] The target vehicle can be a vehicle associated with a Controller Area Network (CAN) bus, a radar sensor, an Inertial Measurement Unit (IMU), and a Global Navigation Satellite System (GNSS). The target vehicle can be a vehicle relying on manual driving by a driver, or an automatic driving (driverless) vehicle.

[0033] The target region can be a region corresponding to a changed scene. Specifically, the target vehicle detects real-time results in the target region through a sensor, which is inconsistent with the content of the original map used by the target vehicle in the target region. That is, in the target region, the road section in the original map used by the target vehicle has changed.

[0034] The original map used by the target vehicle can be a pre-established map. The original map is usually a snapshot of a three-dimensional physical world at a specific time. The original map can be an offline map stored in a storage device of the target vehicle.

[0035] The first data set can be real-time data related to the positioning of the target vehicle (e.g., positioning coordinates, radar images, vehicle parameters, road conditions, etc.). The first data set can be used to detect and locate the target region.

[0036] The specific implementation of obtaining the first data set can be real-time acquisition through the CAN bus, radar sensor, IMU, and GNSS associated with the target vehicle. Specifically, the vehicle speed of the target vehicle can be obtained through the CAN bus, the radar images and road conditions of the target vehicle can be obtained through the radar sensor, the angular velocity and acceleration of the target vehicle can be obtained through the IMU, and the positioning coordinates of the target vehicle can be obtained through the GNSS.

[0037] S22, determining whether the target region exists in the original map based on the first data set;

[0038] Based on the first data set, it can be determined whether the target region exists in the original map. The specific implementation can be that the first data set is compared with the data corresponding to the original map used by the target vehicle, and the changed road section (equivalent to the target region) can be detected and located.

[0039] Specifically, the determining whether the target region exists in the original map based on the first data set further includes other method steps, which can be referred to the further introduction of the embodiments of the present application below, and will not be described here.

[0040] In response to the target region existing in the original map, the second data set is acquired, wherein the second data set is used to construct a target patch map corresponding to the target region.

[0041] The second data set can be real-time data related to the target vehicle positioning when the original map used by the target vehicle has a changed road segment.

[0042] The target patch map can be a changed map of the road segment corresponding to the target region according to the real-time data corresponding to the target vehicle.

[0043] When it is determined that the target region exists in the original map based on the first data set, the second data set can be acquired. The specific implementation manner of acquiring the second data set can be acquiring in real time through the CAN bus, radar sensor, IMU and GNSS associated with the target vehicle.

[0044] In response to the target region existing in the original map, the second data set is acquired, wherein the second data set is used to construct a target patch map corresponding to the target region.

[0045] Based on the second data set, the target patch map can be generated. The target patch map corresponds to the target region existing in the original map. Specifically, the generating the target patch map based on the second data set further includes other method steps, which can be referred to the further introduction of the embodiments of the present application below, and will not be described here.

[0046] In response to the target region existing in the original map, the second data set is acquired, wherein the second data set is used to construct a target patch map corresponding to the target region.

[0047] Since the target region is a changed road segment in the original map used by the target vehicle, if the target vehicle is still positioned according to the original map, the positioning accuracy of the target vehicle in the target region will be low, and the safety of the target vehicle will be at risk. In order to solve the above problem, when the target vehicle enters the target region, the target vehicle can be controlled to be positioned in the target region by using the target patch map, and the safety of the target vehicle in the target region is improved.

[0048] Specifically, the controlling the target vehicle to be positioned in the target region by using the target patch map further includes other method steps, which can be referred to the further introduction of the embodiments of the present application below, and will not be described here.

[0049] It is easy to understand that compared with the method of returning data corresponding to the changed road section collected by the vehicle and performing offline updating of the map, the method provided by the above embodiment of the application can quickly construct a patch map in the vehicle section when the vehicle collects data corresponding to the changed road section, and further enable the vehicle to safely pass through the changed road section again before the original map is updated, thereby saving the process time of offline updating of the map and being more efficient.

[0050] According to the above steps S21 to S25 provided by the embodiment of the application, the first data set is obtained, wherein the first data set is used to detect and locate the target area, the target area is a changed road section in the original map used by the target vehicle, and whether the target area exists in the original map is determined based on the first data set. When it is determined that the target area exists in the original map, the second data set is obtained, wherein the second data set is used to construct a target patch map corresponding to the target area. The target patch map is generated based on the second data set in the manner of generating the target patch map based on the second data set. The target vehicle is controlled to use the target patch map for positioning in the target area. The purpose of positioning the target vehicle based on the target patch map when the changed road section area exists in the original map used by the target vehicle is achieved. The technical effect of enhancing the robustness of vehicle positioning and further improving the safety of the vehicle is achieved. The technical problem of poor robustness of vehicle positioning and low safety of the vehicle caused by the related art of positioning the vehicle based on the pre-established map is solved.

[0051] The above method of the embodiment of the application will be further introduced below.

[0052] In an optional embodiment, in step S22, determining whether the target area exists in the original map based on the first data set includes the following method steps:

[0053] In step S221, laser positioning is performed based on the first data set to obtain a laser positioning result, and point cloud change detection is performed based on the first data set to obtain a change detection result.

[0054] In step S222, whether the target area exists in the original map is determined based on the laser positioning result and the change detection result.

[0055] The first data set can be real-time data related to the positioning of the target vehicle. The first data set can be used to detect and locate the target area.

[0056] The specific implementation manner of performing laser positioning based on the first data set can be: based on the data obtained by the laser odometry of the target vehicle in the first data set, performing fusion processing and positioning calculation on the laser global matching corresponding to the target vehicle, and then obtaining the laser positioning result and the confidence of the laser positioning result.

[0057] The laser positioning result can be used for real-time positioning of the target vehicle. The confidence of the laser positioning result is used to represent the possible consistency between the laser positioning result and the actual positioning of the target vehicle.

[0058] The specific implementation manner of performing point cloud change detection based on the first data set can be: in the current area (which can be the area corresponding to the laser positioning result), based on the point cloud data observed by the radar sensor of the target vehicle in the first data set, comparing with the original map used by the target vehicle, and then obtaining the change degree of the current area (equivalent to the change degree of the change detection result).

[0059] In an optional embodiment, in step S222, the laser positioning result and the change detection result are used to determine whether there is a target area in the original map, including the following method steps:

[0060] In step S2221, in response to the confidence of the laser positioning result satisfying a first preset condition and the change degree of the change detection result satisfying a second preset condition, it is determined that there is a target area in the original map.

[0061] Exemplarily, the first preset condition can be a confidence condition of the laser positioning result specified by a technician in advance (for example: the confidence is lower than a preset threshold, or the confidence is in a preset interval). The first preset condition can be used to determine that the confidence of the laser positioning result can support the determination that there is a target area in the original map.

[0062] Exemplarily, the second preset condition can be a change degree condition of the change detection result specified by a technician in advance (for example: the change degree is higher than a preset threshold, or the change degree is in a preset interval). The second preset condition can be used to determine that the change detection result can support the determination that there is a target area in the original map.

[0063] Based on the first data set, if it is determined that the confidence of the laser positioning result satisfies the first preset condition, and the change degree of the change detection result satisfies the second preset condition, it can be determined that there is the target area in the original map used by the target vehicle. The target area is a changed road section in the original map used by the target vehicle.

[0064] It is easy to understand that through the method provided by the above-mentioned optional embodiment of the application, whether the target region exists in the original map used by the target vehicle can be determined based on the first data set according to the credibility of the laser positioning result and the change degree of the change detection result. Thus, whether the region passed by the target vehicle has a changed road section can be accurately identified, and subsequently, whether the target vehicle needs to generate a patch map and position according to the patch map can be judged, thereby indirectly improving the positioning accuracy and safety of the target vehicle.

[0065] In an optional embodiment, in step S24, the target patch map is generated based on the second data set, including the following method steps:

[0066] In step S241, pose optimization is performed on the second data set to obtain an initial patch map.

[0067] In step S242, it is checked whether there is an abnormal pose in the initial patch map.

[0068] In step S243, in response to the fact that there is no abnormal pose in the initial patch map, the initial patch map is determined as the target patch map, and in response to the fact that there is an abnormal pose in the initial patch map, the abnormal pose existing in the initial patch map is adjusted to obtain the target patch map.

[0069] The second data set can be real-time data related to positioning of the target vehicle when the original map used by the target vehicle has a changed road section.

[0070] In the second data set, a plurality of point cloud frame data can be included, and the pose of each frame of point cloud corresponding to the plurality of point cloud frame data can be inaccurate. In this regard, the pose optimization on the second data set can be: optimizing the pose of each frame of point cloud in the second data set to obtain the accurate pose of each frame of point cloud, and then generating an initial patch map based on the accurate pose of each frame of point cloud.

[0071] It should be noted that by performing pose optimization on the second data set, the generated target patch map can be subsequently spliced with the original map used by the target vehicle, i.e., the accuracy of splicing is improved, and thus the accuracy of positioning the vehicle according to the target patch map is improved.

[0072] The initial patch map can be a patch map generated in the target region according to the second data set after pose optimization.

[0073] To further improve the accuracy of the initial patch map, it can be checked whether there is an abnormal pose in the initial patch map, so as to determine the target patch map according to the checking result. The checking can be performed by using an image detection model or an image analysis model to check the specified elements in the initial patch map according to a specified checking condition.

[0074] For example, the abnormal pose can include: abnormal deformation of an object in the initial patch map (such as bending of a rod, thinning of a wall, etc.), and the object near the splicing edge of the initial patch map and the original map cannot be aligned, etc.

[0075] When there is no abnormal pose in the initial patch map, the initial patch map can be determined as the target patch map. When there is an abnormal pose in the initial patch map, the abnormal pose in the initial patch map can be adjusted to obtain the target patch map.

[0076] It is easy to understand that by using the method provided by the optional embodiment of the present application, the initial patch map can be generated by performing pose optimization on the second data set, and the target patch map can be determined by further checking the abnormal pose of the initial patch map. Therefore, the accuracy of the target patch map can be improved, and the accuracy of the positioning of the target vehicle in the target area can be improved.

[0077] In an optional embodiment, in step S241, the pose optimization is performed on the second data set to obtain the initial patch map, including the following method steps:

[0078] In step S2411, a plurality of frames of point cloud data are obtained from the second data set.

[0079] In step S2412, pose optimization is performed on each frame of point cloud data in the plurality of frames of point cloud data to obtain an optimization result corresponding to each frame of point cloud data.

[0080] In step S2413, the optimization results corresponding to each frame of point cloud data are spliced to obtain the initial patch map.

[0081] The second data set can be real-time data related to the positioning of the target vehicle when there is a changed road segment in the original map used by the target vehicle. The plurality of frames of point cloud data can be obtained from the second data set, and the plurality of frames of point cloud data can be a plurality of frames of radar point cloud data obtained by a radar sensor associated with the target vehicle.

[0082] The specific implementation process of the pose optimization of each frame of point cloud data in the plurality of frames of point cloud data can be: the point cloud pose corresponding to each frame of point cloud data in the plurality of frames of point cloud data is adjusted and optimized to obtain the accurate pose (equivalent to the above-mentioned optimization result) of the each frame of point cloud data.

[0083] In addition, the initial patch map can be obtained by splicing the optimization result corresponding to each frame of point cloud data. Specifically, in the process of splicing the optimization result corresponding to each frame of point cloud data, the optimization result corresponding to two frames of point cloud data that are not spliced neatly can be adjusted again to obtain a result that is spliced neatly as the initial patch map.

[0084] It is easy to understand that the method provided by the above-mentioned optional embodiment of the application can facilitate obtaining a more accurate initial patch map by performing pose optimization on each frame of point cloud data in the plurality of frames of point cloud data in the second data set, and can facilitate subsequent splicing of the generated target patch map and the original map used by the target vehicle, i.e., improving the accuracy of splicing, and further improving the accuracy of positioning the vehicle according to the target patch map.

[0085] In an optional embodiment, the map positioning method further includes the following method steps:

[0086] Step S26: based on the size information of the target patch map, the target patch map is stored in pieces.

[0087] The size information of the target patch map can be the size of the map data corresponding to the target patch map, or the size of the target region corresponding to the target patch map.

[0088] The specific implementation of the storage of the target patch map in pieces can be: the target patch map is cut into pieces according to the storage size specified by the technician in advance, and the cutting result is stored in the storage device of the target vehicle.

[0089] For example, the size of the target region corresponding to the target patch map is 1000m x 200m, and the storage size specified by the technician in advance is 20m x 20m. At this time, the target patch map can be cut into 500 20m x 20m map slices for storage.

[0090] It should be noted that in the above-mentioned optional embodiment of the present application, the map storage format used when the target patch map is not stored in slices is not limited, that is, the map storage format of the target patch map can be any realizable format. For example, the map storage format can be stored in the form of a bitmap, can be stored in the form of a semantic layer, or can be stored in the form of a mixed map of multiple layer formats.

[0091] It is easy to understand that by the method provided by the above-mentioned optional embodiment of the present application, the memory occupation of the target vehicle when loading the target patch map can be reduced by storing the target patch map in slices, and the positioning efficiency of the target vehicle when positioning according to the target patch map can be improved.

[0092] In an optional embodiment, in step S25, controlling the target vehicle to position in the target area using the target patch map comprises the following method steps:

[0093] Step S251, detecting whether the target vehicle is located in the target area and whether the target patch map is loaded successfully;

[0094] Step S252, in response to the target vehicle being located in the target area and the target patch map being loaded successfully, controlling the target vehicle to position in the target area using the target patch map.

[0095] The above-mentioned target vehicle can be a vehicle associated with a CAN bus, a radar sensor, an IMU, and a GNSS. The target vehicle can be a vehicle relying on a driver for manual driving, or an automatic driving (unmanned driving) vehicle. The above-mentioned target area can be a road segment in the original map used by the target vehicle that has changed.

[0096] The specific implementation process of detecting whether the target vehicle is located in the target area can be: determining the current position of the target vehicle according to the GNSS associated with the target vehicle, and judging whether the current position is in the specified nearby range corresponding to the target area (regarded as the target vehicle being located in the range of the target area). For example, when the current position of the target vehicle is in the target area, or when the distance between the current position of the target vehicle and the area boundary of the target area is less than 10 meters, it is considered that the target vehicle is located in the target area.

[0097] The specific implementation process of detecting whether the target patch map is loaded successfully can be: the target vehicle detects the target patch map constructed based on the above-mentioned second data set, and successfully acquires the data recorded by the target patch map, at which time it is considered that the target patch map is loaded successfully.

[0098] In the target area, a road segment used by the target vehicle in the original map has changed. In order to improve the accuracy of vehicle positioning, when it is detected that the target vehicle is located in the target area and the target patch map is successfully loaded, the target vehicle can be controlled to use the target patch map for positioning in the target area, thereby further improving the accuracy of vehicle positioning and the safety of the target vehicle.

[0099] It should be noted that if the target vehicle detects that the point cloud pose is normally dynamically loaded according to the current positioning, the original map used by the target vehicle can be normally loaded. If the target vehicle does not detect the target area (that is, does not detect the changed road segment) or is located in a road segment without a patch map, the target vehicle can be positioned according to the original map used by the target vehicle.

[0100] In an optional embodiment, the map positioning method further includes the following method steps:

[0101] Step S27, detecting whether the change of the target area disappears from the original map;

[0102] Step S28, in response to the change of the target area disappearing from the original map, deleting the target patch map.

[0103] The specific implementation process of detecting whether the change of the target area disappears from the original map can be: based on the original map used by the target vehicle, detecting the changed area of the current position of the target vehicle. If the changed road segment is not detected (that is, the road segment information corresponding to the current position is consistent with the road segment information recorded in the original map), it can be considered that the change of the target area disappears from the original map.

[0104] In order to ensure the accuracy of the map used by the target vehicle for positioning, when it is detected that the change of the target area disappears from the original map, the target patch map can be deleted, and when the target vehicle passes through the range corresponding to the target area again, the target vehicle can still be positioned according to the original map.

[0105] It is easy to understand that through the method provided by the above-mentioned optional embodiment of the application, it can be determined whether there is a changed road section in the currently used original map according to real-time detection of the target vehicle, and if there is a changed road section, the target vehicle is positioned according to the generated target patch map on the changed road section; if there was a changed road section before, when the target vehicle passes through the changed road section again, it is detected that the road section change in the area disappears, and the target vehicle is dynamically controlled to be positioned in the area according to the original map. Thus, dynamic control of the map used for vehicle positioning of the target vehicle can be realized, further improving the accuracy and robustness of vehicle positioning and improving the safety of the vehicle.

[0106] In summary, the technical scheme of the application realizes positioning of a target vehicle based on a target patch map when there is a changed road section area in the original map used by the target vehicle through dynamic detection of a change scene in a vehicle depot and construction of a target patch map according to a vehicle data set. The scheme can be applied to any scene involving autonomous driving in various fields. The key technologies of the embodiments of the application are described in detail below with the autonomous driving scene as an example.

[0107] Figure 3 is a schematic diagram of an optional vehicle positioning process according to an embodiment of the application, as shown in Figure 3 Positioning of a vehicle in an autonomous driving process includes the following steps:

[0108] First, obtain sensor data associated with the vehicle, including but not limited to radar electric cloud data, IMU data, GNSS data, and vehicle speed (wheel speed, which can be obtained from the vehicle CAN bus);

[0109] Second, perform point cloud change detection based on the sensor data to obtain a detection result;

[0110] Third, based on the sensor data, combine laser odometry and laser global matching to perform pose fusion and positioning pose to obtain a laser positioning result;

[0111] Fourth, according to the detection result and the laser positioning result, detect whether there is a risk area (equivalent to the above-mentioned target area);

[0112] Fifth, if there is a risk area, perform vehicle-side mapping for the risk area to generate a patch map, which is used for vehicle positioning of the vehicle in the risk area.

[0113] Still as Figure 3As shown, the vehicle-side mapping in step 5 above also includes: data (data used to build the patch map, equivalent to the second dataset mentioned above) preparation steps, map pose optimization steps, pose quality inspection, and ground... Figure 1 Consistency verification (used to determine map stitch alignment) and patch map tile production (which may also include storage) steps.

[0114] Still as Figure 3 As shown, the patch map generated based on the above vehicle-side mapping can be managed. Specifically, as... Figure 3 The patch map management node shown can be used, but is not limited to: determining whether to load a patch map, and determining whether to load the original map (e.g., ...). Figure 3 (as shown in the preset global map), determine whether to use a patched map, and determine whether to use the original map (e.g., Figure 3 The preset global map shown in the image) and the determination of whether to delete the patch map.

[0115] Specifically, the judgment conditions for the multiple judgments in the above patch map management node can be referred to the corresponding sections above, and will not be repeated here.

[0116] Still as Figure 3 As shown, after accessing the patch map management node, the original map can be updated based on the stored patch maps. Specifically, the generated patch map can replace the original map (e.g., ...). Figure 3 The corresponding part of the preset global map shown can also be deleted as needed, and the original map (such as...) can be restored. Figure 3 The corresponding part of the preset global map shown is restored, etc.

[0117] It is readily apparent that the method provided by the embodiments of the present invention enables real-time detection of changing scenarios and location risk scenarios at the vehicle end. Furthermore, when the vehicle passes through areas corresponding to these changing and location risk scenarios, data is collected and a patch map is established, allowing the vehicle to be located based on this patch map. Thus, the embodiments of the present invention achieve the goal of locating the target vehicle based on a target patch map when there are changing road sections in the original map used by the target vehicle. This enhances the robustness of vehicle positioning and improves vehicle safety, thereby solving the technical problem of poor vehicle positioning robustness and low vehicle safety caused by related technologies that rely on pre-established maps for vehicle positioning.

[0118] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0119] Those skilled in the art can clearly understand the method according to the above-mentioned embodiments can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the method described in each embodiment of the present application.

[0120] Embodiment 2

[0121] According to the embodiments of the present application, a device for implementing the above-mentioned map positioning method is also provided, Figure 4 is a structural schematic diagram of a map positioning device according to an embodiment of the present application, as Figure 4 shown, the device comprises a first acquisition module 41, a determination module 42, a second acquisition module 43, a generation module 44 and a positioning module 45, wherein,

[0122] The first acquisition module 41 is configured to acquire a first data set, wherein the first data set is used to detect and locate a target area, and the target area is a changed road segment in an original map used by a target vehicle; the determination module 42 is configured to determine whether the target area exists in the original map based on the first data set; the second acquisition module 43 is configured to acquire a second data set in response to the existence of the target area in the original map, wherein the second data set is used to construct a target patch map corresponding to the target area; the generation module 44 is configured to generate the target patch map based on the second data set; and the positioning module 45 is configured to control the target vehicle to use the target patch map for positioning in the target area.

[0123] Optionally, the determination module 42 is further configured to perform laser positioning based on the first data set to obtain a laser positioning result, and perform point cloud change detection based on the first data set to obtain a change detection result; and determine whether the target area exists in the original map by using the laser positioning result and the change detection result.

[0124] Optionally, the determining module 42 is further configured to determine that the target region exists in the original map in response to the credibility of the laser positioning result satisfying a first preset condition and the change degree of the change detection result satisfying a second preset condition.

[0125] Optionally, the generating module 44 is further configured to: perform pose optimization on the second data set to obtain an initial patch map; check whether there is an abnormal pose in the initial patch map; in response to there being no abnormal pose in the initial patch map, determine the initial patch map as the target patch map, and in response to there being an abnormal pose in the initial patch map, adjust the abnormal pose in the initial patch map to obtain the target patch map.

[0126] Optionally, the generating module 44 is further configured to: obtain a plurality of frames of point cloud data from the second data set; perform pose optimization on each frame of point cloud data in the plurality of frames of point cloud data to obtain an optimization result corresponding to each frame of point cloud data; and splice the optimization results corresponding to each frame of point cloud data to obtain the initial patch map.

[0127] Optionally, Figure 5 is a structural schematic diagram of another map positioning device according to an embodiment of the present application, as shown in the figure, in addition to all the modules shown in Figure 5 , the device further comprises: a storage module 46 configured to store the target patch map in fragments based on size information of the target patch map. Figure 4

[0128] Optionally, the positioning module 45 is further configured to: detect whether the target vehicle is located in the target region and whether the target patch map is successfully loaded; in response to the target vehicle being located in the target region and the target patch map being successfully loaded, control the target vehicle to perform positioning in the target region using the target patch map.

[0129] Optionally, Figure 6 is a structural schematic diagram of another map positioning device according to an embodiment of the present application, as shown in the figure, in addition to all the modules shown in Figure 6 , the device further comprises: a deletion module 47 configured to detect whether the change of the target region disappears from the original map; in response to the change of the target region disappearing from the original map, delete the target patch map. Figure 5

[0130] It should be noted that the first obtaining module 41, the determining module 42, the second obtaining module 43, the generating module 44 and the positioning module 45 correspond to steps S21 to S25 in Embodiment 1, and the five modules have the same instances and application scenarios as the corresponding steps, but are not limited to the content disclosed in Embodiment 1. It should be noted that the modules as part of the device can run in the computer terminal 10 provided in Embodiment 1. ​​

[0131] In the embodiment of the present application, the first data set is acquired by the first acquisition module, wherein the first data set is used for detecting and positioning the target area, and the target area is a changed road section in the original map used by the target vehicle. Further, the determination module is used to determine whether the target area exists in the original map based on the first data set. When it is determined that the target area exists in the original map, the second data set is acquired, wherein the second data set is used for constructing the target patch map corresponding to the target area. The second acquisition module is used to generate the target patch map based on the second data set. The generation module is used to generate the target patch map based on the second data set. The positioning module is used to control the target vehicle to use the target patch map for positioning in the target area. The purpose of positioning the target vehicle based on the target patch map when there is a changed road section area in the original map used by the target vehicle is achieved. The technical effect of enhancing the robustness of vehicle positioning and improving the safety of the vehicle is achieved. The technical problem of poor robustness of vehicle positioning and low safety of the vehicle caused by the related art of positioning the vehicle based on the pre-established map is solved.

[0132] It should be noted that the preferred embodiments of the present embodiment can refer to the related description in Embodiment 1, which will not be repeated here.

[0133] Embodiment 3

[0134] According to the embodiments of the present application, an embodiment of an electronic device is also provided, which can be any one of the computing devices in the computing device group. The electronic device comprises a processor and a memory, wherein:

[0135] The memory is connected with the above-mentioned processor, and is used to provide the above-mentioned processor with instructions for processing the following processing steps: acquiring a first data set, wherein the first data set is used for detecting and positioning a target area, and the target area is a changed road section in an original map used by a target vehicle; determining whether the target area exists in the original map based on the first data set; in response to the existence of the target area in the original map, acquiring a second data set, wherein the second data set is used for constructing a target patch map corresponding to the target area; generating the target patch map based on the second data set; and controlling the target vehicle to use the target patch map for positioning in the target area.

[0136] In the embodiment of the present application, by acquiring a first data set, wherein the first data set is used to detect and locate a target area, the target area is a changed road section in an original map used by a target vehicle, and further based on the first data set, it is determined whether the target area exists in the original map, when it is determined that the target area exists in the original map, a second data set is acquired, wherein the second data set is used to construct a target patch map corresponding to the target area, the target patch map is generated based on the second data set, the target vehicle is controlled to use the target patch map for positioning in the target area, which achieves the purpose of positioning the target vehicle based on the target patch map when there is a changed road section area in the original map used by the target vehicle, thereby realizing the technical effect of enhancing the robustness of vehicle positioning and improving the safety of the vehicle, thereby solving the technical problems of poor robustness of vehicle positioning and low safety of the vehicle caused by the related art of positioning the vehicle based on the pre-established map.

[0137] It should be noted that the preferred embodiments of the present embodiment can refer to the related description in Embodiment 1, which will not be repeated here.

[0138] Embodiment 4

[0139] The embodiment of the present application can provide a computer terminal, which can be any one of the computer terminal devices in the computer terminal group. Alternatively, in the present embodiment, the above-mentioned computer terminal can also be replaced by a terminal device such as a mobile terminal.

[0140] Alternatively, in the present embodiment, the above-mentioned computer terminal can be located in at least one network device of a plurality of network devices of a computer network.

[0141] In the present embodiment, the above-mentioned computer terminal can execute program codes of the following steps in the map positioning method: acquiring a first data set, wherein the first data set is used to detect and locate a target area, the target area is a changed road section in an original map used by a target vehicle; determining whether the target area exists in the original map based on the first data set; in response to the target area existing in the original map, acquiring a second data set, wherein the second data set is used to construct a target patch map corresponding to the target area; generating the target patch map based on the second data set; and controlling the target vehicle to use the target patch map for positioning in the target area.

[0142] Alternatively, Figure 7 is a structural block diagram of another computer terminal according to the embodiment of the present application, as Figure 7 shown, the computer terminal can include one or more (only one is shown in the figure) processors 122, a memory 124, and a peripheral interface 126.

[0143] The memory can be configured to store software programs and modules, such as program instructions / modules corresponding to the map positioning method and device in the embodiments of the present application. The processor executes various functions and data processing by running the software programs and modules stored in the memory, that is, implements the above-mentioned map positioning method. The memory can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory can further include a memory remotely arranged with respect to the processor, which can be connected to the computer terminal through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0144] The processor can call information and application programs stored in the memory through the transmission device to perform the following steps: obtaining a first data set, wherein the first data set is used to detect and locate a target area, and the target area is a changed road segment in an original map used by a target vehicle; determining whether the target area exists in the original map based on the first data set; in response to the existence of the target area in the original map, obtaining a second data set, wherein the second data set is used to construct a target patch map corresponding to the target area; generating the target patch map based on the second data set; and controlling the target vehicle to use the target patch map for positioning in the target area.

[0145] Optionally, the above-mentioned processor can further execute program codes of the following steps: performing laser positioning based on the first data set to obtain a laser positioning result, and performing point cloud change detection based on the first data set to obtain a change detection result; and determining whether the target area exists in the original map by using the laser positioning result and the change detection result.

[0146] Optionally, the above-mentioned processor can further execute program codes of the following steps: in response to the fact that the reliability of the laser positioning result meets a first preset condition and the change degree of the change detection result meets a second preset condition, determining that the target area exists in the original map.

[0147] Optionally, the above-mentioned processor can further execute program codes of the following steps: performing pose optimization on the second data set to obtain an initial patch map; checking whether there is an abnormal pose in the initial patch map; in response to the fact that there is no abnormal pose in the initial patch map, determining the initial patch map as the target patch map, and in response to the fact that there is an abnormal pose in the initial patch map, adjusting the abnormal pose existing in the initial patch map to obtain the target patch map.

[0148] Optionally, the processor can further execute program codes of the following steps: obtaining the multi-frame point cloud data from the second data set; performing pose optimization on each frame of point cloud data in the multi-frame point cloud data to obtain an optimization result corresponding to each frame of point cloud data; and splicing the optimization result corresponding to each frame of point cloud data to obtain the initial patch map.

[0149] Optionally, the processor can further execute program codes of the following steps: based on the size information of the target patch map, performing fragmented storage on the target patch map.

[0150] Optionally, the processor can further execute program codes of the following steps: detecting whether the target vehicle is located in the target area and whether the target patch map is successfully loaded; and in response to the target vehicle being located in the target area and the target patch map being successfully loaded, controlling the target vehicle to use the target patch map for positioning in the target area.

[0151] Optionally, the processor can further execute program codes of the following steps: detecting whether the change of the target area disappears from the original map; and in response to the change of the target area disappearing from the original map, deleting the target patch map.

[0152] In the embodiment of the application, by obtaining a first data set, wherein the first data set is used for detecting and positioning a target area, the target area is a changed road section in an original map used by a target vehicle, further determining whether the target area exists in the original map based on the first data set, when it is determined that the target area exists in the original map, obtaining a second data set, wherein the second data set is used for constructing a target patch map corresponding to the target area, generating the target patch map based on the second data set in a manner of generating the target patch map based on the second data set; and controlling the target vehicle to use the target patch map for positioning in the target area, the purpose of positioning the target vehicle based on the target patch map when there is a changed road section area in the original map used by the target vehicle is achieved, thereby realizing the technical effect of enhancing the robustness of vehicle positioning and improving the safety of the vehicle, and thereby solving the technical problems of poor robustness of vehicle positioning and low safety of the vehicle caused by the related art of positioning the vehicle based on a pre-established map.

[0153] Those skilled in the art can understand that, Figure 7 The structure shown is only schematic, and the computer terminal can also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, a Mobile Internet Device (MID), a PAD, and the like. Figure 7 The structure of the above-mentioned electronic device is not limited. For example, the computer terminal can further include more Figure 7more or less components than those shown, such as no network interface, one network interface, multiple network interfaces, etc., or a different configuration of components than those shown. Figure 7

[0154] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by instructing the terminal device related hardware through a program, and the program can be stored in a computer readable storage medium, which can include a flash disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0155] According to the embodiments of the present application, an embodiment of a storage medium is also provided. Optionally, in the present embodiment, the above-mentioned storage medium can be used to save the program code executed by the map positioning method provided in the above-mentioned embodiment 1.

[0156] Optionally, in the present embodiment, the above-mentioned storage medium can be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.

[0157] Optionally, in the present embodiment, the storage medium is configured to store program code for performing the following steps: obtaining a first data set, wherein the first data set is used to detect and locate a target area, and the target area is a changed road section in an original map used by a target vehicle; determining whether the target area exists in the original map based on the first data set; in response to the target area existing in the original map, obtaining a second data set, wherein the second data set is used to construct a target patch map corresponding to the target area; generating the target patch map based on the second data set; and controlling the target vehicle to use the target patch map for positioning in the target area.

[0158] Optionally, in the present embodiment, the storage medium is configured to store program code for performing the following steps: performing laser positioning based on the first data set to obtain a laser positioning result, and performing point cloud change detection based on the first data set to obtain a change detection result; and determining whether the target area exists in the original map by using the laser positioning result and the change detection result.

[0159] Optionally, in the present embodiment, the storage medium is configured to store program code for performing the following steps: in response to the credibility of the laser positioning result satisfying a first preset condition and the change degree of the change detection result satisfying a second preset condition, determining that the target area exists in the original map.

[0160] ​Optionally, in the embodiment, the storage medium is configured to store program code for performing the following steps: performing pose optimization on the second data set to obtain an initial patch map; checking whether there is an abnormal pose in the initial patch map; in response to there being no abnormal pose in the initial patch map, determining the initial patch map as the target patch map, and in response to there being an abnormal pose in the initial patch map, adjusting the abnormal pose in the initial patch map to obtain the target patch map.

[0161] Optionally, in the embodiment, the storage medium is configured to store program code for performing the following steps: obtaining a plurality of frames of point cloud data from the second data set; performing pose optimization on each frame of point cloud data in the plurality of frames of point cloud data to obtain an optimization result corresponding to each frame of point cloud data; and splicing the optimization result corresponding to each frame of point cloud data to obtain the initial patch map.

[0162] Optionally, in the embodiment, the storage medium is configured to store program code for performing the following steps: based on the size information of the target patch map, performing fragmented storage on the target patch map.

[0163] Optionally, in the embodiment, the storage medium is configured to store program code for performing the following steps: detecting whether the target vehicle is located in the target area and whether the target patch map is successfully loaded; in response to the target vehicle being located in the target area and the target patch map being successfully loaded, controlling the target vehicle to use the target patch map to perform positioning in the target area.

[0164] Optionally, in the embodiment, the storage medium is configured to store program code for performing the following steps: detecting whether the change of the target area disappears from the original map; in response to the change of the target area disappearing from the original map, deleting the target patch map.

[0165] The above-mentioned serial numbers of the embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0166] In the above-mentioned embodiments of the application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0167] In several embodiments provided by the present application, it should be understood that the disclosed technology can be implemented in other manners. For example, the described unit embodiments can be divided into other ways, for example, the units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be implemented by using some interfaces, and the indirect couplings or communication connections can be implemented in electronic, mechanical, or other forms.

[0168] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0169] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can be physically present separately, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0170] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application, the essential part or the contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0171] The above description is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A map positioning method, characterized in that, include: Obtain a first dataset, wherein the first dataset is real-time data related to the positioning of the target vehicle, and the first dataset is used to detect and locate the target area, wherein the target area is the road segment that has changed in the original map used by the target vehicle; Laser positioning is performed based on the first dataset to obtain laser positioning results, and point cloud change detection is performed based on the data corresponding to the first dataset and the original map to obtain change detection results. In response to the laser positioning result's reliability satisfying a first preset condition and the change detection result's degree of change satisfying a second preset condition, it is determined that the target area exists in the original map, wherein the laser positioning result's reliability is used to characterize the possible consistency between the laser positioning result and the target vehicle's actual location; In response to the existence of the target area in the original map, a second dataset is obtained, wherein the second dataset is real-time data related to the positioning of the target vehicle, and the second dataset is used to construct a target patch map corresponding to the target area; The target patch map is generated based on the second dataset; The target vehicle is controlled to locate itself within the target area using the target patch map.

2. The map positioning method according to claim 1, characterized in that, Generating the target patch map based on the second dataset includes: The pose of the second dataset is optimized to obtain the initial patch map; Verify that there are no abnormal poses in the initial patch map; In response to the absence of abnormal poses in the initial patch map, the initial patch map is determined as the target patch map; and in response to the presence of abnormal poses in the initial patch map, the abnormal poses in the initial patch map are adjusted to obtain the target patch map.

3. The map positioning method according to claim 2, characterized in that, The initial patch map is obtained by performing pose optimization on the second dataset, including: Obtain multi-frame point cloud data from the second dataset; Pose optimization is performed on each frame of point cloud data in the multi-frame point cloud data to obtain the optimization result corresponding to each frame of point cloud data. The optimization results corresponding to each frame of point cloud data are stitched together to obtain the initial patch map.

4. The map positioning method according to claim 2, characterized in that, The map positioning method also includes: Based on the size information of the target patch map, the target patch map is stored in segments.

5. The map positioning method according to claim 1, characterized in that, Controlling the target vehicle to locate itself within the target area using the target patch map includes: Detect whether the target vehicle is located in the target area and whether the target patch map has been successfully loaded; In response to the target vehicle being located within the target area and the target patch map being successfully loaded, the system controls the target vehicle to use the target patch map for positioning within the target area.

6. The map positioning method according to claim 1, characterized in that, The map positioning method also includes: Detect whether the changes in the target area disappear from the original map; In response to the disappearance of the target area from the original map due to changes, the target patch map is deleted.

7. A map positioning device, characterized in that, include: The first acquisition module is used to acquire a first dataset, wherein the first dataset is real-time data related to the positioning of the target vehicle, and the first dataset is used to detect and locate the target area, wherein the target area is the road segment that has changed in the original map used by the target vehicle. The determination module is used to perform laser positioning based on the first dataset to obtain laser positioning results, and to perform point cloud change detection based on the data corresponding to the first dataset and the original map to obtain change detection results; in response to the laser positioning result's credibility satisfying a first preset condition and the change degree of the change detection results satisfying a second preset condition, the module determines that the target area exists in the original map, wherein the laser positioning result's credibility is used to characterize the possible consistency between the laser positioning result and the actual positioning of the target vehicle; The second acquisition module is used to acquire a second dataset in response to the existence of the target area in the original map, wherein the second dataset is real-time data related to the positioning of the target vehicle, and the second dataset is used to construct a target patch map corresponding to the target area; The generation module is used to generate the target patch map based on the second dataset; The positioning module is used to control the target vehicle to locate itself within the target area using the target patch map.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the map positioning method according to any one of claims 1 to 6.

9. An electronic device, characterized in that, include: processor; as well as A memory, connected to the processor, for providing the processor with instructions to perform the following processing steps: Obtain a first dataset, wherein the first dataset is real-time data related to the positioning of the target vehicle, and the first dataset is used to detect and locate the target area, wherein the target area is the road segment that has changed in the original map used by the target vehicle; Laser positioning is performed based on the first dataset to obtain laser positioning results, and point cloud change detection is performed based on the data corresponding to the first dataset and the original map to obtain change detection results. In response to the laser positioning result's reliability satisfying a first preset condition and the change detection result's degree of change satisfying a second preset condition, it is determined that the target area exists in the original map, wherein the laser positioning result's reliability is used to characterize the possible consistency between the laser positioning result and the target vehicle's actual location; In response to the existence of the target area in the original map, a second dataset is obtained, wherein the second dataset is real-time data related to the positioning of the target vehicle, and the second dataset is used to construct a target patch map corresponding to the target area; The target patch map is generated based on the second dataset; The target vehicle is controlled to locate itself within the target area using the target patch map.

Images