A high-precision map data processing method, device, system, equipment and vehicle

Abstract

The disclosure provides a high-precision map data processing method, device, system, equipment and vehicle, relates to the field of computers, and particularly relates to the field of automatic driving. A specific implementation scheme is as follows: high-precision map data and real-time map data of a driving environment in which a vehicle is located are obtained; whether map elements at a same map position in the high-precision map data and the real-time map data are consistent is compared; if the map elements are consistent, the high-precision map data is sent to a vehicle-side control device, so that the vehicle-side control device controls the vehicle to drive according to the obtained map data; and if the map elements are inconsistent, the real-time map data is sent to the vehicle-side control device, so that the vehicle-side control device controls the vehicle to drive according to the obtained map data. The scheme provided in the embodiment of the disclosure can process map data.

Description

Technical Field

[0001] This disclosure relates to the field of computer technology, and more particularly to the field of autonomous driving technology, and especially to a high-precision map data processing method, apparatus, system, equipment and vehicle. Background Technology

[0002] In recent years, autonomous driving technology has developed rapidly, greatly facilitating people's driving. For autonomous vehicles to operate normally, they need to obtain map data of the driving environment and drive according to that data. Summary of the Invention

[0003] This disclosure provides a method, apparatus, system, equipment, and vehicle for high-precision map data processing.

[0004] According to one aspect of this disclosure, a high-precision map data processing method is provided, applied to a data processing device deployed in a vehicle, the vehicle further comprising a vehicle-side control device, wherein the data processing device includes a first cache and a second cache for caching the high-precision map data, comprising:

[0005] Obtain high-precision map data and real-time map data of the driving environment of the vehicle;

[0006] Compare whether the map elements at the same location in the high-precision map data and the real-time map data are consistent;

[0007] If they match, the high-precision map data is sent to the vehicle control device so that the vehicle control device can control the vehicle to drive based on the obtained map data.

[0008] If there is a discrepancy, the real-time map data is sent to the vehicle control device so that the vehicle control device can control the vehicle to drive based on the obtained map data.

[0009] After obtaining the high-precision map data, the process also includes:

[0010] The high-precision map data is used to update the map data cached in the first cache, and the map data cached in the second cache is used to provide map data to the vehicle control device.

[0011] After the map data in the first cache is updated, the map data cached in the second cache is updated based on the high-precision map data, and map data is provided to the vehicle control device based on the updated map data cached in the first cache.

[0012] According to another aspect of this disclosure, a high-precision map data processing apparatus is provided, applied to a data processing device deployed in a vehicle, the vehicle further comprising a vehicle-side control device, wherein the data processing device includes a first cache and a second cache for caching the high-precision map data, comprising:

[0013] The data acquisition module is used to acquire high-precision map data and real-time map data of the driving environment of the vehicle.

[0014] The element comparison module is used to compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the first sending module is triggered; if they are inconsistent, the second sending module is triggered.

[0015] The first sending module is used to send the high-precision map data to the vehicle-side control device, so that the vehicle-side control device can control the vehicle to drive based on the obtained map data;

[0016] The second sending module is used to send the real-time map data to the vehicle-side control device, so that the vehicle-side control device can control the vehicle to drive based on the obtained map data;

[0017] The first update module is used to update the map data cached in the first cache based on the high-precision map data after obtaining the high-precision map data, and to provide map data to the vehicle control device based on the map data cached in the second cache.

[0018] The second update module is used to update the map data cached in the second cache based on the high-precision map data after the map data in the first cache is updated, and to provide map data to the vehicle control device based on the updated map data cached in the first cache.

[0019] According to another aspect of this disclosure, a high-precision map data processing system is provided, the system being deployed in a vehicle and including data processing equipment and vehicle control equipment;

[0020] The data processing device is used to obtain high-precision map data and real-time map data of the driving environment of the vehicle, compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the high-precision map data is sent to the vehicle control device. If they are inconsistent, the real-time map data is sent to the vehicle control device.

[0021] The vehicle-mounted control device is used to control the vehicle's movement based on the obtained map data.

[0022] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0023] At least one processor; and

[0024] A memory communicatively connected to the at least one processor; wherein,

[0025] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the high-precision map data processing method described above.

[0026] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform the above-described high-precision map data processing method.

[0027] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the above-described high-precision map data processing method.

[0028] According to another aspect of this disclosure, a vehicle is provided that is equipped with the aforementioned high-precision map data processing system.

[0029] As can be seen from the above, when processing map data using the solution provided in this embodiment, the data processing device compares map elements at the same map location in high-precision map data and real-time map data. Based on the comparison result, it determines one type of map data from the two types of map data and sends the determined map data to the vehicle control device. In this way, the vehicle control device can control the vehicle to drive based on the obtained map data, thereby realizing the processing of both high-precision map data and real-time map data.

[0030] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0031] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0032] Figure 1 A flowchart illustrating the first high-precision map data processing method provided in this embodiment of the disclosure;

[0033] Figure 2 A flowchart illustrating the second high-precision map data processing method provided in this embodiment of the present disclosure;

[0034] Figure 3 A flowchart illustrating the third high-precision map data processing method provided in this embodiment of the disclosure;

[0035] Figure 4 A flowchart illustrating the fourth high-precision map data processing method provided in this embodiment of the present disclosure;

[0036] Figure 5 A flowchart illustrating the fifth high-precision map data processing method provided in this embodiment of the disclosure;

[0037] Figure 6 This is a schematic diagram of the structure of the first high-precision map data processing device provided in the embodiments of this disclosure;

[0038] Figure 7 This is a schematic diagram of the structure of the second type of high-precision map data processing device provided in the embodiments of this disclosure;

[0039] Figure 8 This is a schematic diagram of the structure of the third high-precision map data processing device provided in the embodiments of this disclosure;

[0040] Figure 9 This is a schematic diagram of the structure of the first high-precision map data processing system provided in the embodiments of this disclosure;

[0041] Figure 10 This is a schematic diagram of the structure of a second high-precision map data processing system provided in an embodiment of this disclosure;

[0042] Figure 11 This is a block diagram of an electronic device used to implement the high-precision map data processing method of the embodiments of this disclosure. Detailed Implementation

[0043] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0044] Autonomous vehicles can be equipped with vehicle-mounted control devices and data processing devices that store map data. The data processing devices can send the stored map data to the vehicle-mounted control devices, enabling the vehicle-mounted control devices to control the vehicle's movement based on the received map data.

[0045] Autonomous vehicles can be equipped with two types of map data: one is high-precision map data from a remote server, and the other is real-time map data built based on environmental information of the autonomous vehicle's driving environment.

[0046] In existing technologies, data processing devices store both types of map data. When sending map data to the vehicle control device, both types of map data are sent, and the vehicle control device selects one type. The vehicle control device then controls the vehicle's movement based on the selected map data. In this case, the vehicle control device also stores both types of map data, resulting in a large storage space occupied by the map data, especially the memory required for fully loading the high-definition map.

[0047] To address this issue, this disclosure provides a high-precision map data processing method, apparatus, system, device, and storage medium, which will be described in detail below.

[0048] See Figure 1 , Figure 1 This is a flowchart illustrating the first high-precision map data processing method provided in this embodiment of the present disclosure. It is applied to a data processing device deployed in a vehicle, and the vehicle is also equipped with a vehicle-side control device. The method includes the following steps S101-S104.

[0049] Step S101: Obtain high-precision map data and real-time map data of the vehicle's driving environment.

[0050] The aforementioned high-precision map data was obtained from a remote server. High-precision map data is characterized by its high data accuracy, resulting in richer data for describing road scenes and providing detailed depictions of various objects within those scenes.

[0051] The aforementioned real-time map data is constructed based on environmental information about the vehicle's driving environment. Considering factors such as the accuracy of environmental information collected by various sensors on the vehicle and the performance of data processing equipment, the accuracy of real-time map data is slightly lower than that of high-precision map data. This allows for faster construction of real-time map data and reduces the amount of data in the real-time map dataset.

[0052] Specifically, the aforementioned data processing device can store high-precision map data obtained from a remote server. When obtaining high-precision map data of the driving environment of the vehicle, it can obtain high-precision map data of the driving environment of the vehicle from the entire stored high-precision map data based on the vehicle's current location.

[0053] In addition, a data repository can be deployed in the aforementioned vehicles. High-precision map data obtained from remote servers can be stored in this data repository. In this way, when the data processing equipment obtains high-precision map data of the vehicle's driving environment, it can access the data repository and read the high-precision map data of the vehicle's driving environment from the data repository.

[0054] The aforementioned real-time map data can be obtained through either of the following two methods.

[0055] In the first implementation, the vehicle can be equipped with a sensor that can collect environmental information about the vehicle's driving environment. When the data processing device obtains the real-time map data, it can obtain the environmental information about the vehicle's driving environment collected by the sensor and construct real-time map data based on the obtained environmental information.

[0056] In the second implementation, road testing equipment can be deployed in the driving environment where the vehicle is located. This road testing equipment can collect environmental information within a certain area. The road testing equipment can communicate wirelessly with the data processing equipment in the vehicle. In this way, when the vehicle is driving in the driving environment, the data processing equipment can obtain the environmental information collected by the road testing equipment and construct real-time map data based on the obtained environmental information.

[0057] In addition, the data processing equipment can obtain the aforementioned high-precision map data and real-time map data in real time, and can also obtain the aforementioned high-precision map data and real-time map data in response to map acquisition requests sent by the vehicle control equipment.

[0058] When the data processing device responds to the map acquisition request sent by the vehicle control device to obtain map data, the vehicle control device can send an RPC (Remote Procedure Call) request to the data processing device to request map data within a preset radius centered on the vehicle's current location.

[0059] Step S102: Compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, proceed to step S103; if they are inconsistent, proceed to step S104.

[0060] The map elements mentioned above may include lanes, zebra crossings, lane lines, traffic lights, traffic signs, buildings, etc.

[0061] Specifically, the high-precision map data typically contains more map elements than the real-time map data. Therefore, when comparing map elements at the same location in the high-precision map data and the real-time map data, map elements can be selected in the real-time map data to obtain their location information. Based on the obtained location information, map elements at the same location as the selected map elements can be identified in the high-precision map data. This allows for a comparison between the map elements selected in the real-time map data and those identified in the high-precision map data.

[0062] As discussed above, high-precision map data contains richer and more accurate data compared to real-time map data. Furthermore, remote servers can maintain the high-precision map data stored in the vehicle's data processing equipment. If the high-precision map data stored on the remote server is updated, the remote server can send the updated high-precision map data to the vehicle's data processing equipment, allowing the equipment to update its own stored high-precision map data. However, the update cycle for high-precision map data is typically long, such as one day or one week. Real-time map data, on the other hand, is constructed from the vehicle's real-time driving environment; therefore, real-time map data offers higher real-time performance compared to high-precision map data.

[0063] Therefore, when comparing the map elements in these two types of map data, if the map elements in these two types of map data are inconsistent, it means that the current driving environment of the vehicle has changed. The map data of the current driving environment of the vehicle recorded in the high-precision map data is the map data of the driving environment before the change. At this time, the following step S104 is executed; if the map elements in these two types of map data are consistent, it means that the current driving environment of the vehicle has not changed. At this time, the following step S103 is executed.

[0064] Step S103: Send high-precision map data to the vehicle control device so that the vehicle control device can control the vehicle's movement based on the obtained map data.

[0065] Because high-precision map data contains more information than real-time map data, it can send more information-rich high-precision map data to the vehicle control equipment when the vehicle's current driving environment remains unchanged, so that the vehicle control equipment can accurately control the vehicle's driving based on the more information-rich map data.

[0066] Step S104: Send real-time map data to the vehicle control device so that the vehicle control device can control the vehicle's movement based on the obtained map data.

[0067] Because real-time map data has higher real-time performance than high-precision map data, when the vehicle's current driving environment changes, more real-time map data can be sent to the vehicle control equipment, enabling the vehicle control equipment to control the vehicle's safe driving based on the more real-time map data.

[0068] As can be seen from the above, when processing two types of map data using the solution provided in this embodiment, the data processing device compares map elements at the same map location in high-precision map data and real-time map data. Based on the comparison result, it determines one type of map data from the two types and sends the determined map data to the vehicle control device. The vehicle control device can then control the vehicle's movement based on the obtained map data, thereby processing both high-precision and real-time map data. Furthermore, by comparing map elements in the two types of map data, the data processing device only needs to send one type of map data to the vehicle control device, and the vehicle control device only needs to store the received map data, eliminating the need to store both types of map data. This reduces the storage space occupied by map data in the vehicle control device.

[0069] In one embodiment of this disclosure, before comparing map elements at the same location in the two types of map data, the data processing device can perform data structure conversion processing on the obtained real-time map data to obtain real-time map data with the same data structure as the obtained high-precision map data. In this way, when comparing map elements in the two types of map data, the data processing device can more accurately compare whether the map elements in the two types of map data are consistent, thereby improving the accuracy of the map data sent by the data processing device to the vehicle control device.

[0070] For example, high-precision map data can be represented as a kd-tree (k-dimensional tree, multidimensional spatial index tree), where each map element in the high-precision map data is a node in the kd-tree. When performing data structure transformation on real-time map data, a kd-tree with the same structure as the high-precision map data can be constructed based on the real-time map data, with each map element in the real-time map data becoming a node in the constructed kd-tree.

[0071] In this solution, the data structure of real-time map data is converted into that of high-precision map data. The data processing equipment can send map data with the same data structure to the vehicle control equipment. The vehicle control equipment does not need to care about the source of the map data, nor does it need to consider the loading method of map data with different data structures. In this way, the vehicle control equipment can quickly switch between the two types of map data, thereby improving the efficiency of map data processing.

[0072] The data processing device stores the acquired map data in its cache. After acquiring map data, the data processing device can update the map data stored in its cache with the acquired map data.

[0073] In existing map data update schemes, a locked read-write method is used to update map data cached in the data processing device's cache. This means that when the data processing device writes data to the cache, the cache is locked, making it difficult for the data processing device to read data from the cache. As a result, when the data processing device updates the map data cached in its own cache, it is difficult to provide map data to the vehicle control device. Only after the map data in the data processing device's cache has been updated can the data processing device provide map data to the vehicle control device again based on the map data cached in its own cache. This makes it difficult for the vehicle control device to obtain map data from the data processing device in real time during vehicle operation, thereby increasing the risk of vehicle operation.

[0074] To address the aforementioned issues, in one embodiment of this disclosure, see [link to relevant documentation]. Figure 2 The present invention provides a flowchart of a second high-precision map data processing method. In this embodiment, the data processing device is equipped with a first cache and a second cache for caching high-precision map data. The above method includes the following steps S201-S206.

[0075] Step S201: Obtain high-precision map data and real-time map data of the vehicle's driving environment.

[0076] This step is the same as step S101 above, and will not be repeated here.

[0077] Step S202: Update the map data cached in the first cache based on the high-precision map data, and provide map data to the vehicle control device based on the map data cached in the second cache.

[0078] The first cache and the second cache can each store a copy of high-precision map data. The data processing device can provide map data to the vehicle control device based on the high-precision map data stored in the first cache or the second cache.

[0079] When updating the map data cached in the first cache, the first cache is locked, making it difficult for the data processing device to read data from the first cache. At this time, the data processing device can read data from the second cache, thereby providing map data to the vehicle control device based on the map data cached in the second cache.

[0080] Updating the cached map data in the first cache can be achieved using existing update techniques, which will not be detailed here.

[0081] Step S203: After the map data in the first cache is updated, the map data cached in the second cache is updated based on the high-precision map data, and the updated map data cached in the first cache is used to provide map data to the vehicle control device.

[0082] This step is similar to step S202 above, and will not be repeated here.

[0083] Step S204: Compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, proceed to step S205; if they are inconsistent, proceed to step S206.

[0084] Step S205: Send high-precision map data to the vehicle control device so that the vehicle control device can control the vehicle's movement based on the obtained map data.

[0085] Step S206: Send real-time map data to the vehicle control device so that the vehicle control device can control the vehicle's movement based on the obtained map data.

[0086] The steps S204-S206 are the same as the steps S102-S104, and will not be repeated here.

[0087] As can be seen from the above, when processing map data using the solution provided in this embodiment, by deploying two cache areas in the data processing device for caching high-precision map data, one cache area is always unlocked when updating the high-precision map data cached in the data processing device. In this way, the data processing device can continuously provide map data to the vehicle control device based on the high-precision map data cached in the unlocked cache area. Therefore, by applying the map data processing solution provided in this embodiment, the data processing device can always provide high-precision map data to the vehicle control device, thereby satisfying the vehicle control device's reliance on efficient reading and writing of map data and reducing vehicle driving risks.

[0088] The first and second caches mentioned above are used to cache high-precision map data. Based on this, for real-time map data, two caches for real-time map data can also be deployed in the data processing device, so as to enable the data processing device to continuously provide real-time map data to the vehicle control device.

[0089] In one embodiment of this disclosure, see [link to embodiment]. Figure 3 The present invention provides a flowchart of a third high-precision map data processing method. In this embodiment, the data processing device is equipped with a third cache and a fourth cache for caching real-time map data. The above method includes the following steps S301-S306.

[0090] Step S301: Obtain high-precision map data and real-time map data of the vehicle's driving environment.

[0091] This step is the same as step S101 above, and will not be repeated here.

[0092] Step S302: Update the map data cached in the third cache based on the real-time map data, and provide map data to the vehicle control device based on the map data cached in the fourth cache.

[0093] Step S303: After the map data in the third cache is updated, the map data cached in the fourth cache is updated based on the real-time map data, and the map data is provided to the vehicle control device based on the updated map data cached in the third cache.

[0094] The steps S302-S303 described above are similar to steps S202-S203 described above, and will not be repeated here.

[0095] Step S304: Compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, proceed to step S305; if they are inconsistent, proceed to step S306.

[0096] Step S305: Send high-precision map data to the vehicle control device so that the vehicle control device can control the vehicle's movement based on the obtained map data.

[0097] Step S306: Send real-time map data to the vehicle control device so that the vehicle control device can control the vehicle's movement based on the obtained map data.

[0098] The steps S304-S306 are the same as the steps S102-S104, and will not be repeated here.

[0099] As can be seen from the above, when processing map data using the solution provided in the embodiments of this disclosure, by deploying two cache areas in the data processing device for caching real-time map data, one cache area is always unlocked when updating the real-time map data cached in the data processing device. In this way, the data processing device can continuously provide map data to the vehicle control device based on the real-time map data cached in the unlocked cache area. Therefore, by applying the map data processing solution provided in the embodiments of this disclosure, the data processing device can always provide real-time map data to the vehicle control device, thereby reducing the risk of vehicle driving.

[0100] In one embodiment of this disclosure, the data processing device may be equipped with the four types of caches described above: the first cache, the second cache, the third cache, and the fourth cache. This enables the data processing device to continuously provide the vehicle control device with both high-precision map data and real-time map data, thereby further reducing the risk of vehicle driving.

[0101] Processes for processing map data can be created in the data processing equipment and the vehicle control equipment. Data interaction between the data processing equipment and the vehicle control equipment can be completed through data interaction between the processes created in these two types of equipment.

[0102] In one embodiment of this disclosure, see [link to embodiment]. Figure 4 The present invention provides a flowchart of a fourth high-precision map data processing method. In this embodiment, the data processing device creates a first process and a second process for processing different map data, and the vehicle-side control device creates a third process for processing map data.

[0103] The architecture of the first process, the second process, and the third process can be a map client / server architecture, with the first process and the second process acting as server processes in the map client / server architecture, and the third process acting as client processes in the map client / server architecture.

[0104] The above method includes the following steps S401-S405.

[0105] Step S401: Obtain high-precision map data of the vehicle's driving environment through the first process, and cache the high-precision map data in the cache area corresponding to the first process.

[0106] Specifically, the data processing device can obtain high-precision map data of the vehicle's driving environment through the first process. The method by which the first process obtains the aforementioned high-precision map data can be found in the preceding text. Figure 1 The difference between step S101 in the illustrated embodiment and step S101 is that in step S101 above, the data processing device obtains the high-precision map data, while in this step, the first process obtains the high-precision map data. This will not be described again here.

[0107] After obtaining the high-precision map data through the first process, the data processing device can cache the obtained high-precision map data in the cache area corresponding to the first process. If the cache area corresponding to the first process already contains map data, the cached map data in the cache area corresponding to the first process can be updated based on the obtained high-precision map data.

[0108] In one embodiment of this disclosure, the first process may correspond to two cache areas, each of which can cache the aforementioned high-precision map data. In this case, the method for updating the cached map data in these two cache areas can be found in the foregoing. Figure 2 Steps S202-S203 in the illustrated embodiment will not be described in detail here.

[0109] Step S402: Obtain real-time map data of the vehicle's driving environment through the second process, and cache the real-time map data in the cache area corresponding to the second process.

[0110] This step is similar to step S401 above, and will not be repeated here.

[0111] Step S403: Compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, proceed to step S404; if they are inconsistent, proceed to step S405.

[0112] This step is the same as step S103 above, and will not be repeated here.

[0113] Step S404: The first process sends high-precision map data to the third process, so that the third process controls the vehicle's movement based on the obtained map data.

[0114] This step is similar to step S104 above. In this step, the first process in the data processing device sends high-precision map data to the third process in the vehicle control device, thereby realizing the sending of high-precision map data from the data processing device to the vehicle control device in step S104 above. This will not be described in detail here.

[0115] Step S405: Send real-time map data from the second process to the third process so that the third process can control the vehicle's movement based on the obtained map data.

[0116] This step is similar to step S404 above. In this step, the second process in the data processing device sends real-time map data to the third process in the vehicle control device, thereby realizing the sending of real-time map data from the data processing device to the vehicle control device in step S104 above. This will not be described in detail here.

[0117] As can be seen from the above, when processing map data using the solution provided in the embodiments of this disclosure, the data processing device creates a first process and a second process for processing different map data. The data processing device can allocate some of its own computing resources to the first process and the second process respectively. The vehicle control device creates a third process for processing map data, and the vehicle control device can also allocate some of its own computing resources to the third process. In this way, through the map data interaction between the first process, the second process and the third process, the data processing device and the vehicle control device only need to call a portion of their respective computing resources to realize the map data interaction between the data processing device and the vehicle control device. Therefore, the map data processing solution provided in the embodiments of this disclosure can reduce the computing resources occupied by map data processing.

[0118] Vehicle-mounted control equipment is typically used to implement various control functions, such as steering, acceleration, and deceleration. For each control function, the vehicle-mounted control equipment needs to implement the control function based on map data.

[0119] Therefore, in one embodiment of this disclosure, see [link to relevant documentation]. Figure 5 The present invention provides a flowchart of the fifth high-precision map data processing method. In this embodiment, the vehicle-side control device is used to implement a variety of control functions, and each control function corresponds to a third process. The above method includes the following steps S501-S505.

[0120] Step S501: Obtain high-precision map data of the vehicle's driving environment through the first process, and cache the high-precision map data in the cache area corresponding to the first process.

[0121] Step S502: Obtain real-time map data of the vehicle's driving environment through the second process, and cache the real-time map data in the cache area corresponding to the second process.

[0122] The steps S501-S502 described above are the same as steps S401-S402 described above, and will not be repeated here.

[0123] Step S503: For each control function, compare whether the first map element and the second map element corresponding to the control function are consistent. If they are consistent, proceed to step S504; if they are inconsistent, proceed to step S505.

[0124] The first map element is a map element within the region of interest for this control function in the high-precision map data.

[0125] The second map element is a map element located within the area of ​​interest of the control function in the real-time map data, and at the same position as the first map element.

[0126] The region of interest for the aforementioned control function can be the area in front of, behind, or to the side of the vehicle in the driving environment in which the vehicle is located.

[0127] Different control functions have different regions of interest.

[0128] For example, the region of interest for a steering function can be the area in front of the vehicle, while the region of interest for a reversing function can be the area behind the vehicle.

[0129] Specifically, for each control function, the region of interest for that control function can be determined in both high-precision map data and real-time map data. Then, a first map element and a second map element at the same map location can be selected from the determined regions of interest in the two types of map data, and the first map element and the second map element can be compared.

[0130] The method for comparing the first map element and the second map element is the same as described above. Figure 1 Step S102 in the illustrated embodiment is similar and will not be described again here.

[0131] Step S504: For each control function, the first process sends the first map data to the third process, so that the third process controls the vehicle's movement based on the obtained map data.

[0132] The first map data is the map data of the region of interest for this control function in the high-precision map data.

[0133] Specifically, when the first map element and the second map element are the same, map data of the region of interest for the control function can be extracted from the obtained high-precision map data. Then, the extracted map data is sent to the third process through the first process, so that the third process can control the vehicle to drive based on the obtained map data.

[0134] Step S505: For each control function, the second process sends the second map data to the third process, so that the third process controls the vehicle's movement based on the obtained map data.

[0135] The second map data is: map data of the area of ​​interest for this control function in the real-time map data.

[0136] This step is similar to step S504 above, and will not be repeated here.

[0137] As can be seen from the above, when processing map data using the solution provided in this embodiment, for each piece of map data, the first map element and the second map element corresponding to the control function are compared to see if they are consistent. This can accurately determine the map data sent by the first process to the third process corresponding to each control function, thereby improving the accuracy of map data processing.

[0138] Corresponding to the above-described high-precision map data processing method, this disclosure also provides a high-precision map data processing apparatus.

[0139] In one embodiment of this disclosure, see [link to embodiment]. Figure 6 A schematic diagram of the structure of a first high-precision map data processing device is provided. This device is applied to data processing equipment deployed in a vehicle, which also has vehicle-side control equipment, including:

[0140] The data acquisition module 601 is used to acquire high-precision map data and real-time map data of the driving environment of the vehicle.

[0141] The element comparison module 602 is used to compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the first sending module 603 is triggered; if they are inconsistent, the second sending module 604 is triggered.

[0142] The first sending module 603 is used to send the high-precision map data to the vehicle-side control device, so that the vehicle-side control device can control the vehicle to drive according to the obtained map data;

[0143] The second sending module 604 is used to send the real-time map data to the vehicle-side control device, so that the vehicle-side control device can control the vehicle to drive based on the obtained map data.

[0144] As can be seen from the above, when processing two types of map data using the solution provided in this embodiment, the data processing device compares map elements at the same map location in high-precision map data and real-time map data. Based on the comparison result, it determines one type of map data from the two types and sends the determined map data to the vehicle control device. The vehicle control device can then control the vehicle's movement based on the obtained map data, thereby processing both high-precision and real-time map data. Furthermore, by comparing map elements in the two types of map data, the data processing device only needs to send one type of map data to the vehicle control device, and the vehicle control device only needs to store the received map data, eliminating the need to store both types of map data. This reduces the storage space occupied by map data in the vehicle control device.

[0145] In one embodiment of this disclosure, see [link to embodiment]. Figure 7 A schematic diagram of the structure of a second type of high-precision map data processing device is provided. In this embodiment, the data processing device is equipped with a first cache and a second cache for caching the high-precision map data.

[0146] The device includes:

[0147] The data acquisition module 701 is used to acquire high-precision map data and real-time map data of the driving environment of the vehicle.

[0148] The first update module 702 is used to update the map data cached in the first cache based on the high-precision map data after obtaining the high-precision map data, and to provide map data to the vehicle control device based on the map data cached in the second cache.

[0149] The second update module 703 is used to update the map data cached in the second cache based on the high-precision map data after the map data in the first cache is updated, and to provide map data to the vehicle control device based on the updated map data cached in the first cache.

[0150] The element comparison module 704 is used to compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the first sending module 705 is triggered; if they are inconsistent, the second sending module 706 is triggered.

[0151] The first sending module 705 is used to send the high-precision map data to the vehicle-end control device, so that the vehicle-end control device controls the vehicle to drive according to the obtained map data;

[0152] The second sending module 706 is used to send the real-time map data to the vehicle-side control device, so that the vehicle-side control device can control the vehicle to drive based on the obtained map data.

[0153] As can be seen from the above, when processing map data using the solution provided in this embodiment, by deploying two cache areas in the data processing device for caching high-precision map data, one cache area is always unlocked when updating the high-precision map data cached in the data processing device. In this way, the data processing device can continuously provide map data to the vehicle control device based on the high-precision map data cached in the unlocked cache area. Therefore, by applying the map data processing solution provided in this embodiment, the data processing device can always provide high-precision map data to the vehicle control device, thereby satisfying the vehicle control device's reliance on efficient reading and writing of map data and reducing vehicle driving risks.

[0154] In one embodiment of this disclosure, see [link to embodiment]. Figure 8 A schematic diagram of the structure of a third type of high-precision map data processing device is provided. In this embodiment, the data processing device is equipped with a third cache and a fourth cache for caching the real-time map data.

[0155] The device includes:

[0156] The data acquisition module 801 is used to acquire high-precision map data and real-time map data of the driving environment of the vehicle.

[0157] The third update module 802 is used to update the map data cached in the third cache based on the real-time map data after obtaining the real-time map data, and to provide map data to the vehicle control device based on the map data cached in the fourth cache.

[0158] The fourth update module 803 is used to update the map data cached in the fourth cache based on the real-time map data after the map data in the third cache is updated, and to provide map data to the vehicle control device based on the updated map data cached in the third cache.

[0159] The element comparison module 804 is used to compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the first sending module 805 is triggered; if they are inconsistent, the second sending module 806 is triggered.

[0160] The first sending module 805 is used to send the high-precision map data to the vehicle-side control device, so that the vehicle-side control device can control the vehicle to drive according to the obtained map data;

[0161] The second sending module 806 is used to send the real-time map data to the vehicle-side control device, so that the vehicle-side control device can control the vehicle to drive based on the obtained map data.

[0162] As can be seen from the above, when processing map data using the solution provided in the embodiments of this disclosure, by deploying two cache areas in the data processing device for caching real-time map data, one cache area is always unlocked when updating the real-time map data cached in the data processing device. In this way, the data processing device can continuously provide map data to the vehicle control device based on the real-time map data cached in the unlocked cache area. Therefore, by applying the map data processing solution provided in the embodiments of this disclosure, the data processing device can always provide real-time map data to the vehicle control device, thereby reducing the risk of vehicle driving.

[0163] In one embodiment of this disclosure, the data processing device creates a first process and a second process for processing different map data, and the vehicle-side control device creates a third process for processing map data;

[0164] The data acquisition module 601 is specifically used for:

[0165] The first process obtains high-precision map data of the vehicle's driving environment and caches the high-precision map data in the cache area corresponding to the first process.

[0166] The second process obtains real-time map data of the vehicle's driving environment and caches the real-time map data in the cache area corresponding to the second process.

[0167] The first sending module 603 is specifically used for:

[0168] The high-precision map data is sent from the first process to the third process, so that the third process controls the vehicle's movement based on the obtained map data.

[0169] The second transmitting module 604 is specifically used for:

[0170] The real-time map data is sent from the second process to the third process, so that the third process can control the vehicle's movement based on the obtained map data.

[0171] As can be seen from the above, when processing map data using the solution provided in the embodiments of this disclosure, the data processing device creates a first process and a second process for processing different map data. The data processing device can allocate some of its own computing resources to the first process and the second process respectively. The vehicle control device creates a third process for processing map data, and the vehicle control device can also allocate some of its own computing resources to the third process. In this way, through the map data interaction between the first process, the second process and the third process, the data processing device and the vehicle control device only need to call a portion of their respective computing resources to realize the map data interaction between the data processing device and the vehicle control device. Therefore, the map data processing solution provided in the embodiments of this disclosure can reduce the computing resources occupied by map data processing.

[0172] In one embodiment of this disclosure, the vehicle-side control device is used to implement multiple control functions, and each control function corresponds to a third process.

[0173] The element comparison module 602 is specifically used for:

[0174] For each control function, compare whether the first map element and the second map element corresponding to the control function are consistent. The first map element is a map element in the region of interest of the control function in the high-precision map data, and the second map element is a map element in the region of interest of the control function in the real-time map data that is at the same position as the first map element.

[0175] The first sending module 603 is specifically used for:

[0176] For each control function, the first process sends first map data to the third process, so that the third process controls the vehicle's movement based on the obtained map data. The first map data is the map data of the region of interest for that control function in the high-precision map data.

[0177] The second transmitting module 604 is specifically used for:

[0178] For each control function, the second process sends second map data to the third process, so that the third process controls the vehicle's movement based on the obtained map data. The second map data is the map data of the region of interest for that control function in the real-time map data.

[0179] As can be seen from the above, when processing map data using the solution provided in this embodiment, for each piece of map data, the first map element and the second map element corresponding to the control function are compared to see if they are consistent. This can accurately determine the map data sent by the first process to the third process corresponding to each control function, thereby improving the accuracy of map data processing.

[0180] Corresponding to the above-described high-precision map data processing method, this disclosure also provides a high-precision map data processing system.

[0181] In one embodiment of this disclosure, see [link to embodiment]. Figure 9 A schematic diagram of the structure of the first high-precision map data processing system is provided. The system is deployed in a vehicle and includes a data processing device 901 and a vehicle-side control device 902.

[0182] The data processing device 901 is used to obtain high-precision map data and real-time map data of the driving environment of the vehicle, compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the high-precision map data is sent to the vehicle control device 902. If they are inconsistent, the real-time map data is sent to the vehicle control device 902.

[0183] The vehicle-mounted control device 902 is used to control the vehicle's movement based on the obtained map data.

[0184] As can be seen from the above, when processing map data using the solution provided in this embodiment, the data processing device compares map elements at the same map location in high-precision map data and real-time map data. Based on the comparison result, it determines one type of map data from the two types and sends the determined map data to the vehicle control device. The vehicle control device can then control the vehicle's movement based on the obtained map data, thereby processing both high-precision and real-time map data. Furthermore, by comparing map elements in the two types of map data, the data processing device only needs to send one type of map data to the vehicle control device, and the vehicle control device only needs to store the received map data, eliminating the need to store both types of map data. This reduces the storage space occupied by map data in the vehicle control device.

[0185] In one embodiment of this disclosure, the data processing device 901 is equipped with a first cache and a second cache for caching the high-precision map data;

[0186] The data processing device 901 is also used for:

[0187] The high-precision map data is used to update the map data cached in the first cache, and the map data cached in the second cache is used to provide map data to the vehicle control device.

[0188] After the map data in the first cache is updated, the map data cached in the second cache is updated based on the high-precision map data, and the updated map data cached in the first cache is used to provide map data to the vehicle control device 902.

[0189] As can be seen from the above, when processing map data using the solution provided in this embodiment, by deploying two cache areas in the data processing device for caching high-precision map data, one cache area is always unlocked when updating the high-precision map data cached in the data processing device. In this way, the data processing device can continuously provide map data to the vehicle control device based on the high-precision map data cached in the unlocked cache area. Therefore, by applying the map data processing solution provided in this embodiment, the data processing device can always provide high-precision map data to the vehicle control device, thereby satisfying the vehicle control device's reliance on efficient reading and writing of map data and reducing vehicle driving risks.

[0190] In one embodiment of this disclosure, the data processing device 901 is equipped with a third cache and a fourth cache for caching the real-time map data;

[0191] The data processing device is also used for:

[0192] The map data cached in the third cache is updated based on the real-time map data, and map data is provided to the vehicle control device 902 based on the map data cached in the fourth cache.

[0193] After the map data in the third cache is updated, the map data cached in the fourth cache is updated based on the real-time map data, and map data is provided to the vehicle control device based on the updated map data cached in the third cache.

[0194] As can be seen from the above, when processing map data using the solution provided in the embodiments of this disclosure, by deploying two cache areas in the data processing device for caching real-time map data, one cache area is always unlocked when updating the real-time map data cached in the data processing device. In this way, the data processing device can continuously provide map data to the vehicle control device based on the real-time map data cached in the unlocked cache area. Therefore, by applying the map data processing solution provided in the embodiments of this disclosure, the data processing device can always provide real-time map data to the vehicle control device, thereby reducing the risk of vehicle driving.

[0195] In one embodiment of this disclosure, the data processing device 901 creates a first process and a second process for processing different map data, and the vehicle-side control device 902 creates a third process for processing map data.

[0196] The data processing device 901 is specifically used for:

[0197] The first process obtains high-precision map data of the vehicle's driving environment and caches the high-precision map data in the cache area corresponding to the first process.

[0198] The second process obtains real-time map data of the vehicle's driving environment and caches the real-time map data in the cache area corresponding to the second process.

[0199] If the map element comparison results are consistent, the high-precision map data is sent from the first process to the third process.

[0200] If the comparison results of map elements are inconsistent, the real-time map data is sent to the third process through the second process.

[0201] The vehicle-side control device 902 is specifically used to control the vehicle's movement based on the obtained map data through the third process.

[0202] As can be seen from the above, when processing map data using the solution provided in the embodiments of this disclosure, the data processing device creates a first process and a second process for processing different map data. The data processing device can allocate some of its own computing resources to the first process and the second process respectively. The vehicle control device creates a third process for processing map data, and the vehicle control device can also allocate some of its own computing resources to the third process. In this way, through the map data interaction between the first process, the second process and the third process, the data processing device and the vehicle control device only need to call a portion of their respective computing resources to realize the map data interaction between the data processing device and the vehicle control device. Therefore, the map data processing solution provided in the embodiments of this disclosure can reduce the computing resources occupied by map data processing.

[0203] In one embodiment of this disclosure, see [link to embodiment]. Figure 10The present invention provides a schematic diagram of the structure of a second high-precision map data processing system. In this embodiment, the system includes a data processing device 1001 and a vehicle-side control device 1002. The data processing device 1001 has a first process and a second process for processing different map data. The first process corresponds to a cache area a1 and a2, and the second process corresponds to a cache area b1 and a2. The vehicle-side control device 1002 has a third process for processing map data.

[0204] The data processing device 1001 is used to obtain high-precision map data of the driving environment of the vehicle through the first process and cache the high-precision map data in the cache areas a1 and a2 corresponding to the first process; and to obtain real-time map data of the driving environment of the vehicle through the second process and cache the real-time map data in the cache areas b1 and b2 corresponding to the second process.

[0205] The data processing device 1001 is also used to compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the high-precision map data is sent to the third process in the vehicle control device 1002. If they are inconsistent, the real-time map data is sent to the third process in the vehicle control device 1002.

[0206] The vehicle-side control device 1002 is used to control the vehicle's movement based on the obtained map data using a third process.

[0207] In this scheme, the first process and the second process each have two caches. This way, when any process updates the map data stored in its corresponding cache, that process can also provide map data to the third process, thereby reducing the risk of vehicle driving.

[0208] In one embodiment of this disclosure, the vehicle-side control device 902 is used to implement multiple control functions, and each control function corresponds to a third process;

[0209] The data processing device 901 is specifically used for:

[0210] For each control function, the first map element and the second map element corresponding to the control function are compared. If they are consistent, the first map data is sent to the third process through the first process. If they are inconsistent, the second map data is sent to the third process through the second process. The first map element is a map element in the region of interest of the control function in the high-precision map data. The second map element is a map element in the region of interest of the control function in the real-time map data and at the same position as the first map element. The first map data is the map data of the region of interest of the control function in the high-precision map data. The second map data is the map data of the region of interest of the control function in the real-time map data.

[0211] As can be seen from the above, when processing map data using the solution provided in this embodiment, for each piece of map data, the first map element and the second map element corresponding to the control function are compared to see if they are consistent. This can accurately determine the map data sent by the first process to the third process corresponding to each control function, thereby improving the accuracy of map data processing.

[0212] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0213] In one embodiment of this disclosure, an electronic device is provided as a server, comprising:

[0214] At least one processor; and

[0215] A memory communicatively connected to the at least one processor; wherein,

[0216] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform any of the high-precision map data processing methods described in the foregoing method embodiments.

[0217] In one embodiment of this disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform any of the high-precision map data processing methods described in the foregoing method embodiments.

[0218] In one embodiment of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements any of the high-precision map data processing methods described in the foregoing method embodiments.

[0219] In one embodiment of this disclosure, a vehicle is provided, which is equipped with any of the high-precision map data processing systems described in the foregoing system embodiments.

[0220] Figure 11 A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0221] like Figure 11 As shown, device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 1102 or a computer program loaded from storage unit 1108 into random access memory (RAM) 1103. The RAM 1103 may also store various programs and data required for the operation of device 1100. The computing unit 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. Input / output (I / O) interface 1105 is also connected to bus 1104.

[0222] Multiple components in device 1100 are connected to I / O interface 1105, including: input unit 1106, such as keyboard, mouse, etc.; output unit 1107, such as various types of monitors, speakers, etc.; storage unit 1108, such as disk, optical disk, etc.; and communication unit 1109, such as network card, modem, wireless transceiver, etc. Communication unit 1109 allows device 1100 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0223] The computing unit 1101 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above, such as high-precision map data processing methods. For example, in some embodiments, the high-precision map data processing method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and / or installed on device 1100 via ROM 1102 and / or communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, one or more steps of the high-precision map data processing method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform high-precision map data processing methods by any other suitable means (e.g., by means of firmware).

[0224] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0225] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0226] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0227] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0228] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0229] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0230] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0231] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A high-precision map data processing method, applied to a data processing device deployed in a vehicle, wherein the vehicle also has a vehicle-side control device, the data processing device deploys a first cache and a second cache for caching the high-precision map data, the data processing device creates a first process and a second process for processing different map data, and the vehicle-side control device creates a third process for processing map data, comprising: The first process obtains high-precision map data of the vehicle's driving environment and caches the high-precision map data in the cache area corresponding to the first process. The second process obtains real-time map data of the vehicle's driving environment and caches the real-time map data in the cache area corresponding to the second process. Compare whether the map elements at the same location in the high-precision map data and the real-time map data are consistent; If they match, the high-precision map data is sent from the first process to the third process, so that the third process can control the vehicle's movement based on the obtained map data. If there is a discrepancy, the real-time map data is sent from the second process to the third process, so that the third process can control the vehicle's movement based on the obtained map data. After obtaining the high-precision map data, the process also includes: The high-precision map data is used to update the map data cached in the first cache, and the map data cached in the second cache is used to provide map data to the vehicle control device. After the map data in the first cache is updated, the map data cached in the second cache is updated based on the high-precision map data, and map data is provided to the vehicle control device based on the updated map data cached in the first cache.

2. The method according to claim 1, wherein, The data processing device is equipped with a third cache and a fourth cache for caching the real-time map data. After obtaining the real-time map data, the process also includes: The map data cached in the third cache is updated based on the real-time map data, and map data is provided to the vehicle control device based on the map data cached in the fourth cache. After the map data in the third cache is updated, the map data cached in the fourth cache is updated based on the real-time map data, and map data is provided to the vehicle control device based on the updated map data cached in the third cache.

3. The method according to claim 1, wherein, The vehicle-side control equipment is used to implement multiple control functions, and each control function corresponds to a third process. The comparison of whether map elements at the same map location in the high-precision map data and the real-time map data are consistent includes: For each control function, compare whether the first map element and the second map element corresponding to the control function are consistent. The first map element is a map element in the region of interest of the control function in the high-precision map data, and the second map element is a map element in the region of interest of the control function in the real-time map data that is at the same position as the first map element. Sending the high-precision map data from the first process to the third process includes: For each control function, the first process sends first map data to the third process, wherein the first map data is: map data of the region of interest for that control function in the high-precision map data; Sending the real-time map data to the third process via the second process includes: For each control function, second map data is sent from the second process to the third process, wherein the second map data is the map data of the region of interest for that control function in the real-time map data.

4. A high-precision map data processing device, applied to a data processing device deployed in a vehicle, wherein the vehicle also deploys a vehicle-side control device, the data processing device deploys a first cache and a second cache for caching the high-precision map data, the data processing device creates a first process and a second process for processing different map data, and the vehicle-side control device creates a third process for processing map data, comprising: The data acquisition module is used to obtain high-precision map data of the driving environment of the vehicle through the first process and cache the high-precision map data in the cache area corresponding to the first process; and to obtain real-time map data of the driving environment of the vehicle through the second process and cache the real-time map data in the cache area corresponding to the second process. The element comparison module is used to compare whether the map elements at the same map location in the high-precision map data and the real-time map data are consistent. If they are consistent, the first sending module is triggered; if they are inconsistent, the second sending module is triggered. The first sending module is used to send the high-precision map data to the third process through the first process, so that the third process controls the vehicle to drive based on the obtained map data; The second sending module is used to send the real-time map data to the third process through the second process, so that the third process controls the vehicle's driving based on the obtained map data; The first update module is used to update the map data cached in the first cache based on the high-precision map data after obtaining the high-precision map data, and to provide map data to the vehicle control device based on the map data cached in the second cache. The second update module is used to update the map data cached in the second cache based on the high-precision map data after the map data in the first cache is updated, and to provide map data to the vehicle control device based on the updated map data cached in the first cache.

5. The apparatus according to claim 4, wherein, The data processing device is equipped with a third cache and a fourth cache for caching the real-time map data. The device further includes: The third update module is used to update the map data cached in the third cache based on the real-time map data after obtaining the real-time map data, and to provide map data to the vehicle control device based on the map data cached in the fourth cache. The fourth update module is used to update the map data cached in the fourth cache based on the real-time map data after the map data in the third cache is updated, and to provide map data to the vehicle control device based on the updated map data cached in the third cache.

6. The apparatus according to claim 4, wherein, The vehicle-side control equipment is used to implement multiple control functions, and each control function corresponds to a third process. The element comparison module is specifically used for: For each control function, compare whether the first map element and the second map element corresponding to the control function are consistent. The first map element is a map element in the region of interest of the control function in the high-precision map data, and the second map element is a map element in the region of interest of the control function in the real-time map data that is at the same position as the first map element. The first sending module is specifically used for: For each control function, the first process sends first map data to the third process, so that the third process controls the vehicle's movement based on the obtained map data. The first map data is the map data of the region of interest for that control function in the high-precision map data. The second sending module is specifically used for: For each control function, the second process sends second map data to the third process, so that the third process controls the vehicle's movement based on the obtained map data. The second map data is the map data of the region of interest for that control function in the real-time map data.

7. A high-precision map data processing system, the system being deployed in a vehicle, including a data processing device and a vehicle-side control device, wherein the data processing device has a first process and a second process for processing different map data, and the vehicle-side control device has a third process for processing map data. The data processing device is configured to obtain high-precision map data of the vehicle's driving environment through the first process and cache the high-precision map data in the cache area corresponding to the first process; obtain real-time map data of the vehicle's driving environment through the second process and cache the real-time map data in the cache area corresponding to the second process; compare whether map elements at the same map location in the high-precision map data and the real-time map data are consistent; if they are consistent, send the high-precision map data to the third process through the first process; if they are inconsistent, send the real-time map data to the third process through the second process. The vehicle-mounted control device is used to control the vehicle's movement based on the obtained map data through the third process.

8. The system according to claim 7, wherein, The data processing device is equipped with a first cache and a second cache for caching the high-precision map data. The data processing device is also used for: The high-precision map data is used to update the map data cached in the first cache, and the map data cached in the second cache is used to provide map data to the vehicle control device. After the map data in the first cache is updated, the map data cached in the second cache is updated based on the high-precision map data, and map data is provided to the vehicle control device based on the updated map data cached in the first cache.

9. The system according to claim 7 or 8, wherein, The data processing device is equipped with a third cache and a fourth cache for caching the real-time map data. The data processing device is also used for: The map data cached in the third cache is updated based on the real-time map data, and map data is provided to the vehicle control device based on the map data cached in the fourth cache. After the map data in the third cache is updated, the map data cached in the fourth cache is updated based on the real-time map data, and map data is provided to the vehicle control device based on the updated map data cached in the third cache.

10. The system according to claim 7, wherein, The vehicle-side control equipment is used to implement multiple control functions, and each control function corresponds to a third process. The data processing device is specifically used for: For each control function, the first map element and the second map element corresponding to the control function are compared. If they are consistent, the first map data is sent to the third process through the first process. If they are inconsistent, the second map data is sent to the third process through the second process. The first map element is a map element in the region of interest of the control function in the high-precision map data. The second map element is a map element in the region of interest of the control function in the real-time map data and at the same position as the first map element. The first map data is the map data of the region of interest of the control function in the high-precision map data. The second map data is the map data of the region of interest of the control function in the real-time map data.

11. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-3.

12. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-3.

13. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-3.

14. An autonomous vehicle, wherein the vehicle is equipped with the system according to any one of claims 7-10.

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