A method, device, equipment and storage medium for updating high-precision maps

Abstract

The present application discloses a method, device, equipment and storage medium for updating a high-precision map. The method includes: obtaining real-time vehicle information of a target vehicle, inputting the real-time vehicle information into a high-precision map server, obtaining real-time high-precision map information of the target vehicle within a preset range through the high-precision map server, and saving it, obtaining the high-precision map information of the previous cycle from the high-precision map server, matching the real-time high-precision map information with the high-precision map information of the previous cycle, obtaining a matching result, and using the matching result to update the high-precision map of the target vehicle. In this way, by obtaining the matching result on the high-precision map server to update the high-precision map, it is only necessary to obtain the map information within the preset range around the target vehicle, saving the space of the local engine, and at the same time, the update cycle can be preset. When a shorter update is set, the lag of the high-precision map update can be avoided, further improving the safety and reliability of autonomous driving.

Description

Technical Field

[0001] The present application relates to the field of map updating technology, and in particular to a method, device, equipment and storage medium for updating a high-precision map. Background Art

[0002] With the development of autonomous driving technology, autonomous driving has become one of the hottest projects in the automotive industry. In the actual driving process of autonomous vehicles, it is often necessary to rely on high-precision maps to locate the road and judge the surrounding environment of the vehicle. At the same time, since the actual road conditions often change, it is necessary to update the high-precision map on the vehicle to ensure the correctness of the road and the surrounding environment of the vehicle, and avoid accidents caused by the actual road conditions not matching the high-precision map.

[0003] In the prior art, the use and update of high-precision maps usually involves downloading maps of all parts of the country or all maps of the province or city where the autonomous driving vehicle is located to a local engine, and then updating them regularly. However, this method requires a large amount of storage space. Since the maps of many provinces and cities are not used, a lot of storage resource space will be wasted, and it may also cause the program to jam. At the same time, due to the regular updates, there is also the problem of lagging high-precision map information, which increases the risk factor of autonomous driving during driving.

[0004] Based on this, how to save local storage space and how to improve the safety of autonomous driving are technical problems that need to be urgently solved in this field. Summary of the invention

[0005] Based on the above problems, the present application provides a method, device, equipment and storage medium for updating high-precision maps to save local space and improve the safety of autonomous driving.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for updating a high-precision map, the method comprising:

[0008] Obtain real-time vehicle information of the target vehicle;

[0009] Inputting the real-time vehicle information into a high-precision map server;

[0010] Obtaining real-time high-precision map information of the target vehicle within a preset range through the high-precision map server and saving it;

[0011] Obtain high-precision map information of the previous period from the high-precision map server;

[0012] Matching the real-time high-precision map information with the high-precision map information of the previous cycle to obtain a matching result;

[0013] The high-precision map of the target vehicle is updated using the matching result.

[0014] Optionally, obtaining the real-time high-precision map information of the target vehicle within a preset range through the high-precision map server and saving it includes:

[0015] Determining the real-time position of the target vehicle according to the real-time vehicle information;

[0016] Determine a preset range based on the real-time position as the center and a preset radius;

[0017] The high-precision map elements within a preset range are determined by the high-precision map server as real-time high-precision map information.

[0018] Optionally, before obtaining the high-precision map information of the previous period from the high-precision map server, the method further includes:

[0019] Receive the get command;

[0020] Determine whether there is high-precision map information of the previous period in the database according to the acquisition command;

[0021] If it exists, extracting the high-precision map information of the previous period from the database;

[0022] If not, the real-time high-precision map information is used as the matching result, and the high-precision map of the target vehicle is updated.

[0023] Optionally, matching the real-time high-precision map information with the high-precision map information of the previous period to obtain a matching result includes:

[0024] Comparing the map elements in the real-time high-precision map information with the map elements in the high-precision map information of the previous cycle;

[0025] If there are different map elements in the comparison results, the different map elements are regarded as matching results.

[0026] Optionally, after updating the high-precision map of the target vehicle using the matching result, the method further includes:

[0027] Acquire new real-time vehicle information of the target vehicle according to a preset period;

[0028] The high-precision map of the target vehicle is updated according to the new real-time vehicle information.

[0029] In a second aspect, an embodiment of the present application provides a device for updating a high-precision map, the device comprising: a first acquisition module, an input module, a real-time high-precision map information acquisition module, a second acquisition module, a matching module and an update module;

[0030] The first acquisition module is used to acquire real-time vehicle information of the target vehicle;

[0031] The input module is used to input the real-time vehicle information into the high-precision map server;

[0032] The real-time high-precision map information acquisition module is used to obtain the real-time high-precision map information of the target vehicle within a preset range through the high-precision map server and save it;

[0033] The second acquisition module is used to obtain the high-precision map information of the previous period from the high-precision map server;

[0034] The matching module is used to match the real-time high-precision map information with the high-precision map information of the previous cycle to obtain a matching result;

[0035] The updating module is used to update the high-precision map of the target vehicle using the matching result.

[0036] Optionally, the real-time high-precision map information acquisition module includes:

[0037] A real-time position determination module, used to determine the real-time position of the target vehicle according to the real-time vehicle information;

[0038] A preset range determination module, used to determine a preset range based on the real-time position as the center and a preset radius;

[0039] The real-time high-precision map information acquisition submodule is used to determine the high-precision map elements within a preset range through the high-precision map server as real-time high-precision map information.

[0040] Optionally, before executing the second acquisition module, the method further includes:

[0041] A receiving module, used for receiving an acquisition command;

[0042] A judgment module, used to judge whether there is high-precision map information of the previous period in the database according to the acquisition command;

[0043] An extraction module, used to extract high-precision map information of the previous period from the database if it exists;

[0044] The high-precision map update module is used to use the real-time high-precision map information as the matching result and update the high-precision map of the target vehicle if it does not exist.

[0045] In a third aspect, an embodiment of the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for updating a high-precision map as described in the first aspect is implemented.

[0046] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium. When the instructions are executed on a terminal device, the terminal device executes the method for updating a high-precision map as described in the first aspect.

[0047] Compared with the prior art, the present application has the following beneficial effects: the present application obtains the real-time vehicle information of the target vehicle, inputs the real-time vehicle information into the high-precision map server, obtains the real-time high-precision map information of the target vehicle within a preset range through the high-precision map server, and saves it, obtains the high-precision map information of the previous cycle from the high-precision map server, matches the real-time high-precision map information with the high-precision map information of the previous cycle, obtains the matching result, and uses the matching result to update the high-precision map of the target vehicle. Among them, the high-precision map is updated by obtaining the matching result from the high-precision map server, which is different from the prior art that requires downloading all maps. In the present application, only the map information within the preset range around the target vehicle needs to be obtained, which saves the space of the local engine, and the update cycle can be preset. In the case of setting a shorter update, the lag of the high-precision map update can be avoided, and the safety and reliability of autonomous driving can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0049] Figure 1 A flowchart of a method for updating a high-precision map provided in an embodiment of the present application;

[0050] Figure 2 A flowchart of updating a high-precision map based on an actual vehicle provided in an embodiment of the present application;

[0051] Figure 3 A comparative schematic diagram of an update cycle provided in an embodiment of the present application;

[0052] Figure 4A schematic diagram of the structure of a high-precision map updating device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] As described above, in the research on autonomous driving, it was found that in the existing technology, the use and update of high-precision maps usually involves downloading maps of all places in the country or all maps of the province or city where the autonomous driving vehicle is located to the local engine, and then updating them regularly. However, this method requires a large amount of storage space. Since the maps of many provinces and cities are not used, a lot of storage resource space will be wasted, and it may also cause the program to jam. At the same time, due to the regular updates, there is also the problem of lagging high-precision map information, which increases the risk factor of autonomous driving while driving.

[0054] In order to solve the above problems, the embodiments of the present application provide a method, device, equipment and storage medium for updating a high-precision map. The method includes: obtaining real-time vehicle information of a target vehicle, inputting the real-time vehicle information into a high-precision map server, obtaining real-time high-precision map information of the target vehicle within a preset range through the high-precision map server, and saving it, obtaining high-precision map information of the previous cycle from the high-precision map server, matching the real-time high-precision map information with the high-precision map information of the previous cycle, obtaining a matching result, and updating the high-precision map of the target vehicle using the matching result.

[0055] In this way, the high-precision map is updated by obtaining matching results on the high-precision map server. Different from the prior art that requires downloading all maps, in this application, only map information within a preset range around the target vehicle needs to be obtained, saving space in the local engine. At the same time, the update cycle can be preset. When a shorter update is set, the lag in high-precision map updates can be avoided, further improving the safety and reliability of autonomous driving.

[0056] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] See also Figure 1 , which is a flow chart of a method for updating a high-precision map provided in an embodiment of the present application, combined with Figure 1 As shown, the method for updating a high-precision map provided in an embodiment of the present application may include:

[0058] S101: Acquire real-time vehicle information of a target vehicle.

[0059] The target vehicle refers to the vehicle whose high-precision map information is to be updated.

[0060] The real-time vehicle information refers to the vehicle information collected at the current moment.

[0061] The real-time vehicle information may include real-time position, real-time speed and / or current time, including but not limited to the three types of information, which are not specifically limited here.

[0062] S102: Input the real-time vehicle information into a high-precision map server.

[0063] Among them, high-precision map server refers to the high-precision map server, which can also be called the high-precision map cloud, which includes all maps across the country, as well as various map elements or features.

[0064] S103: Obtain real-time high-precision map information of the target vehicle within a preset range through the high-precision map server and save it.

[0065] The preset range refers to a pre-set range, which can be set according to actual conditions and is not specifically limited here.

[0066] As an example, step S103 may specifically include:

[0067] Step 11: Determine the real-time position of the target vehicle according to the real-time vehicle information.

[0068] Step 12: Determine a preset range based on the real-time position as the center and a preset radius.

[0069] Step 13: Determine the high-precision map elements within a preset range through the high-precision map server as real-time high-precision map information.

[0070] The above steps 11 to 13 mean that after the real-time vehicle information is input into the high-precision map server, the position of the vehicle will be located and used as the center of the circle (center point), and then a preset radius will be set, which can be 100m, 200m or other lengths, and is not specifically limited here. Then, with the real-time position as the center of the circle and the preset length as the radius, a circle is determined as the preset range, and then the high-precision map elements within the circle (preset range) are determined as real-time high-precision map information.

[0071] Among them, by setting the preset range as a circle, different from the existing technology that requires all maps to be downloaded, the update range is narrowed, the update speed is guaranteed, and the lag of regular updates is avoided.

[0072] Among them, the high-precision map elements may include static elements such as road curvature, slope, speed limit, and dynamic elements such as roadblocks and current limiting, including but not limited to the aforementioned elements, which are not specifically limited here.

[0073] Among them, steps 11 to 13 are only used to distinguish different steps or to distinguish the timing relationship between different steps, and therefore are not shown in the drawings.

[0074] S104: Obtain high-precision map information of the previous period from the high-precision map server.

[0075] As an example, before executing step 104, the method further includes:

[0076] Step 21: Receive the acquisition command.

[0077] Among them, the acquisition command refers to the command used to obtain high-precision map information of the previous period.

[0078] The time for receiving the acquisition command may be after the high-precision map server receives the real-time vehicle information, or after the real-time high-precision map information is determined, and there is no specific limitation here.

[0079] Step 22: Determine whether there is high-precision map information of the previous cycle in the database according to the acquisition command.

[0080] Step 23: If it exists, extract the high-precision map information of the previous period from the database.

[0081] Step 24: If it does not exist, the real-time high-precision map information is used as the matching result, and the high-precision map of the target vehicle is updated.

[0082] Among them, each time the real-time high-precision map information is determined, the high-precision map information will be stored as the information source for the next high-precision map update.

[0083] Among them, if there is no high-precision map information of the previous cycle when the target vehicle is just started, then step 24 can be executed at this time, and the determined real-time high-precision map information is used as the matching result to update the high-precision map.

[0084] Among them, if the target vehicle is in a driving state, then it should have high-precision map information from the previous cycle, and then the information can be extracted from the database at this time.

[0085] Among them, if the database loses the high-precision map information of the previous cycle or fails to transcode, and the high-precision map information of the previous cycle does not exist at this time, then the real-time high-precision map information will be used as the matching result, and the high-precision map will be updated to ensure the continuity and reliability of the database and to ensure that subsequent updates can be executed normally.

[0086] Among them, steps 21 to 24 are only used to distinguish different steps or to distinguish the timing relationship between different steps, and therefore are not shown in the drawings.

[0087] S105: Match the real-time high-precision map information with the high-precision map information of the previous cycle to obtain a matching result.

[0088] As an example, step S105 may specifically include:

[0089] Step 31: Compare the map elements in the real-time high-precision map information with the map elements in the high-precision map information of the previous cycle.

[0090] Step 32: If there are different map elements in the comparison result, the different map elements are taken as matching results.

[0091] Among them, steps 31 to 32 mean comparing the real-time high-precision map information with the high-precision map information of the previous cycle, and taking the map elements in different ranges of the two as matching results, that is, only updating the parts that do not exist in the high-precision map information of the previous cycle, which improves the update speed and reduces the amount of updated data. In this way, when the target vehicle downloads the matching results, the amount of downloaded data can be reduced, the update speed can be improved, and less local space is occupied.

[0092] S106: Using the matching result, the high-precision map of the target vehicle is updated.

[0093] Among them, after obtaining the matching results, the target vehicle downloads the matching results to the local storage and then updates the high-precision map.

[0094] As an example, after step S106, the method further includes:

[0095] Acquire new real-time vehicle information of the target vehicle according to a preset period;

[0096] The high-precision map of the target vehicle is updated according to the new real-time vehicle information.

[0097] Among them, in actual applications, the update cycle can be set according to actual conditions, such as 15 seconds or 30 seconds. Different from the periodic updates in the prior art, the update cycle of this application is shorter, the update speed is fast, and the data volume is small, which avoids the lag of high-precision maps and can complete the update as soon as possible under poor network conditions, thereby improving the safety of autonomous driving.

[0098] The method for updating the high-precision map provided in the embodiment of the present application obtains the real-time vehicle information of the target vehicle, inputs the real-time vehicle information into the high-precision map server, obtains the real-time high-precision map information of the target vehicle within a preset range through the high-precision map server, and saves it, obtains the high-precision map information of the previous cycle from the high-precision map server, matches the real-time high-precision map information with the high-precision map information of the previous cycle, obtains the matching result, and uses the matching result to update the high-precision map of the target vehicle. Among them, the high-precision map is updated by obtaining the matching result from the high-precision map server, which is different from the prior art that requires downloading all maps. In this application, only the map information within the preset range around the target vehicle needs to be obtained, which saves the space of the local engine, and the update cycle can be preset. In the case of setting a shorter update, the lag of the high-precision map update can be avoided, and the safety and reliability of autonomous driving can be further improved.

[0099] Based on the high-precision map update method provided in the above embodiment, the present application embodiment further provides a high-precision map update process based on an actual vehicle, see Figure 2 , Figure 2 A flowchart of a high-precision map update based on an actual vehicle provided in an embodiment of the present application, combined with Figure 2 As shown, the process may include:

[0100] Arrow 1: The GNSS / RTK module sends the current vehicle’s real-time position, velocity and time (PVT) information to the high-precision positioning module.

[0101] Among them, the Global Navigation Satellite System (GNSS) is the same name for individual satellite navigation and positioning systems such as China's Beidou, GPS, GLONASS, and Galileo systems. It can also refer to their enhanced systems, and also refers to the added mixture of all these satellite navigation and positioning systems and their enhanced systems. In other words, it is a large system composed of multiple satellite navigation and positioning and their enhanced systems. GNSS is a star-level radio navigation system that uses artificial satellites as navigation stations, providing all-weather, high-precision position, speed and time information for various military and civilian carriers on land, sea, air and space around the world, so it is also called a space-based positioning, navigation and timing system.

[0102] RTK (Real-Time Kinematic) carrier phase differential technology is a differential method for real-time processing of carrier phase observations of two measurement stations. The carrier phase collected by the base station is sent to the user receiver to calculate the coordinates. This is a new and commonly used satellite positioning measurement method. In the past, static, fast static, and dynamic measurements all required post-calculation to obtain centimeter-level accuracy. RTK is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It uses a carrier phase dynamic real-time differential method.

[0103] Arrow 2: The high-precision positioning module passes the received real-time position, speed and time to the high-precision map engine module.

[0104] Arrow 3: The HD map engine uses real-time location, speed and time to retrieve the surrounding HD map elements / factors from the HD Map Server, including static elements such as road curvature, slope, speed limit, and dynamic elements such as roadblocks and current limits.

[0105] Arrow 4: The HD map engine downloads the retrieved HD map elements and completes the update of the stored data.

[0106] Arrow 5: The high-precision map engine sends the latest map elements around the vehicle to the high-precision positioning module.

[0107] Arrow 6: The high-precision positioning module uses the location information of arrow 1 and the vehicle surrounding map elements of arrow 5 to match the high-precision map elements and location information of the previous cycle, and then sends the matching results to the perception fusion module.

[0108] Arrow 7: The perception fusion module sends the fusion positioning result to the planning control module to support autonomous driving forward, and then executes the process of arrow 1 according to a fixed update cycle.

[0109] Wherein, when the PVT information in arrow 1 is available, the above process is as follows Figure 2 The arrow numbers in the middle are cyclic (1→2→3→4→5→6→7→1→2→…).

[0110] Among them, the above process is different from the high-precision map update method provided in the previous embodiment. In this embodiment, the high-precision map elements are downloaded first, then matched through the high-precision positioning module, and then the different elements between the new high-precision map elements and the high-precision map elements of the previous period are used as matching results to update the high-precision map.

[0111] The high-precision map update process based on actual vehicles provided in the embodiment of the present application updates the high-precision map by obtaining matching results on the high-precision map server. Different from the prior art that requires downloading all maps, in the present application, only the map information within a preset range around the target vehicle needs to be obtained, saving space in the local engine. At the same time, the update cycle can be preset. When a shorter update is set, the lag in high-precision map updates can be avoided, further improving the safety and reliability of autonomous driving.

[0112] In order to further realize the update of high-precision maps and ensure the safety of autonomous driving, in a feasible implementation, an update cycle of 15 seconds or 30 seconds can be adopted. However, in order to reduce the amount of updated data, this application also describes the preferred update cycle.

[0113] See also Figure 3 , Figure 3 A comparative schematic diagram of an update cycle provided in an embodiment of the present application, combined with Figure 3 As shown, the selection process of the preferred update cycle is as follows:

[0114] In order to save the amount of updated data, only the high-precision map elements within 1km around the vehicle can be updated each time. Figure 3 The high-precision map elements retrieved in the search are map information within a circle with a radius of 1 km and a real-time vehicle position as the center. Vehicle speed information is used to determine the direction of vehicle travel, such as Figure 3 As shown in the figure, when the vehicle drives to a new location during the next update, theoretically, the data to be saved in the high-precision map engine is the map information within the circle with the new location as the center and a radius of 1km. The overlapping area of ​​the two circles updated before and after can be left unrefreshed, and only the map information of the non-overlapping crescent part can be updated, thereby reducing the amount of updated data. The crescent part is the incremental information, and the so-called incremental update method is to only update the map information of the crescent part.

[0115] First, the speed limit on domestic highways is generally 120km / h, equivalent to 33.3m / s, and the maximum allowed driving distance is: 1km in 30s and 500m in 15s. (a) and (b) compare the cases with an update frequency of 30s and 15s respectively. It can be assumed that the amount of HD map data is evenly distributed in the plane, which is completely proportional to the range area, and the range area can be used to evaluate the amount of data.

[0116] Secondly, using plane geometry, we can calculate that the area of ​​the overlapping (shaded) part in (a) is 1.2284 km 2 , the area of ​​a 1km radius is πkm 2If the overlapping part is not updated repeatedly and only the crescent part is updated, the data volume can be reduced by 39.1% (1.2284 / π) for each update. If the update cycle is set to 30s, the data update volume can be reduced by nearly 40%. Under actual working conditions, the average vehicle speed does not reach 120km / h, and the overlapping area will be much larger than that shown in the figure, so the data update volume that can be saved is much more than 40%.

[0117] At the same time, using plane geometry, we can calculate that the area of ​​the overlapping (shaded) part in (b) is 2.1521 km 2 , the area of ​​a 1km radius is πkm 2 If the overlapping part is not updated repeatedly and only the crescent part is updated, the data volume can be reduced by 68.5% (2.1521 / π) each time. If the update cycle is set to 15s, the data update volume can be reduced by nearly 70%. Under actual working conditions, the average vehicle speed does not reach 120km / h, and the overlapping area will be much larger than the situation shown in the figure, so the data update volume that can be saved is much more than 70%.

[0118] Therefore, from the perspective of saving data update amount, an update cycle of 15s is better than an update cycle of 30s.

[0119] In addition, there is a potential possibility of network interruption when the vehicle is traveling in different locations. Network interruption has two disadvantages for the method of the present invention: first, it makes RTK unavailable and unable to update the real-time position in time; second, the high-precision map engine cannot exchange information with the high-precision map server. Both the update cycle of 15s and 30s are affected, but relatively speaking, the update cycle of 30s is slightly more resistant to network interruption, because some network interruptions are longer than 15s and shorter than 30s. When the network interruption is long, the driver is generally requested to take over and exit the automatic driving state. Then, at the moment of network disconnection, the data update scheme of the invention can ensure that the map information of the surrounding 1km is available, and it can still ensure that the driver takes over within 30s using the available map information and enters a safe state. Even if it is a bit harsh, considering the speeding margin reservation and the system internal time delay reservation, the safety space is reduced by half, and the automatic driving vehicle is sufficient to complete the driver takeover and enter a safe state within 15s. After this analysis, in the case of a single update of the map information of the surrounding 1km area, a 15s update cycle is used, and there is enough safety space to combat the network interruption problem.

[0120] Based on the method for updating a high-precision map provided in the above embodiment, the present application embodiment also provides a device for updating a high-precision map, see Figure 4 , Figure 4 A schematic diagram of a high-precision map updating device provided in an embodiment of the present application, combined with Figure 4As shown, the device 400 may include: a first acquisition module 401, an input module 402, a real-time high-precision map information acquisition module 403, a second acquisition module 404, a matching module 405 and an update module 406;

[0121] The first acquisition module 401 is used to acquire real-time vehicle information of a target vehicle;

[0122] The input module 402 is used to input the real-time vehicle information into the high-precision map server;

[0123] The real-time high-precision map information acquisition module 403 is used to obtain the real-time high-precision map information of the target vehicle within a preset range through the high-precision map server and save it;

[0124] The second acquisition module 404 is used to obtain the high-precision map information of the previous period from the high-precision map server;

[0125] The matching module 405 is used to match the real-time high-precision map information with the high-precision map information of the previous cycle to obtain a matching result;

[0126] The updating module 406 is used to update the high-precision map of the target vehicle using the matching result.

[0127] As an example, the real-time high-precision map information acquisition module 403 includes:

[0128] A real-time position determination module, used to determine the real-time position of the target vehicle according to the real-time vehicle information;

[0129] A preset range determination module, used to determine a preset range based on the real-time position as the center and a preset radius;

[0130] The real-time high-precision map information acquisition submodule is used to determine the high-precision map elements within a preset range through the high-precision map server as real-time high-precision map information.

[0131] As an example, before executing the second obtaining module 404, the method further includes:

[0132] A receiving module, used for receiving an acquisition command;

[0133] A judgment module, used to judge whether there is high-precision map information of the previous period in the database according to the acquisition command;

[0134] An extraction module, used to extract high-precision map information of the previous period from the database if it exists;

[0135] The high-precision map update module is used to use the real-time high-precision map information as the matching result and update the high-precision map of the target vehicle if it does not exist.

[0136] As an example, the matching module 405 includes:

[0137] A comparison module, used to compare the map elements in the real-time high-precision map information with the map elements in the high-precision map information of the previous cycle;

[0138] The matching result determination module is used to take the different map elements as matching results if there are different map elements in the comparison results.

[0139] As an example, after the updating module 406, the apparatus further includes:

[0140] A third acquisition module is used to acquire new real-time vehicle information of the target vehicle according to a preset period;

[0141] The periodic update module is used to update the high-precision map of the target vehicle according to the new real-time vehicle information.

[0142] The high-precision map updating device provided in the embodiment of the present application has the same beneficial effects as the high-precision map updating method provided in the above embodiment, so it will not be repeated here.

[0143] The embodiments of the present application also provide corresponding devices and computer storage media for implementing the solutions provided by the embodiments of the present application.

[0144] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the high-precision map updating method described in any embodiment of the present application.

[0145] The computer storage medium stores codes, and when the codes are executed, the device executing the codes implements the method for updating the high-precision map described in any embodiment of the present application.

[0146] It should be noted that each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments. The device and equipment embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without paying creative labor.

[0147] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0148] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a read-only memory (ROM) / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0149] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for updating a high-precision map, characterized in that: The method comprises: Acquire real-time vehicle information of the target vehicle; the real-time vehicle information includes real-time position, real-time speed and current time; Inputting the real-time vehicle information into a high-precision map server; Determining the real-time position of the target vehicle according to the real-time vehicle information; Determining the driving direction of the target vehicle according to the real-time speed; Determine a first preset range based on the real-time position as the center and the preset radius, and determine, through the high-precision map server, a high-precision map element within the first preset range as first real-time high-precision map information; Based on the real-time position and the driving direction, determining a new real-time position of the target vehicle at a preset time; wherein the preset time is obtained based on the current time and an update period; Determine a second preset range based on the new real-time position as the center and the preset radius, and determine, through the high-precision map server, a high-precision map element within the second preset range as second real-time high-precision map information; Matching the first real-time high-precision map information with the second real-time high-precision map information to obtain a matching result; the matching result is a portion of the second real-time high-precision map information that does not overlap with the first real-time high-precision map information; The high-precision map of the target vehicle is updated using the matching result.

2. The method for updating a high-precision map according to claim 1, characterized in that: Before determining a first preset range based on the real-time position as the center and the preset radius, and determining a high-precision map element within the first preset range through the high-precision map server as the first real-time high-precision map information, the method further includes: Receive the get command; Determining whether the first real-time high-precision map information exists in the database according to the acquisition command; If so, extracting the first real-time high-precision map information from the database, matching the first real-time high-precision map information with the second real-time high-precision map information to obtain a matching result; If not, the second real-time high-precision map information is used as the matching result, and the high-precision map of the target vehicle is updated.

3. The method for updating a high-precision map according to claim 1, characterized in that: The matching the first real-time high-precision map information with the second real-time high-precision map information to obtain a matching result includes: The map elements in the second real-time high-precision map information are compared with the map elements in the first real-time high-precision map information; if the comparison result shows different map elements, the different map elements are used as matching results.

4. The method for updating a high-precision map according to claim 1, characterized in that: After updating the high-precision map of the target vehicle using the matching result, the method further includes: Acquire new real-time vehicle information of the target vehicle according to a preset period; The high-precision map of the target vehicle is updated according to the new real-time vehicle information.

5. A high-precision map updating device, characterized in that: The device comprises: a first acquisition module, an input module, a real-time high-precision map information acquisition module, a second acquisition module, a matching module and an update module; The first acquisition module is used to acquire real-time vehicle information of the target vehicle; the real-time vehicle information includes real-time position, real-time speed and current time; The input module is used to input the real-time vehicle information into the high-precision map server; The real-time high-precision map information acquisition module includes: A real-time position determination module, used to determine the real-time position of the target vehicle according to the real-time vehicle information; determine the driving direction of the target vehicle according to the real-time speed; and determine the new real-time position of the target vehicle at a preset time based on the real-time position and the driving direction; wherein the preset time is obtained based on the current time and an update period; A preset range determination module, used to determine a first preset range based on the real-time position as the center and a preset radius, and to determine a second preset range based on the new real-time position as the center and the preset radius; A real-time high-precision map information acquisition submodule, configured to determine, through the high-precision map server, high-precision map elements within a first preset range as first real-time high-precision map information; and to determine, through the high-precision map server, high-precision map elements within a second preset range as second real-time high-precision map information; The matching module is used to match the first real-time high-precision map information with the second real-time high-precision map information to obtain a matching result; the matching result is a portion of the second real-time high-precision map information that does not overlap with the first real-time high-precision map information; The updating module is used to update the high-precision map of the target vehicle using the matching result.

6. The device for updating a high-precision map according to claim 5, characterized in that: Before the preset scope determination module, it also includes: A receiving module, used for receiving an acquisition command; A judgment module, used for judging whether the first real-time high-precision map information exists in the database according to the acquisition command; an extraction module, configured to extract the first real-time high-precision map information from the database if it exists, and match the first real-time high-precision map information with the second real-time high-precision map information to obtain a matching result; A high-precision map update module is used to use the second real-time high-precision map information as a matching result and update the high-precision map of the target vehicle if it does not exist.

7. A computer device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for updating a high-precision map as described in any one of claims 1 to 4 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the method for updating a high-precision map as described in any one of claims 1 to 4.

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