Map updating method and device, electronic equipment and storage medium

Abstract

The present disclosure provides a map updating method, relates to the technical field of artificial intelligence, and particularly relates to the technical fields of electronic maps, high-definition maps, intelligent transportation, and the like. The specific implementation scheme is: in response to determining that the identification result of an input image indicates that the relationship between N obstacles and a road satisfies a preset condition, determining a plurality of target road lines related to the N obstacles, wherein N is an integer greater than 1; determining a first boundary line according to two obstacles in the N obstacles that are not on the same road; determining a target region according to the first boundary line and the plurality of target road lines; and updating a target map using related information of the target region to obtain an updated target map. The present disclosure also provides a map updating device, an electronic device, and a storage medium.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of artificial intelligence, in particular to the technical field of electronic map, high-definition map, intelligent transportation and the like. More specifically, the present disclosure provides a map updating method and device, an electronic device and a storage medium. BACKGROUND

[0002] With the development of artificial intelligence technology, the application scenarios of electronic maps are increasing. Road test data can be collected by vehicles equipped with collection devices. According to the road test data, it can be determined whether a preset event occurs on the road and the area involved in the preset event. For example, the preset event can be a road construction event. SUMMARY

[0003] The present disclosure provides a map updating method, device, equipment and storage medium.

[0004] According to an aspect of the present disclosure, a map updating method is provided, which includes: in response to determining that an identification result of an input image indicates that a relationship between N obstacles and a road satisfies a preset condition, determining a plurality of target road lines related to the N obstacles, wherein N is an integer greater than 1; determining a first boundary line according to two obstacles in the N obstacles that are not on the same road; determining a target area according to the first boundary line and the plurality of target road lines; and updating a target map using related information of the target area to obtain an updated target map.

[0005] According to another aspect of the present disclosure, a map updating device is provided, which includes: a first determination module configured to, in response to determining that an identification result of an input image indicates that a relationship between N obstacles and a road satisfies a preset condition, determine a plurality of target road lines related to the N obstacles, wherein N is an integer greater than 1; a second determination module configured to determine a first boundary line according to two obstacles in the N obstacles that are not on the same road; a third determination module configured to determine a target area according to the first boundary line and the plurality of target road lines; and an updating module configured to update a target map using related information of the target area to obtain an updated target map.

[0006] According to another aspect of the present disclosure, an electronic device is provided, which includes at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method provided by the present disclosure.

[0007] According to another aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions is provided, the computer instructions being used to enable a computer to perform the method provided by the present disclosure.

[0008] According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method provided by the present disclosure.

[0009] It should be understood that the contents described in this part are not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings are used to better understand the present scheme and do not limit the present disclosure. Among them:

[0011] Figure 1 is an exemplary system architecture schematic diagram of which the map updating method and device can be applied according to one embodiment of the present disclosure;

[0012] Figure 2 is a flowchart of the map updating method according to one embodiment of the present disclosure;

[0013] Figure 3A is a schematic diagram of an input image according to one embodiment of the present disclosure;

[0014] Figure 3B is a schematic diagram of an input image according to another embodiment of the present disclosure;

[0015] Figure 3C is a schematic diagram of an input image according to another embodiment of the present disclosure;

[0016] Figure 3D is a schematic diagram of an input image according to another embodiment of the present disclosure;

[0017] Figure 4 is a flowchart of image recognition according to one embodiment of the present disclosure;

[0018] Figure 5A is a schematic diagram of an input image according to another embodiment of the present disclosure;

[0019] Figure 5B is a schematic diagram of a recognition result according to another embodiment of the present disclosure;

[0020] Figure 6 is a schematic diagram of a target area according to one embodiment of the present disclosure;

[0021] Figure 7 is a block diagram of a map updating device according to one embodiment of the present disclosure; and

[0022] Figure 8is a block diagram of an electronic device to which a map update method according to an embodiment of the disclosure can be applied. DETAILED DESCRIPTION

[0023] Exemplary embodiments of the disclosure are described herein with reference to the accompanying drawings, in which various details of embodiments of the disclosure are set forth to facilitate an understanding, but are not intended to limit the scope of the disclosure. Thus, it will be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the disclosure. Also, in the following description, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

[0024] Road test data can be collected by a road test vehicle in which a collection device is deployed. The collected road test data mainly includes information such as road length, road width, road direction, road curvature, road grade, and whether it is a separated road. These information are objectively presented in an electronic map system to provide users with daily travel navigation services. With the advancement of collection and production processes, not only simple traditional maps can be produced, but also more detailed and comprehensive maps can be produced. In the application layer, products are gradually applied to many traditional industries. Therefore, it is particularly important to provide fine data mining for sub-scenarios.

[0025] In a real scenario, roads may need to be maintained to ensure normal use of the roads. However, the timeliness of obtaining construction information based on road test data is poor, which leads to the inability to obtain changes in construction roads in a timely manner (for example, some roads change from closed construction roads to passable construction roads, or from other conditions to passable construction roads, and the like), so that when providing navigation services for users, it is difficult to plan a reasonable route for the user (for example, an easy-to-plan navigation route may make the user detour), which easily causes the user to have a poor navigation experience.

[0026] Figure 1 is an exemplary system architecture schematic diagram according to an embodiment of the disclosure, to which a map update method and device can be applied. It should be noted that, Figure 1 The system architecture shown is only an example of a system architecture to which an embodiment of the disclosure can be applied, to help those skilled in the art understand the technical content of the disclosure, but does not mean that the embodiment of the disclosure cannot be used in other devices, systems, environments or scenarios.

[0027] As Figure 1 shown, the system architecture 100 according to the embodiment can include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is used to provide a communication link medium between the terminal devices 101, 102, 103 and the server 105. The network 104 can include various connection types, such as wired and / or wireless communication links, and the like.

[0028] The user can use the terminal devices 101, 102, and 103 to interact with the server 105 through the network 104 to receive or send messages, etc. The terminal devices 101, 102, and 103 can be various electronic devices with display screens and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.

[0029] The server 105 can be a server providing various services, such as a background management server (only as an example) providing support for a website browsed by the user using the terminal devices 101, 102, and 103. The background management server can perform analysis and the like on received user requests and the like, and feed back the processing results (such as a webpage, information, or data, etc. obtained or generated according to the user request) to the terminal device.

[0030] It should be noted that the map updating method provided by the embodiments of the present disclosure can generally be executed by the server 105. Accordingly, the map updating apparatus provided by the embodiments of the present disclosure can generally be arranged in the server 105. The map updating method provided by the embodiments of the present disclosure can also be executed by a server or a server cluster different from the server 105 and capable of communicating with the terminal devices 101, 102, and 103 and / or the server 105. Accordingly, the map updating apparatus provided by the embodiments of the present disclosure can also be arranged in a server or a server cluster different from the server 105 and capable of communicating with the terminal devices 101, 102, and 103 and / or the server 105.

[0031] Figure 2 is a flowchart of a map updating method according to an embodiment of the present disclosure.

[0032] As shown in Figure 2 , the method 200 can include operations S210 to S240.

[0033] At operation S210, in response to determining that the identification result of the input image indicates that the relationship between the N obstacles and the road satisfies the preset condition, a plurality of target road lines related to the N obstacles is determined.

[0034] In the embodiments of the present disclosure, the input image is collected by a collection device. For example, the collection device can be deployed on a road testing vehicle, or can be deployed on a common vehicle. For another example, the input image can also be collected by a relevant person holding a relevant device.

[0035] In the embodiments of the present disclosure, in the case where the positional relationship between the obstacle and the road satisfies the preset condition, it can be determined that a preset event occurs. For example, the preset event can be a road occupation construction event. For another example, the preset event can also be other events that cause the road to be unable to be normally used.

[0036] In the embodiments of the present disclosure, N is an integer greater than 1.

[0037] In the embodiments of the present disclosure, the road can be at least one of a motor vehicle lane, a non-motor vehicle lane, and a pedestrian lane. For example, the road can include an area between two road lines. The two road lines can be road lines related to the road.

[0038] In the embodiments of the present disclosure, the preset condition can be that the obstacle is inside the road. For example, taking N = 7 as an example, the third obstacle can be inside the first road. The fifth obstacle can be inside the second road.

[0039] In the embodiments of the present disclosure, the road line related to the road where the obstacle is located can be used as a target road line. For example, the two road lines related to the first road can be used as two target road lines. The two road lines related to the second road can also be used as two target road lines.

[0040] In operation S220, a first boundary line is determined according to two obstacles of the N obstacles that are not in the same road.

[0041] For example, as described above, taking N = 7 as an example, a first boundary line can be determined according to the position of the third obstacle and the position of the fifth obstacle.

[0042] In operation S230, a target area is determined according to the first boundary line and the plurality of target road lines.

[0043] For example, taking N = 7 as an example, a second boundary line can be determined according to the first obstacle, and a third boundary line can be determined according to the seventh obstacle. According to the first boundary line, the second boundary line, the third boundary line, and the plurality of target road lines, a closed area can be generated. The closed area is used as the target area.

[0044] In operation S240, the target map is updated by updating the related information of the target map using the target area, to obtain an updated target map.

[0045] For example, a plurality of vertex coordinates of the target area can be added to the target map to update the target map.

[0046] By the embodiments of the present disclosure, the image is recognized, and the position where the obstacle is located is determined according to the recognition result. In this way, it can be determined in time whether the preset event (for example, the construction event) occurs. Next, a region is determined according to the position of the obstacle. The target map is updated by using the related information of the region, so that when the user is provided with the navigation service and the like, the region can be avoided in time, the driving risk of the user caused by the incomplete information is reduced, and the travel experience is improved. In addition, in the emerging field of autonomous driving and the like, the related information of the region can make the machine take the evasive action in advance, and the accident rate is reduced.

[0047] It can be understood that the method provided by the present disclosure is described above. The input image described above will be described in detail below in combination with related embodiments.

[0048] Figure 3A is a schematic diagram of an input image according to one embodiment of the present disclosure.

[0049] As shown in Figure 3A , in the input image 301, the conical cylinder 311 is in the road 321. The road level of the road 321 may, for example, be a county road.

[0050] Figure 3B is a schematic diagram of an input image according to another embodiment of the present disclosure.

[0051] As shown in Figure 3B , in the input image 302, the conical cylinder 312 is in the road 322.

[0052] Figure 3C is a schematic diagram of an input image according to another embodiment of the present disclosure.

[0053] As shown in Figure 3C , in the input image 303, the conical cylinder 313 is close to the road line 331, and it can be considered that the conical cylinder 331 is located above the road line 331. The road line 331 can be part of the road 323. It can be understood that the conical cylinder 313 is also in the road 323.

[0054] Figure 3D is a schematic diagram of an input image according to another embodiment of the present disclosure.

[0055] As shown in Figure 3D , in the input image 304, there is no obstacle in the road 324. The conical cylinder 314 exists outside the road 324.

[0056] After obtaining the input image, the input image can be subjected to image recognition to obtain a recognition result, which will be described in detail below in combination with Figure 4 .

[0057] Figure 4 is a flowchart of image recognition according to one embodiment of the present disclosure.

[0058] As shown in FIG. 4, the method 401 can include operations S4011-S4014. The method 401 can be performed before operation S210 described above. Figure 4

[0059] In operation S4011, image recognition is performed on the plurality of input images respectively to obtain a plurality of recognition results.

[0060] In embodiments of the present disclosure, a deep learning model can be used to recognize the input images to obtain the recognition results. For example, the deep learning model can be a semantic segmentation model. For another example, the deep learning model can be a target detection model.

[0061] In embodiments of the present disclosure, the recognition results can include a plurality of original objects. For example, the categories of the original objects can be various categories.

[0062] Next, it can be determined whether there is an obstacle in the recognition results that meets a preset condition. In some embodiments, the preset condition includes at least one of the following: the obstacle is in the road; and the category of the obstacle is a target obstacle category. In embodiments of the present disclosure, the target obstacle category can be a baffle, a fence, a barrier, a water-filled barrier, a sand-filled barrier, a cone, etc. This will be described in detail in connection with operations S4012 and S4013.

[0063] In operation S4012, it is determined whether there is an obstacle of the target obstacle category in the plurality of original objects in the recognition results.

[0064] In embodiments of the present disclosure, in response to determining that there is an obstacle of the target obstacle category in the plurality of original objects, operation S4013 is performed. For example, there can be K obstacles of the target obstacle category in the plurality of original objects. K can be an integer greater than 1.

[0065] In embodiments of the present disclosure, in response to determining that there is no obstacle of the target obstacle category in the plurality of original objects, operation S4015 is performed to end the flow. For example, if the categories of the original objects in the recognition results of the plurality of input images are not the target obstacle category, the flow can be ended, and another plurality of input images can be acquired for recognition.

[0066] In operation S4013, it is determined whether the obstacle is in the road.

[0067] In embodiments of the present disclosure, in response to determining that the obstacle is in the road, operation S4014 is performed. For example, a plurality of obstacles that are adjacent and in the road can be determined from the K obstacles. The number of these obstacles can be N.​

[0068] In the embodiments of the present disclosure, operation S4015 is performed in response to determining that none of the obstacles is in the road. For example, if the K obstacles are all outside the road, the flow can be ended, other input images can be re-acquired, and identification can be performed.

[0069] In operation S4014, N obstacles are obtained.

[0070] For example, as described above, N obstacles in the K obstacles that are in the road can be obtained.

[0071] It can be understood that the above describes some embodiments of the present disclosure for image recognition of input images in detail, and the following will describe the recognition result in detail in combination with related embodiments.

[0072] Figure 5A is a schematic diagram of an input image according to another embodiment of the present disclosure.

[0073] As shown in Figure 5A , the input image 505 includes a baffle 515, a road 525, and a road line 532.

[0074] Figure 5B is a schematic diagram of a recognition result according to another embodiment of the present disclosure.

[0075] As shown in Figure 5B , the recognition result 5051 of the input image 505 can include an original object 515', an original object 525', and an original object 532'. The category of the original object 515' can be a target obstacle category. The category of the original object 525' can be a road. The category of the original object 532' can be a road line. The original object 515' can be an obstacle.

[0076] It can be understood that according to the recognition result 5051, it can be determined that the obstacle 515 is located outside the road 525. The recognition result 5051 indicates that the position relationship between the obstacle and the road does not satisfy the preset condition.

[0077] It can be understood that the above describes some preset conditions of the present disclosure in detail, and the following will describe another preset condition of the present disclosure in combination with related embodiments.

[0078] In some embodiments, the preset condition further comprises: there are two obstacles in the N obstacles with a distance greater than or equal to a first preset distance. For example, the first preset distance can be 50 meters. For example, in the scenario of vehicle breakdown, the driver of the vehicle will place safety markers (for example, can be conical cylinders) near the vehicle. The number of these safety markers is small and the distance is close. The vehicle can be towed away from the area in a short period of time and will not have a long-term impact on the passage of other vehicles. Therefore, after setting the preset condition related to the distance between the obstacle, it can be avoided to update the map according to the temporary road occupation event such as vehicle breakdown, which helps to improve the effective update frequency of the map and further improve the user experience.

[0079] In some embodiments, the preset condition further comprises: in the case that there is a merging road in the plurality of roads, the distance between the obstacle and the merging area formed by at least two roads is greater than or equal to a second preset distance. For example, the second preset distance can be 100 meters. The merging area can be a no-passing area. Markers can be set near the merging area to remind the driver. Therefore, after setting the preset condition related to the distance between the obstacle and the merging area, it can be avoided to determine the merging area as the target area, which helps to improve the effective update frequency of the map and further improve the user experience.

[0080] In some embodiments, the preset condition further comprises: in the case that there is a merging road in the plurality of roads, the distance between the obstacle and the merging area formed by at least two roads is greater than or equal to a second preset distance. For example, the second preset distance can be 100 meters. The merging area can be a no-passing area. Markers can be set near the merging area to remind the driver. Therefore, after setting the preset condition related to the distance between the obstacle and the merging area, it can be avoided to determine the merging area as the target area, which helps to improve the effective update frequency of the map and further improve the user experience.

[0081] In some embodiments, the preset condition further comprises: the distance between the obstacle and the preset ground object is greater than or equal to a third preset distance. For example, the preset ground object can be a toll station. For example, the third preset distance can be 100 meters. A guide marker can be set before the toll station to remind the driver that there is a toll station ahead. Therefore, after setting the preset condition related to the distance between the obstacle and the preset ground object, it can be avoided to determine the area where the toll station is located as the target area, which helps to improve the effective update frequency of the map and further improve the user experience.

[0082] It can be understood that the preset condition of the present disclosure is described in detail above, and some ways of determining the target area of the present disclosure will be described in detail below in combination with related embodiments.

[0083] Figure 6is a schematic diagram of a target region according to one embodiment of the present disclosure.

[0084] As shown in Figure 6 , the road 6201 can include a region between the 1st road line 6301 and the 2nd road line 6302. The road 6202 can include a region between the 2nd road line 6302 and the 3rd road line 6302. The road 6203 can include a region between the 3rd road line 6303 and the 4th road line 6304.

[0085] After recognizing the input image, N obstacles can be obtained. In this embodiment, N = 7 is taken as an example, and the position relationship between a total of 7 obstacles and the road satisfies the preset condition. For example, the 1st obstacle 6101 is in the road 6201. The 2nd obstacle 6102 is in the road 6201. The 3rd obstacle 6103 is in the road 6201. The 4th obstacle 6104 is on the road line 6302. The 5th obstacle 6105 is in the road 6202. The 6th obstacle 6106 is in the road 6202. The 7th obstacle 6107 is in the road 6202. The categories of these obstacles can be the target obstacle category (conical cylinder).

[0086] In some embodiments, in some implementations of the operation S210 described above, the road lines related to the N obstacles can be taken as the target road lines.

[0087] For example, as shown in Figure 6 , the 7 obstacles are all in the road 6201 and the road 6202. The road lines related to these two roads can be taken as the target road lines. In one example, the road line 6301, the road line 6302, and the road line 6303 can be taken as the target road lines.

[0088] In some embodiments, in some implementations of the operation S220 described above, the first boundary line is determined according to two obstacles in the plurality of obstacles that are not in the same road, including: in response to determining that the nth obstacle is in a first road in the plurality of roads and the nth+m obstacle is in a second road in the plurality of roads, determining the first boundary line according to the nth obstacle and the nth+m obstacle.

[0089] In the embodiments of the present disclosure, m is an integer greater than or equal to 1, n is an integer greater than or equal to 1 and less than or equal to N, and n+m is an integer less than or equal to N.

[0090] In the embodiments of the present disclosure, the plurality of target road lines is I target road lines, and I is an integer greater than 1. For example, in this embodiment, I can be 3.

[0091] In this embodiment of the disclosure, the first road is associated with the i-th target road line and the (i+1)-th target road line, and the second road is associated with the (i+j)-th target road line and the (i+j+1)-th target road line. For example, j is an integer greater than or equal to 1, i is an integer greater than or equal to 1 and less than 1, and i+j+1 is an integer less than or equal to 1. For example, as... Figure 6 As shown, the third obstacle 6103 is located within road 6201. The fifth obstacle 6105 is located within road 6202. It can be understood that n can be 3 and m can be 2. Road 6201 can serve as the first road. Road 6202 can serve as the second road. As mentioned above, road 6201 can include the area between the first road line 6301 and the second road line 6302. Road 6202 can include the area between the second road line 6302 and the third road line 6302. The first road line 6301 can serve as the i-th target road line, the second road line 6302 can serve as the (i+1)-th and (i+j)-th target road lines, and the third road line 6303 can serve as the (i+j+1)-th target road line. It can be understood that in this embodiment, i = j = 1.

[0092] In this embodiment of the disclosure, when m is greater than 1, the m-1 obstacle located between the nth obstacle and the (n+m)th obstacle is situated on the road line between the first road and the second road. For example, as described above, when m = 2, the obstacle between the 3rd obstacle and the 5th obstacle 6105 is the 4th obstacle 6104. The 4th obstacle 6104 can be situated on road line 6302.

[0093] In this embodiment of the disclosure, determining the first boundary line based on the nth obstacle and the (n+m)th obstacle includes: determining the first projection position of the nth obstacle on the (i+1)th target road line; determining the second projection position of the (n+m)th obstacle on the (i+j+1)th target road line; and determining the first boundary line based on the first and second projection positions. For example, the first projection position 61031 of the third obstacle 6103 on the second road line can be determined. The second projection position 61051 of the fifth obstacle 6105 on the third road line can also be determined. Based on the first and second projection positions 61031 and 61051, the first boundary line E661 can be determined. Through this embodiment of the disclosure, boundary lines involving two lanes can be accurately generated. This significantly improves safety and provides as much passable area as possible in the target map.

[0094] In some embodiments, in some implementations of operation S230 described above, determining the target region according to the first boundary line and the plurality of target road lines includes: determining a second boundary line according to the first obstacle. Determining a third boundary line according to the Nth obstacle. Determining the target region according to the first boundary line, the second boundary line, the third boundary line, and the plurality of target road lines. For example, a straight line passing through the first obstacle 6101 and perpendicular to the road line can be taken as the second boundary line E662. A straight line passing through the seventh obstacle 6107 and perpendicular to the road line can be taken as the third boundary line E663. According to the first boundary line E661, the second boundary line E662, the third boundary line E663, the first road line 6301, the second road line 6302, and the third road line 6303, a target region 660 can be determined.

[0095] In some embodiments, in some implementations of operation S240 described above, updating the target map by using the related information of the target region includes: generating a visible region according to the related information of the target region; and adding the visible region to a visualization interface used to display the target map. For example, a visible region can be generated according to the vertex coordinates of the target region 660. The visible region is added to the visualization interface of the target map to update the target map.

[0096] Figure 7 FIG. 7 is a block diagram of a map updating apparatus according to an embodiment of the present disclosure.

[0097] As shown in FIG. 7, the apparatus 700 can include a first determining module 710, a second determining module 720, a third determining module 730, and an updating module 740. Figure 7

[0098] The first determining module 710 is configured to, in response to determining that the recognition result of the input image indicates that the relationship between N obstacles and a road satisfies a preset condition, determine a plurality of target road lines related to the N obstacles. For example, N is an integer greater than 1.

[0099] The second determining module 720 is configured to determine a first boundary line according to two obstacles in the N obstacles that are not on the same road.

[0100] The third determining module 730 is configured to determine a target region according to the first boundary line and the plurality of target road lines.

[0101] The updating module 740 is configured to update a target map by using related information of the target region to obtain an updated target map.

[0102] In some embodiments, the preset condition includes at least one of the following: the obstacle is in the road; and the category of the obstacle is a target obstacle category.

[0103] ​In some embodiments, the second determining module comprises a first determining submodule configured to determine, in response to determining that the nth obstacle is located on a first road of the plurality of roads and the nth+m obstacle is located on a second road of the plurality of roads, a first boundary line according to the nth obstacle and the nth+m obstacle, where m is an integer greater than or equal to 1, n is an integer greater than or equal to 1 and less than or equal to N, and n+m is an integer less than or equal to N.

[0104] In some embodiments, when m is greater than 1, the m-1 obstacles located between the nth obstacle and the nth+m obstacle are located on a target road line between the first road and the second road.

[0105] In some embodiments, the plurality of target road lines is I target road lines, I is an integer greater than 1, the first road is related to the ith target road line and the ith+1 target road line, the second road is related to the ith+j target road line and the ith+j+1 target road line, j is an integer greater than or equal to 1, i is an integer greater than or equal to 1 and less than I, and ith+j+1 is an integer less than or equal to I. The first determining submodule comprises a first determining unit configured to determine a first projection position of the nth obstacle on the ith+1 target road line, a second determining unit configured to determine a second projection position of the nth+m obstacle on the ith+j+1 target road line, and a third determining unit configured to determine the first boundary line according to the first projection position and the second projection position.

[0106] In some embodiments, the second determining module comprises a second determining submodule configured to determine a second boundary line according to the 1th obstacle, a third determining submodule configured to determine a third boundary line according to the Nth obstacle, and a fourth determining submodule configured to determine the target area according to the first boundary line, the second boundary line, the third boundary line, and the plurality of target road lines.

[0107] In some embodiments, the updating module comprises a generating submodule configured to generate a visible area according to the relevant information of the target area, and an adding submodule configured to add the visible area to a visualization interface used to display the target map.

[0108] In some embodiments, the input image is a plurality of input images, and the device 700 further comprises a recognition module configured to perform image recognition on the plurality of input images respectively to obtain a plurality of recognition results, wherein the plurality of recognition results comprise the N obstacles.

[0109] In some embodiments, the preset condition further comprises at least one of the following: there are two obstacles in the N obstacles with a distance greater than or equal to a first preset distance; in the case where there is a merging road in the plurality of roads, a distance between the obstacle and a merging area formed by at least two roads is greater than or equal to a second preset distance; in the case where there is a diverging road in the plurality of roads, a distance between the obstacle and a diverging area formed by at least two roads is greater than or equal to the second preset distance; a distance between the obstacle and a preset ground feature is greater than or equal to a third preset distance.

[0110] In the technical solutions of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the technical solutions comply with relevant laws and regulations and do not violate public order and good customs.

[0111] According to embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium and a computer program product.

[0112] Figure 8 A schematic block diagram of an example electronic device 800 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 laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document.

[0113] As shown in Figure 8 The device 800 includes a computing unit 801 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the device 800 can also be stored in the RAM 803. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0114] A plurality of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0115] The computing unit 801 can be various general and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 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 appropriate processor, controller, microcontroller, etc. The computing unit 801 performs various methods and processes described above, such as the map updating method. For example, in some embodiments, the map updating method can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded onto the RAM 803 and executed by the computing unit 801, one or more steps of the map updating method described above can be performed. Alternatively, in other embodiments, the computing unit 801 can be configured to perform the map updating method by any other appropriate means, such as by means of firmware.

[0116] Various implementations of the systems and techniques described above herein can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0117] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0118] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0119] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) monitor or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; 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 acoustic, speech, or tactile input.

[0120] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0121] The computer system can include clients and servers. This relationship can be

[0122] It should be understood that the procedures shown above can be re-ordered, added to, or removed from, while still falling within the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without limitation, as long as the desired results of the technology disclosed in the present disclosure are achieved.

[0123] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and scope of the disclosure. Any alternatives, modifications, equivalents, and the like, along with many apparent variations that would be or become apparent to one of ordinary skill in the art are intended to be embraced by the scope of the present disclosure.

Claims

1. A map updating method, comprising: In response to the determination that the recognition result of the input image indicates that the relationship between N obstacles and the road meets the preset conditions, multiple target road lines associated with the N obstacles are determined, where N is an integer greater than 1; Determining a first boundary line based on two obstacles that are not on the same road from among N obstacles includes: determining the first projection position of the nth obstacle on the (i+1)th target road line; determining the second projection position of the (n+m)th obstacle on the (i+j+1)th target road line; and determining the first boundary line based on the first projection position and the second projection position, where j is an integer greater than or equal to 1, i is an integer greater than or equal to 1 and less than 1, i+j+1 is an integer less than or equal to 1, m is an integer greater than or equal to 1, n is an integer greater than or equal to 1 and less than or equal to N, and n+m is an integer less than or equal to N. Determine the second boundary line based on the first obstacle; Determine the third boundary line based on the Nth obstacle; The target area is determined based on the first boundary line, the second boundary line, the third boundary line, and the plurality of target road lines; and The target map is updated using the relevant information of the target area to obtain the updated target map.

2. The method according to claim 1, wherein, The preset conditions include at least one of the following: The obstacle is located within the road; The category of the obstacle is the target obstacle category.

3. The method according to claim 1, wherein, Determining the first boundary line based on two obstacles that are not on the same road from among the N obstacles includes: In response to determining that the nth obstacle is located on a first road among the plurality of roads and the (n+m)th obstacle is located on a second road among the plurality of roads, the first boundary line is determined based on the nth obstacle and the (n+m)th obstacle.

4. The method according to claim 3, wherein, When m is greater than 1, the m-1 obstacles located between the nth obstacle and the (n+m)th obstacle are on the target road line between the first road and the second road.

5. The method according to claim 3, wherein, The multiple target road lines refer to I target road lines, where I is an integer greater than 1. The first road is associated with the i-th target road line and the (i+1)-th target road line, and the second road is associated with the (i+j)-th target road line and the (i+j+1)-th target road line.

6. The method according to claim 1, wherein, The step of updating the target map using relevant information from the target area includes: Based on the relevant information of the target area, a visible area is generated; and Add the visible area to the visualization interface used to display the target map.

7. The method according to claim 1, wherein the input images are multiple. The method further includes: Image recognition is performed on the multiple input images to obtain multiple recognition results, wherein the multiple recognition results include N obstacles.

8. The method according to claim 2, wherein, The preset conditions also include at least one of the following: Among the N obstacles, there are two obstacles whose distance is greater than or equal to a first preset distance; In the case where there are merging roads among multiple roads, the distance between the obstacle and the merging area formed by at least two of the roads is greater than or equal to a second preset distance; In the case where there are diversion roads among the multiple roads, the distance between the obstacle and the diversion area formed by at least two of the roads is greater than or equal to the second preset distance; The distance between the obstacle and the preset ground feature is greater than or equal to a third preset distance.

9. A map updating device, comprising: The first determining module is used to determine multiple target road lines associated with the N obstacles in response to the recognition result of the determined input image indicating that the relationship between N obstacles and the road meets preset conditions, where N is an integer greater than 1; The second determining module is used to determine the first boundary line based on two obstacles that are not on the same road among the N obstacles; The second determining submodule is used to determine the second boundary line based on the first obstacle; The third determining submodule is used to determine the third boundary line based on the Nth obstacle; The fourth determining submodule is used to determine the target area based on the first boundary line, the second boundary line, the third boundary line, and the plurality of target road lines; and The update module is used to update the target map using relevant information about the target area, thereby obtaining an updated target map. The second determining module includes: The first determining unit is used to determine the first projected position of the nth obstacle on the (i+1)th target road line; The second determining unit is used to determine the second projection position of the (n+m)th obstacle on the (i+j+1)th target road line, where j is an integer greater than or equal to 1, i is an integer greater than or equal to 1 and less than 1, i+j+1 is an integer less than or equal to 1, m is an integer greater than or equal to 1, n is an integer greater than or equal to 1 and less than or equal to N, and n+m is an integer less than or equal to N; and The third determining unit is used to determine the first boundary line based on the first projection position and the second projection position.

10. The apparatus according to claim 9, wherein, The preset conditions include at least one of the following: The obstacle is located within the road; The category of the obstacle is the target obstacle category.

11. The apparatus according to claim 10, wherein, The second determining module includes: A first determining submodule is configured to determine the first boundary line based on the nth obstacle and the (n+m)th obstacle in response to determining that the nth obstacle is located on a first road among a plurality of roads and the (n+m)th obstacle is located on a second road among a plurality of roads.

12. The apparatus according to claim 11, wherein, When m is greater than 1, the m-1 obstacles located between the nth obstacle and the (n+m)th obstacle are on the target road line between the first road and the second road.

13. The apparatus according to claim 11, wherein, The multiple target road lines refer to I target road lines, where I is an integer greater than 1. The first road is associated with the i-th target road line and the (i+1)-th target road line, and the second road is associated with the (i+j)-th target road line and the (i+j+1)-th target road line.

14. The apparatus according to claim 9, wherein, The update module includes: A generation submodule is used to generate a visible region based on relevant information about the target region; and Add a submodule to add the visible area to the visualization interface used to display the target map.

15. The apparatus according to claim 9, wherein the input images are multiple. The device further includes: The recognition module is used to perform image recognition on multiple input images respectively to obtain multiple recognition results, wherein the multiple recognition results include N obstacles.

16. The apparatus according to claim 10, wherein, The preset conditions also include at least one of the following: Among the N obstacles, there are two obstacles whose distance is greater than or equal to a first preset distance; In the case where there are merging roads among multiple roads, the distance between the obstacle and the merging area formed by at least two of the roads is greater than or equal to a second preset distance; In the case where there are diversion roads among the multiple roads, the distance between the obstacle and the diversion area formed by at least two of the roads is greater than or equal to the second preset distance; The distance between the obstacle and the preset ground feature is greater than or equal to a third preset distance.

17. 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 to 8.

18. 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 to 8.

19. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 8.

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