Map data updating method and device in high-definition map, electronic equipment and medium

Abstract

The present disclosure provides a map data updating method and device, electronic equipment and medium, relates to the field of artificial intelligence, in particular to the fields of automatic driving, intelligent transportation and high-precision map. The specific implementation scheme is: determining reference lane data from the map data according to the initial position information of the object to be labeled, such as a bus station; determining the associated target lane data from the map data according to the reference lane data; determining the attribute information of the object to be labeled according to the target lane data, wherein the attribute information is used to represent the type attribute to which the object to be labeled belongs; based on the attribute information, determining the first marking point set for the object to be labeled according to the initial position information and the reference lane data; generating the contour information corresponding to the object to be labeled according to the first marking point set; and updating the map data by using the contour information corresponding to the object to be labeled. Thus, for example, bus station map data can be automatically generated according to the road topological structure.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence, and more particularly to the fields of autonomous driving, intelligent transportation, and high-precision mapping. Specifically, it relates to a map data updating method, apparatus, electronic device, storage medium, and computer program product. Background Technology

[0002] With the widespread use of the internet, electronic maps are needed for location and navigation in many scenarios. To ensure accuracy, these electronic maps typically need to be updated regularly. For example, when buildings, roads, or bus stops in the real world change, the corresponding map features in the electronic map need to be updated promptly to avoid affecting the navigation process.

[0003] However, when updating map feature information such as bus stops, related technologies usually rely on manual annotation, resulting in low annotation efficiency and poor quality of high-precision maps. Summary of the Invention

[0004] This disclosure provides a map data updating method and apparatus, electronic device, storage medium, and computer program product.

[0005] According to one aspect of this disclosure, a map data updating method is provided, comprising: determining reference lane data matching the object to be labeled from map data based on initial location information of the object to be labeled; determining target lane data associated with the reference lane data from map data based on the reference lane data; determining attribute information of the object to be labeled based on the target lane data, wherein the attribute information is used to characterize the type attribute to which the object to be labeled belongs; determining a first set of marker points for the object to be labeled based on the attribute information, the initial location information, and the reference lane data; generating contour information corresponding to the object to be labeled based on the first set of marker points; and updating the map data using the contour information corresponding to the object to be labeled.

[0006] According to another aspect of this disclosure, a map data updating apparatus is provided, comprising: a first determining module, configured to determine reference lane data matching the object to be labeled from map data based on initial position information of the object to be labeled; a second determining module, configured to determine target lane data associated with the reference lane data from map data based on the reference lane data; a third determining module, configured to determine attribute information of the object to be labeled based on the target lane data, wherein the attribute information is used to characterize the type attribute to which the object to be labeled belongs; a fourth determining module, configured to determine a first set of marker points for the object to be labeled based on the attribute information, initial position information, and reference lane data; a generating module, configured to generate contour information corresponding to the object to be labeled based on the first set of marker points; and an updating module, configured to update the map data using the contour information corresponding to the object to be labeled.

[0007] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a method provided according to this disclosure.

[0008] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to perform the methods provided according to this disclosure.

[0009] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method provided according to this disclosure.

[0010] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0011] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0012] Figure 1 This is an exemplary system architecture diagram of a map data update method and apparatus applicable according to embodiments of the present disclosure;

[0013] Figure 2 This is a flowchart of a map data update method according to an embodiment of the present disclosure;

[0014] Figure 3A and Figure 3B These are schematic diagrams illustrating the determination of a first set of marker points for an object to be labeled according to embodiments of this disclosure;

[0015] Figure 4 This is a block diagram of a map data updating apparatus according to embodiments of the present disclosure; and

[0016] Figure 5 This is a block diagram of an electronic device used to implement the map data update method of the embodiments of this disclosure. Detailed Implementation

[0017] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0018] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0019] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0020] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0021] Figure 1 This is a schematic diagram of an exemplary system architecture for map data update methods and apparatus applicable according to embodiments of this disclosure. It should be noted that... Figure 1 The examples shown are merely examples of system architectures that can be applied to the embodiments of this disclosure, in order to help those skilled in the art understand the technical content of this disclosure, but do not mean that the embodiments of this disclosure cannot be used in other devices, systems, environments or scenarios.

[0022] like Figure 1As shown, the system architecture 100 according to this embodiment may include terminal devices 101, 102, and 103, a network 104, and a server 105. The network 104 serves as a medium for providing a communication link between the terminal devices 101, 102, and 103 and the server 105. The network 104 may include various connection types, such as wired and / or wireless communication links, etc.

[0023] Users can use terminal devices 101, 102, and 103 to interact with server 105 via network 104 to receive or send messages, etc. Various client applications can be installed on terminal devices 101, 102, and 103. Examples include navigation applications, knowledge reading applications, web browser applications, search applications, instant messaging tools, email clients, or social media platform software (for example only).

[0024] Terminal devices 101, 102, and 103 can be various electronic devices with displays and web browsing capabilities, including but not limited to smartphones, tablets, laptops, and desktop computers.

[0025] Server 105 can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud computing, network services, and middleware services.

[0026] Server 105 can be a server that provides various services, such as a backend management server that supports various applications displayed on terminal devices 101, 102, and 103 (for example only). The backend management server can analyze and process data such as received user requests, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal devices.

[0027] For example, server 105 can store map data. After acquiring point cloud data of an object to be labeled, such as a bus stop, server 105 can determine the initial location information of the object to be labeled, such as the bus stop, based on the point cloud data. Based on the initial location information of the object to be labeled, reference lane data matching the object to be labeled is determined from the map data, and target lane data associated with the reference lane data is determined from the map data based on the reference lane data. Then, based on the target lane data, attribute information of the object to be labeled is determined, whereby the attribute information represents the type attribute to which the object to be labeled belongs. Then, based on the attribute information, a first set of marker points for the object to be labeled is determined according to the initial location information and the reference lane data. Then, based on the first set of marker points, contour information corresponding to the object to be labeled is generated, and the map data is updated using the contour information corresponding to the object to be labeled. Thus, for example, bus stop map data can be automatically generated based on road topology. After updating the map data, server 105 can save the updated map data.

[0028] In some examples, server 105 may also send updated map data to terminal devices 101, 102, and 103 so that terminal devices 101, 102, and 103 can perform navigation and positioning based on the updated map data. Alternatively, terminal devices 101, 102, and 103 may send navigation and positioning requests to server 105, server 105 may perform navigation and positioning based on the updated map data, obtain navigation and positioning results, and send the navigation and positioning results to terminal devices 101, 102, and 103.

[0029] It should be noted that the map data update method provided in this embodiment can generally be executed by server 105. Correspondingly, the map data update device provided in this embodiment can generally be located in server 105. The map data update method provided in this embodiment can also be executed by a server or server cluster that is different from server 105 and capable of communicating with terminal devices 101, 102, 103 and / or server 105. Correspondingly, the map data update device provided in this embodiment can also be located in a server or server cluster that is different from server 105 and capable of communicating with terminal devices 101, 102, 103 and / or server 105.

[0030] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0031] It should be noted that the sequence numbers of the operations in the following methods are for descriptive purposes only and should not be considered as indicating the execution order of the operations. Unless explicitly stated otherwise, the method does not need to be executed in the exact order shown.

[0032] Figure 2 This is a flowchart of a map data update method according to an embodiment of the present disclosure.

[0033] like Figure 2 As shown, the map data update method 200 includes operations S210 to S260.

[0034] In operation S210, reference lane data matching the object to be labeled is determined from the map data based on the initial position information of the object to be labeled.

[0035] In operation S220, the target lane data associated with the reference lane data is determined from the map data based on the reference lane data.

[0036] When operating S230, the attribute information of the object to be labeled is determined based on the target lane data.

[0037] In operation S240, based on attribute information, the first set of marker points for the object to be marked is determined according to the initial position information and reference lane data.

[0038] In operation S250, contour information corresponding to the object to be annotated is generated based on the first set of marker points.

[0039] In operation S260, map data is updated using the contour information corresponding to the object to be labeled.

[0040] According to embodiments of this disclosure, the object to be labeled may be, for example, a bus stop or other map feature information. For ease of understanding, this disclosure uses a bus stop as an example for illustration. It should be understood that using a bus stop as an example in this disclosure is not intended to limit the scope of protection of this disclosure.

[0041] According to embodiments of this disclosure, the map data may include, for example, all information associated with the object to be labeled, such as a bus stop. For instance, it may include lane data of the lane containing the object to be labeled (e.g., the bus stop), lane data of other lanes associated with that lane, and the connection relationships between lanes, etc. It should be noted that, in embodiments of this disclosure, lane data may be used to characterize all attribute information related to the lane, such as road markings within the lane, the shape of the lane, the length of the lane, and the outline corresponding to the lane. Lane data may include, for example, a set of marker points corresponding to lane lines.

[0042] According to embodiments of this disclosure, the initial position information of the object to be labeled can, for example, be used to indicate the initial position of the object. After obtaining the initial position information of the object to be labeled, reference lane data matching the object can be determined from map data based on the initial position information of the object. The reference lane data can, for example, be used to characterize all attribute information related to the reference lane, such as the contour corresponding to the reference lane. Matching the reference lane data with the object to be labeled means that the initial position of the object to be labeled is located within the contour corresponding to the reference lane.

[0043] Next, based on the reference lane data, the target lane data associated with the reference lane data can be determined from the map data. The target lane data could be, for example, the lane data of the front-wheel drive lane and the lane data of the subsequent lane associated with the reference lane data.

[0044] Next, the attribute information of the object to be labeled can be determined based on the target lane data associated with the reference lane data. This attribute information represents the type of the object to be labeled.

[0045] For example, when the object to be labeled is a bus stop, the attribute information of the object to be labeled can refer to the type attribute to which the bus stop belongs. The type attribute to which the bus stop belongs includes, for example, regular bus stops and bay-style bus stops.

[0046] It's understandable that the outlines of objects to be labeled, such as bus stops, will differ depending on their attributes. Consequently, the labeling process for these objects may also differ. Therefore, labeling can be tailored to the specific attributes of the objects, such as bus stops, to achieve better labeling results.

[0047] Next, based on the attribute information of the object to be labeled, and according to the initial position information of the object to be labeled and the reference lane data, the first set of marker points for the object to be labeled can be determined.

[0048] Since the initial position of the object to be labeled is located within the contour corresponding to the reference lane, the first set of marker points for the object to be labeled can be determined based on this positional relationship and the attribute information of the object, according to the initial position information of the object and the reference lane data.

[0049] The first set of marker points may include, for example, at least two pairs of first marker points. Based on these at least two pairs of first marker points, the outline of the object to be labeled can be determined. That is, the first set of marker points for the object to be labeled can be used to characterize the outline of the object; therefore, the first set of marker points can be used to generate outline information corresponding to the object to be labeled. Thus, the labeling of the object to be labeled can be completed.

[0050] After determining the contour information corresponding to the object to be labeled, the map data can be updated using the contour information corresponding to the object to be labeled, thereby realizing the update of the map data.

[0051] According to embodiments of this disclosure, reference lane data matching the object to be labeled, such as a bus stop, is determined from map data based on the initial location information of the object to be labeled. Then, target lane data is determined based on the reference lane data, and attribute information of the object to be labeled is determined based on the target lane data. Next, based on the attribute information, a first set of marker points for the object to be labeled is determined according to the initial location information and the reference lane data, and contour information corresponding to the object to be labeled is generated accordingly. Finally, the map data can be updated using the contour information corresponding to the object to be labeled, thereby completing the map data update process. Thus, for example, bus stop map data can be automatically generated based on road topology. Compared to related technologies that rely on manual labeling to update map data, this disclosure, on the one hand, can selectively label the object to be labeled based on its attribute information, thereby obtaining better labeling results and improving the quality of high-precision maps. On the other hand, the solution of this disclosure can automatically label map element information such as bus stops, reducing manual labeling input, thereby improving the production efficiency of high-precision maps and the quality of high-precision maps.

[0052] According to embodiments of this disclosure, in the above-described operation S220, the target lane data may include, for example, first target lane data and second target lane data. Determining the target lane data associated with the reference lane data from the map data based on the reference lane data includes, for example, the following operations.

[0053] Based on the reference lane data and the lane connection relationships corresponding to the reference lane data, the first target lane data and the second target lane data are determined from the map data. For example, the first target lane data and the second target lane data can be the lane data of the front-wheel drive lane and the lane data of the subsequent lane associated with the reference lane data, respectively.

[0054] Next, the attribute information of the object to be labeled can be determined based on the first target lane data and the second target lane data.

[0055] For example, in response to determining that the number of first target lane data is 1 and the number of second target lane data is 1, the attribute information of the object to be labeled can be determined as the first attribute information. The first attribute information can, for example, be used to characterize the type attribute to which the object to be labeled belongs as the first type attribute.

[0056] For example, if the response determines that the number of target lane data in at least one of the first and second target lanes is not 1, then the attribute information of the object to be labeled can be determined as second attribute information. Second attribute information can, for example, be used to characterize the type attribute to which the object to be labeled belongs as a second type attribute. Here, the second type attribute differs from the first type attribute.

[0057] For example, in the case where the object to be labeled is a bus stop, the first target lane data (e.g., lane data of the front drive lane associated with the reference lane data) and the second target lane data (e.g., lane data of the successor lane associated with the reference lane data) can be searched from the map data based on the reference lane data that matches the bus stop and the lane connection relationship corresponding to the reference lane data.

[0058] If it is determined that the number of lane data points for the preceding lane associated with the reference lane is 1, and the number of lane data points for the succeeding lane associated with the reference lane is also 1, then the attribute information of the bus stop can be determined as the first attribute information. The first attribute information, for example, is used to characterize the bus stop as a regular bus stop.

[0059] If it is determined that the number of lane data for the preceding lane and / or the number of lane data for the following lane are not 1, then the attribute information of the bus stop can be determined as the second attribute information. The first attribute information, for example, is used to characterize the bus stop as a bay-type bus stop.

[0060] Therefore, the attribute information of the object to be labeled (e.g., a bus stop) can be determined based on the first target lane data and the second target lane data, so that it can be labeled in a targeted manner according to the attribute information of the object to be labeled (e.g., a bus stop).

[0061] It should be noted that the above operation of searching for the first target lane data and the second target lane data associated with the reference lane data from the map data can be performed once or multiple times.

[0062] For example, multiple searches can be performed on the map data to obtain multiple sets of first target lane data and multiple sets of second target lane data. If the number of first target lane data and the number of second target lane data obtained in each search are both 1, then the attribute information of the object to be labeled can be determined as the first attribute information; otherwise, the attribute information of the object to be labeled can be determined as the second attribute information.

[0063] By performing multiple search operations, the attribute information of the object to be labeled can be accurately determined, which in turn facilitates the accurate labeling of the object based on the attribute information.

[0064] Next, after determining the attribute information of the object to be labeled, the first set of marker points for the object to be labeled can be determined based on the attribute information, the initial position information, and the reference lane data.

[0065] For example, when the attribute information of the object to be labeled is determined to be the first attribute information, the following operation can be used to determine the first set of marker points for the object to be labeled.

[0066] First, the position information of the reference centerline of the reference lane corresponding to the reference lane data can be determined based on the reference lane data.

[0067] The reference lane data may include, for example, a second set of marker points for the lane lines of the reference lane. This second set of marker points may include, for example, multiple pairs of second marker points, which can be used to describe the contour of the reference lane. Based on the reference lane data, the position information of the reference centerline of the reference lane corresponding to the reference lane data can be determined. The position information of the reference centerline may, for example, be used to characterize the position of the reference centerline within the reference lane.

[0068] Next, based on the position information of the reference centerline and the initial position information, the mapping position information of the initial position information on the position information of the reference centerline can be determined.

[0069] Initial position information is used to indicate the initial position of the object to be labeled. Based on the position information of the reference centerline and the initial position information, the mapping position information of the initial position information on the position information of the reference centerline can be determined. This mapping position information can be used to characterize the first mapped position of the initial position on the reference centerline.

[0070] Next, starting from the first mapping position, search for the second pair of marker points along the reference center line within a preset range in the first target direction and the second target direction respectively, to obtain the first set of marker points for the object to be marked.

[0071] In this embodiment of the disclosure, the preset range is related to the outline of the object to be labeled. For example, in the example where the object to be labeled is a bus stop, the preset range may refer to the length range of the bus stop.

[0072] The first target direction could be, for example, the direction from the reference lane to the lane preceding the reference lane. The second target direction could be, for example, the direction from the reference lane to the lane following the reference lane.

[0073] For example, starting from the first mapping position, within a preset range, a second pair of marker points is searched along the reference centerline in both the first target direction (e.g., the direction from the reference lane to the preceding lane of the reference lane) and the second target direction (e.g., the direction from the reference lane to the following lane of the reference lane). During this process, at least two pairs of second marker points can be sequentially obtained. Based on these at least two pairs of second marker points, a first set of marker points for the object to be marked can be obtained.

[0074] In some embodiments, if the centerline length of the reference lane does not meet the length requirement of the object to be labeled during the search for the second pair of marker points, the search can continue along the first and second target directions. That is, in this case, the preceding lane data and / or subsequent lane data can be searched along the first and second target directions until a set of marker point pairs that meets the length requirement of the object to be labeled is found. Thus, a first set of marker points for the object to be labeled, such as a bus stop, can be automatically generated based on the road topology.

[0075] Based on the above operations, the annotation of the object to be annotated with the first attribute information can be completed.

[0076] In another example, for instance, when the attribute information of the object to be labeled is determined to be the second attribute information, the first set of marker points for the object to be labeled can be determined as follows.

[0077] First, based on the initial position information and reference lane data, the initial position of the object to be labeled can be determined as the second mapped position on the first lane line. The initial position information indicates the initial position of the object to be labeled.

[0078] The reference lane data here may include, for example, multiple third markers to characterize the position of the first lane line and multiple fourth markers to characterize the position of the second lane line. The first and second lane lines can determine the outline of the reference lane.

[0079] Based on the initial position information and reference lane data, the initial position of the object to be labeled can be determined as the second mapped position on the first lane line.

[0080] Next, starting from the second mapping position, the third marker point can be searched along the first lane line within the preset range towards the third target direction and the fourth target direction respectively, to obtain the sequence of first target marker points.

[0081] The third target direction could be, for example, the direction from the reference lane to the lane preceding the reference lane. The fourth target direction could be, for example, the direction from the reference lane to the lane following the reference lane.

[0082] In this embodiment, the preset range is related to the outline of the object to be labeled. For example, in the example where the object to be labeled is a bus stop, the preset range may refer to the length range of the bus stop.

[0083] For example, starting from the second mapping position, a sequence of third marker points can be obtained by sequentially searching for third marker points along the first lane line towards the third and fourth target directions within a preset range (e.g., the length of a bus stop). This first target marker point sequence includes at least two third marker points arranged in sequence. These at least two third marker points can be used to describe the contour information of the object to be labeled near the first lane line.

[0084] Next, based on the initial position information and reference lane data, the initial position of the object to be labeled can be determined as the third mapped position on the second lane line.

[0085] Similarly, starting from the third mapping position, a fourth marker point can be searched along the second lane line within a preset range towards both the third and fourth target directions, resulting in a sequence of second target marker points. This sequence includes at least two fourth marker points arranged in sequence. These at least two fourth marker points can be used to describe the contour information of the object to be labeled near the second lane line.

[0086] Next, based on the first target marker sequence and the second target marker sequence, the first marker set for the object to be labeled can be obtained.

[0087] Since the search process described above is conducted within a preset range, along the two lane lines of the reference lane respectively, the first set of marker points for the object to be labeled can be determined based on the first target marker point sequence and the second target marker point sequence obtained from the search operation. Therefore, a first set of marker points for the object to be labeled, such as a bus stop, can be automatically generated based on the road topology.

[0088] Based on the above operations, the annotation of the object to be annotated with second attribute information can be completed.

[0089] According to embodiments of this disclosure, the process of obtaining the first target marker sequence may include, for example, the following operations.

[0090] First, starting from the second mapping position, during the search for the third marker point along the first lane line towards the third target direction within a preset range, the search for the third marker point stops when the number of third target lane data corresponding to the i-th third marker point is greater than 1. Then, based on at least one third marker point between the second mapping position and the i-th third marker point, a first target marker point subsequence is determined, where i is a positive integer.

[0091] Next, starting from the second mapping position, during the search for the third marker point along the first lane line towards the fourth target direction within a preset range, the search for the third marker point stops when the number of fourth target lane data corresponding to the k-th third marker point is greater than 1. Then, based on at least one third marker point between the second mapping position and the k-th third marker point, a second target marker point subsequence is determined, where k is a positive integer.

[0092] It's understandable that objects to be labeled generally have a specific outline. Therefore, the outline boundary points of the object to be labeled can be determined based on its outline information. For example, in the case of a bus stop, the bus stop is usually adjacent to a lane. That is, there are other lanes near the reference lane where the bus stop is located. If, during the search of the lane lines of the reference lane, the number of target lane data corresponding to the current marker point (i.e., the i-th or k-th third marker point) is greater than 1, it indicates that the current marker point is highly likely to be the intersection point between the reference lane and other lanes, i.e., the outline boundary point of the object to be labeled, such as the bus stop. At this point, the search for the corresponding marker point can be stopped. Then, the corresponding target marker point subsequence can be determined based on the marker points between the current marker point (i.e., the i-th or k-th third marker point) and the starting point (i.e., the second mapping position).

[0093] Next, the first target marker sequence can be obtained based on the first target marker sequence and the second target marker sequence.

[0094] For example, the markers in the first target marker subsequence and the second target marker subsequence can be sequentially matched to obtain the first target marker sequence.

[0095] Similarly, the process of obtaining the second target marker sequence described above may include, for example, the following operations.

[0096] First, starting from the third mapping position, during the search for the fourth marker point along the second lane line towards the third target direction within a preset range, the search for the fourth marker point stops when the number of fifth target lane data corresponding to the j-th fourth marker point is greater than 1. Then, based on at least one fourth marker point between the third mapping position and the j-th fourth marker point, a subsequence of third target marker points is determined, where j is a positive integer.

[0097] Next, starting from the third mapping position, during the search for the fourth marker point along the second lane line towards the fourth target direction within a preset range, the search for the fourth marker point stops when the number of sixth target lane data corresponding to the m-th fourth marker point is greater than 1. Then, based on at least one fourth marker point between the third mapping position and the m-th fourth marker point, a subsequence of fourth target marker points is determined, where m is a positive integer.

[0098] Next, based on the third target marker sequence and the fourth target marker sequence, the second target marker sequence is obtained.

[0099] It should be noted that the third target lane data and the fourth target lane data mentioned above are respectively the associated target lane data of the reference lane data. For example, when searching for the third marker point along the first lane line in the direction of the third target from the second mapping position within a preset range, the third target lane corresponding to the third target lane data is the successor lane of the reference lane corresponding to the reference lane data. Similarly, when searching for the third marker point along the first lane line in the direction of the fourth target from the second mapping position within a preset range, the fourth target lane corresponding to the fourth target lane data is the successor lane of the reference lane corresponding to the reference lane data.

[0100] Similarly, starting from the third mapping position, during the search for the fourth marker point along the second lane line towards the third target direction within a preset range, the fifth target lane corresponding to the fifth target lane data is the successor lane of the reference lane corresponding to the reference lane data. Similarly, starting from the third mapping position, during the search for the fourth marker point along the second lane line towards the fourth target direction within a preset range, the sixth target lane corresponding to the sixth target lane data is the successor lane of the reference lane corresponding to the reference lane data.

[0101] Based on the reference lane data and the lane connection relationships corresponding to the reference lane data, the aforementioned third to sixth target lane data can be determined from the map data respectively.

[0102] Additionally, it should be noted that during the search for the third and / or fourth marker points, if the outline boundary points of the object to be labeled cannot be determined based on the number of target lane data points, they can be determined based on a preset range. For example, during the search for the third and / or fourth marker points, if no marker point is found that meets the above condition (i.e., the number of target lane data points corresponding to the current marker point is greater than 1), the marker points within the preset range can be identified as marker points in the first marker point set.

[0103] The following example illustrates the process of determining the first set of marker points for an object to be labeled. For ease of understanding, a bus stop is used as an example. It should be understood that using a bus stop as an example in this disclosure is not intended to limit the scope of protection of this disclosure.

[0104] Figure 3A This is a schematic diagram illustrating the determination of a first set of marker points for an object to be labeled according to an embodiment of the present disclosure.

[0105] like Figure 3A As shown, when the attribute information of the bus stop is determined to be the first attribute information (the first attribute information indicates that the attribute information of the bus stop is a regular bus stop), the initial position 301 of the bus stop can be determined based on the initial position information of the bus stop.

[0106] Next, based on the initial location information of the bus stop, reference lane data matching the bus stop is determined from the map data. The reference lane data includes, for example, a second set of marker points for the lane lines of reference lane 302. This second set of marker points includes multiple pairs of second marker points, such as multiple pairs of second marker points 303. Figure 3A As shown, multiple pairs of second marker points 303 can characterize the contour of the reference lane 302.

[0107] Based on the reference lane data, the position information of the reference centerline of the reference lane 302 corresponding to the reference lane data can be determined. Then, based on the position information of the reference centerline and the initial position information, the mapping position information of the initial position information on the reference centerline can be determined. The mapping position information can be used to characterize the first mapped position 304 of the initial position 301 on the reference centerline.

[0108] Next, starting from the first mapping position 304, a second marker point pair 303 can be searched along the reference center line within a preset range towards the first target direction and the second target direction, respectively, to obtain a first marker point set for the bus stop. The first marker point set may include, for example, multiple second marker point pairs 303. Based on the multiple second marker point pairs 303, a candidate outline of the bus stop can be obtained. Then, the candidate outline of the bus stop can be scaled down by a preset ratio to obtain the outline 305 of the bus stop.

[0109] Figure 3B These are schematic diagrams illustrating the determination of a first set of marker points for an object to be labeled according to another embodiment of this disclosure.

[0110] like Figure 3BAs shown, when the attribute information of the bus stop is determined to be the second attribute information (the second attribute information represents that the attribute information of the bus stop is a bay-type bus stop), the initial position 301 of the bus stop can be determined based on the initial position information of the bus stop.

[0111] Then, based on the initial location information of the bus stop, reference lane data matching the bus stop is determined from the map data. The reference lane data includes, for example, multiple third marker points 308 for representing the position of the first lane line 306 and multiple fourth marker points 309 for representing the position of the second lane line 307.

[0112] Next, based on the initial location information and reference lane data, the initial location 301 of the bus stop can be determined as the second mapped location 310 on the first lane line 306.

[0113] Next, starting from the second mapping position 310, third marker points 308 can be searched along the first lane line 306 within a preset range towards the third target direction and the fourth target direction, respectively, to obtain a sequence of first target marker points. The sequence of first target marker points includes at least two third marker points 308. These at least two third marker points 308 can be used to describe the contour information of the bus stop near the first lane line 306 (e.g., ...). Figure 3B (As shown).

[0114] For example, starting from the second mapping position 310, during the search for the third marker point 308 along the first lane line 306 within a preset range towards the third target direction (or the fourth target direction), if the number of third target lane data (or fourth target lane data) corresponding to the nth third marker point 308 is greater than 1, the search for the third marker point 308 is stopped. Then, based on at least one third marker point 308 between the second mapping position 310 and the nth third marker point 308, a first target marker point subsequence (or a second target marker point subsequence) is determined, where n is a positive integer.

[0115] like Figure 3B As shown, since there are no other lanes to the right of the first lane line 306 of the reference lane where the bus stop is located, it may be impossible to find a marker that satisfies the above condition (i.e., the number of target lane data corresponding to the nth marker is greater than 1) during the search for the third marker. In this case, the markers within the preset range can be determined as markers in the first target marker subsequence (or the second target marker subsequence).

[0116] Therefore, the first target marker sequence can be obtained based on the first target marker sequence and the second target marker sequence.

[0117] Similarly, based on the initial location information and reference lane data, the initial location 301 of the bus stop can be determined as a third mapped position on the second lane line 307. Then, starting from the third mapped position, a fourth marker point 309 can be searched along the second lane line 307 within a preset range towards both the third and fourth target directions, resulting in a second target marker point sequence. This second target marker point sequence includes at least one fourth marker point 309. This at least one fourth marker point 309 can be used to describe the contour information of the bus stop near the second lane line 307 (e.g., ...). Figure 3B (As shown).

[0118] For example, starting from the third mapping position, during the process of searching for the fourth marker point 309 along the second lane line 307 within a preset range towards the third target direction (or the fourth target direction), if it is determined that the fourth marker point (e.g., ...) is located at the y-th mapping position, ... Figure 3B If the number of fifth target lane data (or sixth target lane data) corresponding to the dashed circle is greater than 1, then the search for the fourth marker point stops. Then, based on at least one fourth marker point 309 between the third mapping position and the y-th fourth marker point 309, a third target marker point subsequence (or fourth target marker point subsequence) is determined, where y is a positive integer.

[0119] Therefore, the second target marker sequence can be obtained based on the third target marker sequence and the fourth target marker sequence.

[0120] Next, based on the first target marker sequence and the second target marker sequence, a first set of marker points for the bus stop can be obtained. From this first set of marker points, the outline information of the bus stop can be obtained. Then, the map data can be updated based on the bus stop outline information; for example, bus stop map data can be automatically generated based on road topology.

[0121] According to an embodiment of this disclosure, in the above operation S250, generating contour information corresponding to the object to be annotated based on the first set of marker points may include, for example, the following operations.

[0122] For example, candidate contour information corresponding to the object to be labeled can be generated based on the first set of marker points, and contour information corresponding to the object to be labeled can be obtained based on the candidate contour information.

[0123] In this embodiment of the disclosure, candidate contour information corresponding to the object to be labeled can be obtained based on a first set of marker points. The candidate contour information corresponding to the object to be labeled can be used to characterize the candidate contour corresponding to the object to be labeled. Then, the candidate contour can be scaled down by a preset ratio to obtain the contour information corresponding to the object to be labeled. In this embodiment of the disclosure, the preset ratio can be set according to actual conditions and is not limited here.

[0124] According to embodiments of this disclosure, the initial position information of the object to be labeled described above can be obtained, for example, from point cloud data of the object to be labeled. For instance, point cloud data of the object to be labeled can be obtained first. Then, the range of the object to be labeled is determined based on the point cloud data, and any location point is identified within that range. Furthermore, the position information corresponding to that location point is used as the initial position information of the object to be labeled.

[0125] Figure 4 This is a block diagram of a map data updating apparatus according to an embodiment of the present disclosure.

[0126] like Figure 4 As shown, the map data update device 400 includes: a first determining module 410, a second determining module 420, a third determining module 430, a fourth determining module 440, a generating module 450, and an updating module 460.

[0127] The first determining module 410 is used to determine reference lane data that matches the object to be labeled from the map data based on the initial position information of the object to be labeled.

[0128] The second determining module 420 is used to determine the target lane data associated with the reference lane data from the map data based on the reference lane data.

[0129] The third determining module 430 is used to determine the attribute information of the object to be labeled based on the target lane data, wherein the attribute information is used to characterize the type attribute to which the object to be labeled belongs.

[0130] The fourth determination module 440 is used to determine the first set of marker points for the object to be marked based on attribute information, initial position information, and reference lane data.

[0131] The generation module 450 is used to generate contour information corresponding to the object to be annotated based on the first set of marker points.

[0132] The update module 460 is used to update the map data using the contour information corresponding to the object to be labeled.

[0133] According to embodiments of this disclosure, the target lane data includes first target lane data and second target lane data. The second determining module 420 includes a first determining unit. The first determining unit is used to determine the first target lane data and the second target lane data respectively from map data based on reference lane data and lane connection relationships corresponding to the reference lane data.

[0134] According to an embodiment of this disclosure, the third determining module 430 includes a second determining unit. The second determining unit is configured to determine the attribute information of the object to be labeled as first attribute information in response to determining that the quantity of first target lane data is 1 and the quantity of second target lane data is 1.

[0135] According to an embodiment of this disclosure, the third determining module 430 further includes a third determining unit. The third determining unit is configured to determine the attribute information of the object to be labeled as second attribute information in response to determining that the number of target lane data in at least one of the first target lane and the second target lane is not 1.

[0136] According to embodiments of this disclosure, initial position information is used to indicate the initial position of the object to be labeled; reference lane data includes a second set of marker points for lane lines of the reference lane; the second set of marker points includes multiple pairs of second marker points; in response to determining attribute information as first attribute information, the fourth determining module 440 includes: a fourth determining unit, a fifth determining unit, a first searching unit, and a sixth determining unit. The fourth determining unit is used to determine the position information of the reference centerline of the reference lane corresponding to the reference lane data based on the reference lane data; the position information of the reference centerline is used to characterize the position of the reference centerline in the reference lane; the fifth determining unit is used to determine the mapping position information of the initial position information on the position information of the reference centerline based on the position information of the reference centerline and the initial position information; the mapping position information characterizes the first mapping position of the initial position on the reference centerline; the first searching unit is used to search for pairs of second marker points along the reference centerline in a preset range from the first mapping position towards the first target direction and the second target direction, respectively, to obtain a sequence of target marker point pairs; and the sixth determining unit is used to obtain a first set of marker points for the object to be labeled based on the sequence of target marker point pairs.

[0137] According to embodiments of this disclosure, the reference lane data includes a plurality of third marker points for characterizing the position of the first lane line and a plurality of fourth marker points for characterizing the position of the second lane line; initial position information is used to indicate the initial position of the object to be marked; in response to determining the attribute information as the second attribute information, the fourth determination module 440 includes: a seventh determination unit, a second search unit, an eighth determination unit, a third search unit, and a ninth determination unit.

[0138] The seventh determining unit is used to determine the initial position of the object to be labeled as a second mapped position on the first lane line based on the initial position information and reference lane data; the second search unit is used to search for a third marker point along the first lane line in a preset range from the second mapped position to the third target direction and the fourth target direction, respectively, to obtain a sequence of first target marker points; the eighth determining unit is used to determine the initial position of the object to be labeled as a third mapped position on the second lane line based on the initial position information and reference lane data; the third search unit is used to search for a fourth marker point along the second lane line in a preset range from the third mapped position to the third target direction and the fourth target direction, respectively, to obtain a sequence of second target marker points; and the ninth determining unit is used to obtain a set of first marker points for the object to be labeled based on the first target marker point sequence and the second target marker point sequence.

[0139] According to embodiments of this disclosure, the second search unit includes: a first search subunit, a second search subunit, and a first determination subunit. The first search subunit is used to search for a third marker point along the first lane line towards the third target direction within a preset range, starting from the second mapping position. In response to determining that the number of third target lane data corresponding to the i-th third marker point is greater than 1, it stops searching for the third marker point and determines a first target marker point subsequence based on at least one third marker point between the second mapping position and the i-th third marker point, where i is a positive integer. The second search subunit is used to search for a third marker point along the first lane line towards the fourth target direction within a preset range, starting from the second mapping position. In response to determining that the number of fourth target lane data corresponding to the k-th third marker point is greater than 1, it stops searching for the third marker point and determines a second target marker point subsequence based on at least one third marker point between the second mapping position and the k-th third marker point, where k is a positive integer. The third target lane data and the fourth target lane data are determined from map data based on reference lane data. The first determination subunit is used to obtain the first target marker point sequence based on the first target marker point subsequence and the second target marker point subsequence.

[0140] According to embodiments of this disclosure, the third search unit includes: a third search subunit, a fourth search subunit, and a second determination subunit. The third search subunit is used to search for the fourth marker point along the second lane line towards the third target direction within a preset range, starting from the third mapping position. In response to determining that the number of fifth target lane data corresponding to the j-th fourth marker point is greater than 1, it stops searching for the fourth marker point and determines a third target marker point subsequence based on at least one fourth marker point between the third mapping position and the j-th fourth marker point, where j is a positive integer. The fourth search subunit is used to search for the fourth marker point along the second lane line towards the fourth target direction within a preset range, starting from the third mapping position. In response to determining that the number of sixth target lane data corresponding to the m-th fourth marker point is greater than 1, it stops searching for the fourth marker point and determines a fourth target marker point subsequence based on at least one fourth marker point between the third mapping position and the m-th fourth marker point, where m is a positive integer. The fifth and sixth target lane data are determined from map data based on reference lane data. The second determination subunit is used to obtain a second target marker point sequence based on the third and fourth target marker point subsequences.

[0141] According to embodiments of this disclosure, the generation module 450 includes a first generation unit and a second generation unit. The first generation unit is used to generate candidate contour information corresponding to the object to be labeled based on a first set of marker points; and the second generation unit is used to obtain contour information corresponding to the object to be labeled based on the candidate contour information.

[0142] According to embodiments of this disclosure, the apparatus 400 further includes an acquisition module and a fifth determination module. The acquisition module is used to acquire point cloud data of the object to be labeled; and the fifth determination module is used to determine the initial position information of the object to be labeled based on the point cloud data.

[0143] It should be noted that the implementation methods, technical problems solved, functions achieved, and technical effects of each module / unit / subunit in the device embodiments are the same as or similar to the implementation methods, technical problems solved, functions achieved, and technical effects of each corresponding step in the method embodiments, and will not be repeated here.

[0144] In the technical solution disclosed herein, the collection, storage, use, processing, transmission, provision, disclosure, and application of users' personal information comply with the provisions of relevant laws and regulations, necessary confidentiality measures have been taken, and there is no violation of public order and good morals.

[0145] In the technical solution disclosed herein, the user's authorization or consent is obtained before acquiring or collecting the user's personal information.

[0146] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0147] According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a method as described in the embodiments of the present disclosure.

[0148] According to embodiments of the present disclosure, a non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions are used to cause a computer to perform methods as described in embodiments of the present disclosure.

[0149] According to embodiments of the present disclosure, a computer program product includes a computer program that, when executed by a processor, implements the methods as described in embodiments of the present disclosure.

[0150] Figure 5 A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0151] like Figure 5 As shown, device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded from storage unit 508 into random access memory (RAM) 503. RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0152] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0153] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as the map data update method. For example, in some embodiments, the map data update method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the map data update method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the map data update method by any other suitable means (e.g., by means of firmware).

[0154] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0157] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0158] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0159] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0160] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0161] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A map data update method, comprising: Based on the initial location information of the object to be labeled, determine the reference lane data that matches the object from the map data; The reference lane data includes multiple pairs of second marker points for the lane lines of the reference lane; Based on the reference lane data, determine the target lane data associated with the reference lane data from the map data; The target lane data includes first target lane data and second target lane data; Based on the target lane data, the attribute information of the object to be labeled is determined, including: in response to determining that the number of the first target lane data is 1 and the number of the second target lane data is 1, determining the attribute information of the object to be labeled as first attribute information; in response to determining that the number of at least one of the first target lane and the second target lane data is not 1, determining the attribute information of the object to be labeled as second attribute information; wherein, the attribute information is used to characterize the type attribute to which the object to be labeled belongs; In response to determining that the attribute information is the first attribute information, the position information of the reference centerline of the reference lane corresponding to the reference lane data is determined according to the reference lane data; the position information of the reference centerline and the initial position information are used to determine the first mapping position of the initial position on the reference centerline; starting from the first mapping position, the second pair of marker points are searched along the reference centerline within a preset range in the first target direction and the second target direction respectively to obtain the first set of marker points for the object to be marked; Based on the first set of marker points, generate contour information corresponding to the object to be labeled; and The map data is updated using the contour information corresponding to the object to be labeled.

2. The method according to claim 1, wherein, The step of determining the target lane data associated with the reference lane data from the map data based on the reference lane data includes: Based on the reference lane data and the lane connection relationships corresponding to the reference lane data, the first target lane data and the second target lane data are determined from the map data, respectively.

3. The method according to claim 1, wherein, The reference lane data includes multiple third marker points for representing the position of the first lane line and multiple fourth marker points for representing the position of the second lane line; the initial position information is used to indicate the initial position of the object to be marked. In response to determining that the attribute information is second attribute information, based on the attribute information, and according to the initial position information and the reference lane data, a first set of marker points for the object to be marked is determined, including: Based on the initial position information and the reference lane data, determine the second mapped position of the object to be labeled on the first lane line. Starting from the second mapped position, the third marker point is searched along the first lane line within a preset range towards the third target direction and the fourth target direction, respectively, to obtain the first target marker point sequence; Based on the initial position information and the reference lane data, determine the third mapped position of the object to be labeled on the second lane line. Starting from the third mapping position, the fourth marker point is searched along the second lane line within a preset range towards the third target direction and the fourth target direction, respectively, to obtain a sequence of second target marker points; and The first set of marker points for the object to be labeled is obtained based on the first target marker point sequence and the second target marker point sequence.

4. The method according to claim 3, wherein, The step of searching for the third marker point along the first lane line within a preset range, starting from the second mapped position, towards the third target direction and the fourth target direction respectively, to obtain the first target marker point sequence includes: Starting from the second mapping position, during the process of searching for the third marker point along the first lane line towards the third target direction within a preset range, in response to determining that the number of third target lane data corresponding to the i-th third marker point is greater than 1, the search for the third marker point is stopped, and a first target marker point subsequence is determined based on at least one third marker point between the second mapping position and the i-th third marker point, where i is a positive integer; Starting from the second mapped position, during the search for the third marker point along the first lane line towards the fourth target direction within a preset range, in response to determining that the number of fourth target lane data corresponding to the k-th third marker point is greater than 1, the search for the third marker point is stopped, and a second target marker point subsequence is determined based on at least one third marker point between the second mapped position and the k-th third marker point, where k is a positive integer; wherein the third target lane data and the fourth target lane data are determined from the map data based on reference lane data; and The first target marker sequence is obtained based on the first target marker sequence and the second target marker sequence.

5. The method according to claim 4, wherein, The step of searching for the fourth marker point along the second lane line within a preset range, starting from the third mapped position and moving towards the third and fourth target directions respectively, to obtain the second target marker point sequence includes: Starting from the third mapping position, during the process of searching for the fourth marker point along the second lane line towards the third target direction within a preset range, in response to determining that the number of fifth target lane data corresponding to the j-th fourth marker point is greater than 1, the search for the fourth marker point is stopped, and a third target marker point subsequence is determined based on at least one fourth marker point between the third mapping position and the j-th fourth marker point, where j is a positive integer; Starting from the third mapping position, during the search for the fourth marker point along the second lane line towards the fourth target direction within a preset range, in response to determining that the number of sixth target lane data corresponding to the m-th fourth marker point is greater than 1, the search for the fourth marker point is stopped, and a fourth target marker point subsequence is determined based on at least one fourth marker point between the third mapping position and the m-th fourth marker point, where m is a positive integer; wherein the fifth target lane data and the sixth target lane data are determined from the map data based on reference lane data; and The second target marker sequence is obtained based on the third target marker sequence and the fourth target marker sequence.

6. The method according to any one of claims 1 to 5, wherein, The step of generating contour information corresponding to the object to be annotated based on the first set of marker points includes: Based on the first set of marker points, candidate contour information corresponding to the object to be labeled is generated; and Based on the candidate contour information, the contour information corresponding to the object to be labeled is obtained.

7. The method according to claim 6, further comprising: Obtain the point cloud data of the object to be labeled; as well as Based on the point cloud data, determine the initial position information of the object to be labeled.

8. A map data updating device, comprising: The first determining module is used to determine reference lane data that matches the object to be labeled from map data based on the initial position information of the object to be labeled. The reference lane data includes multiple pairs of second marker points for the lane lines of the reference lane; The second determining module is used to determine target lane data associated with the reference lane data from the map data based on the reference lane data. The target lane data includes first target lane data and second target lane data; The third determining module is used to determine the attribute information of the object to be labeled based on the target lane data, including: in response to determining that the number of the first target lane data is 1 and the number of the second target lane data is 1, determining the attribute information of the object to be labeled as first attribute information; in response to determining that the number of at least one of the first target lane and the second target lane data is not 1, determining the attribute information of the object to be labeled as second attribute information; wherein, the attribute information is used to characterize the type attribute to which the object to be labeled belongs; the fourth determining module is used to determine the position information of the reference centerline of the reference lane corresponding to the reference lane data based on the reference lane data in response to determining that the attribute information is the first attribute information; determining the first mapping position of the initial position on the reference centerline based on the position information of the reference centerline and the initial position information; and searching for the second pair of marker points along the reference centerline in a preset range within a preset range towards the first target direction and the second target direction respectively, to obtain the first set of marker points for the object to be labeled; The generation module is used to generate contour information corresponding to the object to be annotated based on the first set of marker points; and The update module is used to update the map data using the contour information corresponding to the object to be labeled.

9. The apparatus according to claim 8, wherein, The second determining module includes: The first determining unit is configured to determine the first target lane data and the second target lane data from the map data based on the reference lane data and the lane connection relationship corresponding to the reference lane data.

10. The apparatus according to claim 8, wherein, The reference lane data includes multiple third marker points for representing the position of the first lane line and multiple fourth marker points for representing the position of the second lane line; the initial position information is used to indicate the initial position of the object to be marked. In response to determining that the attribute information is second attribute information, the fourth determining module includes: The seventh determining unit is used to determine, based on the initial position information and the reference lane data, the second mapped position of the initial position of the object to be labeled on the first lane line; The second search unit is used to search for the third marker point along the first lane line within a preset range, starting from the second mapped position, and then towards the third target direction and the fourth target direction respectively, to obtain a sequence of first target marker points. The eighth determining unit is used to determine the third mapping position of the initial position of the object to be labeled on the second lane line based on the initial position information and the reference lane data; The third search unit is configured to search for the fourth marker point within a preset range along the second lane line, starting from the third mapping position, towards both the third target direction and the fourth target direction, to obtain a sequence of second target marker points; and The ninth determining unit is used to obtain the first set of marker points for the object to be labeled based on the first target marker point sequence and the second target marker point sequence.

11. The apparatus according to claim 10, wherein, The second search unit includes: The first search subunit is used to search for the third marker point along the first lane line in a preset range from the second mapping position to the third target direction. In response to determining that the number of third target lane data corresponding to the i-th third marker point is greater than 1, it stops continuing to search for the third marker point and determines the first target marker point subsequence based on at least one third marker point between the second mapping position and the i-th third marker point, where i is a positive integer. The second search subunit is configured to, while searching for the third marker point along the first lane line towards the fourth target direction within a preset range, starting from the second mapped position, stop searching for the third marker point in response to determining that the number of fourth target lane data corresponding to the k-th third marker point is greater than 1, and determine a second target marker point subsequence based on at least one third marker point between the second mapped position and the k-th third marker point, where k is a positive integer; wherein the third target lane data and the fourth target lane data are determined from the map data based on the reference lane data; and The first determining subunit is used to obtain the first target marker sequence based on the first target marker subsequence and the second target marker sequence.

12. The apparatus according to claim 10, wherein, The third search unit includes: The third search subunit is used to search for the fourth marker point along the second lane line towards the third target direction within a preset range, starting from the third mapping position. In response to determining that the number of fifth target lane data corresponding to the j-th fourth marker point is greater than 1, it stops continuing to search for the fourth marker point and determines the third target marker point subsequence based on at least one fourth marker point between the third mapping position and the j-th fourth marker point, where j is a positive integer. The fourth search subunit is configured to, in the process of searching for the fourth marker point along the second lane line towards the fourth target direction within a preset range, starting from the third mapping position, stop searching for the fourth marker point in response to determining that the number of sixth target lane data corresponding to the m-th fourth marker point is greater than 1, and determine a fourth target marker point subsequence based on at least one fourth marker point between the third mapping position and the m-th fourth marker point, where m is a positive integer; wherein the fifth target lane data and the sixth target lane data are determined from the map data based on the reference lane data; and The second determining subunit is used to obtain the second target marker sequence based on the third target marker sequence and the fourth target marker sequence.

13. The apparatus according to any one of claims 8 to 12, wherein, The generation module includes: The first generation unit is configured to generate candidate contour information corresponding to the object to be annotated based on the first set of marker points; and The second generation unit is used to obtain the contour information corresponding to the object to be labeled based on the candidate contour information.

14. The apparatus of claim 13, further comprising: The acquisition module is used to acquire the point cloud data of the object to be labeled; as well as The fifth determining module is used to determine the initial position information of the object to be labeled based on the point cloud data.

15. 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 7.

16. 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 7.

17. 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 7.

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