Map testing method, device and electronic equipment

Abstract

The embodiments of the present application disclose a map testing method, device and electronic device. The method includes: obtaining actual map information and a first reconstructed map, the actual map information being the positioning data and path data collected when the vehicle is driving along a preset path in an actual vehicle test; obtaining a second reconstructed map based on the actual map information, the second map and a bench test, the second map being obtained by updating the first map; comparing the first reconstructed map with the second reconstructed map, and obtaining a test result of the second map based on the comparison result. Through the above method, the actual map information and the first reconstructed map before the map update can be obtained based on the actual vehicle test, and then the second reconstructed map can be obtained based on the actual map information and the updated map during the bench test, and then the first reconstructed map and the second reconstructed map can be compared to obtain the test result of the updated map, thereby saving the testing cost.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a map testing method, device, and electronic device. Background Art

[0002] With the development of autonomous driving technology, maps have begun to attract widespread attention. To improve autonomous driving performance, people have increasingly demanded higher map accuracy, leading to the emergence of related map testing methods. One method for verifying map accuracy is through real-world vehicle testing. However, this method also presents the issue of high testing costs. For example, due to changes in actual road information, maps may require periodic version updates. If real-world vehicle testing is required for each update, testing costs will increase. Summary of the Invention

[0003] In view of the above problems, the embodiments of the present application propose a map testing method, device and electronic device to improve the above problems.

[0004] In a first aspect, an embodiment of the present application provides a map testing method, the method comprising: obtaining actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected when the vehicle is traveling along a preset path in an actual vehicle test, the preset path is generated based on a first map, and the first reconstructed map is a map reconstructed based on the positioning data, the path information and the first map; obtaining a second reconstructed map based on the actual map information, a second map and a bench test method, the second map being obtained by updating the first map; comparing the first reconstructed map with the second reconstructed map, and obtaining a test result of the second map based on the comparison result.

[0005] In a second aspect, an embodiment of the present application provides a map testing device, comprising: an information acquisition unit for acquiring actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected when the vehicle is traveling along a preset path in an actual vehicle test, the preset path is generated based on a first map, and the first reconstructed map is a map reconstructed based on the positioning data, the path information and the first map; a second reconstructed map acquisition unit for obtaining a second reconstructed map based on the actual map information, the second map and a bench test method, wherein the second map is obtained by updating the first map; and a test result acquisition unit for comparing the first reconstructed map with the second reconstructed map, and obtaining a test result of the second map based on the comparison result.

[0006] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor and a memory; one or more programs are stored in the memory and configured to be executed by the processor, and the one or more programs are configured to execute the above method.

[0007] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores program code, wherein the above method is executed when the program code is run.

[0008] The embodiments of the present application provide a map testing method, device, electronic device, and storage medium. During an actual vehicle test, the vehicle collects actual map information including positioning data and path data, and a first reconstructed map reconstructed based on the positioning data and the first map, and then obtains a second reconstructed map based on the actual map information, a second map, and a bench test. The second map is obtained by updating the first map. The first reconstructed map is compared with the second reconstructed map, and a test result of the second map is obtained based on the comparison result. Through the above method, the actual map information before the map update and the first reconstructed map can be obtained based on the actual vehicle test, and then the second reconstructed map can be obtained based on the actual map information and the updated map during the bench test. The first reconstructed map and the second reconstructed map can be compared to obtain the test result of the updated map, thereby saving testing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A schematic diagram showing an application environment proposed in this application is shown;

[0011] Figure 2 A flowchart of a map testing method proposed in an embodiment of the present application is shown;

[0012] Figure 3 A schematic diagram of time synchronization proposed in this application is shown;

[0013] Figure 4 Shows this application Figure 2 A flowchart of an embodiment of S120;

[0014] Figure 5Shows this application Figure 2 A flowchart of another embodiment of S120;

[0015] Figure 6 A flowchart of a map testing method proposed in another embodiment of the present application is shown;

[0016] Figure 7 A flowchart of a map testing method proposed in another embodiment of the present application is shown;

[0017] Figure 8 A structural block diagram of a map testing device proposed in an embodiment of the present application is shown;

[0018] Figure 9 Shows a structural block diagram of an electronic device proposed in this application;

[0019] Figure 10 It is a storage unit in an embodiment of the present application for storing or carrying program codes for implementing the map testing method in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0021] In an embodiment of the present application, the inventors have proposed a map testing method, device, and electronic device. During an actual vehicle test, the vehicle collects actual map information including positioning data and path data, and a first reconstructed map reconstructed based on the positioning data and the first map, and then obtains a second reconstructed map based on the actual map information, the second map, and a bench test. The second map is obtained by updating the first map. The first reconstructed map is compared with the second reconstructed map, and the test result of the second map is obtained based on the comparison result. Through the above method, the actual map information and the first reconstructed map before the map update can be obtained based on the actual vehicle test, and the second reconstructed map can be obtained based on the actual map information and the updated map during the bench test. The first reconstructed map and the second reconstructed map can then be compared to obtain the test result of the updated map, thereby saving testing costs.

[0022] In order to better understand the solution of the embodiment of the present application, an application environment of the map testing method provided by the embodiment of the present application is first introduced below.

[0023] Please refer to Figure 1, is a schematic diagram of an application environment of an embodiment of the present application. Figure 1 A bench test system 10 is provided, which includes a map service module 100, a local static inspection module 200, an incremental dynamic inspection module 300 and a navigation setting module 400. The map service module 100 may include a map engine 101 and a map database 102. The map engine 101 may refer to an intermediate layer software for reading the map database 102. The map engine 101 may be integrated in the form of an SDK (Software Development Kit) and has two functional forms, namely, a static API (Application Programming Interface) request response and a dynamic EHP (Electronic Horizon Provider) distribution. The API request response can obtain map data around the current coordinates through a function call. The periphery may refer to a circle with a preset radius or a pre-divided local area. EHP provides beyond-visual-range road and data information to ADAS (Advanced Driver Assistance System) applications by standardizing the exchange of map data between the vehicle and ADAS applications, such as the ADASIS (Advanced Driver Assistance System Interface Specification) protocol, an international industry standard developed by the ADAS Forum. Map database 102 may contain map data provided by a map vendor. The map database may be a specially formatted file processed through compression and other techniques, and may include various road elements such as lane markings and other printed ground markings, traffic lights, street lamps, traffic signs, and poles.

[0024] The local static verification module 200 can be used to verify whether the data output by the API is the same as the data provided by the map provider. Figure 1 As shown, the local static inspection module 200 may include a data query module 201 and a high-precision positioning module 202. The high-precision positioning module 202 may be used to obtain the location information of the vehicle under test bench and send the location information to the map service module 100 and the data query module 201, so that the map service module 100 can push corresponding data based on the location information. The data query module 201 may send a data query request to the AP based on the location information provided by the high-precision positioning module 202 to obtain map data corresponding to the location information.

[0025] The incremental dynamic verification module 300 can be used to verify whether the data output by the EHP is the same as the data provided by the map provider. Figure 1 As shown, the incremental dynamic verification module 300 may include a local environment reconstruction module 301. The local environment reconstruction module 301 may parse the message sent by the Electronic Horizon Reconstructor (EHR) and reconstruct the map data for use by the terminal ADAS application module.

[0026] The navigation setting module 400 may include a path setting module 401 , which may be used to provide pre-set navigation path information.

[0027] It should be noted that the bench test system 10 may correspond to a domain controller, which may control the above modules. The bench test system 10 may also include other modules that support the operation of the domain controller, such as a data storage unit, a power supply, etc.

[0028] The embodiments of the present application will be described below with reference to the accompanying drawings.

[0029] See also Figure 2 , this application provides a map testing method, the method comprising:

[0030] S110: Obtain actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected when the vehicle travels along a preset path during actual vehicle testing, the preset path is generated based on the first map, and the first reconstructed map is a map reconstructed based on the positioning data, the path information, and the first map.

[0031] Among them, the actual vehicle test can refer to a test that controls the vehicle based on the test content under the actual road environment. In the embodiment of the present application, when conducting the actual vehicle test, the vehicle may have Figure 1 The test system is the same as the bench test system, except that the map database 102 in the vehicle test system stores data related to the first map. The preset path can refer to a path set according to the test range. In order to make the test results more accurate, the preset path can be a global path, that is, it can cover all paths within the test range. For example, when the map of City A is to be tested, all paths in City A can be planned into the preset path. The first reconstructed map can include a first passive reconstructed map and a first active reconstructed map. The first passive reconstructed map can refer to a map generated based on data output by the API under actual vehicle testing, and the first active reconstructed map can refer to a map generated based on data output by the EHP under actual vehicle testing.

[0032] As a method, actual map information can be obtained through information collection devices on the vehicle (such as lidar, ultrasonic radar, etc.) and GPS (Global Positioning System), and then the actual map information is input into the vehicle's test system to obtain a first reconstructed map, and then the actual map information and the first reconstructed map are saved in a designated location of the bench test system so that the bench test system can obtain the actual map information and the first reconstructed map.

[0033] Optionally, the first map may be a high-precision map. A high-precision map refers to a commercialized product of data and services that accurately describes road surface elements, provided by map vendors for applications such as autonomous driving. Products from different map vendors are essentially the same in function, structure, and form, but may differ in content, such as element type and expression. Road surface elements may refer to elements used to guide the route and direction of a vehicle in autonomous driving, such as traffic light poles, road signs, speed limit signs, etc.

[0034] Optionally, high-precision maps can have mass-production attributes, which can refer to closedness, independence, and timeliness. Closedness can mean that the high-precision map itself does not open its internal data format and data structure, the architecture of the middle-layer software, etc. to the outside world. Independence can mean that it can run relatively independently within the domain controller, without relying on other programs, and other programs will not affect its operation. Timeliness can mean that high-precision maps are not always the same. Over time, the map road network may change, and map elements may also increase or decrease over time. High-precision maps can be updated in different iterations.

[0035] S120: Obtain a second reconstructed map based on the actual map information, the second map, and the bench test method, where the second map is obtained by updating the first map.

[0036] The bench testing method may refer to a method of importing actual map information and a second map into a bench testing system for testing. The second reconstructed map may include a second passive reconstructed map and a second active reconstructed map. The second passive reconstructed map may refer to a map generated based on data output by the API during bench testing, while the second active reconstructed map may refer to a map generated based on data output by the EHP during bench testing.

[0037] As one approach, the second map may be acquired first, and then a second passively reconstructed map may be obtained based on the second map and positioning data, and then a second actively reconstructed map may be obtained based on the second map, positioning data, and path data.

[0038] The positioning data may include multiple coordinate information, and the coordinate information may include corresponding coordinates and timestamps. The coordinates may refer to the current latitude and longitude of the vehicle, and the timestamp may refer to the total time from 00:00:00 Greenwich Mean Time (08:00:00 Beijing Time) on January 1, 1970 to the present. For example, the positioning data may be represented as [{Loc-timestamp1, L1}, {Loc-timestamp2, L2}, ..., {Loc-timestamp n , L n}], where n is a positive integer, Loc-timestamp n Can represent timestamp, L n Can be expressed in Loc-timestamp n The coordinates of the vehicle at the timestamp.

[0039] Path data may include multiple path information, including a corresponding road selection list and a timestamp. The road selection list may refer to the road information that the vehicle can select next at the corresponding timestamp and the road that the preset path determines the next step to be reached. The road information may be a road identifier. For example, the current timestamp may be A, and the vehicle may be located on road 1000 at the current timestamp. There is an intersection in front of road 1000, and the intersection corresponds to roads 1001, 1002, and 1003. Based on the preset path, it is determined that the next step should be to reach road 1001. The current path information may be {A, {(1001,1), (1002,0), (1003,0)}}. Exemplarily, path data may be represented as:

[0040] [{Nav-timestamp1,{Link1,Link2,…,Link n}},...,{Nav-timestamp n ,{Link1,Link2,…,Link n}}]. Where n is a positive integer, Nav-timestamp n Can represent timestamps, {Link1, Link2,…, Link n} can be expressed in Nav-timestamp n A list of roads to choose from at a given time stamp and the road to be reached at the next time stamp.

[0041] In an embodiment of the present application, in order to facilitate the processing of the output data of the bench test system, the bench test system can adopt a time synchronization mechanism. The bench test system can implement the time synchronization mechanism through a global timer. The frequency of the global timer can be 1HZ. The timer can be associated with a timestamp, that is, each time a timing cycle arrives, a timestamp can be obtained and the corresponding data processing operation can be triggered, so that the positioning data can include multiple coordinate information, and the path data can include multiple path information. The time synchronization mechanism can mainly synchronize multiple modules of the bench test system through the start time of the test and the time of generating the reconstructed map to achieve time synchronization of the entire system. The time synchronization mechanism is as follows:

[0042] See also Figure 3 Since the operation frequency of the navigation setting module is low and the time point is easier to grasp, the starting time point of the test can be set to the moment when the path is generated. The synchronization of the test starting time point can be: the navigation setting module can obtain the target point based on step S11, and the target point can refer to the starting location and the ending location of the test, and then generate a preset path based on step S12, and execute step S13: send the path information in multiple times according to the time relationship of the path data through link 3 of the bench test system, so as to realize the sending of the preset path; then execute step S14: take the time when the map service module first receives the path information as the starting time T0, the map service module can execute step S15: send T0 to the dynamic incremental verification module through link 4, so that the dynamic incremental verification module can realize the starting time synchronization through step S16, and send T0 to the local static verification module based on step S17, so that the local static verification module can realize the starting time synchronization through step S18.

[0043] The reconstruction time point synchronization can be as follows: the dynamic incremental verification module responds to the triggering of the global timer through step S21, and starts map reconstruction through step S22, and uses the time Tx when the map reconstruction starts as the reconstruction time point. Step S23 is executed to send Tx to the local static verification module through link 5, so that the local static verification module can perform time synchronization based on steps S24 and S25, and generate a reconstructed map at time Tx.

[0044] Optional, such as Figure 4 As shown, obtaining the second passively reconstructed map based on the second map and the positioning data includes:

[0045] S121: Adjust the timestamps in the plurality of coordinate information to the corresponding current timestamps, so as to obtain a plurality of adjusted coordinate information.

[0046] Since the time of the bench test is different from the time of the actual vehicle test, the current timestamp may refer to the timestamp under the bench test.

[0047] As one approach, the difference between the timestamps of the coordinate information before and after adjustment can be determined based on the start time of the actual vehicle test and the bench test. Based on this difference, the timestamps in the multiple coordinate information are adjusted to their corresponding current timestamps to obtain multiple adjusted coordinate information. The difference calculation formula is: △t = Loc-timestamp1 Bench - Loc-timestamp1 Actual Vehicle.

[0048] For example, the start time of the actual vehicle test and the start time of the bench test can be Loc-timestamp1 for the actual vehicle and Loc-timestamp1 for the bench respectively, with a difference of △t. The coordinate information before adjustment can be [{Loc-timestamp1, L1}, {Loc-timestamp2, L2}, ..., {Loc-timestamp n , L n}], where n is a positive integer, the adjusted coordinate information can be [{Loc-timestamp1+△t, L1},{Loc-timestamp2+△t, L2},...,{Loc-timestamp n +△t,L n}].

[0049] S122: Obtain the second passively reconstructed map based on the plurality of adjusted coordinate information and the second map.

[0050] As one approach, the data of the second map can be imported into the map service module of the bench test system, and then the multiple adjusted coordinate information can be input into the high-precision positioning module to obtain the second passively reconstructed map. For example, after obtaining the multiple adjusted coordinate information, the high-precision positioning module can sequentially send the multiple adjusted coordinate information to the query data module. The global timer then triggers the query data module to sequentially send the multiple adjusted coordinate information to the API, allowing the API to return the second passively reconstructed map via link 1.

[0051] Optional, such as Figure 5 As shown, obtaining the second actively reconstructed map based on the second map, the positioning data, and the path data includes:

[0052] S124: Adjust the timestamps in the plurality of coordinate information to the corresponding current timestamps, so as to obtain a plurality of adjusted coordinate information.

[0053] S125: Adjust the timestamps in the plurality of path information to the corresponding current timestamps, so as to obtain a plurality of adjusted path information.

[0054] Since the time of the bench test is different from the time of the actual vehicle test, the current timestamp may refer to the timestamp under the bench test.

[0055] As one approach, the difference between the timestamps of the route information before and after adjustment can be determined based on the start time of the actual vehicle test and the bench test. Based on this difference, the timestamps in multiple route information items are adjusted to their corresponding current timestamps to obtain multiple adjusted route information items. The difference calculation formula is: Δt = Nav-timestamp1 bench - Nav-timestamp1 actual vehicle.

[0056] For example, the start time of the actual vehicle test and the start time of the bench test can be Nav-timestamp1 actual vehicle and Nav-timestamp1 bench respectively, with a difference of Δt. The path information before adjustment can be:

[0057] [{Nav-timestamp1,{Link1,Link2,…,Link n}},...,{Nav-timestamp n ,{Link1,Link2,…,Link n}}], where n is a positive integer, the adjusted coordinate information can be:

[0058] [{Nav-timestamp1+△t,{Link1,Link2,…,Link n}},...,{Nav-timestamp n +△t,{Link1,Link2,…,Link n}}].

[0059] S126: Obtain the second actively reconstructed map based on the second map, the plurality of adjusted coordinate information, and the adjusted path information.

[0060] As one approach, the data of the second map can be imported into the map service module under the bench test system, and then the multiple adjusted coordinate information can be input into the high-precision positioning module, and the multiple adjusted path information can be input into the EHP to obtain a second actively reconstructed map. For example, after obtaining the multiple adjusted coordinate information, the high-precision positioning module can sequentially send the multiple adjusted coordinate information to the EHP. At the same time, the path setting module can also input the multiple adjusted path information into the EHP via link 3. The EHP can then segment and serialize the vehicle's forward related data from the map database based on the positioning information and path information according to the ADASIS v3 specification, and send the processed data to the incremental dynamic verification module via link 4. The incremental dynamic verification module deserializes the received data through the EHR and begins reconstruction based on the received data to obtain the second actively reconstructed map.

[0061] S130: Compare the first reconstructed map with the second reconstructed map, and obtain a test result of the second map based on the comparison result.

[0062] As a method, the first passively reconstructed map and the second passively reconstructed map can be compared to obtain a first comparison result, which represents the degree of match between the second map and the second passively reconstructed map; the first actively reconstructed map and the second actively reconstructed map can be compared to obtain a second comparison result, which represents the degree of match between the second map and the second actively reconstructed map; and based on the first comparison result and the second comparison result, a test result of the second map is obtained.

[0063] This embodiment provides a map testing method. During an actual vehicle test, a vehicle is driven along a preset route generated based on a first map. Actual map information including positioning data and route data, as well as a first reconstructed map reconstructed based on the positioning data and the first map, is collected. A second reconstructed map is obtained based on the actual map information, a second map, and a bench test. The second map is obtained by updating the first map. The first reconstructed map is compared with the second reconstructed map, and a test result of the second map is obtained based on the comparison result. The above method allows the actual map information and the first reconstructed map before the map update to be obtained based on an actual vehicle test. The second reconstructed map is then obtained based on the actual map information and the updated map during a bench test. The first and second reconstructed maps are then compared to obtain the test result of the updated map, thereby saving testing costs.

[0064] See also Figure 6 , this application provides a map testing method, the method comprising:

[0065] S2010: Obtain actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected when the vehicle travels along a preset path in an actual vehicle test, the preset path is generated based on a first map, and the first reconstructed map is a map reconstructed based on the positioning data, the path information, and the first map.

[0066] The first passively reconstructed map and the second passively reconstructed map each include a plurality of map data, each map data corresponding to a data identifier and including a plurality of elements.

[0067] S2020: Based on the actual map information, the second map, and the bench test method, a second reconstructed map is obtained, where the second map is obtained by updating the first map.

[0068] S2030: Acquire first map data from the first passively reconstructed map, and acquire second map data from the second passively reconstructed map, wherein the first map data and the second map data have the same data identifier.

[0069] The first passively reconstructed map can be represented as M1, M2, ..., Mn, where n is a positive integer and Mn can represent the nth piece of map data in the first passively reconstructed map. The specific content of Mn can be: {data identifier n, {element n1, element n2, ..., element nn}}. The second passively reconstructed map can be represented as M1', M2', ..., Mn', where n is a positive integer and Mn' can represent the nth piece of map data in the second passively reconstructed map. The specific content of Mn' can be: {data identifier n, {element n1, element n2, ..., element nm}}. The data identifiers of the map data corresponding to the first passively reconstructed map and the second passively reconstructed map can each represent the position of the corresponding map data in the entire map.

[0070] As one approach, the map data corresponding to the first passively reconstructed map and the second passively reconstructed map may be compared based on their respective data identifiers, and the map data having the same map identifier may be stored in a designated location according to the format of Table 1.

[0071] Table 1

[0072] Data Identification First passive reconstruction of the map element First passive reconstruction of the map element 1 element 11, element 12, ..., element 1n Element 11, Element 12, ..., Element 1m 2 element 21, element 22,..., element 2n Element 21, Element 22, ..., Element 2m ... ... ... n element n1, element n2,..., element nn element n1, element n2,..., element nm

[0073] S2040: Matching multiple elements included in the first map data with multiple elements included in the second map data to obtain a first inventory comparison result, where the first inventory comparison result represents the accuracy of unchanged portions of the first map and the second map.

[0074] Each element may correspond to an element identifier, and the type of element in the map data may be determined by the element identifier. For example, the map data may be {data identifier 1, {element 11, element 12, element 13}}, where element 11 and element 12 may be elements of the same type and their corresponding element identifiers may be A, and element 13 may be another type of element and its corresponding element identifier may be B. The map data may then be represented as {data identifier 1, {A, A, B}}.

[0075] As a method, the element identifiers of elements in the first map data and the second map data with the same data identifier are matched to obtain a target element, which may refer to an element with the same identifier. The target element is then matched with the element inventory list, and a first inventory comparison result is obtained based on the matching result. The element inventory list may be the unchanged portion of the first map and the second map at the same location provided by the map provider. Under a data identifier, the calculation formula for the matching result may be:

[0076] Si = number of matches between target elements and element inventory / total number of element inventory

[0077] Where i can represent a data identifier, and the first inventory comparison result can be:

[0078] S_API=(S1_API+S2_API+...+SI_API) / I

[0079] Wherein, I is a positive integer, and I can represent the total number of data identifiers.

[0080] For example, the data identifiers can be 1, 2, or 3. When the data identifier is 1, the element inventory list can be ABB, the element identifier corresponding to the first passively reconstructed map can be AABBC, and the element identifier corresponding to the second passively reconstructed map can be ABBBD. If the same element identifier is ABB, then S1_API = 3 / 3, indicating that the accuracy of the unchanged portion of the first map and the second map in the position corresponding to data identifier 1 is 100%. Continuing in the above manner, S2_API and S3_API are obtained in sequence, and the first inventory comparison result S_API = (S1_API + S2_API + S3_API) / 3.

[0081] As another method, the matching result of each element can be obtained based on the identifier of the element in the first map data and the second map data, and then the first inventory comparison result can be obtained based on the matching results of all elements. In which, under one data identifier, the matching result of one element is calculated as follows:

[0082] Oi_API = Number of element i matches / Total number of element i in the element inventory

[0083] Where i is a positive integer and can represent an element identifier. Under a data identifier, the matching results of all elements are calculated as follows:

[0084] Rj_API=(O1_API+O2_API+...+OI_API) / I

[0085] Where I is a positive integer, which can represent the number of element types. The first inventory comparison result can be:

[0086] S_API=(R1_API+R2_API+...+RJ_API) / J

[0087] Wherein, J is a positive integer, and J can represent the total number of data identifiers.

[0088] For example, the data identifiers can be 1, 2, or 3. When the data identifier is 1, the element inventory list can be ABB, the element identifier corresponding to the first passively reconstructed map can be AABBD, and the element identifier corresponding to the second passively reconstructed map can be ABBBC. Then, the matching result O1_API corresponding to element identifier A is 1 / 1=1, the matching result O1_API corresponding to element identifier B is 2 / 2=1, and the matching result R1_API for all elements under data identifier 1 is (1+1) / 2=1, indicating that the accuracy of the unchanged portion of the first map and the second map in the position corresponding to data identifier 1 is 100%. Continuing in the above manner, the values ​​of R2_API and R3_API are obtained in sequence, and then the first inventory comparison result S_API is = (R1_API+R2_API+R3_API) / 3.

[0089] S2050: Match each element in the first passively reconstructed map with all elements in the passively reconstructed map of the second reconstructed map, and obtain a list of different elements based on the matching results, where the list of different elements is the elements added or deleted in the second map.

[0090] As one approach, each element in the first passively reconstructed map can be matched against all elements in the second passively reconstructed map, and a list of difference elements can be obtained based on the matching results. For example, if the first passively reconstructed map contains elements A, B, and C, and the second passively reconstructed map contains elements A, B, and D, then the difference elements can be C and D.

[0091] S2060: Obtain an element change list corresponding to the second map.

[0092] The element change list may be the changed parts in the first map and the second map at the same location provided by the map provider.

[0093] As one approach, a list of element changes corresponding to the second map may be obtained from a map database.

[0094] S2070: Based on the difference element list and the element change list, obtain a first incremental comparison result, where the first incremental comparison result represents the accuracy of the changed parts in the first map and the second map.

[0095] As a method, each element in the difference element list can be matched with all elements in the element change list to obtain the matching result of each element. If an element match is successful, it can be indicated that when the API outputs data, the element change in the second map is the same as the element change under the actual road; if the element match fails, it can be indicated that the element change in the second map is different from the element change under the actual road.

[0096] Optionally, the more elements that are successfully matched, the more accurate the changed parts in the first map and the second map are. The first incremental comparison result can be obtained by dividing the number of successfully matched elements by the total number of elements in the element change list.

[0097] S2080: Obtain the first comparison result based on the first inventory comparison result and the first increment comparison result.

[0098] As one approach, the first inventory comparison result and the first incremental comparison result may each correspond to a preset weight coefficient. The first comparison result may be obtained based on the first inventory comparison result, the first incremental comparison result, and the weight coefficient. The calculation formula for the first comparison result may be:

[0099] A=B1*C1+B2*C2

[0100] Among them, B1 can be the weight coefficient of the first inventory comparison result, C1 is the first inventory comparison result, B2 can be the weight coefficient of the first increment comparison result, C2 is the first increment comparison result, and B1+B2=1.

[0101] S2090: Compare the first actively reconstructed map and the second actively reconstructed map to obtain a second comparison result, where the second comparison result represents a matching degree between the second map and the second actively reconstructed map.

[0102] As a method, the first active reconstruction map and the second active reconstruction map may be compared to obtain a second comparison result.

[0103] S2100: Obtain a test result of the second map based on the first comparison result and the second comparison result.

[0104] As a method, the first comparison result and the second comparison result can each correspond to a preset weight coefficient, and a matching accuracy rate can be obtained based on the first comparison result, the second comparison result, and the weight coefficient. The matching accuracy rate is compared with the preset accuracy rate. If the matching accuracy rate is greater than or equal to the preset accuracy rate, it indicates that the second map provided by the map provider is the same as the actual road information, and the test result of the second map passes; if the matching accuracy rate is less than the preset accuracy rate, it indicates that the second map provided by the map provider is different from the actual road information, and the test result of the second map fails. The calculation formula for the matching accuracy rate can be:

[0105] P=A1*X+A2*Y

[0106] Among them, A1 can be the weight coefficient of the first comparison result, X is the first comparison result, A2 can be the weight coefficient of the second comparison result, Y is the second comparison result, and A1+A2=1.

[0107] Optionally, when the test result is failure, the second map may be modified accordingly based on the comparison result.

[0108] This embodiment provides a map testing method. Through the above-described method, actual map information and a first reconstructed map before a map update can be obtained based on actual vehicle testing. A second reconstructed map can then be obtained during bench testing based on the actual map information and the updated map. The first and second reconstructed maps are then compared to obtain a test result for the updated map, thereby reducing testing costs. Furthermore, in this embodiment, a first comparison result can be obtained through a first incremental comparison result and a first inventory comparison result. This allows verification of the functionality of the second passively reconstructed map output by the API based on the first comparison result. Furthermore, the accuracy of the second map can be quantitatively analyzed based on the first and second comparison results, thereby improving the operability of the map testing method proposed in this application.

[0109] See also Figure 7 , this application provides a map testing method, the method comprising:

[0110] S3010: Obtain actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected when the vehicle travels along a preset path in an actual vehicle test, the preset path is generated based on the first map, and the first reconstructed map is a map reconstructed based on the positioning data, the path information, and the first map.

[0111] The first actively reconstructed map and the second actively reconstructed map each include a plurality of map data, each of the map data corresponds to a data identifier and includes a plurality of elements.

[0112] S3020: Obtain a second reconstructed map based on the actual map information, the second map, and the bench test method, where the second map is obtained by updating the first map.

[0113] S3030: Compare the first passively reconstructed map and the second passively reconstructed map to obtain a first comparison result, where the first comparison result represents a matching degree between the second map and the second passively reconstructed map.

[0114] S3040: Acquire first map data from the first actively reconstructed map, and acquire second map data from the second actively reconstructed map, wherein the first map data and the second map data have the same data identifier.

[0115] The first actively reconstructed map can be represented as LocalMap1, LocalMap2, ..., LocalMapn, where n is a positive integer, LocalMapn can represent the nth map data in the first actively reconstructed map, and the specific content of LocalMapn can be: {data identifier n, {element n1, element n2, ..., element nn}}. The second actively reconstructed map can be represented as LocalMap1', LocalMap2', ..., LocalMapn', where n is a positive integer, LocalMapn' can represent the nth map data in the second actively reconstructed map, and the specific content of LocalMapn' can be: {data identifier n, {element n1, element n2, ..., element nm}}. The data identifiers of the map data corresponding to the first actively reconstructed map and the second actively reconstructed map can represent the positions of the corresponding map data in the entire map.

[0116] As one approach, the map data corresponding to the first active reconstructed map and the second active reconstructed map may be compared based on their respective data identifiers, and the map data having the same map identifier may be stored in a designated location according to the format of Table 2.

[0117] Table 2

[0118]

[0119]

[0120] S3050: Matching multiple elements included in the first map data with multiple elements included in the second map data to obtain a second inventory comparison result, where the second inventory comparison result represents the accuracy of the second map relative to the unchanged portion of the first map.

[0121] Each element may correspond to an element identifier, and the type of element in the map data may be determined by the element identifier. For example, the map data may be {data identifier 1, {element 11, element 12, element 13}}, where element 11 and element 12 may be elements of the same type and their corresponding element identifiers may be A, and element 13 may be another type of element and its corresponding element identifier may be B. The map data may then be represented as {data identifier 1, {A, A, B}}.

[0122] As a method, the element identifiers of elements in the first map data and the second map data with the same data identifier are matched to obtain a target element, which may refer to an element with the same identifier. The target element is then matched with the element inventory list, and a first inventory comparison result is obtained based on the matching result. The element inventory list may be the unchanged portion of the first map and the second map at the same location provided by the map provider. Under a data identifier, the calculation formula for the matching result may be:

[0123] Si = number of matches between target elements and element inventory / total number of element inventory

[0124] Where i can represent a data identifier, and the first inventory comparison result can be:

[0125] S_EHP=(S1_EHP+S2_EHP+...+SI_EHP) / I

[0126] Wherein, I is a positive integer, and I can represent the total number of data identifiers.

[0127] For example, the data identifiers can be 1, 2, or 3. When the data identifier is 1, the element inventory list can be ABB. The element identifiers corresponding to the first passively reconstructed map can be AABBC, and the element identifiers corresponding to the second passively reconstructed map can be ABBBD. If the same element identifier is ABB, then S1_EHP = 3 / 3, indicating that the accuracy of the unchanged parts of the first map and the second map in the position corresponding to data identifier 1 is 100%. Continuing to obtain S2_EHP and S3_EHP, the first inventory comparison result S_EHP = (S1_EHP + S2_EHP + S3_EHP) / 3.

[0128] As another method, the matching result of each element can be obtained based on the identifier of the element in the first map data and the second map data, and then the first inventory comparison result can be obtained based on the matching results of all elements. In which, under one data identifier, the matching result of one element is calculated as follows:

[0129] Oi_EHP = Number of matches for element i / Total number of element i in the element inventory

[0130] Where i is a positive integer and can represent an element identifier. Under a data identifier, the matching results of all elements are calculated as follows:

[0131] Rj_EHP=(O1_EHP+O2_EHP+...+OI_EHP) / I

[0132] Where I is a positive integer, which can represent the number of element types. The first inventory comparison result can be:

[0133] S_EHP=(R1_EHP+R2_EHP+...+RJ_EHP) / J

[0134] Wherein, J is a positive integer, and J can represent the total number of data identifiers.

[0135] For example, the data identifiers can be 1, 2, or 3. When the data identifier is 1, the element inventory list can be ABB, the element identifier corresponding to the first passively reconstructed map can be AABBD, and the element identifier corresponding to the second passively reconstructed map can be ABBBC. Then, the matching result O1_EHP corresponding to element identifier A is 1 / 1=1, the matching result O1_EHP corresponding to element identifier B is 2 / 2=1, and the matching result R1_EHP for all elements under data identifier 1 is (1+1) / 2=1, indicating that the accuracy of the unchanged portion of the first map and the second map in the position corresponding to data identifier 1 is 100%. Continuing in the above manner, the values ​​of S2_EHP and S3_EHP are obtained in sequence, and the first inventory comparison result S_EHP is then S_EHP=(R1_EHP+R2_EHP+R3_EHP) / 3.

[0136] S3060: Match each element in the first active reconstructed map with all elements in the passive reconstructed map of the second primary reconstructed map, and obtain a list of different elements based on the matching results, where the list of different elements is the elements added or deleted in the second map.

[0137] As one approach, each element in the first actively reconstructed map can be matched against all elements in the second actively reconstructed map, and a list of difference elements can be obtained based on the matching results. For example, if the first actively reconstructed map contains elements A, B, and C, and the second actively reconstructed map contains elements A, B, and D, then the difference elements can be C and D.

[0138] Among them, since the data obtained by EHR is sent out after serialization by EHP, the data can be an incremental broadcast of the map service module as the vehicle position changes. There may be problems such as packet loss, retransmission or full request. Therefore, directly comparing the data received by EHR will cause errors in the matching results. Therefore, in order to reduce the error, element matching can be performed based on active reconstruction of the map.

[0139] S3070: Obtain an element change list corresponding to the second map.

[0140] S3080: Based on the difference element list and the element change list, obtain a second incremental comparison result, where the second incremental comparison result represents the accuracy of the changed parts in the first map and the second map.

[0141] As a method, each element in the difference element list can be matched with all elements in the element change list to obtain a matching result for each element. If an element match is successful, it can be indicated that in the case of EHP output data, the element change in the second map is the same as the element change under the actual road; if the element match fails, it can be indicated that the element change in the second map is different from the element change under the actual road.

[0142] Optionally, the more elements that are successfully matched, the more accurate the changed parts in the first map and the second map are. The second incremental comparison result can be obtained by dividing the number of successfully matched elements by the total number of elements in the element change list.

[0143] S3090: Obtain the second comparison result based on the second inventory comparison result and the second increment comparison result.

[0144] As an approach, the second inventory comparison result and the second incremental comparison result may each correspond to a preset weight coefficient. The second comparison result may be obtained based on the second inventory comparison result, the second incremental comparison result, and the weight coefficient. The calculation formula for the second comparison result may be:

[0145] A=B1*C1+B2*C2

[0146] Among them, F1 can be the weight coefficient of the second inventory comparison result, G1 is the second inventory comparison result, F2 can be the weight coefficient of the second increment comparison result, G2 is the second increment comparison result, and F1+F2=1.

[0147] S3100: Obtain a test result of the second map based on the first comparison result and the second comparison result.

[0148] This embodiment provides a map testing method. Through the aforementioned method, actual map information and a first reconstructed map before a map update are first obtained based on actual vehicle testing. A second reconstructed map is then obtained during bench testing based on the actual map information and the updated map. The first and second reconstructed maps are then compared to obtain a test result for the updated map, thereby reducing testing costs. Furthermore, in this embodiment, a second comparison result can be obtained using the second incremental comparison result and the second stock comparison result. This second comparison result can be used to verify the functionality of the second actively reconstructed map output by the EHP. Furthermore, the accuracy of the second map can be quantitatively analyzed based on the first and second comparison results, thereby improving the operability of the map testing method proposed in this application.

[0149] See also Figure 8 The present application provides a map testing device 600, which includes:

[0150] An information acquisition unit 610 is configured to acquire actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected while the vehicle is traveling along a preset path during an actual vehicle test, the preset path being generated based on a first map, and the first reconstructed map being a map reconstructed based on the positioning data, the path information, and the first map;

[0151] A second reconstructed map obtaining unit 620 is configured to obtain a second reconstructed map based on the actual map information, a second map, and a bench test method, where the second map is obtained by updating the first map;

[0152] The test result obtaining unit 630 is configured to compare the first reconstructed map with the second reconstructed map, and obtain a test result of the second map based on the comparison result.

[0153] As a method, the second reconstructed map acquisition unit 620 is specifically used to obtain the second map; obtain the second passive reconstructed map based on the second map and the positioning data; and obtain the second active reconstructed map based on the second map, the positioning data and the path data.

[0154] The positioning data includes multiple coordinate information, and the coordinate information includes corresponding coordinates and timestamps. Optionally, the timestamps in the multiple coordinate information are adjusted to their respective corresponding current timestamps to obtain multiple adjusted coordinate information; based on the multiple adjusted coordinate information and the second map, the second passive reconstructed map is obtained.

[0155] The positioning data includes multiple coordinate information, the coordinate information includes corresponding coordinates and timestamps, the path data includes multiple path information, the path information includes corresponding road selection lists and timestamps, and optionally, the timestamps in the multiple coordinate information are adjusted to their respective corresponding current timestamps to obtain multiple adjusted coordinate information; the timestamps in the multiple path information are adjusted to their respective corresponding current timestamps to obtain multiple adjusted path information; based on the second map, the multiple adjusted coordinate information and the adjusted path information, the second active reconstructed map is obtained.

[0156] As an approach, the first reconstruction map includes a first passive reconstruction map and a first active reconstruction map, and the second reconstruction map includes a second passive reconstruction map and a second active reconstruction map. The test result acquisition unit 630 is specifically configured to compare the first passive reconstruction map with the second passive reconstruction map to obtain a first comparison result, where the first comparison result indicates a degree of match between the second map and the second passive reconstruction map; compare the first active reconstruction map with the second active reconstruction map to obtain a second comparison result, where the second comparison result indicates a degree of match between the second map and the second active reconstruction map; and obtain a test result for the second map based on the first comparison result and the second comparison result.

[0157] Optionally, the first passively reconstructed map and the second passively reconstructed map each include multiple pieces of map data, each piece of map data corresponding to a data identifier and including multiple elements. The test result acquisition unit 630 is specifically configured to acquire first map data from the first passively reconstructed map and second map data from the second passively reconstructed map, wherein the first map data and the second map data have the same data identifier; match the multiple elements included in the first map data with the multiple elements included in the second map data to obtain a first stock comparison result, wherein the first stock comparison result indicates the accuracy of unchanged portions of the first and second maps; match each element in the first passively reconstructed map with all elements in the passively reconstructed map of the second reconstructed map, and obtain a difference element list based on the matching results, wherein the difference element list indicates elements added or deleted in the second map; obtain an element change list corresponding to the second map; obtain a first incremental comparison result based on the difference element list and the element change list, wherein the first incremental comparison result indicates the accuracy of changed portions of the first and second maps; and obtain the first comparison result based on the first stock comparison result and the first incremental comparison result.

[0158] Optionally, the first actively reconstructed map and the second actively reconstructed map each include multiple pieces of map data, each piece of map data corresponding to a data identifier and including multiple elements. The test result acquisition unit 630 is specifically configured to acquire first map data from the first actively reconstructed map and second map data from the second actively reconstructed map, wherein the first map data and the second map data have the same data identifier; match the multiple elements included in the first map data with the multiple elements included in the second map data to obtain a second stock comparison result, wherein the second stock comparison result indicates the accuracy of the second map relative to the unchanged portion of the first map; match each element in the first actively reconstructed map with all elements in the second actively reconstructed map, and based on the matching results, obtain a list of difference elements, wherein the list of difference elements indicates elements added or deleted in the second map; obtain an element change list corresponding to the second map; obtain a second incremental comparison result based on the difference element list and the element change list, wherein the second incremental comparison result indicates the accuracy of the changed portions in the first and second maps; and obtain the second comparison result based on the second stock comparison result and the second incremental comparison result.

[0159] Optionally, the map is a high-precision map.

[0160] The following will be combined Figure 9 An electronic device provided by this application is described.

[0161] See also Figure 9 Based on the aforementioned map testing method and apparatus, embodiments of the present application further provide another electronic device 100 capable of executing the aforementioned map testing method. The electronic device 100 includes one or more (only one is shown in the figure) processors 102 and a memory 104 coupled to each other. The memory 104 stores a program capable of executing the aforementioned embodiments, and the processor 102 can execute the program stored in the memory 104.

[0162] The processor 102 may include one or more processing cores. The processor 102 utilizes various interfaces and circuits to connect various components within the electronic device 100. It executes instructions, programs, code sets, or instruction sets stored in the memory 104, and accesses data stored in the memory 104 to perform various functions and process data within the electronic device 100. Optionally, the processor 102 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 102 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 102 and may be implemented separately via a communication chip.

[0163] The memory 104 may include a random access memory (RAM) or a read-only memory (ROM). The memory 104 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the terminal 200 during use (such as a phone book, audio and video data, chat record data), etc.

[0164] Please refer to Figure 10 , which shows a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 800 stores program code, which can be called by a processor to execute the method described in the above method embodiment.

[0165] The computer-readable storage medium 800 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 800 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 800 has storage space for program code 810 for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program code 810 can be compressed, for example, in a suitable form.

[0166] In summary, the present application provides a map testing method, device, and electronic device. During an actual vehicle test, the vehicle collects actual map information including positioning data and path data, and a first reconstructed map reconstructed based on the positioning data and the first map, and then obtains a second reconstructed map based on the actual map information, the second map, and a bench test. The second map is obtained by updating the first map. The first reconstructed map is compared with the second reconstructed map, and the test result of the second map is obtained based on the comparison result. Through the above method, the actual map information before the map update and the first reconstructed map can be obtained based on the actual vehicle test, and the second reconstructed map can be obtained based on the actual map information and the updated map during the bench test. The first reconstructed map and the second reconstructed map can then be compared to obtain the test result of the updated map, thereby saving testing costs.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A map testing method, characterized in that: The method comprises: Obtaining actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected while the vehicle is traveling along a preset path during an actual vehicle test, the preset path being generated based on a first map, and the first reconstructed map being a map reconstructed based on the positioning data, the path data, and the first map; the first map being a high-precision map; Based on the actual map information, the second map, and a bench test method, a second reconstructed map is obtained, where the second map is obtained by updating the first map; the bench test method is a method of importing the actual map information and the second map into a bench test system for testing; The first reconstructed map is compared with the second reconstructed map, and a test result of the second map is obtained based on the comparison result.

2. The method according to claim 1, characterized in that The first reconstructed map includes a first passive reconstructed map and a first active reconstructed map, and the second reconstructed map includes a second passive reconstructed map and a second active reconstructed map. The first passive reconstructed map and the second passive reconstructed map are both maps generated based on data output by an application programming interface during actual vehicle testing. The first active reconstructed map and the second active reconstructed map are both maps generated based on data output by an electronic horizon provider during actual vehicle testing. Comparing the first reconstructed map with the second reconstructed map to obtain a test result of the second map includes: comparing the first passively reconstructed map and the second passively reconstructed map to obtain a first comparison result, wherein the first comparison result indicates a matching degree between the second map and the second passively reconstructed map; comparing the first actively reconstructed map and the second actively reconstructed map to obtain a second comparison result, wherein the second comparison result indicates a matching degree between the second map and the second actively reconstructed map; A test result of the second map is obtained based on the first comparison result and the second comparison result.

3. The method according to claim 2, characterized in that The obtaining of a second reconstructed map based on the actual map information, the second map, and the bench test includes: obtaining the second map; obtaining a second passively reconstructed map based on the second map and the positioning data; A second actively reconstructed map is obtained based on the second map, the positioning data, and the path data.

4. The method according to claim 3, characterized in that The positioning data includes a plurality of coordinate information, wherein the coordinate information includes corresponding coordinates and a timestamp. Obtaining the second passively reconstructed map based on the second map and the positioning data includes: Adjusting the timestamps in the plurality of coordinate information to the respective corresponding current timestamps to obtain a plurality of adjusted coordinate information; The second passively reconstructed map is obtained based on the plurality of adjusted coordinate information and the second map.

5. The method according to claim 3, characterized in that The positioning data includes a plurality of coordinate information, the coordinate information includes corresponding coordinates and a timestamp, the path data includes a plurality of path information, the path information includes a corresponding road selection list and a timestamp, and obtaining the second actively reconstructed map based on the second map, the positioning data, and the path data includes: Adjusting the timestamps in the plurality of coordinate information to the respective corresponding current timestamps to obtain a plurality of adjusted coordinate information; Adjusting the timestamps in the plurality of path information to the respective corresponding current timestamps to obtain a plurality of adjusted path information; The second actively reconstructed map is obtained based on the second map, the plurality of adjusted coordinate information, and the adjusted path information.

6. The method according to claim 2, characterized in that The first passively reconstructed map and the second passively reconstructed map each include a plurality of map data, each map data having a corresponding data identifier and including a plurality of elements, and the first passively reconstructed map and the second passively reconstructed map are compared to obtain a first comparison result including: Acquiring first map data from the first passively reconstructed map, and acquiring second map data from the second passively reconstructed map, wherein the first map data and the second map data have the same data identifier; Matching multiple elements included in the first map data with multiple elements included in the second map data to obtain a first inventory comparison result, wherein the first inventory comparison result indicates the accuracy of unchanged portions of the first map and the second map; Matching each element in the first passively reconstructed map with all elements in the passively reconstructed map of the second reconstructed map, and obtaining a list of difference elements based on the matching results, where the list of difference elements is the elements added or deleted in the second map; Obtaining a list of element changes corresponding to the second map; Obtaining a first incremental comparison result based on the difference element list and the element change list, wherein the first incremental comparison result represents the accuracy of the changed parts in the first map and the second map; The first comparison result is obtained based on the first inventory comparison result and the first increment comparison result.

7. The method according to claim 2, characterized in that The first actively reconstructed map and the second actively reconstructed map each include a plurality of map data, each map data having a corresponding data identifier and including a plurality of elements, and the second actively reconstructed map is compared with the second actively reconstructed map to obtain a second comparison result including: Acquiring first map data from the first actively reconstructed map, and acquiring second map data from the second actively reconstructed map, wherein the first map data and the second map data have the same data identifier; matching multiple elements included in the first map data with multiple elements included in the second map data to obtain a second inventory comparison result, the second inventory comparison result indicating an accuracy of the second map relative to an unchanged portion of the first map; Matching each element in the first actively reconstructed map with all elements in the actively reconstructed map of the second reconstructed map, and obtaining a list of difference elements based on the matching results, where the list of difference elements is the elements added or deleted in the second map; Obtaining a list of element changes corresponding to the second map; obtaining a second incremental comparison result based on the difference element list and the element change list, wherein the second incremental comparison result represents the accuracy of the changed parts in the first map and the second map; The second comparison result is obtained based on the second inventory comparison result and the second increment comparison result.

8. A map testing device, characterized in that: The device comprises: an information acquisition unit, configured to acquire actual map information and a first reconstructed map, wherein the actual map information is positioning data and path data collected while the vehicle is traveling along a preset path during an actual vehicle test, the preset path being generated based on a first map, and the first reconstructed map being a map reconstructed based on the positioning data, the path data, and the first map; the first map being a high-precision map; a second reconstructed map acquisition unit, configured to obtain a second reconstructed map based on the actual map information, a second map, and a bench test method, wherein the second map is obtained by updating the first map; the bench test method is a method of importing the actual map information and the second map into a bench test system for testing; A test result obtaining unit is configured to compare the first reconstructed map with the second reconstructed map, and obtain a test result of the second map based on the comparison result.

9. An electronic device, characterized in that: including a processor and a memory; One or more programs are stored in the memory and configured to be executed by the processor, and the one or more programs are configured to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores program code, wherein when the program code is run, the method according to any one of claims 1 to 7 is executed.

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