A map data collection method, system and related device

Abstract

The application discloses a kind of map data acquisition method, system and related equipment, the method includes: with the positioning data of the first periodicity of preset main car is periodically sent to server, the server according to positioning data and cloud map data, judge whether need to send start collection instruction or stop collection instruction to main car;When receiving start collection instruction, control main car starts the collection of incremental map data;When receiving stop collection instruction, control main car stops the collection of incremental map data, and generates incremental map data;Based on incremental map data, generate target map data, which includes incremental map data and the connection data of incremental map data and cloud map data.The application only when cloud map data does not exist relevant map record, start the collection of incremental map data, realizes on-demand collection, avoids the repeated collection of map data to some extent, alleviates the waste of storage resources and bandwidth resources.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and more particularly to a map data collection method and system and related equipment. BACKGROUND

[0002] In the process of perfecting the map, multiple operating vehicles can be used to explore more undiscovered new paths and collect point cloud information on the new paths. However, if all operating vehicles collect map data without distinction at all times, a large amount of repeated data will be generated, which will cause waste of resources such as operation, storage and bandwidth, and increase the difficulty of data management in the later period. SUMMARY

[0003] Therefore, the present application provides a map data collection method, system and related equipment to solve at least one of the above technical problems.

[0004] To achieve the above purpose, the first aspect of the present application provides a map data collection method, which is applied to a vehicle end and includes:

[0005] The positioning data of the host vehicle is sent to a server at a preset first period, and the server is configured to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and cloud map data.

[0006] When the start collection instruction is received, the host vehicle is controlled to start collecting incremental map data.

[0007] When the stop collection instruction is received, the host vehicle is controlled to stop collecting incremental map data and generate incremental map data.

[0008] Based on the incremental map data, target map data is generated, and the target map data includes the incremental map data and connection data of the incremental map data and the cloud map data.

[0009] Preferably, the map data collection method further includes: when the host vehicle stops collecting incremental map data, the host vehicle is controlled to continuously collect map data, and the latest collected map data is retained for a preset first time length.

[0010] The connection data includes front-end connection data, and the front-end connection data is the map data collected within a preset first time length before the start of the collection of incremental map data.

[0011] Based on the incremental map data, the process of generating target map data includes:

[0012] Obtaining the connection data and splicing the connection data and the incremental map data to obtain target map data.

[0013] Preferably, the connection data further comprises backend connection data, the backend connection data being map data collected within a preset second time length after the collection of incremental map data is stopped.

[0014] Preferably, the map data collection method further comprises:

[0015] sending heartbeat data to the server at a preset second period and receiving heartbeat response data returned by the server;

[0016] judging whether a communication timeout occurs based on the heartbeat data and the heartbeat response data;

[0017] if yes, and the host vehicle has started to collect incremental map data, controlling the host vehicle to stop collecting incremental map data.

[0018] The second aspect of the present application provides a map data collection method, which is applied to a server end and comprises:

[0019] immediately returning heartbeat response data to the host vehicle after receiving heartbeat data of the host vehicle;

[0020] when receiving positioning data of the host vehicle, judging whether a location involved in the positioning data exists map record based on the positioning data and cloud map data;

[0021] if no, judging whether the host vehicle is collecting incremental map data;

[0022] if the host vehicle is not collecting incremental map data, determining that a start collection instruction needs to be sent to the host vehicle;

[0023] if yes, judging whether the host vehicle is collecting incremental map data;

[0024] if the host vehicle is collecting incremental map data, determining that a stop collection instruction needs to be sent to the host vehicle;

[0025] The start collection instruction is used to control the host vehicle to start collecting incremental map data, and the stop collection instruction is used to control the host vehicle to stop collecting incremental map data and generate incremental map data, and the incremental map data is used to generate target map data, and the target map data comprises the incremental map data and connection data of the incremental map data and the cloud map data.

[0026] Preferably, the positioning data comprises position data of a plurality of positioning points collected by the host vehicle at a preset first period with a preset frequency; and the cloud map data comprises a plurality of grid piece data, each grid piece data being located in a grid piece containing a plurality of grids.

[0027] According to the positioning data and the cloud map data, a process of determining whether the position involved in the positioning data is recorded in the map comprises:

[0028] Obtaining target grid piece data of each positioning point from the cloud map data, the target grid piece data being located in a grid piece containing the positioning point;

[0029] Obtaining the number of point clouds of the grid where each positioning point is located, and determining whether the number of point clouds exceeds a preset first threshold value, if not, determining the positioning point as a candidate positioning point;

[0030] Determining whether the number of candidate positioning points reaches a preset second threshold value;

[0031] If yes, determining that the position involved in the positioning data is recorded in the map;

[0032] If not, determining that the position involved in the positioning data is not recorded in the map.

[0033] The third aspect of the present application provides a map data collection system applied to a vehicle end, comprising a control unit of the vehicle end and a server of the cloud end;

[0034] The control unit is configured to implement each step of the map data collection method applied to the vehicle end;

[0035] The server is configured to implement each step of the map data collection method applied to the server end.

[0036] The fourth aspect of the present application provides a map data collection device applied to a vehicle end, comprising:

[0037] A positioning data sending unit configured to periodically send positioning data of a host vehicle to a server at a preset first period, the server being configured to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and cloud map data;

[0038] A start collection control unit configured to control the host vehicle to start collecting incremental map data when receiving the start collection instruction;

[0039] A stop collection control unit configured to control the host vehicle to stop collecting incremental map data and generate incremental map data when receiving the stop collection instruction.

[0040] The map data generation unit is configured to generate target map data based on the incremental map data, the target map data comprising the incremental map data and connection data between the incremental map data and the cloud map data.

[0041] The fifth aspect of the present application provides a map data collection device applied to a server end, comprising:

[0042] The heartbeat data response unit is configured to return heartbeat response data to the host vehicle immediately after receiving the heartbeat data of the host vehicle.

[0043] The positioning data processing unit is configured to determine whether a position involved in the positioning data has a map record according to the positioning data and the cloud map data when receiving the positioning data of the host vehicle.

[0044] The first branch processing unit is configured to:

[0045] When the positioning data processing unit determines that the position involved in the positioning data has no map record, determine whether the host vehicle is collecting incremental map data.

[0046] If the host vehicle is not collecting incremental map data, determine that a start collection instruction needs to be sent to the host vehicle.

[0047] The second branch processing unit is configured to:

[0048] When the positioning data processing unit determines that the position involved in the positioning data has a map record, determine whether the host vehicle is collecting incremental map data.

[0049] If the host vehicle is collecting incremental map data, determine that a stop collection instruction needs to be sent to the host vehicle.

[0050] The start collection instruction is used to control the host vehicle to start collecting incremental map data, and the stop collection instruction is used to control the host vehicle to stop collecting incremental map data and generate incremental map data. The incremental map data is used to generate target map data, and the target map data comprises the incremental map data and connection data between the incremental map data and the cloud map data.

[0051] The sixth aspect of the present application provides a map data collection device, comprising a memory and a processor.

[0052] The memory is configured to store a program.

[0053] The processor is configured to execute the program to realize each step of the above map data collection method.

[0054] The seventh aspect of the present application provides a storage medium, which stores a computer program, and the computer program is executed by a processor to realize each step of the map data collection method.

[0055] According to the technical solution, the positioning data of the host vehicle is periodically sent to the server according to the preset first period, and the server is configured to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and the cloud map data. It can be understood that the determination process makes it unnecessary to start the collection of incremental map data when the host vehicle has passed through a place recorded in the cloud map data. The collection of incremental map data is started only when there is no relevant map record in the cloud map data. When the start collection instruction is received, the host vehicle is controlled to start the collection of incremental map data. When the stop collection instruction is received, the host vehicle is controlled to stop the collection of incremental map data, and incremental map data is generated. It can be understood that the incremental map data is the map data collected from when the collection of incremental map data is started to when the collection of incremental map data is stopped. The map data is considered not to be included in the cloud map data, and thus exists in the form of increment. Finally, target map data is generated based on the incremental map data, and the target map data includes the incremental map data and connection data between the incremental map data and the cloud map data. By combining the incremental map data and the connection data, the target map data is more complete, which is beneficial to subsequent map updating operations. The present application starts the collection of incremental map data only when there is no relevant map record in the cloud map data, realizes on-demand collection, avoids repeated collection of map data to a certain extent, and alleviates the waste of storage resources of map data and bandwidth resources for map data transmission. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0057] Figure 1 A schematic diagram of the map data collection system disclosed in the embodiments of the present application;

[0058] Figure 2 A schematic diagram of the map data collection method applied to the vehicle end disclosed in the embodiments of the present application;

[0059] Figure 3A schematic diagram of generating connection data disclosed by the embodiments of the present application;

[0060] Figure 4 A schematic diagram of dealing with communication exceptions disclosed by the embodiments of the present application;

[0061] Figure 5 A schematic diagram of a map data collection method applied to a server end disclosed by the embodiments of the present application;

[0062] Figure 6 A schematic diagram of a map data collection device disclosed by the embodiments of the present application;

[0063] Figure 7 A schematic diagram of a map data collection device disclosed by the embodiments of the present application;

[0064] Figure 8 A schematic diagram of a map data collection device applied to a server end disclosed by the embodiments of the present application. DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0066] The map data collection system provided by the embodiments of the present application will be introduced below. Please refer to Figure 1 The map data collection system provided by the embodiments of the present application can include a control unit at a vehicle end and a server at a cloud end.

[0067] The control unit is arranged on a host vehicle and is mainly used for regularly reporting positioning data of the host vehicle to the server and receiving and responding to instructions issued by the server. The instructions can include a start collection instruction and a stop collection instruction, which are respectively used for starting and stopping the host vehicle to collect incremental map data.

[0068] The server is arranged at the cloud end and is mainly used for determining whether to send the start collection instruction or the stop collection instruction to the host vehicle according to the positioning data provided by the host vehicle and cloud end map data.

[0069] Specifically, the control unit realizes its functions by executing the map data collection method applied to the vehicle end provided by the embodiments of the present application; and the server realizes its functions by executing the map data collection method applied to the server end provided by the embodiments of the present application. The map data collection method provided by the embodiments of the present application will be described in detail below from the perspectives of the vehicle end and the server end.

[0070] The application provides a map data collection method applied to a vehicle end. Please refer to Figure 2 The application provides a map data collection method applied to a vehicle end. Please refer to

[0071] Step S101: periodically sending positioning data of a host vehicle to a server at a preset first period.

[0072] For example, the first period can be 1 second or 2 seconds, which can be preset according to actual needs. The server is configured to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and cloud map data. It should be noted that the cloud map data is a high-precision map, and the version is the latest one, which has good timeliness. If the map increment is calculated according to the vehicle end map version, it is not convenient to maintain the vehicle, and for each host vehicle, the unified map version can avoid the above maintenance process, and can avoid the problem of data asynchronization caused by inconsistent vehicle end maps. In addition, the calculation of the positioning data is completed on the server side, which can avoid calculating the increment according to the high-precision map of the vehicle end, thereby avoiding occupying the resources of the vehicle end.

[0073] Step S102: when receiving the start collection instruction, controlling the host vehicle to start collecting incremental map data.

[0074] Step S103: when receiving the stop collection instruction, controlling the host vehicle to stop collecting incremental map data, and generating incremental map data.

[0075] It can be understood that the incremental map data is the map data collected from the start of collecting incremental map data to the stop of collecting incremental map data. These map data are considered not to be included in the cloud map data, and therefore exist in the form of increment.

[0076] Step S104: generating target map data based on the incremental map data.

[0077] The target map data includes the incremental map data and the connection data of the incremental map data and the cloud map data. Specifically, the positioning data processed by the server in step S101 is collected and periodically sent by the host vehicle in real time. When the server processes these positioning data and then issues an instruction to the host vehicle, the host vehicle has traveled a certain distance. Therefore, the collected incremental map data cannot be seamlessly connected to the corresponding road section in the cloud map data, and needs to be buffered, for example, the data collected in the part of the road section before receiving the start collection instruction is used as the connection data, and the connection data is merged into the incremental map data to form complete map data.

[0078] The positioning data of the host vehicle is periodically sent to a server in a preset first period. The server is configured to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and cloud map data. It can be understood that the determination process makes it unnecessary to start the collection of incremental map data when the host vehicle has passed a place recorded in the cloud map data. The collection of incremental map data is started only when there is no relevant map record in the cloud map data. When the start collection instruction is received, the host vehicle is controlled to start the collection of incremental map data. When the stop collection instruction is received, the host vehicle is controlled to stop the collection of incremental map data, and incremental map data is generated. It can be understood that the incremental map data is the map data collected from when the collection of incremental map data is started to when the collection of incremental map data is stopped. The map data is considered not to be included in the cloud map data, and thus exists in the form of increment. Finally, target map data is generated based on the incremental map data, wherein the target map data includes the incremental map data and connection data of the incremental map data and the cloud map data. By combining the incremental map data and the connection data, the target map data is more complete, which is beneficial to subsequent map updating operations. The application starts the collection of incremental map data only when there is no relevant map record in the cloud map data, realizes on-demand collection, avoids repeated collection of map data to some extent, and alleviates the waste of map data storage resources and bandwidth resources for map data transmission.

[0079] In some embodiments of the present application, referring to Figure 3 The map data collection method applied to the vehicle end provided by the embodiments of the present application can further include the following steps.

[0080] In step S105, when the host vehicle stops the collection of incremental map data, the host vehicle is controlled to continuously collect map data, and the latest collected map data of a preset first time length is retained.

[0081] Exemplarily, the preset first time length can be 10 seconds. It should be noted that the incremental map data is collected when the host vehicle receives the start collection instruction in step S102. The collection of map data in step S105 is performed in an idle state, i.e., when the collection of incremental map data is not performed. Although the collection of map data is continuously performed in the idle state, only the latest collected map data of the preset first time length is retained in the storage device of the vehicle end, so that the consumption and waste of storage resources of the vehicle end are avoided. In addition, the retained map data can be used as connection data to ensure the completeness of the target map data.

[0082] Based on this, the connection data mentioned in step S104 can include front-end connection data, wherein the front-end connection data is map data collected within a preset first time length before starting to collect the incremental map data.

[0083] The process of generating target map data based on the incremental map data in step S104 can include:

[0084] S1, acquiring connection data.

[0085] S2, splicing the connection data and the incremental map data to obtain target map data.

[0086] It should be noted that there can be a case that the host vehicle stops on the road for a long time before starting to collect the incremental map data, at this time, the host vehicle is continuously collecting the same map data, resulting in that the map data retained within the preset first time length cannot contain enough connection information. Therefore, further improvement can be made, such as when it is judged that the host vehicle stops or travels too slowly, the repeated content collected is deleted, or the same road information is not repeatedly collected, so that the map data finally retained is map data covering a longer road section.

[0087] In some embodiments of the present application, the connection data mentioned in step S104 can also include rear-end connection data, wherein the rear-end connection data is map data collected within a preset second time length after stopping to collect the incremental map data.

[0088] Exemplarily, the preset second time length can be 10 seconds.

[0089] The process of splicing the connection data and the incremental map data to obtain target map data in S2 can include:

[0090] Splicing the front-end connection data, the incremental map data and the rear-end connection data to obtain target map data.

[0091] When the host vehicle passes through a place with weak signal such as a tunnel, it can lose contact with the server, at this time, it cannot obtain the guidance of the server, and if the collection of the incremental map data has been started, it cannot stop collecting at the node where it should stop.

[0092] Based on this, in some embodiments of the present application, referring to Figure 4 The map data collection method applied to the vehicle end provided by the embodiments of the present application can further include:

[0093] Step S106, when it is judged that communication abnormality occurs between the server, controlling the host vehicle to stop collecting the incremental map data.

[0094] In some embodiments of the present application, when it is judged that a communication abnormality occurs between the server, the step S106 of controlling the host vehicle to stop the process of collecting the incremental map data can include:

[0095] S1, periodically sending the heartbeat data to the server at a preset second period, and receiving the heartbeat response data returned by the server.

[0096] Exemplarily, the second period can be 1 second or 2 seconds, which can be preset according to actual needs.

[0097] S2, judging whether a communication timeout occurs based on the heartbeat data and the heartbeat response data. If yes, perform S3.

[0098] Exemplarily, if the heartbeat response data returned by the server is not received for a plurality of times continuously, it is considered that a communication timeout occurs.

[0099] S3, judging whether the host vehicle has started to collect the incremental map data. If yes, perform S4.

[0100] S4, controlling the host vehicle to stop collecting the incremental map data.

[0101] It can be understood that if it is judged in S3 that the host vehicle has not started to collect the incremental map data (i.e., has stopped collecting the incremental map data), no additional operation is needed. After the normal communication is restored, the response can be performed again according to the newly uploaded position data.

[0102] The map data collection method applied to the server side provided by the embodiments of the present application will be introduced below. Please refer to Figure 5 The map data collection method applied to the server side provided by the embodiments of the present application can include the following steps:

[0103] Step S201, immediately returning the heartbeat response data to the host vehicle after receiving the heartbeat data of the host vehicle.

[0104] Step S202, when receiving the positioning data of the host vehicle, judging whether the position involved in the positioning data exists in the map record according to the positioning data and the cloud map data. If yes, perform step S203; if no, perform step S205.

[0105] The position involved in the positioning data refers to the position pointed by the positioning data.

[0106] Step S203, judging whether the host vehicle is collecting the incremental map data. If yes, perform step S204.

[0107] The collection state of each host vehicle can be saved on the server, and the collection state of each host vehicle can be queried to determine whether the host vehicle is collecting incremental map data.

[0108] In step S204, it is determined that the stop collection instruction needs to be sent to the host vehicle.

[0109] In step S205, it is determined whether the host vehicle is collecting incremental map data. If not, step S206 is performed.

[0110] In step S206, it is determined that the start collection instruction needs to be sent to the host vehicle.

[0111] The start collection instruction is used to control the host vehicle to start collecting incremental map data, the stop collection instruction is used to control the host vehicle to stop collecting incremental map data and generate incremental map data, and the incremental map data is used to generate target map data, which includes incremental map data and connection data between the incremental map data and cloud map data.

[0112] In some embodiments of the present application, the positioning data mentioned in steps S101 and S202 can include position data of a plurality of positioning points collected by the host vehicle at a preset first period with a preset frequency. For example, assuming that the first period is 1 second and the preset frequency is 10 Hz, the host vehicle can collect position data of 10 positioning points per second, and report the position data of the 10 positioning points to the server in each first period.

[0113] The cloud map data mentioned in steps S101 and S202 can include a plurality of grid piece data, and each grid piece data is located in a grid piece containing a plurality of grids. For example, each grid piece can contain 32x32 grids, and each grid has a size of 1x1. The cloud map data divides the global map into a plurality of 32x32 grid pieces for storage, and can be located to a certain grid piece data through index and position information.

[0114] The process of determining whether the position involved in the positioning data has a map record according to the positioning data and the cloud map data in step S202 can include:

[0115] S1. Obtain target grid piece data of each positioning point from the cloud map data.

[0116] The target grid piece data is located in a grid piece containing the positioning point. Corresponding to 10 positioning points, 10 grid piece data can be obtained. Since each grid piece data covers 32x32 grids, the 10 grid piece data can be repeated, i.e., some positioning points can correspond to the same grid piece data.

[0117] S2, obtain the number of point clouds in the grid where each positioning point is located, and determine whether the number of point clouds exceeds a preset first threshold. If not, determine the positioning point as a candidate positioning point.

[0118] For example, the first threshold can be set to 8. That is, if the grid where a certain location point is located contains more than 8 point cloud items, it is confirmed that the location point has a map record in the cloud map data; otherwise, it is confirmed that the location point does not have a map record in the cloud map data, and the location point is identified as a candidate location point.

[0119] S3, determine whether the number of each candidate location point has reached the preset second threshold. If yes, proceed to S4; otherwise, proceed to S5.

[0120] S4, confirm that the location involved in the positioning data exists on a map.

[0121] S5, determine that the location involved in the positioning data does not have a map record.

[0122] The following describes the map data acquisition device for vehicles provided in the embodiments of this application. The map data acquisition device described below and the map data acquisition method for vehicles described above can be referred to in correspondence.

[0123] Please see Figure 6 The map data acquisition device for vehicles provided in this application embodiment may include:

[0124] The positioning data sending unit 21 is used to periodically send the positioning data of the main vehicle to the server at a preset first cycle. The server is used to determine whether to send a start collection command or a stop collection command to the main vehicle based on the positioning data and cloud map data.

[0125] The data acquisition control unit 22 is activated to control the main vehicle to start collecting incremental map data when a data acquisition start command is received.

[0126] The stop acquisition control unit 23 is used to control the main vehicle to stop acquiring incremental map data and generate incremental map data when it receives a stop acquisition command;

[0127] The map data generation unit 24 is used to generate target map data based on the incremental map data. The target map data includes the incremental map data and the connection data between the incremental map data and the cloud map data.

[0128] In some embodiments of this application, the map data acquisition device applied to the vehicle may further include a connection data generation unit, which is used for:

[0129] when the host vehicle stops collecting the incremental map data, controlling the host vehicle to continue collecting the map data, and retaining the latest collected map data for a preset first time length;

[0130] The connection data includes front-end connection data, which is map data collected within a preset first time length before starting to collect the incremental map data.

[0131] The map data generation unit 24 generates target map data based on the incremental map data, which can include:

[0132] Obtain the connection data, and splice the connection data and the incremental map data to obtain target map data.

[0133] In some embodiments of the present application, the connection data further includes rear-end connection data, which is map data collected within a preset second time length after stopping to collect the incremental map data.

[0134] In some embodiments of the present application, the map data collection device applied to the vehicle end can further include a communication exception handling unit, configured to:

[0135] Send heartbeat data to the server at a preset second period, and receive heartbeat response data returned by the server;

[0136] Determine whether a communication timeout occurs based on the heartbeat data and the heartbeat response data;

[0137] If yes, and the host vehicle has started to collect the incremental map data, control the host vehicle to stop collecting the incremental map data.

[0138] The map data collection device applied to the vehicle end provided by the embodiments of the present application can be applied to a map data collection device at the vehicle end, such as a computer and the like. Optionally, Figure 7 The hardware structure block diagram of the map data collection device at the vehicle end is shown, referring to Figure 7 The hardware structure of the map data collection device at the vehicle end can include at least one processor 31, at least one communication interface 32, at least one memory 33 and at least one communication bus 34.

[0139] In the embodiments of the present application, the number of processors 31, communication interfaces 32, memories 33 and communication buses 34 is at least one, and the processors 31, communication interfaces 32 and memories 33 complete communication with each other through the communication bus 34.

[0140] The processor 31 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), one or more integrated circuits configured to perform the embodiments of the present application, or the like.

[0141] The memory 33 can include a high-speed RAM memory, and can also include a non-volatile memory, such as at least one disk memory, or the like.

[0142] The memory 33 stores a program, and the processor 31 can invoke the program stored in the memory 33, and the program is used for:

[0143] The positioning data of the host vehicle is periodically sent to a server at a preset first period, and the server is used to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and cloud map data.

[0144] When the start collection instruction is received, the host vehicle is controlled to start collecting the incremental map data.

[0145] When the stop collection instruction is received, the host vehicle is controlled to stop collecting the incremental map data, and the incremental map data is generated.

[0146] Target map data is generated based on the incremental map data, and the target map data includes the incremental map data and connection data of the incremental map data and the cloud map data.

[0147] Optionally, the detailed functions and extended functions of the program can be referred to the above description.

[0148] The embodiments of the present application also provide a storage medium which can store a program suitable for a processor to execute, and the program is used for:

[0149] The positioning data of the host vehicle is periodically sent to a server at a preset first period, and the server is used to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and cloud map data.

[0150] When the start collection instruction is received, the host vehicle is controlled to start collecting the incremental map data.

[0151] When the stop collection instruction is received, the host vehicle is controlled to stop collecting the incremental map data, and the incremental map data is generated.

[0152] Based on the incremental map data, target map data is generated, the target map data including the incremental map data and connection data of the incremental map data and the cloud map data.

[0153] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0154] The following describes a map data collection device for a server end provided by an embodiment of the present application. The map data collection device for a server described below can be correspondingly referred to the map data collection method for a server described above.

[0155] Please refer to Figure 8 The map data collection device for a server end provided by an embodiment of the present application can include:

[0156] The heartbeat data response unit 41 is configured to return heartbeat response data to the host vehicle immediately after receiving the heartbeat data of the host vehicle.

[0157] The positioning data processing unit 42 is configured to, when receiving the positioning data of the host vehicle, determine whether a position involved in the positioning data has a map record according to the positioning data and the cloud map data.

[0158] The first branch processing unit 43 is configured to:

[0159] When the positioning data processing unit determines that the position involved in the positioning data has no map record, determine whether the host vehicle is collecting incremental map data.

[0160] If the host vehicle is not collecting incremental map data, determine that a start collection instruction needs to be sent to the host vehicle.

[0161] The second branch processing unit 44 is configured to:

[0162] When the positioning data processing unit determines that the position involved in the positioning data has a map record, determine whether the host vehicle is collecting incremental map data.

[0163] If the host vehicle is collecting incremental map data, determine that a stop collection instruction needs to be sent to the host vehicle.

[0164] The start collection instruction is configured to control the host vehicle to start collecting incremental map data. The stop collection instruction is configured to control the host vehicle to stop collecting incremental map data and generate incremental map data. The incremental map data is configured to generate target map data, the target map data including the incremental map data and connection data of the incremental map data and the cloud map data.

[0165] In some embodiments of the present application, the positioning data comprises position data of a plurality of positioning points collected by the host vehicle at a preset first period with a preset frequency; and the cloud map data comprises a plurality of grid tile data, each grid tile data being located in a grid tile containing a plurality of grids.

[0166] The process of determining, by the positioning data processing unit 42, whether the position involved in the positioning data is recorded in the map according to the positioning data and the cloud map data can comprise:

[0167] obtaining target grid tile data of each positioning point from the cloud map data, the target grid tile data being located in a grid tile containing the positioning point;

[0168] obtaining the number of point clouds of the grid in which each positioning point is located, and determining whether the number of point clouds exceeds a preset first threshold value, if not, determining the positioning point as a candidate positioning point;

[0169] determining whether the number of candidate positioning points reaches a preset second threshold value;

[0170] if yes, determining that the position involved in the positioning data is recorded in the map;

[0171] if not, determining that the position involved in the positioning data is not recorded in the map.

[0172] The map data acquisition device for a server provided by the embodiments of the present application can be applied to a map data acquisition device on the server side, such as a computer and the like. Optionally, Figure 7 a hardware structure block diagram of the map data acquisition device on the server side is shown, referring to Figure 7 The hardware structure of the map data acquisition device on the server side can comprise at least one processor 31, at least one communication interface 32, at least one memory 33 and at least one communication bus 34.

[0173] In the embodiments of the present application, the number of processors 31, communication interfaces 32, memories 33 and communication buses 34 is at least one, and the processor 31, the communication interface 32 and the memory 33 complete communication with each other through the communication bus 34;

[0174] The processor 31 can be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application, etc.

[0175] The memory 33 can include a high-speed RAM memory, and can also include a non-volatile memory, such as at least one disk memory;

[0176] The memory 33 stores a program, and the processor 31 can call the program stored in the memory 33, and the program is used for:

[0177] When the heartbeat data of the host vehicle is received, heartbeat response data is immediately returned to the host vehicle;

[0178] When the positioning data of the host vehicle is received, whether a position involved in the positioning data exists map record is judged according to the positioning data and cloud map data;

[0179] If the map record does not exist, whether the host vehicle is collecting incremental map data is judged;

[0180] If the host vehicle is not collecting incremental map data, it is determined that a start collection instruction needs to be sent to the host vehicle;

[0181] If the map record exists, whether the host vehicle is collecting incremental map data is judged;

[0182] If the host vehicle is collecting incremental map data, it is determined that a stop collection instruction needs to be sent to the host vehicle;

[0183] The start collection instruction is used for controlling the host vehicle to start collecting incremental map data; the stop collection instruction is used for controlling the host vehicle to stop collecting incremental map data and generating incremental map data; and the incremental map data is used for generating target map data, and the target map data includes the incremental map data and connection data of the incremental map data and the cloud map data.

[0184] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0185] The embodiment of the application further provides a storage medium which can store a program suitable for processor execution, and the program is used for:

[0186] When the heartbeat data of the host vehicle is received, heartbeat response data is immediately returned to the host vehicle;

[0187] When the positioning data of the host vehicle is received, whether a position involved in the positioning data exists map record is judged according to the positioning data and cloud map data;

[0188] If the map record does not exist, whether the host vehicle is collecting incremental map data is judged;

[0189] if the host vehicle is not collecting incremental map data, determining that a start collecting instruction needs to be sent to the host vehicle;

[0190] if there is a map record, determining whether the host vehicle is collecting incremental map data;

[0191] if the host vehicle is collecting incremental map data, determining that a stop collecting instruction needs to be sent to the host vehicle;

[0192] The start collecting instruction is used to control the host vehicle to start collecting incremental map data. The stop collecting instruction is used to control the host vehicle to stop collecting incremental map data and generate incremental map data. The incremental map data is used to generate target map data, and the target map data includes the incremental map data and connection data between the incremental map data and the cloud map data.

[0193] Optionally, the refinement function and the extension function of the program can refer to the description above.

[0194] In summary:

[0195] The positioning data of the host vehicle is periodically sent to the server at a preset first period. The server determines whether a start collecting instruction or a stop collecting instruction needs to be sent to the host vehicle according to the positioning data and cloud map data. It can be understood that the determination process makes it unnecessary to start collecting incremental map data when the host vehicle passes through a place where there is a map record in the cloud map data. Incremental map data is only collected when there is no relevant map record in the cloud map data. When a start collecting instruction is received, the host vehicle is controlled to start collecting incremental map data. When a stop collecting instruction is received, the host vehicle is controlled to stop collecting incremental map data and generate incremental map data. It can be understood that the incremental map data is the map data collected from when the collection of incremental map data is started to when the collection of incremental map data is stopped. The map data is considered not to be included in the cloud map data, and therefore exists in the form of increment. Finally, target map data is generated based on the incremental map data, and the target map data includes the incremental map data and connection data between the incremental map data and the cloud map data. By combining the incremental map data and the connection data, the target map data is more complete, which is conducive to subsequent map updating operations. The application only starts collecting incremental map data when there is no relevant map record in the cloud map data, which realizes on-demand collection and to some extent avoids repeated collection of map data and alleviates the waste of map data storage resources and bandwidth resources for map data transmission.

[0196] Finally, it should be noted that the terms "first", "second", and the like, herein do not denote any order, quantity, combination, or importance, but rather are used to distinguish one element from another, and are not intended to denote the presence of any such actual relationship or order. Moreover, the terms "include", "have", or any other variant thereof are intended to encompass non-exclusive inclusions, such that processes, methods, articles, or apparatuses that comprise a list of elements are not required to comprise only those elements in the list, but can include other elements not expressly listed, or also include elements inherent in such processes, methods, articles, or apparatuses. Without additional restrictions, an element preceded by "comprises... a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the stated element.

[0197] The various embodiments in the specification are described in progressive order with each embodiment building on one or more of the previous embodiments, however the order of the embodiments described is not intended to be construed as a requirement or limitation for these embodiments. Any one or more of the embodiments described with reference to a particular set of one or more other embodiments are optionally employable together with one or more other embodiments and / or in any appropriate combination.

[0198] The above description of disclosed embodiments is intended to enable persons skilled in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A map data collection method characterized by comprising: Applied to the vehicle end, comprising: Periodically sending the positioning data of the host vehicle to the server at a preset first period, the server being configured to determine whether to send a start collection instruction or a stop collection instruction to the host vehicle according to the positioning data and cloud map data; When receiving the start collection instruction, controlling the host vehicle to start collecting incremental map data; When receiving the stop collection instruction, controlling the host vehicle to stop collecting incremental map data and generating incremental map data; the incremental map data being the collected map data from when the incremental map data collection is started to when the incremental map data collection is stopped, which is considered not to be included in the cloud map data; Generating target map data based on the incremental map data, the target map data including the incremental map data and connection data of the incremental map data and the cloud map data; When the host vehicle stops collecting incremental map data, controlling the host vehicle to continuously collect map data and retaining the latest collected map data for a preset first time length; the connection data including front-end connection data, the front-end connection data being the map data collected within the preset first time length before the incremental map data collection is started; The process of generating target map data based on the incremental map data includes: Obtaining the connection data and splicing the connection data and the incremental map data to obtain the target map data.

2. The method of claim 1, wherein, The connection data further includes rear-end connection data, the rear-end connection data being the map data collected within a preset second time length after the incremental map data collection is stopped.

3. The method of claim 1, wherein, Further comprising: Periodically sending heartbeat data to the server at a preset second period and receiving heartbeat response data returned by the server; Determining whether a communication timeout occurs based on the heartbeat data and the heartbeat response data; If yes, and the host vehicle has started collecting incremental map data, controlling the host vehicle to stop collecting incremental map data.

4. A map data collection method characterized by comprising: Applied to the server end, comprising: When receiving the heartbeat data of the host vehicle, immediately returning heartbeat response data to the host vehicle; When receiving the positioning data of the host vehicle, determining whether the position involved in the positioning data exists map record according to the positioning data and cloud map data; If no, determining whether the host vehicle is collecting incremental map data; If the host vehicle is not collecting incremental map data, determining to send a start collection instruction to the host vehicle; If yes, determining whether the host vehicle is collecting incremental map data; If the host vehicle is collecting incremental map data, determining to send a stop collection instruction to the host vehicle; The starting collection instruction is used to control the host vehicle to start collecting incremental map data; the stopping collection instruction is used to control the host vehicle to stop collecting incremental map data and generate incremental map data; the incremental map data is the collected map data from when the collection of incremental map data is started to when the collection of incremental map data is stopped, and the map data is considered not to be included in the cloud map data; and the incremental map data is used to generate target map data, and the target map data includes the incremental map data and connection data between the incremental map data and the cloud map data.

5. The method of claim 4, wherein, The positioning data includes position data of a plurality of positioning points collected by the host vehicle at a preset first period with a preset frequency; and the cloud map data includes a plurality of grid piece data, and each grid piece includes a plurality of grids. The process of determining whether the position involved in the positioning data has a map record according to the positioning data and the cloud map data includes: obtaining target grid piece data of each positioning point from the cloud map data, and the target grid piece data is located in a grid piece including the positioning point; obtaining the number of point clouds of the grid where each positioning point is located, and determining whether the number of point clouds exceeds a preset first threshold value, if not, determining the positioning point as a candidate positioning point; determining whether the number of candidate positioning points reaches a preset second threshold value; if yes, determining that the position involved in the positioning data has a map record; if no, determining that the position involved in the positioning data does not have a map record.

6. A map data collection system characterized by comprising: The control unit at the vehicle end and the server at the cloud end are included. The control unit is used to implement each step of the map data collection method according to any one of claims 1-3. The server is used to implement each step of the map data collection method according to claim 4 or 5.

7. A map data collection apparatus characterized by comprising: Applied to the vehicle end, including: a positioning data sending unit, configured to periodically send positioning data of the host vehicle to the server at a preset first period, and the server is configured to determine whether to send a starting collection instruction or a stopping collection instruction to the host vehicle according to the positioning data and cloud map data; a starting collection control unit, configured to control the host vehicle to start collecting incremental map data when the starting collection instruction is received; a stopping collection control unit, configured to control the host vehicle to stop collecting incremental map data and generate incremental map data when the stopping collection instruction is received; the incremental map data is the collected map data from when the collection of incremental map data is started to when the collection of incremental map data is stopped, and the map data is considered not to be included in the cloud map data; a map data generation unit, configured to generate target map data based on the incremental map data, and the target map data includes the incremental map data and connection data between the incremental map data and the cloud map data; and a map data generation unit, configured to generate target map data based on the incremental map data, and the target map data includes the incremental map data and connection data between the incremental map data and the cloud map data. The connection data generation unit is configured to control the host vehicle to continuously collect map data when the host vehicle stops collecting incremental map data, and retain the latest collected map data for a preset first time length; the connection data includes front-end connection data, which is the map data collected within the preset first time length before the collection of incremental map data is started; The map data generation unit generates target map data based on the incremental map data, and the process includes: obtaining the connection data, and splicing the connection data and the incremental map data to obtain target map data.

8. A map data collection apparatus characterized by comprising: Applied to a server end, and comprising: The heartbeat data response unit is configured to return heartbeat response data to the host vehicle as soon as heartbeat data of the host vehicle is received; The positioning data processing unit is configured to determine whether a position involved in the positioning data has a map record based on the positioning data and cloud map data when the positioning data of the host vehicle is received; The first branch processing unit is configured to: determine whether the host vehicle is collecting incremental map data when the positioning data processing unit determines that the position involved in the positioning data does not have a map record; determine that a start collection instruction needs to be sent to the host vehicle if the host vehicle is not collecting incremental map data; The second branch processing unit is configured to: determine whether the host vehicle is collecting incremental map data when the positioning data processing unit determines that the position involved in the positioning data has a map record; determine that a stop collection instruction needs to be sent to the host vehicle if the host vehicle is collecting incremental map data; The start collection instruction is configured to control the host vehicle to start collecting incremental map data; the stop collection instruction is configured to control the host vehicle to stop collecting incremental map data and generate incremental map data; the incremental map data is the collected map data from when the collection of incremental map data is started to when the collection of incremental map data is stopped, and is considered not to be included in cloud map data; the incremental map data is used to generate target map data, and the target map data includes the incremental map data and connection data of the incremental map data and the cloud map data.

9. A map data collection apparatus characterized by comprising: Comprising: a memory and a processor; the memory is configured to store a program; the processor is configured to execute the program to implement each step of the map data collection method according to any one of claims 1-5.

10. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement each step of the map data collection method according to any one of claims 1-5.

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