Map updating method and device, equipment and computer readable storage medium

Abstract

The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method and device, equipment and a computer readable storage medium. The application discloses a map updating method

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a map updating method and device, equipment and computer readable storage medium. BACKGROUND

[0002] With the rapid development of electronic information technology, electronic navigation maps have been widely used in our life, especially in the field of automobile technology, electronic navigation maps provide basic data for vehicle navigation technology. However, there are uncovered areas in electronic navigation maps, such as indoor parking lots and other occasion areas. For these occasion areas, the related technology can collect the environmental information of the area by the sensor of the vehicle, and construct a three-dimensional electronic navigation map of the area, so as to provide map basic data for the navigation function of the vehicle.

[0003] However, when constructing the electronic navigation map, the related technology exists some environmental elements that are not detected by the sensor, such as lane guide lines, road signs, direction indicating arrows and other indicating elements, which makes the information in the electronic navigation map imperfect, reduces the accuracy of the electronic map information, and causes some navigation driving functions (such as automatic driving function) to be unable to carry out, which affects the driving experience of the user. SUMMARY

[0004] The embodiments of the present application provide a map updating method, device, equipment and computer readable storage medium, which can perfect the element information in the electronic map, improve the accuracy of the electronic map information, and facilitate the development of the navigation driving function of the vehicle, and improve the driving experience of the user.

[0005] The embodiments of the present application provide a map updating method, comprising:

[0006] Obtaining a to-be-updated map of a target area, wherein the to-be-updated map contains basic map elements;

[0007] Identifying to-be-filled elements corresponding to the to-be-updated map, and adding the to-be-filled elements to the to-be-updated map to obtain an initial map;

[0008] Identifying the layout relationship between the basic map elements and the to-be-filled elements in the initial map;

[0009] Reading the basic elevation value of the basic map elements, and determining the target elevation value of the to-be-filled elements according to the layout relationship and the basic elevation value;

[0010] Updating the elevation information of the to-be-filled elements according to the target elevation value to obtain an updated target map.

[0011] Correspondingly, the embodiments of the present application provide a map updating device, comprising:

[0012] an acquisition unit configured to acquire a to-be-updated map of a target area, the to-be-updated map containing a basic map element;

[0013] a filling unit configured to identify a to-be-filled element corresponding to the to-be-updated map, and add the to-be-filled element to the to-be-updated map to obtain an initial map;

[0014] an identification unit configured to identify a layout relationship between the basic map element and the to-be-filled element in the initial map;

[0015] a determination unit configured to read a basic elevation value of the basic map element, and determine a target elevation value of the to-be-filled element according to the layout relationship and the basic elevation value;

[0016] an updating unit configured to update elevation information of the to-be-filled element according to the target elevation value to obtain an updated target map.

[0017] In some embodiments, the identification unit is further configured to:

[0018] read lane connectivity information in the initial map;

[0019] construct a lane topology network in the initial map according to the lane connectivity information;

[0020] determine a layout relationship between the basic map element and the to-be-filled element and the lane topology network.

[0021] In some embodiments, the identification unit is further configured to:

[0022] determine a first lane path point with a minimum horizontal distance from the basic map element from the plurality of lane paths, and establish a first hanging relationship between the basic map element and the first lane path point;

[0023] determine a second lane path point with a minimum horizontal distance from the to-be-filled element from the plurality of lane paths, and establish a second hanging relationship between the to-be-filled element and the second lane path point;

[0024] determine the first hanging relationship and the second hanging relationship as the layout relationship.

[0025] In some embodiments, the determination unit is further configured to:

[0026] assign a value to each lane path in the topology route network according to the basic elevation value based on the layout relationship to obtain an elevation path with an elevation value;

[0027] determine a target elevation path connected to the to-be-filled element according to the layout relationship.

[0028] Based on the elevation values ​​of the target elevation path, determine the target elevation value corresponding to the element to be filled.

[0029] In some embodiments, the determining unit is further configured to:

[0030] Based on the layout relationship, determine the lane path to which each basic map element is attached, and determine the point value of each basic map element on the attached lane path.

[0031] Base map elements whose point values ​​are within the preset point value range are determined as valid base map elements;

[0032] Based on the location value and basic elevation value corresponding to each valid base map element, the elevation value is assigned to the attached lane path to obtain an elevation path with elevation value.

[0033] In some embodiments, the determining unit is further configured to:

[0034] Read the first elevation value and the second elevation value located at both ends of the target elevation path, respectively;

[0035] Determine the nearest neighboring point values ​​of the element to be filled on the target elevation path;

[0036] Based on the first elevation value, the second elevation value, and the adjacent point values, the target elevation value corresponding to the element to be filled is determined.

[0037] In some embodiments, the determining unit is further configured to:

[0038] Identify the number of targets for valid base map elements attached to each lane path;

[0039] The maximum and minimum point values ​​are determined based on the point values ​​of the effective basic map elements, and the point difference between the maximum and minimum point values ​​is determined.

[0040] If the number of targets is greater than a preset number threshold and the point difference is greater than a preset point difference threshold, then the target path point associated with the point value corresponding to each valid basic map element on the attached lane path is determined.

[0041] Based on the location value and basic elevation value of each valid base map element, the elevation value of the target path points is calculated using a linear regression algorithm to obtain an elevation path with elevation values.

[0042] In some embodiments, the determining unit is further configured to:

[0043] identifying a target number of valid basic map elements hung on each lane path;

[0044] determining a maximum point value and a minimum point value according to point values of the valid basic map elements, and respectively determining point absolute values of the maximum point value and the minimum point value;

[0045] if the target number is greater than a preset number threshold and the point absolute value is less than a preset absolute threshold, determining a target elevation mean value according to an elevation value corresponding to the valid basic map element;

[0046] assigning an elevation value to the hung lane path according to the target elevation mean value, to obtain an elevation path with an elevation value.

[0047] In addition, an embodiment of the present application further provides a computer device, including a processor and a memory, the memory storing a computer program, and the processor being used to run the computer program in the memory to realize steps in the map updating method provided by the embodiment of the present application.

[0048] In addition, an embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium storing a plurality of instructions, the instructions being suitable for being loaded by a processor to execute steps in any one of the map updating methods provided by the embodiment of the present application.

[0049] In addition, an embodiment of the present application further provides a computer program product, the computer program product including computer instructions, the computer instructions being stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes steps in any one of the map updating methods provided by the embodiment of the present application.

[0050] The application obtains a to-be-updated map of a target area, identifies a to-be-filled element corresponding to the to-be-updated map, adds the to-be-filled element to the to-be-updated map to obtain an initial map, identifies a layout relationship between a basic map element and the to-be-filled element in the initial map, reads a basic elevation value of the basic map element, and determines a target elevation value of the to-be-filled element according to the layout relationship and the basic elevation value, updates elevation information of the to-be-filled element according to the target elevation value, and obtains an updated target map. Thus, the application can first obtain a to-be-updated map corresponding to a target area to determine a to-be-filled element that needs to be improved in the to-be-updated map, add the to-be-filled element to the to-be-updated map, then determine a layout relationship between a basic map element and the to-be-filled element in the map, and determine an elevation value of each basic map element, and finally update the elevation information of the to-be-filled element based on the elevation value of the basic map element to obtain an accurate and improved target map. In this way, the information elements of the electronic map can be improved to improve the accuracy of the electronic map information, facilitate the navigation and driving functions of the vehicle, and improve the driving experience of the user. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0052] Figure 1 is a scene schematic diagram of a map updating system provided by the embodiments of the application;

[0053] Figure 2 is a step flow schematic diagram of a map updating method provided by the embodiments of the application;

[0054] Figure 3 is another step flow schematic diagram of a map updating method provided by the embodiments of the application;

[0055] Figure 4 is a scene architecture schematic diagram of an initial map provided by the embodiments of the application;

[0056] Figure 5 is a relationship schematic diagram of a point position of a basic map element to a lane path and a nearest neighbor point position of a to-be-filled element to an elevation path provided by the embodiments of the application;

[0057] Figure 6 is a structure schematic diagram of a map updating device provided by the embodiments of the application;

[0058] Figure 7 is a structure schematic diagram of a computer device provided by the embodiments of the application. DETAILED DESCRIPTION

[0059] 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 a person skilled in the art without creative work are within the scope of protection of the present application.

[0060] The embodiments of the present application provide a map updating method and device, equipment and a computer readable storage medium. The embodiments of the present application will be described from the perspective of a map updating device. The map updating device can be integrated in a computer device, which can be a terminal device, specifically a terminal device carried on a transportation tool, i.e. a vehicle-mounted terminal. In addition, the terminal device can also be other types of devices, for example, the terminal can be a television, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a smart wearable device, etc. In addition, but not limited to this.

[0061] For example, referring to Figure 1 The scenario of the map updating system provided by the embodiments of the present application is shown in the figure. The scenario includes a terminal or a server.

[0062] Specifically, the terminal can be a vehicle-mounted terminal, which is configured to obtain a to-be-updated map of a target area, identify a to-be-filled element corresponding to the to-be-updated map, add the to-be-filled element to the to-be-updated map to obtain an initial map, identify a layout relationship between a basic map element and the to-be-filled element in the initial map, read a basic elevation value of the basic map element, determine a target elevation value of the to-be-filled element according to the layout relationship and the basic elevation value, update elevation information of the to-be-filled element according to the target elevation value, and obtain an updated target map.

[0063] It should be noted that when the map updating system includes a server, a communication connection between the vehicle terminal and the server can be established. The vehicle terminal can obtain a to-be-updated map of the target area, the to-be-updated map containing basic map elements, and send the obtained to-be-updated map to the server. At this time, the server can receive the to-be-updated map sent by the vehicle terminal, fill elements are added to the to-be-updated map according to the to-be-updated map to obtain an initial map, identify the layout relationship between the basic map elements and the to-be-filled elements in the initial map, read the basic elevation value of the basic map elements, and determine the target elevation value of the to-be-filled elements according to the layout relationship and the basic elevation value. At this time, the server can send the target elevation value information and the updating map strategy or instruction to the vehicle terminal. So that the vehicle terminal executes the updating map strategy or instruction after receiving the updating map strategy or instruction from the server, updates the elevation information of the to-be-filled elements according to the target elevation value to obtain an updated target map.

[0064] Therefore, the map updating method can include the steps of obtaining a to-be-updated map of a target area, identifying the layout relationship between the basic map elements and the to-be-filled elements in the initial map, the target elevation value of the to-be-filled elements, updating the target map, and the like.

[0065] For ease of understanding, the following lane changing example when the vehicle is driving is described for the embodiments of the present application, and specifically as follows:

[0066] For example, a vehicle terminal is mounted on a target vehicle, which can obtain a to-be-updated map of a target area in real time, and the to-be-updated map contains basic map elements. Then, to-be-filled elements are added to the to-be-updated map to obtain an initial map, and the layout relationship between the basic map elements and the to-be-filled elements in the initial map is identified, the basic elevation value of the basic map elements is read, and then the elevation value of the lane path is determined by using the basic elevation value according to the layout relationship between the basic map elements and the lane path in the initial map, to obtain an elevation path. Finally, the target elevation value of the to-be-filled elements is calculated according to the layout relationship between the to-be-filled elements and the elevation path, and the vehicle terminal updates the initial map according to the target elevation value of the to-be-filled elements to obtain a more accurate target map.

[0067] The following are described in detail respectively. It should be noted that the order of the following embodiments is not limited as the preferred order of the embodiments.

[0068] In the embodiments of the present application, it is described from the perspective of a map updating device, which can be specifically integrated in a computer device such as a terminal device or a server. Referring to Figure 2 , Figure 2A schematic diagram of the steps of a map updating method provided in an embodiment of the present application is shown. Taking a terminal device as an example, the terminal device is a terminal device mounted on a vehicle. When a processor on the terminal device executes a program corresponding to the map updating method, the specific process of the map updating method is as follows:

[0069] 101. Obtain a to-be-updated map of a target area, the to-be-updated map containing basic map elements.

[0070] In an embodiment of the present application, in order to obtain information of environment elements that are not detected by a sensor and thus improve the accuracy of the map, the basic map elements in the to-be-updated map of the target area can be used to fit and calculate the elevation values of the to-be-filled elements, so that the map is more accurate.

[0071] The target area can be a specific location or occasion, for example, an underground parking lot, a floor parking lot, an intersection, etc.

[0072] The to-be-updated map can be a three-dimensional map with determined elevation information constructed by using an information collection device to collect a large number of environment elements in the target area. It should be noted that the environment elements that can be collected are referred to as basic map elements, and the coordinates of the basic map elements in the map are not necessarily accurate, but are obtained by measurement and have actual measurement basis.

[0073] The basic map elements can be environment elements with coordinate data (elevation values) in a three-dimensional map obtained by combining a wheel speed odometer and a pose sensor with a camera and visual recognition. It should be noted that the coordinates of the basic map elements are not necessarily accurate, but are obtained by measurement and have actual measurement basis and reference value.

[0074] Specifically, first, the wheel speed odometer and the pose sensor are combined with the camera and the visual recognition to obtain the environment elements in the target area and identify the elevation information corresponding to the environment elements, so as to establish a three-dimensional map containing spatial undulating structures. Then, the artificial correction of the horizontal position of part of the environment elements in the three-dimensional map is performed, logical elements such as intersections and virtual lane lines are drawn, and finally a to-be-updated map is obtained. It should be noted that among the environment elements, the elements measured by the machine recognition have corresponding elevation values, and the elements obtained in the later processing do not have elevation values.

[0075] In the above manner, the to-be-updated map of the target area can be obtained, so that the elevation values of the to-be-filled elements can be subsequently fitted and calculated, so that the three-dimensional map is more accurate.

[0076] 102. Identify to-be-filled elements corresponding to the to-be-updated map, and add the to-be-filled elements to the to-be-updated map to obtain an initial map.

[0077] In the embodiments of the present application, in order to obtain information of environment elements that are not detected by sensors, and thus improve the accuracy of the map, the to-be-filled element can be added to the to-be-updated map first, and thus an initial map is obtained, so that subsequent calculation is more convenient.

[0078] The to-be-filled element can be an element that is artificially corrected in horizontal position of part of the basic map elements in the post-processing of the map, for example, a drawn lane / path, an intersection, a virtual lane line, and the like. It should be noted that the to-be-filled element does not have elevation information with actual measurement basis, such as an elevation value.

[0079] The initial map can be a map containing elevation information of part of environment things, and the initial map can be constructed according to environment things collected by sensors of the vehicle and the elevation information of the collected environment things. For example, taking a map of an indoor parking lot as an example, the map can contain elevation information of entity things such as walls, floors, slopes, and guardrails. For environment things and elements that cannot be collected by the sensing assembly, they cannot be reflected in the map.

[0080] Specifically, after obtaining the to-be-updated map of the target area, the to-be-updated map is analyzed to determine whether there is a missing map element in the to-be-updated map. It can be understood that, since the to-be-updated map can be constructed by collecting environment information by sensors, for part of the environment elements that are not detected by the sensors, the to-be-updated map often lacks part of the map elements that cannot be collected. When there is a missing map element, such as a lane guide line, a road sign, a direction indicating arrow, and the like, by comparing the map elements collected by the to-be-updated map with the actual environment elements in the target environment, the missing map elements in the to-be-updated map are determined, and the missing map elements are taken as to-be-filled elements of the map. The to-be-filled elements are used to query a database corresponding to the environment elements, and the to-be-filled elements queried from the database are added to the corresponding positions in the to-be-updated map. For example, after obtaining the to-be-updated map of an underground parking lot, by comparing the environment elements in the underground parking lot, it is identified that there are missing to-be-filled elements, such as logical elements that need to be drawn, such as lane lines, intersections, virtual lane lines, and the like, and indicating elements such as lane guide lines, road signs, direction indicating arrows, and the like. After the to-be-filled elements are added to the to-be-updated map, an initial map with basic map elements and to-be-filled elements is obtained.

[0081] In the above manner, the to-be-filled elements corresponding to the to-be-updated map are identified, and the to-be-filled elements are added to the to-be-updated map, so as to obtain an initial map with basic map elements and to-be-filled elements. Subsequently, the elevation values of the to-be-filled elements are fitted and calculated from the initial map, so that the three-dimensional map is more accurate.

[0082] 103. Identify the layout relationship of the basic map elements and the to-be-filled elements in the initial map.

[0083] In the embodiments of the present application, in order to obtain the information of the environmental elements not detected by the sensor and further improve the accuracy of the map, the layout relationship between the basic map elements and the to-be-filled elements in the initial map can be identified, and then the elevation value of the to-be-filled element is obtained by using the elevation value of the basic map element, so as to improve the accuracy of the updated map.

[0084] Specifically, after obtaining the to-be-updated map of the target area, the elements not identified in the target area are identified and added to the to-be-updated map as to-be-filled elements to obtain an initial map. Then, the positions of the basic map elements and the to-be-filled elements in the initial map are obtained. Taking the initial map as the core, the layout relationship between the basic map elements and the to-be-filled elements in the initial map is identified. For example, the first landmark is a basic map element, the second landmark is a to-be-filled element, and the initial map is a map of an underground parking lot. The underground parking lot has two layers and is parallel. The first landmark is in the first layer, and the second landmark is in the second layer. The line connecting the first landmark and the second landmark is perpendicular to the ground. In this way, the layout relationship between the first landmark and the second landmark in the initial map can be identified.

[0085] Therefore, in some embodiments, the layout relationship between the basic map elements and the to-be-filled elements in the initial map can be determined according to the lane connectivity relationship in the initial map, so as to establish a lane topology network, for example, step 103 can include:

[0086] (103.1) reading lane connectivity information in the initial map;

[0087] (103.2) constructing a lane topology network in the initial map according to the lane connectivity information;

[0088] (103.3) determining the layout relationship between the basic map elements and the to-be-filled elements and the lane topology network.

[0089] The lane connectivity information can be information representing the connectivity relationship between the lanes in the target area, which can reflect the connectivity or non-connectivity between different lanes in the target area, that is, the connectivity of each lane and path in the initial map, for example, the initial map has three lanes, and the three lanes are connected end to end. This information can be referred to as the lane connectivity information of the initial map. Figure 1

[0090] ​The lane topology network can be a path network composed of multiple lane paths, which is displayed in the map. Specifically, in order to make each lane in the map have an elevation value, a corresponding path (link) is added to each lane in the map, and adjacent lane paths are connected according to the lane connectivity information, thereby obtaining a lane topology network covering each zone of the target area. For example, taking the map of an underground parking lot as an example, by adding a corresponding path to each lane in the map and connecting these lane paths according to the lane connectivity relationship, a lane topology network is formed, which reflects the lane structure in the entire underground parking lot scene.

[0091] Specifically, after obtaining the to-be-updated map of the target area, the to-be-filled element is added to the to-be-updated map to obtain an initial map. The lane line information in the initial map is read, the connectivity of the lanes is obtained, the lane connectivity information is determined, the lanes are connected by line segments, the line segment connection relationship between the lanes / paths is established, and based on the connection relationship, the lane topology network is constructed in the initial map. The layout relationship between the basic map elements and the to-be-filled elements and the lane topology network is determined. For example, to establish the lane topology network of an underground parking lot, the initial map of the underground parking lot is needed, and the lane line segments connected to each other are drawn based on the connectivity of the lanes. The link can be used, and if the lanes are connected, the links are connected to each other to establish a three-dimensional lane topology network of the underground parking lot. Then, the layout relationship between the basic map elements and the to-be-filled elements such as lane guide lines, road signs, and direction indication arrows and the lane topology network is determined.

[0092] In some embodiments, the layout relationship between the basic map elements and the to-be-filled elements and the lane topology network can be determined according to the horizontal distance from the basic map elements and the to-be-filled elements to each lane path in the lane topology network. For example, step (103.3) can include:

[0093] (103.3.1) determining a first lane path point with the smallest horizontal distance from the basic map elements from the multiple lane paths, and establishing a first hanging relationship between the basic map elements and the first lane path point;

[0094] (103.3.2) determining a second lane path point with the smallest horizontal distance from the to-be-filled elements from the multiple lane paths, and establishing a second hanging relationship between the to-be-filled elements and the second lane path point;

[0095] (103.3.3) determining the first hanging relationship and the second hanging relationship as the layout relationship.

[0096] The first lane path point can be a path point in the corresponding lane path that has the smallest (closest) horizontal distance from the current basic map element.

[0097] The second lane path point can be a path point in the corresponding lane path that has the minimum (closest) horizontal distance from the current to-be-filled element.

[0098] The first hanging relationship can be a layout relationship between the basic map element and the lane path in the lane topology network.

[0099] The second hanging relationship can be a layout relationship between the to-be-filled element and the lane path in the lane topology network.

[0100] Specifically, for any basic map element in the initial map, first, the lane path point having an intersection relationship with the basic map element in the horizontal plane is determined, and the horizontal distance between the basic map element and the lane path is obtained, so as to connect the lane path connection point with the minimum horizontal distance as the first lane path point of the current basic map element, thereby establishing the first hanging relationship between the basic map element and the first lane path point. Similarly, the lane path point having an intersection relationship with the to-be-filled element in the horizontal plane is determined, thereby establishing the second hanging relationship between the basic map element and the first lane path point.

[0101] For example, taking an initial map about an underground parking lot as an example, there are two uphill paths with an angle of 30° in the initial map, which are path A and path B, and they are in a parallel state in the initial map. In the horizontal line connecting the two uphill paths, there is a road sign (basic map element), which has a horizontal distance of 20 m to path A and a horizontal distance of 10 m to path B. It can be judged that the horizontal distance of the road sign to path B is shorter than the horizontal distance to path A. Therefore, the connection point of the road sign and path B on path B is the first lane path point, and the relationship between the road sign and path B is the first hanging relationship.

[0102] For the basic map element and the to-be-filled element in the map, the horizontal distances of the basic map element and the to-be-filled element to multiple lane paths in the lane topology network are obtained, and after comparison, the lane path having the shortest horizontal distance to the basic map element and the to-be-filled element is found out. The hanging relationship between the basic map element and the lane path is established as the first connection relationship, and a perpendicular line is connected between the basic map element and the lane path, and the connection point is the first lane path point. For the to-be-filled element in the map, the second hanging relationship and the second lane path point can also be obtained in the same way. Then, the first hanging relationship and the second hanging relationship are determined as the layout relationship between the basic map element and the to-be-filled element and the lane topology network.

[0103] For example, in the initial map of an underground parking lot, the first landmark is the basic map element, and there are three lane paths in the lane topology network. The horizontal distance from the first landmark to the first lane path is 10 cm, to the second lane path is 20 cm, and to the third lane path is 30 cm. Therefore, the horizontal distance between the first landmark and the first lane path is the shortest, and the connection relationship between them is established as the layout relationship.

[0104] In this way, the correlation of the basic map element and the to-be-filled element in the initial map can be obtained by identifying the layout relationship of the basic map element and the to-be-filled element in the initial map, so that the elevation value of the to-be-filled element can be fitted and calculated subsequently, and the three-dimensional map is more accurate.

[0105] 104. Read the basic elevation value of the basic map element, and determine the target elevation value of the to-be-filled element according to the layout relationship and the basic elevation value.

[0106] The basic elevation value can be information representing the height of the basic map element in the map, which is important data of the three-dimensional map and can represent the height of the basic map element in the three-dimensional map.

[0107] The target elevation value can be information representing the height of the to-be-filled element in the map, which is important data for perfecting the three-dimensional map and can represent the height of the to-be-filled element in the three-dimensional map.

[0108] Specifically, the to-be-filled element is assumed to be an updated map, and after obtaining the initial map, the layout relationship of the basic map element and the to-be-filled element in the initial map is identified. Since the layout relationship is a connection relationship, the target elevation value of the to-be-filled element is obtained by using the basic elevation value of the basic map element as a parameter. First, the basic elevation value of the basic map element in the initial map is read, and then the target elevation value of the to-be-filled element with the same connection relationship is determined according to the connection relationship and the basic elevation value of the basic map element.

[0109] For example, in the initial map of an underground parking lot, the first landmark is the basic map element, and the second landmark is the to-be-filled element. The first landmark and the second landmark both have a connection relationship with lane line A. Assuming that the connection point of the first landmark and the second landmark is the same point, and the elevation value of the first landmark is 1 m, the elevation value of the second landmark which also has a connection relationship with lane line A and has the same connection point can be calculated as 1 m.

[0110] In some embodiments, each lane path in the initial map corresponding topological road network can be assigned a basic elevation value according to the basic elevation value, an elevation path is determined, and a target elevation value corresponding to the to-be-filled element is determined, so that the step 104 "determining a target elevation value of a to-be-filled element according to a layout relationship and a basic elevation value" can include:

[0111] (104.1) Assigning each lane path in the topological road network according to the basic elevation value based on the layout relationship to obtain an elevation path with an elevation value;

[0112] (104.2) Determining a target elevation path connected to the to-be-filled element according to the layout relationship;

[0113] (104.3) Determining a target elevation value corresponding to the to-be-filled element according to the elevation value of the target elevation path.

[0114] Wherein, the elevation path can be a lane path originally without an elevation value, which is assigned to obtain a lane path with an elevation value.

[0115] Wherein, the target elevation path is a lane path having a hanging relationship with the to-be-filled element.

[0116] Specifically, after identifying the layout relationship between the basic map element and the to-be-filled element and the initial map, the lane path to which each basic map element in the initial map is hung is determined based on the layout relationship between the basic map element and the to-be-filled element and the initial map. Since the basic map element and the corresponding lane path are horizontally hung, that is, the hanging points of each basic map element and the corresponding lane path are parallel, the height of the basic map element represents the height of the hanging point. It can be understood that each lane path can be hung with multiple basic map elements, so the basic elevation values of multiple basic map elements are read to assign values to all hanging points on the corresponding lane path, so that the lane path has multiple elevation values, that is, the lane path with multiple hanging basic map elements and having an elevation value is an elevation path. In an elevation path, not only basic map elements are hung, but also to-be-filled elements are hung, thereby determining an elevation path hung with the to-be-filled element, which is referred to as a target elevation path. Since the target elevation path has an elevation value, the elevation value corresponding to the to-be-filled element can be obtained based on the target elevation path, that is, the target elevation value.

[0117] In some embodiments, the lane path can be assigned an elevation value according to the point value of the basic map element on the hung lane path and the basic elevation value, and an elevation path with an elevation value is obtained, so that the step (104.1) can include:

[0118] (104.1.1) According to the layout relationship, determine the lane path to which each base map element is connected, and determine the point value of each base map element on the connected lane path;

[0119] (104.1.2) Determine the base map element whose point value is within the preset point value range as an effective base map element;

[0120] (104.1.3) Based on the point value and the base elevation value corresponding to each effective base map element, assign an elevation value to the connected lane path to obtain an elevation path with an elevation value.

[0121] The point value can be the position of the base map element on the corresponding connected lane path, for example, Figure 5 As shown in the figure, the length of the lane path is 1.0, and the point of the horizontal distance connecting line between the point 2 (base map element) and the lane path is located at a position in the lane path. As can be seen from the figure, the point value of the point 2 (base map element) on the lane path is 0.2.

[0122] The preset point value range is a judgment condition for reflecting whether the base map element can be used as a reference point for calculating the elevation path.

[0123] Specifically, after the layout relationship between the basic map elements and the to-be-filled elements and the initial map is identified, the lane path to which each basic map element is connected is determined based on the layout relationship between the basic map elements and the to-be-filled elements and the initial map, each lane path is extracted separately, the basic map elements having a connection relationship on the lane path are determined, and the point position value of each basic map element on the lane path is calculated. Since the elevation value of the lane path is to be inferred, basic map elements whose point position distance from the lane path is too large cannot be used. It should be noted that although the lane path is a line segment, the elevation value of the lane path can be calculated by regarding the lane path as an extended straight line, and the point position value of the basic map element connected to the straight line can also exceed the length of the lane path. For example, the length of the lane path is 1, the point position value on the lane path line segment is 0-1, and the point position value of the basic map element connected thereto can be 0.5, 1.2, and -0.25. For the basic map elements connected to the lane path, the basic map elements whose point position values are within a preset point position value range are determined as effective basic map elements. For example, the preset point position value range is 0.5-1.5, and as long as the point position value of the basic map element is within the range, the basic map element can reflect the elevation value of the connected lane path, that is, the basic map elements whose point position values are within the preset point position value range are classified as effective basic map elements connected to the lane path. Finally, for the lane path to which the effective basic map elements are connected, the point position values and the basic elevation values of the effective basic map elements connected thereto are used to assign values to each point on the lane path to obtain an elevation path, that is, an elevation path.

[0124] Therefore, in some embodiments, the target elevation value of the corresponding connected to-be-filled element can be determined according to the elevation values at both ends of the elevation path and the adjacent point positions of the corresponding connected to-be-filled element on the elevation path. For example, step (104.2) can include:

[0125] (104.2.1) reading a first elevation value and a second elevation value at both ends of the target elevation path, respectively;

[0126] (104.2.2) determining the adjacent point position value of the to-be-filled element on the target elevation path;

[0127] (104.2.3) determining the target elevation value of the to-be-filled element based on the first elevation value, the second elevation value, and the adjacent point position value.

[0128] The first elevation value can be the elevation value at the starting end of the line segment among the elevation values at both ends of the elevation path.

[0129] The second elevation value can be the elevation value at the ending end of the line segment among the elevation values at both ends of the elevation path.

[0130] The adjacent point value can be the position of the to-be-filled element on the corresponding hanging elevation path, as shown in the following table. Figure 5 As shown in the table, the length of the elevation path is 1, and the two endpoints are 0.0 and 1.0. For the No. 1 to-be-filled element, the nearest point on the elevation path is the left endpoint, and the nearest adjacent point value of the to-be-filled element is 0.0.

[0131] Specifically, after identifying the layout relationship between the basic map elements and the to-be-filled element and the initial map, the lane paths hung by each basic map element are determined based on the layout relationship between the basic map elements and the to-be-filled element and the initial map, and the elevation path with an elevation value is obtained. For the elevation values at the two ends of the elevation path, the elevation values at the two ends of the elevation path are obtained by weighted average method according to all the elevation values on the elevation path, wherein the weight is the number of effective basic map elements. Then, the elevation values at the two endpoints of the elevation path are read, which are the first elevation value and the second elevation value. Then, for the to-be-filled element hung on the elevation path, the nearest adjacent point value of the to-be-filled element on the elevation path is determined. Finally, based on the first elevation value, the second elevation value and the adjacent point value, the target elevation value of the to-be-filled element hung on the elevation path is determined, and the specific expression is: H = Hs + RN * (He - Hs).

[0132] In the expression, H is the target elevation value, Hs is the first elevation value, He is the second elevation value, and RN is the adjacent point value.

[0133] For example, taking an elevation path A corresponding to a lane of an underground parking lot as an example, the first elevation value of A is 0.0 m, the second elevation value is 1.0 m, and the lane arrow is a to-be-filled element hung on A, and the nearest adjacent point value of the lane arrow on A is 0.5. According to the expression of the target elevation value above, the target elevation value H of the lane arrow is 0.5 m.

[0134] In some embodiments, the elevation value of the hung lane path can be calculated according to the effective basic map elements hung on each lane path and the difference between the maximum point value and the minimum point value, so that the target elevation value of the to-be-filled element can be subsequently calculated. For example, step (104.1.3) can include:

[0135] (104.1.3.a.1) identifying the target number of effective basic map elements hung on each lane path;

[0136] (104.1.3.a.2) determining the maximum point value and the minimum point value according to the point value of the effective basic map element, and determining the point difference between the maximum point value and the minimum point value;

[0137] (104.1.3.a.3) If the target quantity is greater than the preset quantity threshold value, and the point difference value is greater than the preset point difference threshold value, the point value corresponding to each valid basic map element on the connected lane path is determined to be associated with the target path point.

[0138] (104.1.3.a.4) According to the point value and the basic elevation value of each valid basic map element, the elevation value of the target path point is calculated according to the linear regression algorithm, and the elevation path with the elevation value is obtained.

[0139] Wherein, the target quantity can be the number of valid basic map elements connected on each lane path.

[0140] Specifically, first, based on the preset point value range, the number of valid basic map elements connected on each lane path is identified, then the point values of the valid basic map elements are counted, and after comparison, the maximum point value and the minimum point value are selected, and then the difference between the maximum point value and the minimum point value is obtained by subtraction operation. For example, refer to Figure 5For example, a total of 4 basic map elements are hung on a lane path, and the preset point value range is-0.5 to 1.5, wherein the 4 belong to valid basic map elements, which are respectively No. 1 landmark, No. 2 landmark, No. 3 landmark and No. 4 landmark. Among the 4 valid basic map elements, the point value of No. 1 landmark on the lane path is-0.4, the point value of No. 2 landmark on the lane path is 0.2, the point value of No. 3 landmark on the lane path is 0.7, and the point value of No. 4 landmark on the lane path is 1.3. Then, the maximum point value on the lane path is the point value 1.3 of No. 4 landmark, and the minimum point value is the point value-0.4 of No. 1 landmark. The difference between the maximum point value and the minimum point value is 1.7. In a lane path, if the number of valid basic map elements is greater than the preset number threshold, and the difference between the maximum point value and the minimum point value is also greater than the preset point difference threshold, the point of each valid basic map element on the lane path is determined, that is, the intersection position of the vertical line of the valid basic map element and the lane path. Then, according to the point value and the basic elevation value of each valid basic map element, the lane path is regarded as a linear function, and the linear regression algorithm is used to calculate the elevation value of each valid basic map element on the lane path to obtain the point of the point, and finally the lane path with multiple elevation values is composed, that is, the elevation path. After obtaining the elevation path, due to too much sample data, for example, hundreds or even thousands of valid basic map elements can be hung on a lane path, so there may be noise values. At this time, various noise reduction methods can be used for processing, for example, the Grubbs criterion can be used for noise reduction. The Grubbs criterion is a method for judging the outliers of normal samples or samples close to normal samples under the condition of unknown total standard deviation. The specific expression of the linear function of the elevation path calculation is: H=k*R+h; wherein H is the elevation value of the valid basic map element, k is the slope of the linear function, R is the point value of the valid basic map element, and h is the elevation value of the corresponding point on the lane path.

[0141] In some embodiments, the elevation value of the hung lane path can be calculated according to the valid basic map elements hung on each lane path and the absolute value of the maximum point value and the minimum point value, so that the target elevation value of the to-be-filled element can be subsequently calculated. For example, step (104.1.3) can include:

[0142] (104.1.3.b.1) identifying the target number of valid basic map elements hung on each lane path;

[0143] (104.1.3.b.2) determining the maximum point value and the minimum point value according to the point value of the valid basic map element, and determining the point absolute value of the maximum point value and the minimum point value, respectively;

[0144] (104.1.3.b.3) If the target quantity is greater than the preset quantity threshold value, and the point absolute value is less than the preset absolute threshold value, the target elevation mean value is determined according to the basis elevation value corresponding to the effective basis map element.

[0145] (104.1.3.b.4) The elevation value of the connected lane path is assigned according to the target elevation mean value, and an elevation path with an elevation value is obtained.

[0146] Specifically, first, the number of effective basis map elements connected to each lane path is identified based on the preset point value range, then the point values of the effective basis map elements are counted, and after comparison, the maximum point value and the minimum point value are selected, and then the absolute values of the maximum point value and the minimum point value are obtained by absolute value operation. For example, there are 5 basis map elements connected to a lane path, of which 4 are effective basis map elements, namely No. 1 road sign, No. 2 road sign, No. 3 road sign, and No. 4 road sign. Among the 4 effective basis map elements, the point value of No. 1 road sign on the lane path is -0.2, the point value of No. 2 road sign on the lane path is 0.5, the point value of No. 3 road sign on the lane path is 0.6, and the point value of No. 4 road sign on the lane path is 1.2. Therefore, the maximum point value on this lane path is the point value 1.2 of No. 4 road sign, and the minimum point value is the point value -0.2 of No. 1 road sign. Therefore, the absolute value of the maximum point value is 1.2, and the absolute value of the minimum point value is 0.2. In a lane path, if the number of effective basis map elements is greater than the preset number threshold value, and the absolute values of the maximum point value and the minimum point value are less than the preset point difference threshold value, the point of each effective basis map element on the lane path is determined, i.e. the intersection position of the vertical line of the effective basis map element and the lane path, and then the basis elevation values of the effective basis map elements are added and averaged. The elevation value of each point on the lane path is the average value. It should be noted that since the initial map contains a large number of basis map elements and elements to be filled, if only one effective basis map element is connected to a lane path, it means that the lane path is short enough, and the elevation value of the lane path can be regarded as the elevation value of the effective basis map element.

[0147] By the above method, the basis elevation value of the basis map element is read, and the target elevation value of the element to be filled is determined according to the layout relationship and the basis elevation value, so that the target elevation value of the element to be filled is used to improve the map, so that the three-dimensional map is more accurate.

[0148] 105. Update the elevation information of the element to be filled according to the target elevation value, and obtain an updated target map.

[0149] The target map can be a more accurate map obtained by taking the elevation value of the to-be-filled element as a parameter and updating the initial map.

[0150] Specifically, after the target elevation value of the to-be-filled element is calculated, the initial map of the target region is updated to obtain the target map. For example, the height of a lane mark in the initial map is originally 1 m, but the actual height of the lane mark in the target region is 1.2 m. According to the elevation value of the No. 1 to-be-filled element next to the lane mark as a reference, the height of the lane mark in the target map is adjusted to 1.8 m, which is closer to the actual height of the lane mark than the height in the initial map.

[0151] In this way, the elevation information of the to-be-filled element can be updated according to the target elevation value to obtain the updated target map, so that the three-dimensional map is more accurate.

[0152] By implementing any one of the embodiments or a combination of the embodiments, the application scenario of the map updating process can be realized.

[0153] As can be seen from the above, the embodiments of the present application can obtain a to-be-updated map of a target region, identify a to-be-filled element corresponding to the to-be-updated map, add the to-be-filled element to the to-be-updated map to obtain an initial map, identify a layout relationship between a base map element and the to-be-filled element in the initial map, read a base elevation value of the base map element, determine a target elevation value of the to-be-filled element according to the layout relationship and the base elevation value, update the elevation information of the to-be-filled element according to the target elevation value, and obtain an updated target map. Therefore, the present application can first obtain a to-be-updated map of a target region, then add a to-be-filled element to the map, obtain the elevation value of the corresponding lane segment according to the hanging relationship between each map element and the lane segment, finally calculate the elevation value of the to-be-filled element having a hanging relationship with the lane segment according to the elevation values of the lane segments, and update a more high-precision map. In this way, the information of the environmental element not detected by the sensor is calculated to improve the accuracy of the electronic map and improve the driving experience of the user.

[0154] The method described in the above embodiments will be further described by way of example.

[0155] The map updating method provided by the embodiments of the present application is further described by taking a map updating device as an example. Among them, Figure 3 is another step flowchart of the map updating method provided by the embodiments of the present application, Figure 4 is a scene architecture schematic diagram of the initial map provided by the embodiments of the present application, Figure 5is a schematic diagram of the relationship between the point of the basic map element to the lane path and the nearest neighbor point of the to-be-filled element to the elevation path provided by the embodiment of the present application. For ease of understanding, the embodiment of the present application is described in combination with Figures 3-5 .

[0156] In the embodiment of the present application, the map updating device is described from the perspective of the map updating device, which can be integrated in a computer device such as a vehicle terminal. When the processor on the vehicle terminal executes the program instructions corresponding to the data transmission method, the specific process of the map updating method is as follows:

[0157] 201. The vehicle terminal acquires a to-be-updated map of a target area.

[0158] The target area can be a specific location or occasion, for example, an underground parking lot, a floor parking lot, an intersection, etc.

[0159] The to-be-updated map can be a three-dimensional map with determined elevation information constructed by using an information collection device to collect a large number of environmental elements in the target area. It should be noted that the environmental elements that can be collected are referred to as basic map elements, and the coordinates of the basic map elements in the map are not necessarily accurate, but are obtained by measurement and have actual measurement basis.

[0160] Specifically, first, the environmental elements in the target area are acquired by using a wheel odometer and a pose sensor in combination with a camera and visual recognition, and the elevation information corresponding to the environmental elements is recognized to establish a three-dimensional map containing spatial undulating structures. Then, manual correction of the horizontal position of part of the environmental elements in the three-dimensional map is performed, logical elements such as intersections and virtual lane lines are drawn, and finally a to-be-updated map is obtained. It should be noted that among the environmental elements, the elements measured by the machine recognition have corresponding elevation values, and the elements obtained by the later processing do not have elevation values.

[0161] 202. The vehicle terminal identifies to-be-filled elements corresponding to the to-be-updated map, and adds the to-be-filled elements to the to-be-updated map to obtain an initial map.

[0162] The to-be-filled elements can be elements that are manually corrected in the horizontal position of part of the basic map elements during the later processing of the map, for example, drawn lanes / paths, intersections, virtual lane lines, etc. It should be noted that the to-be-filled elements do not have actual measurement basis such as elevation values.

[0163] The initial map can be a map containing elevation information of part of the environment, which can be constructed according to the environment collected by the sensor of the vehicle and the elevation information of the collected environment. For example, taking the map of an indoor parking lot as an example, the map can contain the elevation information of entity things such as walls, floors, slopes, and guardrails. For environment elements that cannot be collected by the sensor, they cannot be reflected in the map.

[0164] Specifically, after obtaining the to-be-updated map of the target area, the to-be-updated map is analyzed to determine whether there are missing map elements in the to-be-updated map. It can be understood that, since the to-be-updated map can be constructed by collecting environment information by a sensor, for part of the environment elements that are not detected by the sensor, the to-be-updated map often lacks part of the map elements that cannot be collected. When there are missing map elements, such as lane guide lines, road signs, and direction indication arrows, by comparing the map elements collected by the to-be-updated map with the actual environment elements in the target environment, the missing map elements in the to-be-updated map are determined and are used as to-be-filled elements of the map. The to-be-filled elements are used to query the database corresponding to the environment elements, and the to-be-filled elements queried from the database are added to the corresponding positions in the to-be-updated map. For example, after obtaining the to-be-updated map of an underground parking lot, by comparing the environment elements in the underground parking lot, it is identified that there are missing to-be-filled elements, such as logical elements that need to be drawn, such as lane lines, intersections, and virtual lane lines, and indication elements, such as lane guide lines, road signs, and direction indication arrows. After the to-be-filled elements are added to the to-be-updated map, an initial map with basic map elements and to-be-filled elements is obtained.

[0165] 203、The vehicle terminal determines a first lane path point with the smallest horizontal distance between the basic map elements and a second lane path point with the smallest horizontal distance between the to-be-filled elements in the plurality of lane paths.

[0166] The first lane path point can be a path point in the corresponding lane path that has the smallest (closest) horizontal distance from the current basic map element.

[0167] The second lane path point can be a path point in the corresponding lane path that has the smallest (closest) horizontal distance from the current to-be-filled element.

[0168] Specifically, for any base map element in the initial map, firstly, determine the lane path points that intersect with the base map element on the horizontal plane, and obtain the horizontal distance between the base map element and the lane path. The lane path connection point with the smallest horizontal distance is selected as the first lane path point of the current base map element. Similarly, determine the lane path points that intersect with the element to be filled on the horizontal plane. For example, in an initial map of an underground parking lot, there are two uphill paths at a 30° angle, path A and path B, which are parallel in the initial map. In the horizontal line connecting these two uphill paths, there is a road marker (base map element) whose horizontal distance to path A is 20m and its horizontal distance to path B is 10m. It can be determined that the horizontal distance of the road marker to path B is shorter than its horizontal distance to path A. Therefore, the connection point of the road marker and path B on path B is the first lane path point.

[0169] 204. The vehicle terminal establishes a first connection relationship between basic map elements and the first lane waypoint, and a second connection relationship between the element to be filled and the second lane waypoint.

[0170] The first connection relationship can be the layout relationship between basic map elements and lane paths in the lane topology network.

[0171] The second connection relationship can be the layout relationship between the element to be filled and the lane path in the lane topology network.

[0172] Specifically, for the basic map elements and the elements to be filled in the map, the horizontal distances between the basic map elements and the elements to be filled and multiple lane paths in the lane topology network are obtained. After comparison, the lane path with the shortest horizontal distance to the basic map elements and the elements to be filled is found. The points connecting the basic map elements and the lane path are then linked, that is, the basic map elements are linked to the first lane path points. Similarly, the second linking relationship between the second lane path points on the horizontal plane and the elements to be filled is determined.

[0173] 205. The vehicle terminal determines the position value of the basic map element on the corresponding attached lane path, and determines the valid basic map element on the lane path based on the position value.

[0174] The point value can be the location of a basic map element on the corresponding attached lane path, such as... Figure 5 As shown, the lane path length is 1.0. The point on the horizontal distance line between point 2 (basic map element) and the lane path is located at a position in the lane path. As can be seen from the figure, the position value of point 2 (basic map element) on the lane path is 0.2.

[0175] Specifically, the vehicle terminal determines the lane path to which each basic map element is attached, extracts each lane path separately, identifies the basic map elements with attachment relationships on the lane path, and calculates the position value of each basic map element on that lane path. Since the elevation value of the lane path needs to be inferred, basic map elements whose positions are too far from the lane path cannot be used. It should be noted that although the lane path is a line segment, the lane path can be considered as an extended straight line when calculating the elevation value. The position value of the basic map element points attached to this straight line may also exceed the length of the lane path. Therefore, as long as the position value of the basic map element is within the preset position value range, the basic map element can be identified as a valid basic map element.

[0176] For example, such as Figure 5 As shown, the length of the lane path is 1.0, so the point values ​​on the lane path segment range from 0.0 to 1.0. The point values ​​of the basic map elements attached to it are -0.4, 0.2, 0.7, and 1.3, respectively. For the basic map elements attached to the lane path, those with point values ​​within a preset range are determined as valid basic map elements. For example, if the preset range is -0.25 to 1.25, then any basic map element with a point value within this range can reflect the elevation value of the attached lane path. That is, basic map elements 2 and 3 are valid basic map elements.

[0177] 206. The vehicle terminal assigns an elevation value to the attached lane path based on the point value and basic elevation value corresponding to each valid basic map element, thus obtaining an elevation path with elevation values.

[0178] Among them, the basic elevation value can be information that represents the height of the basic map elements in the map. As an important data of 3D maps, it can represent the height of the basic map elements in the 3D map.

[0179] Among them, the elevation path can be a lane path that originally had no elevation value and then has an elevation value assigned to it.

[0180] Specifically, after the layout relationship between the basic map elements and the to-be-filled elements and the initial map is identified, the lane path to which each basic map element in the initial map is hung is determined based on the layout relationship between the basic map elements and the to-be-filled elements and the initial map. Since the basic map elements and the corresponding lane path are horizontally hung, that is, the hanging points of each basic map element and the corresponding lane path are parallel, the height of the basic map element represents the height of the hanging point. It can be understood that each lane path may be hung with multiple basic map elements, so the basic elevation values of multiple basic map elements are read, and all the hanging points on the corresponding lane path are assigned to have multiple elevation values, that is, the lane path with multiple hanging basic map elements and having elevation values is an elevation path.

[0181] It should be noted that there are corresponding specific calculation methods for different situations of different lane paths. In the first case, if the number of effective basic map elements in a lane path is greater than a preset number threshold, and the difference between the maximum point value and the minimum point value is also greater than a preset point difference threshold, the point of each effective basic map element on the lane path is determined, that is, the intersection position of the vertical line of the effective basic map element and the lane path. Then, according to the point value and the basic elevation value of each effective basic map element, the lane path is regarded as a linear function, and the linear regression algorithm is used to calculate the elevation value of the point of each effective basic map element on the lane path to obtain the point of the point, and finally form a lane path that may have multiple elevation values, that is, an elevation path. After obtaining the elevation path, there may be too much sample data, for example, hundreds or thousands of effective basic map elements can be hung on a lane path, so there may be noise values. At this time, various noise reduction methods can be used for processing, for example, the Grubbs criterion can be used for noise reduction. The Grubbs criterion is a method for identifying outliers in normal samples or nearly normal samples under unknown population standard deviation. The specific expression of the linear function of the elevation path calculation is: H=k*R+h, where H is the elevation value of the effective basic map element, k is the slope of the linear function, R is the point value of the effective basic map element, and h is the elevation value of the corresponding point on the lane path.

[0182] Further, the second case is: in a lane path, if the number of valid basic map elements is greater than a preset number threshold, and the absolute values of the maximum point value and the minimum point value are both less than a preset point difference threshold, then the point of each valid basic map element on the lane path, i.e. the intersection position of the vertical line of the valid basic map element and the lane path, is determined, and then the basic elevation values of the valid basic map elements are added up and averaged, and the elevation value of each point on the lane path is the average. It should be noted that, since the initial map contains a large number of basic map elements and elements to be filled, if only one valid basic map element is hung on a lane path, it means that the lane path is short enough, and the elevation value of the lane path can be regarded as the elevation value of the valid basic map element.

[0183] 207、The vehicle terminal reads the first elevation value and the second elevation value located at the two ends of the target elevation path respectively, and determines the nearest neighbor point value of the element to be filled on the target elevation path.

[0184] The first elevation value can be the elevation value of the starting point of the line segment at the two ends of the elevation path.

[0185] The second elevation value can be the elevation value of the ending point of the line segment at the two ends of the elevation path.

[0186] The neighbor point value can be the position of the element to be filled on the corresponding hanging elevation path, as shown in Figure 5 The length of the elevation path is 1, and the two endpoints are 0.0 and 1.0. For the No. 1 element to be filled, the nearest point on the elevation path line segment is the left endpoint, and the nearest neighbor point value of the element to be filled is 0.0.

[0187] Specifically, after identifying the layout relationship between the basic map elements and the elements to be filled and the initial map, the lane path to which each basic map element is hung is determined based on the layout relationship between the basic map elements and the elements to be filled and the initial map, and the elevation path with an elevation value is obtained. For the elevation values at the two ends of the elevation path, the elevation values at the two ends of the elevation path are obtained by weighted average method according to all the elevation values on the elevation path, wherein the weight is the number of valid basic map elements. Then, the elevation values at the two endpoints of the elevation path are read, i.e. the first elevation value and the second elevation value, and then the nearest neighbor point value of the element to be filled on the elevation path is determined. For example, Figure 5For example, there are four to-be-filled elements hanging on an elevation path, which are respectively a first road sign, a second road sign, a third road sign and a fourth road sign. The nearest neighbor point value of the first road sign on the elevation path is 0.0, the nearest neighbor point value of the second road sign on the elevation path is 0.2, the nearest neighbor point value of the third road sign on the elevation path is 0.7, and the nearest neighbor point value of the fourth road sign on the elevation path is 1.0.

[0188] 208、The vehicle terminal determines the target elevation value corresponding to the to-be-filled element according to the first elevation value and the second elevation value of the elevation path and the neighbor point value corresponding to the to-be-filled element.

[0189] The target elevation value can be information representing the height of the to-be-filled element in the map, and serves as important data for perfecting the three-dimensional map, and can represent the height of the to-be-filled element in the three-dimensional map.

[0190] Specifically, after obtaining the first elevation value and the second elevation value corresponding to the two ends of the elevation path, the target elevation value corresponding to the to-be-filled element hanging on the elevation path is determined in combination with the nearest neighbor point value of each to-be-filled element hanging on the elevation path. The specific expression is H = Hs + RN*(He-Hs), where H is the target elevation value, Hs is the first elevation value, He is the second elevation value, and RN is the neighbor point value.

[0191] For example, taking an elevation path A corresponding to a lane of an underground parking lot as an example, the first elevation value of A is 0.0 m, the second elevation value of A is 1.0 m, a lane arrow is a to-be-filled element hanging on A, and the nearest neighbor point value of the lane arrow on A is 0.5. Therefore, according to the expression of the target elevation value, the target elevation value H of the lane arrow is 0.5 m.

[0192] 209、The vehicle terminal updates the elevation information of the to-be-filled element according to the target elevation value, and obtains an updated target map.

[0193] The target map can be a more accurate map obtained by taking the elevation value of the to-be-filled element as a parameter and updating the initial map.

[0194] Specifically, after calculating the target elevation value of the to-be-filled element, the initial map of the original target area is updated to obtain the target map. For example, the height of a lane sign in the initial map is originally 1 m, but the actual height of the lane sign in the target area is 1.2 m. According to the elevation value of the first to-be-filled element beside it as a reference, the height in the target map is adjusted to 1.8 m, which is closer to the true height of the lane sign than the height in the original initial map.

[0195] Through the above application scenarios, the following effects can be achieved: When constructing electronic navigation maps, environmental elements detected by sensors are used to obtain information on some environmental elements that were not detected by sensors, making the element information in the electronic navigation map more complete, improving the accuracy of the electronic map information, enabling the vehicle's navigation and driving functions to be carried out more effectively, thereby improving the user's driving experience.

[0196] Therefore, this solution can obtain the map to be updated corresponding to the target area, identify the elements to be filled in the map, add these elements to the map, determine the layout relationship between the basic map elements and the elements to be filled, and determine the elevation value of each basic map element. Finally, based on the elevation values ​​of the basic map elements, the elevation information of the elements to be filled is updated to obtain an accurate and complete target map. This improves the information elements of the electronic map, enhances the accuracy of the electronic map information, facilitates the development of vehicle navigation and driving functions, and improves the user's driving experience.

[0197] To better implement the above methods, this application also provides a map updating device that can be integrated into computer equipment, such as vehicle-mounted terminals.

[0198] For example, such as Figure 6 As shown, the map updating device may include an acquisition unit 301, a filling determination unit 302, an identification determination unit 303, a determination unit 304, and an updating unit 305.

[0199] Acquisition unit 301 is used to acquire the map to be updated for the target area, which contains basic map elements.

[0200] The filling unit 302 is used to identify the elements to be filled corresponding to the map to be updated, and add the elements to be filled to the map to be updated to obtain the initial map;

[0201] The identification unit 303 is used to identify the layout relationship between the basic map elements and the elements to be filled in the initial map;

[0202] Unit 304 is used to read the base elevation values ​​of the base map elements and determine the target elevation values ​​of the elements to be filled based on the layout relationship and the base elevation values.

[0203] Update unit 305 is used to update the elevation information of the element to be filled according to the target elevation value, so as to obtain the updated target map.

[0204] In some embodiments, the identification unit 303 is further configured to:

[0205] Read lane connectivity information from the initial map;

[0206] construct a lane topology network in the initial map according to the lane connectivity information;

[0207] determine a layout relationship between the base map element and the to-be-filled element and the lane topology network.

[0208] In some embodiments, the identifying unit 303 is further configured to:

[0209] determine a first lane path point with a minimum horizontal distance between the base map element from the plurality of lane path points, and establish a first hanging relationship between the base map element and the first lane path point;

[0210] determine a second lane path point with a minimum horizontal distance between the to-be-filled element from the plurality of lane path points, and establish a second hanging relationship between the to-be-filled element and the second lane path point;

[0211] determine the first hanging relationship and the second hanging relationship as the layout relationship.

[0212] In some embodiments, the determining unit 304 is further configured to:

[0213] assign a value to each lane path in the topology network according to the layout relationship and a base elevation value, to obtain an elevation path with an elevation value;

[0214] determine a target elevation path connected to the to-be-filled element according to the layout relationship;

[0215] determine a target elevation value corresponding to the to-be-filled element according to an elevation value of the target elevation path.

[0216] In some embodiments, the determining unit 304 is further configured to:

[0217] determine a lane path to which each base map element is hung according to the layout relationship, and determine a point value of each base map element on the hung lane path;

[0218] determine a base map element with a point value within a preset point value range as a valid base map element;

[0219] assign an elevation value to the hung lane path according to a point value and a base elevation value corresponding to each valid base map element, to obtain an elevation path with an elevation value.

[0220] In some embodiments, the determining unit 304 is further configured to:

[0221] read a first elevation value and a second elevation value at two ends of the target elevation path, respectively;

[0222] determine a similar neighbor point value of the to-be-filled element on the target elevation path;

[0223] determine the target elevation value corresponding to the to-be-filled element based on the first elevation value, the second elevation value and the neighbor point value.

[0224] In some embodiments, the determining unit 304 is further configured to:

[0225] identify a target number of the valid basic map elements connected on each lane path;

[0226] determine a maximum point value and a minimum point value according to the point values of the valid basic map elements, and determine a point difference value between the maximum point value and the minimum point value;

[0227] if the target number is greater than a preset number threshold and the point difference value is greater than a preset point difference threshold, determine a target path point associated with the point value corresponding to each valid basic map element on the connected lane path;

[0228] perform elevation value calculation on the target path point according to the point value and the basic elevation value of each valid basic map element according to a linear regression algorithm to obtain an elevation path with an elevation value.

[0229] In some embodiments, the determining unit 304 is further configured to:

[0230] identify a target number of the valid basic map elements connected on each lane path;

[0231] determine a maximum point value and a minimum point value according to the point values of the valid basic map elements, and respectively determine point absolute values of the maximum point value and the minimum point value;

[0232] if the target number is greater than a preset number threshold and the point absolute value is less than a preset absolute threshold, determine a target elevation mean value according to the basic elevation value corresponding to the valid basic map element;

[0233] assign an elevation value to the connected lane path according to the target elevation mean value to obtain an elevation path with an elevation value.

[0234] As can be seen from the above, the scheme can obtain a to-be-updated map corresponding to a target region, determine a to-be-filled element that needs to be perfected in the to-be-updated map, add the to-be-filled element into the to-be-updated map, determine a layout relationship between a basic map element and the to-be-filled element in the map, determine an elevation value of each basic map element, and finally update the elevation information of the to-be-filled element based on the elevation value of the basic map element to obtain a target map with accurate and perfect information. In this way, the information elements of the electronic map can be perfected to improve the accuracy of the electronic map information, which is conducive to the development of the navigation and driving functions of the vehicle and improves the driving experience of the user.

[0235] The specific implementation of each operation can refer to the foregoing embodiments, which will not be described here.

[0236] The embodiments of the present application also provide a computer device, as shown in the accompanying drawings, which shows a structural schematic diagram of the computer device related to the embodiments of the present application, in particular: Figure 7

[0237] The computer device can include a processor 401 with one or more processing cores, a memory 402 with one or more computer readable storage media, a power supply 403, an input unit 404, and the like. Those skilled in the art can understand that the structure of the computer device shown in the accompanying drawings does not constitute a limitation on the computer device, and can include more or fewer components than the drawings, or combine certain components, or different component arrangements. Among them: Figure 7

[0238] The processor 401 is the control center of the computer device, which connects each part of the computer device through various interfaces and lines, executes the software programs and / or modules stored in the memory 402, and calls the data stored in the memory 402, to perform various functions and process data of the computer device, thereby overall monitoring the computer device. Optionally, the processor 401 can include one or more processing cores; preferably, the processor 401 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 401.

[0239] The memory 402 can be used to store software programs and modules, and the processor 401 executes various functions and applications and map updates by running the software programs and modules stored in the memory 402. The memory 402 can mainly include a program storage area and a data storage area, wherein the program storage area can store the operating system, at least one application program required by the function (such as sound playing function, image playing function, etc.), etc.; the data storage area can store the data created according to the use of the computer device, etc. In addition, the memory 402 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device, flash memory device, or other volatile solid-state memory device. Accordingly, the memory 402 can also include a memory controller to provide the processor 401 with access to the memory 402.

[0240] ​​The computer device further includes a power supply 403 for supplying power to the various components. Preferably, the power supply 403 is logically connected to the processor 401 through a power management system, so that the power management system can be used to manage charging, discharging, power consumption management, and the like. The power supply 403 can also include one or more DC or AC power sources, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

[0241] The computer device can also include an input unit 404 for receiving input digital or character information, and generating keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0242] Although not shown, the computer device can also include a display unit and the like, which will not be described here. In particular, in the present embodiment, the processor 401 in the computer device loads one or more executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and runs the application programs stored in the memory 402 by the processor 401, thereby implementing various functions, as follows:

[0243] Obtaining a to-be-updated map of a target area, identifying a to-be-filled element corresponding to the to-be-updated map, and adding the to-be-filled element to the to-be-updated map to obtain an initial map, identifying a layout relationship between a basic map element and the to-be-filled element in the initial map, reading a basic elevation value of the basic map element, and determining a target elevation value of the to-be-filled element according to the layout relationship and the basic elevation value, updating elevation information of the to-be-filled element according to the target elevation value, and obtaining an updated target map.

[0244] The specific implementation of each operation can be referred to the foregoing embodiments, which will not be described here.

[0245] As can be seen from the above, the embodiments of the present application can first obtain a to-be-updated map corresponding to a target area, to determine a to-be-filled element that needs to be perfected in the to-be-updated map, and add the to-be-filled element to the to-be-updated map, then determine a layout relationship between a basic map element and the to-be-filled element in the map, and determine an elevation value of each basic map element, and finally update the elevation information of the to-be-filled element based on the elevation value of the basic map element, to obtain an accurate and perfect target map; in this way, the information elements of the electronic map can be perfected, to improve the accuracy of the electronic map information, which is conducive to the development of the navigation and driving functions of the vehicle, and improves the driving experience of the user.

[0246] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions or by controlling relevant hardware by the instructions, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0247] To this end, the embodiments of the present application provide a computer readable storage medium, which stores a plurality of instructions capable of being loaded by a processor to execute the steps in any of the map updating methods provided by the embodiments of the present application. For example, the instructions can execute the following steps:

[0248] obtaining a to-be-updated map of a target area, identifying a to-be-filled element corresponding to the to-be-updated map, and adding the to-be-filled element to the to-be-updated map to obtain an initial map, identifying a layout relationship between a basic map element and the to-be-filled element in the initial map, reading a basic elevation value of the basic map element, and determining a target elevation value of the to-be-filled element according to the layout relationship and the basic elevation value, updating elevation information of the to-be-filled element according to the target elevation value, and obtaining an updated target map.

[0249] The specific implementation of the above operations can be referred to the foregoing embodiments, which will not be described here.

[0250] The computer readable storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0251] The present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the map updating method provided in any of the various optional implementation manners of the above embodiments.

[0252] Since the instructions stored in the computer readable storage medium can execute the steps in any of the map updating methods provided by the embodiments of the present application, the beneficial effects that can be achieved by any of the map updating methods provided by the embodiments of the present application can be achieved. Details are described in the foregoing embodiments, which will not be described here.

[0253] The above describes in detail the map updating method, device, equipment and computer readable storage medium provided by the embodiment of the application. The principle and implementation manner of the application are described by applying specific examples. The above embodiment description is only used to help understand the method of the application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation manner and application range will be changed. In conclusion, the content of the specification should not be understood as a limitation of the application.

Claims

1. A map updating method, characterized in that, include: Obtain the map to be updated for the target area, which contains basic map elements; Identify the elements to be filled corresponding to the map to be updated, and add the elements to be filled to the map to be updated to obtain the initial map; Identify the layout relationship between the base map elements and the elements to be filled in the initial map; Read the base elevation values ​​of the base map elements, and determine the target elevation value of the element to be filled based on the layout relationship and the base elevation values; The elevation information of the elements to be filled is updated based on the target elevation value to obtain the updated target map.

2. The method according to claim 1, characterized in that, The step of identifying the layout relationship between the base map elements and the elements to be filled in the initial map includes: Read the lane connectivity information from the initial map; Based on the lane connectivity information, a lane topology network is constructed in the initial map; Determine the layout relationship between the base map elements and the elements to be filled and the lane topology network.

3. The method according to claim 2, characterized in that, The lane topology network is composed of multiple connected lane paths. Determining the layout relationship between the basic map elements, the elements to be filled, and the lane topology network includes: From the plurality of lane paths, determine the first lane path point with the smallest horizontal distance to the base map element, and establish a first connection relationship between the base map element and the first lane path point; From the plurality of lane paths, determine the second lane path point with the smallest horizontal distance to the element to be filled, and establish a second connection relationship between the element to be filled and the second lane path point; The first and second connection relationships are defined as layout relationships.

4. The method according to claim 2, characterized in that, Determining the target elevation value of the element to be filled based on the layout relationship and the basic elevation value includes: Based on the layout relationship, each lane path in the lane topology network is assigned a value according to the basic elevation value to obtain an elevation path with an elevation value. Based on the layout relationship, determine the target elevation path that connects to the element to be filled; Based on the elevation values ​​of the target elevation path, determine the target elevation value corresponding to the element to be filled.

5. The method according to claim 4, characterized in that, Based on the layout relationship, each lane path in the lane topology network is assigned a value according to the basic elevation value to obtain multiple elevation paths with elevation values, including: Based on the layout relationship, determine the lane path to which each basic map element is attached, and determine the point value of each basic map element on the attached lane path. Base map elements whose point values ​​are within the preset point value range are determined as valid base map elements; Based on the location value and basic elevation value corresponding to each valid base map element, the elevation value is assigned to the attached lane path to obtain an elevation path with elevation value.

6. The method according to claim 4, characterized in that, Determining the target elevation value corresponding to the element to be filled based on the elevation value of the target elevation path includes: Read the first elevation value and the second elevation value located at both ends of the target elevation path, respectively; Determine the nearest neighboring point values ​​of the element to be filled on the target elevation path; Based on the first elevation value, the second elevation value, and the adjacent point values, the target elevation value corresponding to the element to be filled is determined.

7. The method according to claim 5, characterized in that, The process of assigning elevation values ​​to the attached lane paths based on the point values ​​and basic elevation values ​​corresponding to each valid base map element, to obtain elevation paths with elevation values, includes: Identify the number of targets for valid base map elements attached to each lane path; The maximum and minimum point values ​​are determined based on the point values ​​of the effective basic map elements, and the point difference between the maximum and minimum point values ​​is determined. If the number of targets is greater than a preset number threshold and the point difference is greater than a preset point difference threshold, then the target path point associated with the point value corresponding to each valid basic map element on the attached lane path is determined. Based on the location value and basic elevation value of each valid base map element, the elevation value of the target path points is calculated using a linear regression algorithm to obtain an elevation path with elevation values.

8. The method according to claim 5, characterized in that, The process of assigning elevation values ​​to the attached lane paths based on the point values ​​and basic elevation values ​​corresponding to each valid base map element, to obtain elevation paths with elevation values, includes: Identify the number of targets for valid base map elements attached to each lane path; The maximum and minimum point values ​​are determined based on the point values ​​of the effective basic map elements, and the absolute point values ​​of the maximum and minimum point values ​​are determined respectively. If the number of targets is greater than a preset number threshold and the absolute value of the point is less than a preset absolute threshold, then the average target elevation is determined based on the base elevation value corresponding to the effective base map element. The average target elevation is used to assign an elevation value to the attached lane path to obtain an elevation path with an elevation value.

9. A map updating device, characterized in that, include: The acquisition unit is used to acquire the map to be updated for the target area, wherein the map to be updated contains basic map elements; A fill unit is used to identify the element to be filled corresponding to the map to be updated, and add the element to be filled to the map to be updated to obtain an initial map; The identification unit is used to identify the layout relationship between the basic map elements and the elements to be filled in the initial map; A determining unit is used to read the base elevation value of the base map element and determine the target elevation value of the element to be filled based on the layout relationship and the base elevation value. The update unit is used to update the elevation information of the element to be filled according to the target elevation value, so as to obtain the updated target map.

10. A computer device, characterized in that, It includes a processor and a memory, the memory storing a computer program, and the processor running the computer program in the memory to implement the steps of the map update method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium is computer-readable and stores a plurality of instructions adapted for loading by a processor to perform the steps of the map update method according to any one of claims 1 to 8.

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