Map database updating method, map generation method, device, equipment and medium

Abstract

The present disclosure provides a method for updating a map database, which relates to the field of artificial intelligence technology, and in particular to technical fields such as high-precision maps, autonomous driving, and big data. The specific implementation scheme is: based on multiple processing results related to a target map unit, determining multiple first difference information corresponding to the multiple processing results; in response to determining that there is a first difference between multiple first difference information related to an associated area, determining a first target sub-area corresponding to the first difference in the associated area; deleting at least one first target sub-area from multiple first map areas to be updated to obtain a target map area to be updated; and updating the target map unit in the map database based on the target map area to be updated and the multiple first difference information. The present disclosure also provides a map generation method, device, electronic device, and storage medium.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, particularly to high-precision maps, autonomous driving, and big data. More specifically, the present disclosure provides a map database update method, a map generation method, an apparatus, an electronic device, and a storage medium. Background Art

[0002] High-precision maps, also known as high-accuracy maps, can be used by autonomous vehicles. These maps contain precise vehicle location information and rich road element data. They can help vehicles predict complex road conditions, such as slope, curvature, and heading, to better mitigate potential risks. Summary of the Invention

[0003] The present disclosure provides a map database updating method, a map generating method, an apparatus, an electronic device, and a storage medium.

[0004] According to one aspect of the present disclosure, a map database updating method is provided, the method comprising: determining, based on multiple processing results associated with a target map sheet unit, multiple first difference information corresponding to the multiple processing results, wherein the target map sheet unit includes multiple first map sheet areas to be updated, the processing result corresponds to one first map sheet area to be updated, and there is at least one associated area between the multiple first map sheet areas to be updated; in response to determining that a first difference exists between the multiple first difference information associated with the associated area, determining a first target sub-area corresponding to the first difference in the associated area; deleting at least one first target sub-area from the multiple first map sheet areas to be updated to obtain a target map sheet area to be updated; and updating the target map sheet unit in the map database based on the target map sheet area to be updated and the multiple first difference information.

[0005] According to another aspect of the present disclosure, a map generation method is provided, the method comprising: in response to receiving a request to generate a map, obtaining at least one target map unit corresponding to the request from a map database; and generating a high-precision map corresponding to the request based on the at least one target map unit, wherein the map database is updated using the method provided by the present disclosure.

[0006] According to another aspect of the present disclosure, a map database updating device is provided, the device comprising: a first determining module for determining, based on multiple processing results associated with a target map sheet unit, multiple first difference information corresponding to the multiple processing results, wherein the target map sheet unit comprises multiple first map sheet areas to be updated, the processing result corresponds to one first map sheet area to be updated, and there is at least one associated area between the multiple first map sheet areas to be updated; a second determining module for determining, in response to determining that a first difference exists between the multiple first difference information associated with the associated area, a first target sub-area corresponding to the first difference in the associated area; a deleting module for deleting at least one first target sub-area from the multiple first map sheet areas to be updated to obtain a target map sheet area to be updated; and an updating module for updating the target map sheet unit in the map database based on the target map sheet area to be updated and the multiple first difference information.

[0007] According to another aspect of the present disclosure, a map generation device is provided, which includes: an acquisition module for acquiring at least one target map unit corresponding to the request from a map database in response to receiving a request to generate a map; and a third generation module for generating a high-precision map corresponding to the request based on the at least one target map unit, wherein the map database is updated using the device provided by the present disclosure.

[0008] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method provided according to the present disclosure.

[0009] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided. The computer instructions are used to cause a computer to execute the method provided according to the present disclosure.

[0010] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, which implements the method provided according to the present disclosure when executed by a processor.

[0011] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0013] Figure 1is a schematic diagram of an exemplary system architecture to which a map database updating method and / or a map generating method according to an embodiment of the present disclosure may be applied;

[0014] Figure 2 is a flowchart of a map database updating method according to an embodiment of the present disclosure;

[0015] Figure 3 is a schematic diagram of a map database updating method according to another embodiment of the present disclosure;

[0016] Figure 4 is a schematic diagram of determining first difference information according to an embodiment of the present disclosure;

[0017] Figure 5A is a schematic diagram of a first map area to be updated according to an embodiment of the present disclosure;

[0018] Figure 5B is a schematic diagram of an association area according to an embodiment of the present disclosure;

[0019] Figure 5C is a schematic diagram of an association area according to an embodiment of the present disclosure;

[0020] Figures 6A to 6B is a schematic diagram of obtaining a second map area to be updated according to an embodiment of the present disclosure;

[0021] Figure 7A is a schematic diagram of determining second difference information according to an embodiment of the present disclosure;

[0022] Figure 7B is a schematic diagram of a second target sub-region according to one embodiment of the present disclosure;

[0023] Figure 8 is a flowchart of a map generation method according to one embodiment of the present disclosure;

[0024] Figure 9 is a block diagram of a map database updating device according to an embodiment of the present disclosure;

[0025] Figure 10 is a block diagram of a map generating apparatus according to an embodiment of the present disclosure; and

[0026] Figure 11 is a block diagram of an electronic device to which a map database updating method and / or a map generating method according to an embodiment of the present disclosure can be applied. DETAILED DESCRIPTION

[0027] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0028] A high-precision map may include multiple map units. A map unit may include multiple map elements. Map elements may include roads, traffic lights, cameras, etc. The real geographical area corresponding to a map unit may be a square area of ​​10 km × 10 km. Within a time period, multiple work tasks may be performed on the same map unit. After the work task is completed, the processing result of the task may be input into the map database of the high-precision map to update the map database. When the processing result of a work task is returned to the map database, the difference between the processing result and the initial data of the work task may be determined. The difference is used to update the map unit.

[0029] If the processing results of multiple tasks are returned to the map database simultaneously, these multiple processing results can sequentially update the map database, causing multiple changes to the map units within the map database. Furthermore, conflicts may exist between different processing results. For example, different tasks may perform different processing on the same map element. In this case, conflicts may arise between the different processing results. To resolve conflicts, manual verification of the conflicting map elements can be performed each time a conflict is discovered. Consequently, multiple manual verifications may be performed within a single period, resulting in a high time cost for map database updates.

[0030] Figure 1 is a schematic diagram of an exemplary system architecture to which a map database updating method and / or a map generating method can be applied according to an embodiment of the present disclosure. It should be noted that: Figure 1 The examples shown are merely examples of system architectures to which the embodiments of the present disclosure may be applied, to help those skilled in the art understand the technical content of the present disclosure, but do not mean that the embodiments of the present disclosure may not be used in other devices, systems, environments or scenarios.

[0031] like Figure 1 As shown, the system architecture 100 according to this embodiment may include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is used as a medium for providing communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired and / or wireless communication links, etc.

[0032] Users can use terminal devices 101, 102, and 103 to interact with server 105 via network 104 to receive or send messages, etc. Terminal devices 101, 102, and 103 can be various electronic devices with display screens and support web browsing, including but not limited to smartphones, tablet computers, laptop computers, and desktop computers, etc.

[0033] The server 105 may be a server that provides various services, such as a background management server (for example only) that supports websites browsed by users using the terminal devices 101, 102, and 103. The background management server may analyze and process received data such as user requests, and feed back processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal device.

[0034] It should be noted that the map database updating method and / or map generating method provided by the embodiments of the present disclosure can generally be executed by the server 105. Accordingly, the map database updating device and / or map generating device provided by the embodiments of the present disclosure can generally be set in the server 105. The map database updating method and / or map generating method provided by the embodiments of the present disclosure can also be executed by a server or server cluster that is different from the server 105 and can communicate with the terminal devices 101, 102, 103 and / or the server 105. Accordingly, the map database updating device and / or map generating device provided by the embodiments of the present disclosure can also be set in a server or server cluster that is different from the server 105 and can communicate with the terminal devices 101, 102, 103 and / or the server 105.

[0035] Figure 2 is a flowchart of a map database updating method according to an embodiment of the present disclosure.

[0036] like Figure 2 As shown, the method 200 may include operations S210 to S240.

[0037] In operation S210 , a plurality of first difference information corresponding to the plurality of processing results related to the target map unit is determined.

[0038] In an embodiment of the present disclosure, in response to receiving multiple processing results associated with a target map unit, multiple pieces of first difference information corresponding to the multiple processing results are determined based on the multiple processing results associated with the target map unit. For example, the multiple pieces of first difference information may be determined when the processing results of the multiple job tasks are returned to the map database.

[0039] In the embodiment of the present disclosure, the target map unit includes multiple first map areas to be updated. For example, the size of the target map unit may be 10 kilometers × 10 kilometers. The map unit may be divided into 9 first map areas to be updated.

[0040] In the disclosed embodiment, the processing result corresponds to a first map sheet area to be updated. For example, a target map sheet unit may correspond to nine work tasks. The work tasks may include: processing operations on map elements in the first map sheet area to be updated. After the work tasks are completed, the processing results corresponding to the first map sheet area to be updated can be obtained.

[0041] In the embodiment of the present disclosure, there is at least one associated region between the plurality of first map regions to be updated. For example, there may be an associated region between two adjacent first map regions to be updated.

[0042] In the disclosed embodiment, a difference can be performed between the processing result and the current map data of the target map unit to obtain a difference result, which serves as the first difference information. It is understood that the first difference information can be determined based on the processing result in various ways, and this disclosure does not limit this. For example, the first difference information can also be obtained by differencing the processing result with the map data before the execution of the relevant task.

[0043] In operation S220 , in response to determining that a first difference exists between a plurality of first difference information related to the associated region, a first target sub-region corresponding to the first difference is determined in the associated region.

[0044] For example, the first map area to be updated As_1 corresponds to the first difference information diff_w1. The first map area to be updated As_2 corresponds to the first difference information diff_w2. For the associated area Ao_1 between the first map area to be updated As_1 and the first map area to be updated As_2, the first difference sub-information diff_w1Aol related to the associated area can be determined from the first difference information diff_w1, and the first difference sub-information diff_w2Ao2 related to the associated area can also be determined from the first difference information diff_w2. If there is a difference between the first difference sub-information diff_w1Ao1 and the first difference sub-information diff_w2Ao2, a first target sub-area can be determined based on the area corresponding to the difference. For another example, the associated area Ao_1 can be used as the first target sub-area. It can be understood that when there is a first difference, it can be determined that there is a conflict between the two processing results.

[0045] In operation S230 , at least one first target sub-region is deleted from the plurality of first map regions to be updated to obtain a target map region to be updated.

[0046] For example, the first map area to be updated As_1 and the first map area to be updated As_2 can be spliced ​​to obtain a spliced ​​area, and the associated area Ao_1 can be deleted from the spliced ​​area. The spliced ​​area with the associated area deleted can be merged with the other seven first map areas to be updated to obtain a target map area to be updated.

[0047] In operation S240 , the target map unit in the map database is updated according to the target map area to be updated and the plurality of first difference information.

[0048] For example, multiple first difference information may be fused to obtain fused information. Target difference information corresponding to the target map unit to be updated may be determined from the fused information. The target difference information may be used to update the map data of the target map unit.

[0049] Through the disclosed embodiments, during the data return process, the database is updated using information unrelated to conflicts from multiple processing results, thereby improving both return efficiency and database update efficiency. Furthermore, updating the database based on multiple processing results can reduce the number of changes to map units, enabling more efficient database updates and reducing the time required to update the map database.

[0050] It is understood that the above description uses the example of returning multiple processing results to the map database in parallel to illustrate the method of the present disclosure, but the present disclosure is not limited thereto. When only one processing result is returned to the map database, the map database can be directly updated.

[0051] Figure 3 is a schematic diagram of a map database updating method according to another embodiment of the present disclosure.

[0052] like Figure 3 As shown, within a time period (eg, 3 hours), multiple tasks related to the target map unit 301 are generated. The multiple tasks may include Task 1, Task 2, Task 3, and Task 4.

[0053] In the disclosed embodiment, in response to receiving a processing result within the target period, the map database is updated using the processing result. Figure 3 As shown, the processing result 1 of task 1 may enter the cache unit 302 during the period from 7:00 to 8:00 on a certain day. The map database 303 may be updated using the processing result 1.

[0054] In the embodiment of the present disclosure, in response to receiving multiple processing results within the target period, the multiple processing results are temporarily stored in the cache unit. Figure 3As shown, the processing result 2 of task 2, the processing result 3 of task 3, and the processing result 4 of task 4 can enter the cache unit 302 between 8:00 and 9:00 on a certain day. The processing results 2 to 4 can be temporarily stored in the cache unit 302.

[0055] It is understood that the above describes the method of returning the processing result to the database. The following further describes some methods of determining the first difference information.

[0056] Figure 4 is a schematic diagram of determining first difference information according to an embodiment of the present disclosure.

[0057] like Figure 4 As shown, the cache unit 402 can temporarily store K processing results. K can be an integer greater than 1. Taking K=9 as an example, the K processing results can include: processing result 2 of task 2, processing result 3 of task 3, processing result 4 of task 4, processing result 5 of task 5, processing result 6 of task 6, processing result 7 of task 7, processing result 8 of task 8, processing result 9 of task 9, and processing result 10 of task 10.

[0058] In some embodiments, determining multiple first difference information corresponding to multiple processing results includes obtaining first initial map data corresponding to the processing results. Differentiating the first initial map data from the processing results to obtain the first difference information. In the disclosed embodiments, a task may include performing a related operation on the first initial map data. For example, task k includes performing a related operation on the first initial map data k. After the related operation is completed, processing result k for task k may be obtained. For another example, for processing result k, the first initial map data k corresponding to processing result k may be obtained. Differentiating the first initial map data k from the processing result k using the difference unit 404 may obtain the difference result k as the first difference information k. k may be an integer greater than or equal to 1 and less than or equal to K. It is understood that in this embodiment, the value of k may be 2, 3, 4, 5, 6, 7, 8, 9, or 10. By generating difference information in the disclosed embodiments, hardware resources required for subsequent database updates can be saved and the time cost of database updates can be further reduced.

[0059] It can be understood that some methods of determining the first difference information are described above, and some methods of determining the first target sub-region will be described below.

[0060] Figure 5A 3 is a schematic diagram of a first map area to be updated according to an embodiment of the present disclosure.

[0061] like Figure 5AAs shown, the target map unit 501 may include 9 first map regions to be updated. In the embodiment of the present disclosure, there may be an associated region between any two adjacent first map regions to be updated. Figure 5B Provide explanation.

[0062] Figure 5B is a schematic diagram of an association area according to an embodiment of the present disclosure.

[0063] like Figure 5B As shown, there may be an associated area 25 between the first map sheet area to be updated 2 and the first map sheet area to be updated 5. The associated area 25 may include a map element, which may be a road.

[0064] In an embodiment of the present disclosure, determining the first target sub-area corresponding to the first difference within the associated area may include: determining multiple first difference sub-information corresponding to the map element based on multiple first difference information related to the associated area. The first difference sub-information corresponds to one map element. For example, the two first difference information related to the associated area 25 may include: first difference information 2 and first difference information 5. The first difference sub-information corresponding to the associated area 25 can be extracted from the first difference information 2, or the first difference sub-information corresponding to the associated area 25 can be extracted from the first difference information 2. If the two first difference sub-information are inconsistent, the associated area 25 can be determined as the first target sub-area. Through the embodiment of the present disclosure, the first target sub-area is determined based on the difference sub-information related to the map element, and the area where the task conflict occurs can be accurately determined so that the database can be updated accurately.

[0065] I understand. Figure 5B The following describes an example in which the associated area includes one map element. In the embodiment of the present disclosure, the associated area may include multiple map elements. Figure 5C Provide explanation.

[0066] Figure 5C is a schematic diagram of an association area according to an embodiment of the present disclosure.

[0067] like Figure 5C As shown, there may be an associated area 57 between the first map sheet area to be updated 5 and the first map sheet area to be updated 7. The associated area 57 may include a map element 571 and a map element 572. The map element 571 may be a road, and the map element 572 may be a building.

[0068] For example, the two first difference information items associated with associated area 57 may include first difference information 5 and first difference information 7. The first difference sub-information corresponding to map element 571 can be extracted from first difference information 5, and the first difference sub-information corresponding to map element 571 can also be extracted from first difference information 7. If the two first difference sub-information items corresponding to map element 571 are inconsistent, the area where map element 571 is located can be determined as the first target sub-area.

[0069] For example, the first difference sub-information corresponding to map element 572 can be extracted from first difference information 5, or the first difference sub-information corresponding to map element 572 can be extracted from first difference information 7. If the two first difference sub-information corresponding to map element 572 are consistent, the area where map element 571 is located can be determined as part of the target map area to be updated.

[0070] It can be understood that some methods for determining the first target sub-region are described above, and some methods for determining the target map region to be updated will be described below in conjunction with relevant embodiments.

[0071] Figures 6A to 6B It is a schematic diagram of obtaining a second map area to be updated according to an embodiment of the present disclosure.

[0072] In the embodiment of the present disclosure, the plurality of first map regions to be updated may be K first map regions to be updated, and at least one first target subregion may be associated with M first map regions to be updated. The number of first map regions to be updated that are not associated with the first target subregion may be N. K may be equal to the sum of M and N. M may be an integer greater than or equal to 1 and less than or equal to K, K may be an integer greater than 1, and N may be an integer greater than or equal to 0 and less than K. Figure 6A As shown, K may be 9. At least one first target sub-region may be associated with 9 first image regions to be updated, M may be 9, and N may be 0.

[0073] In the embodiment of the present disclosure, deleting at least one first target sub-region from multiple first map regions to be updated to obtain a target map region to be updated includes: deleting at least one first target sub-region from M first map regions to be updated to obtain M second map regions to be updated. For example, at least one first target sub-region can be spliced ​​to obtain the following: Figure 6A The first target area 605 is shown. Figure 6A The first target area 605 is deleted from the M first image regions to be updated, and M images are obtained as shown in FIG. Figure 6BThe second map sheet area to be updated is shown. The M second map sheet areas to be updated may include second map sheet area to be updated 2, second map sheet area to be updated 3, second map sheet area to be updated 4, second map sheet area to be updated 5, second map sheet area to be updated 6, second map sheet area to be updated 7, second map sheet area to be updated 8, second map sheet area to be updated 9, and second map sheet area to be updated 10. Next, the target map sheet area to be updated can be obtained based on the M second map sheet areas to be updated and the N first map sheet areas to be updated, which will be further explained below.

[0074] Figure 7A FIG. 4 is a schematic diagram of determining second difference information according to an embodiment of the present disclosure.

[0075] In the disclosed embodiment, obtaining the target map sheet area to be updated based on the M second map sheet areas to be updated and the N first map sheet areas to be updated may include: determining multiple second initial map data based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and multiple first initial map data. For example, the first initial map data corresponds to a task. The task corresponds to a first map sheet area to be updated. After deleting the area related to the first target sub-area from the first map sheet area to be updated, the second map sheet area to be updated can be obtained. Thus, for the second map sheet area to be updated, the second initial map data can be extracted from the first map data. The second initial map data can correspond to a second map sheet area to be updated.

[0076] In the disclosed embodiment, obtaining the target map sheet area to be updated based on the M second map sheet areas to be updated and the N first map sheet areas to be updated may further include: performing a differential operation between the plurality of second initial map data and the current map data of the target map sheet unit to obtain a plurality of second difference information. For example, the current map data may be data currently stored in a map database related to the target map sheet unit. The differential unit 706 may be used to perform a differential operation between the second initial map data and the current map data to obtain a second difference result as the second difference information. It will be appreciated that the second initial map data k may be extracted from the first initial map data k. The second initial map data k may correspond to the second difference information k. The value of k may be 2, 3, 4, 5, 6, 7, 8, 9, or 10. Next, the target map sheet area to be updated may be obtained based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of second difference information.

[0077] Figure 7B is a schematic diagram of a second target sub-region according to an embodiment of the present disclosure.

[0078] In the disclosed embodiment, obtaining the target map sheet area to be updated based on M second map sheet areas to be updated, N first map sheet areas to be updated, and multiple second difference information may include: determining multiple third difference information based on the M second map sheet areas to be updated, N first map sheet areas to be updated, and multiple first difference information. For example, the first difference information corresponds to one first map sheet area to be updated. After deleting the area related to the first target sub-area from the first map sheet area to be updated, the second map sheet area to be updated can be obtained. Thus, for the second map sheet area to be updated, the third difference information can be extracted from the first difference information. The third difference information can correspond to one second map sheet area to be updated.

[0079] In the disclosed embodiment, obtaining the target map sheet area to be updated based on M second map sheet areas to be updated, N first map sheet areas to be updated, and multiple second difference information may further include: in response to determining that at least one second difference exists between the multiple third difference information and the multiple second difference information, determining at least one second target sub-area corresponding to the at least one second difference. For example, second difference information k corresponds to second map sheet area to be updated k. Third difference information k may also correspond to second map sheet area to be updated k. Second map sheet area to be updated k may include multiple map elements. For another example, I second difference sub-information may be extracted from second difference information k, or J third difference sub-information may be extracted from third difference information k. If I equals J, it can be determined that no second difference exists between second difference information k and third difference information k. If I does not equal J, it can be determined that a second difference exists between second difference information k and third difference information k. The area containing the map element corresponding to the second difference is defined as the second target sub-area. For another example, second target sub-area 707 may be the area containing a map element corresponding to one second difference. For another example, I may be an integer greater than or equal to 1, and J may be an integer greater than or equal to 1. During the execution of tasks 2 through 10, if the processing results of other tasks are returned to the database, the number of map elements within the target map unit may increase or decrease, causing the current map data of the target map unit to differ significantly from the initial map data of the aforementioned tasks. The disclosed embodiments can identify map elements with significant changes in the current map data, thereby facilitating more accurate database updates.

[0080] In the disclosed embodiment, obtaining the target map sheet area to be updated based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of second difference information may further include: deleting at least one second target sub-area from at least one of the M second map sheet areas to be updated and the N first map sheet areas to be updated to obtain the target map sheet area to be updated. For example, the second target sub-area 707 may be deleted from the second map sheet area to be updated 7. Next, the target map sheet area to be updated may be obtained based on the second map sheet areas 2 to 6 to be updated, the second map sheet area 7 to be updated with the second target sub-area 707 deleted, and the second map sheet areas 8 to 10 to be updated.

[0081] It can be understood that the above describes some methods for obtaining the target map area to be updated, and the following describes some methods for updating the map database.

[0082] In some embodiments, updating a target map sheet unit in a map database based on a target map sheet area to be updated and a plurality of first difference information may include: determining target difference information based on the target map sheet area to be updated and the plurality of first difference information. Updating the target map sheet unit using the target difference information. For example, target difference information corresponding to the target map sheet area to be updated may be extracted from the plurality of first difference information. The target difference information may be used to update the target map sheet unit.

[0083] It can be understood that the above describes some ways of updating the map unit using difference information irrelevant to the conflict, and the following will further describe some ways of processing the target sub-region relevant to the conflict.

[0084] In some embodiments, the method may further include generating a pending task for re-updating the target map unit based on at least one first target sub-region. For example, at least one target sub-region may be concatenated to obtain the first target region 605 described above. Based on the first target region 605, a pending task may be generated. After completing the pending task, the first target region 605 in the target map unit may be updated. Through the disclosed embodiments, pending tasks can be generated based on conflict-related information, helping to improve conflict resolution efficiency and reduce the labor costs required for conflict resolution.

[0085] In other embodiments, the method may further include generating a pending task for re-updating the target map unit based on the at least one first target sub-region and the at least one second target sub-region. For example, the at least one target sub-region may be concatenated to obtain the first target region 605. A pending task may be generated based on the first target region 605 and the second target sub-region 707. After the pending task is completed, the first target region 605 and the second target sub-region 707 in the target map unit may be updated.

[0086] It is understood that after the second image region to be processed is determined, the above description is made with N=0 as an example, but the present disclosure is not limited thereto, and the values ​​of M and N may also be other values, which are not limited in the present disclosure.

[0087] It is understood that the above description describes the map database update method. In the embodiment of the present disclosure, the map database can be used to generate a high-precision map.

[0088] Figure 8 is a flowchart of a map generating method according to another embodiment of the present disclosure.

[0089] like Figure 8 As shown, the method 800 may include operations S810 to S820.

[0090] In operation S810 , in response to receiving a request for generating a map, at least one target map unit corresponding to the request is acquired from a map database.

[0091] For example, the request may come from an autonomous vehicle or another human-driven vehicle.

[0092] For example, the request may be related to a geographical area, and the geographical area may correspond to at least one target map unit.

[0093] In operation S820, a high-precision map corresponding to the request is generated according to at least one target map unit.

[0094] For example, a high-precision map can be generated based on the map data of at least one target map unit.

[0095] In an embodiment of the present disclosure, the map database may be updated according to the method provided by the present disclosure.

[0096] Figure 9 is a block diagram of a map database updating device according to an embodiment of the present disclosure.

[0097] like Figure 9 As shown, the apparatus 900 may include a first determination module 910 , a second determination module 920 , a deletion module 930 and an update module 940 .

[0098] The first determination module 910 is configured to determine, based on multiple processing results associated with a target map unit, multiple first difference information corresponding to the multiple processing results. For example, the target map unit includes multiple first map regions to be updated, the processing result corresponds to one first map region to be updated, and at least one associated region exists between the multiple first map regions to be updated.

[0099] The second determining module 920 is configured to determine, in response to determining that a first difference exists between a plurality of first difference information related to the associated region, a first target sub-region corresponding to the first difference in the associated region.

[0100] The deleting module 930 is configured to delete at least one first target sub-region from the plurality of first map regions to be updated to obtain a target map region to be updated.

[0101] The updating module 940 is configured to update the target map sheet unit in the map database according to the target map sheet area to be updated and the plurality of first difference information.

[0102] In some embodiments, the first determination module includes: an acquisition submodule for acquiring first initial map data corresponding to the processing result; and a first difference submodule for performing a difference between the first initial map data and the processing result to obtain first difference information.

[0103] In some embodiments, the associated area includes at least one map element, and the second determination module includes: a first determination submodule for determining, based on multiple pieces of first difference information associated with the associated area, multiple pieces of first difference sub-information corresponding to the map element. For example, the first difference sub-information corresponds to one map element. A second determination submodule for determining, in response to determining that a first difference exists between the multiple pieces of first difference sub-information corresponding to the map element, the area in which the map element is located as the first target sub-area.

[0104] In some embodiments, the multiple first map areas to be updated are K first map areas to be updated, at least one first target sub-area is associated with M first map areas to be updated, M is an integer greater than or equal to 1 and less than or equal to K, and K is an integer greater than 1.

[0105] In some embodiments, the deletion module includes: a deletion submodule configured to delete at least one first target subregion from the M first map sheet regions to be updated to obtain M second map sheet regions to be updated; and an acquisition submodule configured to obtain a target map sheet region to be updated based on the M second map sheet regions to be updated and the N first map sheet regions to be updated, where N is an integer greater than or equal to 0 and less than or equal to K.

[0106] In some embodiments, the obtaining submodule includes: a determining unit configured to determine a plurality of second initial map data based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of first initial map data; a first obtaining unit configured to perform a differential operation between the plurality of second initial map data and the current map data of the target map sheet unit to obtain a plurality of second difference information; and a second obtaining unit configured to obtain a target map sheet area to be updated based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of second difference information.

[0107] In some embodiments, the second obtaining unit includes: a first determining subunit for determining a plurality of third difference information based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of first difference information; a second determining subunit for determining, in response to determining that at least one second difference exists between the plurality of third difference information and the plurality of second difference information, at least one second target subregion corresponding to the at least one second difference; and a deleting subunit for deleting the at least one second target subregion from at least one of the M second map sheet areas to be updated and the N first map sheet areas to be updated, to obtain a target map sheet area to be updated.

[0108] In some embodiments, the updating module includes: a third determining submodule for determining target difference information based on the target map area to be updated and the plurality of first difference information; and an updating submodule for updating the target map unit using the target difference information.

[0109] In some embodiments, the apparatus 900 further includes: a first generating module configured to generate a to-be-processed task for re-updating the target map unit according to at least one first target sub-region.

[0110] In some embodiments, the apparatus 900 further includes: a second generating module configured to generate a to-be-processed task for re-updating the target map unit based on the at least one first target sub-region and the at least one second target sub-region.

[0111] Figure 10 is a block diagram of a map generating apparatus according to another embodiment of the present disclosure.

[0112] like Figure 10 As shown, the apparatus 1000 may include an acquisition module 1010 and a third generation module 1020 .

[0113] The acquisition module 1010 is configured to, in response to receiving a request for generating a map, acquire at least one target map unit corresponding to the request from a map database.

[0114] The third generation module 1020 is used to generate a high-precision map corresponding to the request based on at least one target map unit.

[0115] In the embodiment of the present disclosure, the map database is updated using the apparatus provided by the present disclosure.

[0116] In the technical solutions disclosed herein, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0117] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0118] Figure 11 A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0119] like Figure 11 As shown, the device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a random access memory (RAM) 1103. Various programs and data required for the operation of the device 1100 can also be stored in the RAM 1103. The computing unit 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0120] Various components in device 1100 are connected to I / O interface 1105, including an input unit 1106, such as a keyboard and mouse; an output unit 1107, such as various types of displays and speakers; a storage unit 1108, such as a magnetic disk and optical disk; and a communication unit 1109, such as a network card, a modem, a wireless communication transceiver, etc. Communication unit 1109 allows device 1100 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0121] The computing unit 1101 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above, such as the map database update method and / or the map generation method. For example, in some embodiments, the map database update method and / or the map generation method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1108. In some embodiments, part or all of the computer program may be loaded and / or installed onto the device 1100 via the ROM 1102 and / or the communication unit 1109. When the computer program is loaded into the RAM 1103 and executed by the computing unit 1101, one or more steps of the map database update method and / or the map generation method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to execute the map database updating method and / or the map generating method in any other appropriate manner (eg, by means of firmware).

[0122] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0124] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) display or an LCD (liquid crystal display)) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0126] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0127] Computer systems may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The client and server relationship arises through computer programs running on the respective computers and having a client-server relationship to each other.

[0128] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0129] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for updating a map database, comprising: Determining, based on a plurality of processing results associated with a target map sheet unit, a plurality of first difference information corresponding to the plurality of processing results, including: obtaining first initial map data corresponding to the processing results; and performing a difference between the first initial map data and the processing results to obtain the first difference information, wherein the target map sheet unit includes a plurality of first map sheet areas to be updated, the processing result corresponds to one of the first map sheet areas to be updated, at least one associated area exists between the plurality of first map sheet areas to be updated, and the associated area includes at least one map element; determining, based on the plurality of first difference information related to the associated area, a plurality of first difference sub-information corresponding to the map element, wherein the first difference sub-information corresponds to one map element; In response to determining that a first difference exists between the plurality of first difference sub-information corresponding to the map element, determining the area where the map element is located as a first target sub-area; Deleting at least one of the first target sub-regions from the plurality of first map regions to be updated to obtain a target map region to be updated; and The target map sheet unit in the map database is updated according to the target map sheet area to be updated and the plurality of first difference information.

2. The method according to claim 1, wherein The plurality of first map areas to be updated are K first map areas to be updated, at least one first target sub-area is associated with M first map areas to be updated, M is an integer greater than or equal to 1 and less than or equal to K, and K is an integer greater than 1. Deleting at least one first target sub-region from the plurality of first map regions to be updated to obtain a target map region to be updated includes: Deleting at least one of the first target sub-regions from the M first map regions to be updated to obtain M second map regions to be updated; and The target map sheet area to be updated is obtained according to M second map sheet areas to be updated and N first map sheet areas to be updated, where N is an integer greater than or equal to 0 and less than or equal to K.

3. The method according to claim 2, wherein: The step of obtaining the target map sheet area to be updated according to the M second map sheet areas to be updated and the N first map sheet areas to be updated comprises: determining a plurality of second initial map data according to the M second map sheet areas to be updated, the N first map sheet areas to be updated, and a plurality of first initial map data; performing a differential operation on the plurality of second initial map data and the current map data of the target map unit to obtain a plurality of second difference information; and The target map sheet area to be updated is obtained according to the M second map sheet areas to be updated, the N first map sheet areas to be updated, and a plurality of second difference information.

4. The method according to claim 3, wherein: The obtaining of the target map sheet area to be updated according to the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of second difference information includes: determining a plurality of third difference information based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of first difference information; In response to determining that at least one second difference exists between the plurality of third difference information and the plurality of second difference information, determining at least one second target sub-region corresponding to the at least one second difference; and At least one of the second target sub-regions is deleted from at least one of the M second map sheet regions to be updated and the N first map sheet regions to be updated to obtain the target map sheet region to be updated.

5. The method according to claim 1, wherein Updating the target map sheet unit in the map database according to the target map sheet area to be updated and the plurality of first difference information includes: determining target difference information according to the target map area to be updated and the plurality of first difference information; and The target map unit is updated using the target difference information.

6. The method according to claim 1, further comprising: A to-be-processed task for re-updating the target map unit is generated according to at least one of the first target sub-regions.

7. The method according to claim 4, further comprising: A to-be-processed task for re-updating the target map unit is generated according to at least one of the first target sub-regions and at least one of the second target sub-regions.

8. A map generation method, comprising: In response to receiving a request to generate a map, obtaining at least one target map unit corresponding to the request from a map database; Generate a high-precision map corresponding to the request based on at least one of the target map units, Wherein, the map database is updated using the method described in any one of claims 1 to 7.

9. A map database updating device comprising: a first determining module configured to determine, based on a plurality of processing results associated with a target map sheet unit, a plurality of first difference information corresponding to the plurality of processing results, wherein the target map sheet unit includes a plurality of first map sheet areas to be updated, the processing result corresponds to one of the first map sheet areas to be updated, and there is at least one associated area between the plurality of first map sheet areas to be updated, and the associated area includes at least one map element; a second determining module configured to, in response to determining that a first difference exists between the plurality of first difference information related to the associated area, determine a first target sub-area corresponding to the first difference in the associated area; a deleting module, configured to delete at least one of the first target sub-regions from the plurality of the first map regions to be updated, to obtain a target map region to be updated; and An updating module is configured to update the target map unit in the map database according to the target map area to be updated and the plurality of first difference information. The first determining module includes: an acquisition submodule, configured to acquire first initial map data corresponding to the processing result; and a first difference submodule, configured to perform a difference between the first initial map data and the processing result to obtain the first difference information; The second determining module includes: a first determining submodule, configured to determine, based on the plurality of first difference information related to the associated area, a plurality of first difference sub-information corresponding to the map element, wherein the first difference sub-information corresponds to one map element; and The second determining submodule is configured to determine the area where the map element is located as the first target sub-area in response to determining that the first difference exists between the plurality of first difference sub-information corresponding to the map element.

10. The device according to claim 9, wherein The plurality of first map areas to be updated are K first map areas to be updated, at least one first target sub-area is associated with M first map areas to be updated, M is an integer greater than or equal to 1 and less than or equal to K, and K is an integer greater than 1. The deletion module includes: a deletion submodule, configured to delete at least one of the first target subregions from the M first map regions to be updated, to obtain M second map regions to be updated; and The obtaining submodule is used to obtain the target map sheet area to be updated according to M second map sheet areas to be updated and N first map sheet areas to be updated, wherein N is an integer greater than or equal to 0 and less than or equal to K.

11. The device according to claim 10, wherein The obtaining submodule includes: a determining unit, configured to determine a plurality of second initial map data according to the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of first initial map data; a first obtaining unit, configured to perform a difference between the plurality of second initial map data and the current map data of the target map unit to obtain a plurality of second difference information; and The second obtaining unit is configured to obtain the target map sheet area to be updated according to the M second map sheet areas to be updated, the N first map sheet areas to be updated, and a plurality of second difference information.

12. The device according to claim 11, wherein The second obtaining unit includes: A first determining subunit is configured to determine a plurality of third difference information based on the M second map sheet areas to be updated, the N first map sheet areas to be updated, and the plurality of first difference information; a second determining subunit, configured to, in response to determining that at least one second difference exists between the plurality of third difference information and the plurality of second difference information, determine at least one second target sub-region corresponding to the at least one second difference; and The deleting subunit is configured to delete at least one of the second target subregions from at least one of the M second map sheet regions to be updated and the N first map sheet regions to be updated, to obtain the target map sheet region to be updated.

13. The device according to claim 9, wherein The update module includes: A third determining submodule is configured to determine target difference information based on the target map area to be updated and the plurality of first difference information; and The updating submodule is configured to update the target map unit using the target difference information.

14. The apparatus according to claim 9, further comprising: The first generating module is configured to generate a to-be-processed task for re-updating the target map unit according to at least one of the first target sub-regions.

15. The apparatus according to claim 12, further comprising: The second generating module is configured to generate a to-be-processed task for re-updating the target map unit according to at least one of the first target sub-regions and at least one of the second target sub-regions.

16. A map generating device comprising: an acquisition module, configured to, in response to receiving a request for generating a map, acquire at least one target map unit corresponding to the request from a map database; The third generating module is configured to generate a high-precision map corresponding to the request based on at least one target map unit. Wherein, the map database is updated using the device described in any one of claims 9 to 15.

17. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 8.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 8.

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

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