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

Abstract

The application provides a map updating method and device, equipment and computer readable storage medium, relates to the technical field of map, and can shorten the time consumption of map updating and improve the efficiency of map updating. The method comprises the following steps: acquiring position information and road information of an updated road in an updated map; determining a first region including the updated road in the updated map according to the position information of the updated road; determining a second region in a to-be-updated map; determining a plurality of candidate roads in the to-be-updated map according to the position information of the second region in the to-be-updated map; determining a target road from the plurality of candidate roads, and updating map data of the target road based on the map data of the updated road; the road information of the target road is the same as the road information of the updated road, and the length deviation value between the target road and the updated road is the minimum.

Description

Map updating methods, apparatus, devices and computer-readable storage media Technical Field

[0001] This application relates to the field of map technology, and in particular to map updating methods, apparatus, devices and computer-readable storage media. Background Technology

[0002] With the fast pace of life, roads may change. For example, Figure 1 is a schematic diagram of a road change provided by this application. As shown in Figure 1, before the road change, it includes road L1 and road L2, and after the road change, it includes road L1, road L2 and road L3.

[0003] Road changes can cause discrepancies between the updated and pending map data. To ensure consistency between the pending and updated map data, the pending map needs to be updated based on the updated map. One existing map update method involves updating all map data of the pending map. This approach requires pre-compiling all map data of both the pending and updated maps before updating the pending map data.

[0004] Because of the massive amount of data in all map data, the map update process is time-consuming and inefficient. Summary of the Invention

[0005] This application provides a map updating method, apparatus, device, and computer-readable storage medium, which can shorten the time required for map updating and improve the efficiency of map updating.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] Firstly, a map updating method is provided, comprising: acquiring the location information and road information of updated roads in an updated map; determining a first region in the updated map that includes the updated roads based on the location information of the updated roads; determining a second region in the map to be updated; the location information of the second region in the map to be updated is the same as the location information of the first region in the updated map; determining multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated; a portion or all of the road segments of each candidate road are located in the second region; determining a target road from the multiple candidate roads, and updating the map data of the target road based on the map data of the updated roads; the road information of the target road is the same as the road information of the updated roads, and the length deviation between the target road and the updated roads is minimized.

[0008] Based on this scheme, a first region containing the updated roads is identified in the updated map. Then, a target road with the same road information as the updated road and the smallest length deviation from the updated road is selected from a second region in the map to be updated that is located in the same position as the first region. Finally, the map data of the target road is updated based on the map data of the updated road. Compared to existing full map update schemes, this application's scheme, by updating only the target road's map data in the map to be updated, can process only the target road's map data when updating different versions of the map, without needing to process the map data of other roads that have not been updated. This reduces the amount of map data that needs to be processed, thus shortening the time required for updating different versions of the map and improving the efficiency of updating different versions of the map.

[0009] In conjunction with the first aspect, in some embodiments of the first aspect, determining a first region in the updated map that includes the updated road based on the location information of the updated road includes: obtaining the location information of a first unit road and the location information of a second unit road in the updated map; the first unit road is a unit road connected to the starting point of the updated road, the second unit road is a unit road connected to the ending point of the updated road, and the unit road is a road between two adjacent target points (POIs); using the updated road, the first unit road, and the second unit road as the target centerline; determining the first region in the updated map that includes the updated road based on the target centerline; the centerline of the first region is the target centerline.

[0010] Based on this scheme, it is possible to determine the first area in the updated map that includes the updated roads based on the location information of the updated roads.

[0011] In conjunction with the first aspect, in some embodiments of the first aspect, determining multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated includes: determining at least one initial unit road in the map to be updated based on the location information of the second region in the map to be updated; each initial unit road is partially or entirely located within the second region; determining multiple candidate roads based on the location information of at least one initial unit road; the candidate roads include multiple sequentially connected initial unit roads, and the included angle between any two adjacent initial unit roads in the candidate roads is greater than a first threshold.

[0012] Based on this scheme, it is possible to determine multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated.

[0013] In conjunction with the first aspect, in some embodiments of the first aspect, determining a target road from a plurality of candidate roads includes: determining at least one candidate road whose road information is the same as the road information of the updated road as at least one intermediate target road; determining the length deviation value between each intermediate target road and the updated road in the at least one intermediate target road, and determining the intermediate target road with the smallest length deviation value from the updated road in the at least one intermediate target road as the target road.

[0014] Based on this scheme, it is possible to determine the target road from multiple candidate roads.

[0015] Secondly, a map updating apparatus is provided for implementing the map updating method of the first aspect described above. The map updating apparatus includes modules, units, or means corresponding to the above method. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0016] In conjunction with the second aspect, in some embodiments of the second aspect, the map updating device includes: an acquisition module and a processing module; the acquisition module is used to acquire the location information and road information of updated roads in an updated map; the processing module is used to determine a first region in the updated map that includes the updated roads based on the location information of the updated roads; the processing module is further used to determine a second region in the map to be updated; the location information of the second region in the map to be updated is the same as the location information of the first region in the updated map; the processing module is further used to determine multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated; a portion or all of the road segments of each candidate road are located within the second region; the processing module is further used to determine a target road from the multiple candidate roads, and update the map data of the target road based on the map data of the updated roads; the road information of the target road is the same as the road information of the updated roads, and the length deviation between the target road and the updated roads is minimal.

[0017] In conjunction with the second aspect, in some embodiments of the second aspect, the processing module is configured to determine a first region in the updated map that includes the updated road based on the location information of the updated road, including: obtaining the location information of a first unit road and the location information of a second unit road in the updated map; the first unit road is a unit road connected to the starting point of the updated road, the second unit road is a unit road connected to the ending point of the updated road, and the unit road is a road between two adjacent target points (POIs); using the updated road, the first unit road, and the second unit road as the target centerline; determining the first region in the updated map that includes the updated road based on the target centerline; the centerline of the first region is the target centerline.

[0018] In conjunction with the second aspect, in some embodiments of the second aspect, the processing module is further configured to determine multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated, including: determining at least one initial unit road in the map to be updated based on the location information of the second region in the map to be updated; each initial unit road is partially or entirely located within the second region; determining multiple candidate roads based on the location information of at least one initial unit road; the candidate roads include multiple sequentially connected initial unit roads, and the included angle between any two adjacent initial unit roads in the candidate roads is greater than a first threshold.

[0019] In conjunction with the second aspect, in some embodiments of the second aspect, the processing module is further configured to determine a target road from a plurality of candidate roads, including: determining at least one candidate road whose road information is the same as the road information of the updated road as at least one intermediate target road; determining the length deviation value between each intermediate target road and the updated road in the at least one intermediate target road, and determining the intermediate target road with the smallest length deviation value from the updated road in the at least one intermediate target road as the target road.

[0020] Thirdly, a map updating device is provided, comprising: at least one processor and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method provided by the first aspect and any possible implementation thereof.

[0021] Fourthly, a computer-readable storage medium is provided, wherein when instructions in the computer-readable storage medium are executed by a processor of a map updating apparatus, the map updating apparatus is enabled to perform the method provided in the first aspect and any possible implementation thereof.

[0022] Fifthly, a computer program product containing instructions is provided that, when run on a computer, enables the computer to perform the methods provided in the first aspect and any possible implementation thereof.

[0023] In a sixth aspect, a chip system is provided, comprising: a processor and an interface circuit; the interface circuit being configured to receive a computer program or instructions and transmit them to the processor; the processor being configured to execute the computer program or instructions to cause the chip system to perform the methods provided in the first aspect and any possible embodiments thereof.

[0024] The technical effects of any one of the second to sixth aspects can be found in the technical effects of the different embodiments of the first aspect described above, and will not be repeated here. Attached Figure Description

[0025] Figure 1 is a schematic diagram of a road information update provided in this application;

[0026] Figure 2 is a schematic diagram of the architecture of a map update system provided in this application;

[0027] Figure 3 is a flowchart illustrating a map updating method provided in this application;

[0028] Figure 4 is a schematic diagram of the location of a candidate road provided in this application;

[0029] Figure 5 shows a schematic diagram of the location of another candidate road provided in this application;

[0030] Figure 6 is a flowchart illustrating another map updating method provided in this application;

[0031] Figure 7 is a schematic diagram showing the relative positions of a first unit road and a second unit road provided in this application;

[0032] Figure 8 is a schematic diagram of a first region provided in this application;

[0033] Figure 9 is a schematic diagram of yet another first region provided in this application;

[0034] Figure 10 is a schematic diagram of yet another first region provided in this application;

[0035] Figure 11 is a flowchart illustrating another map updating method provided in this application;

[0036] Figure 12 is a flowchart illustrating another map updating method provided in this application;

[0037] Figure 13 is a flowchart illustrating another map updating method provided in this application;

[0038] Figure 14 is a schematic diagram of a map updating device provided in this application;

[0039] Figure 15 is a structural schematic diagram of another map updating device provided in this application. Detailed Implementation

[0040] In the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0041] Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0042] In this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or explanation. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0043] It is understood that the term "embodiment" used throughout the specification means that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, various embodiments throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It is understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0044] It is understood that in this application, “when…”, “if” and “if” all refer to the corresponding processing that will be carried out under certain objective circumstances, and are not limited to a time, nor do they require that there must be a judgment action when implemented, nor do they mean that there are other limitations.

[0045] It is understood that some optional features in the embodiments of this application can be implemented independently in certain scenarios without relying on other features, such as the current solution on which they are based, to solve the corresponding technical problems and achieve the corresponding effects. Alternatively, they can be combined with other features as needed in certain scenarios. Correspondingly, the apparatus given in the embodiments of this application can also implement these features or functions, which will not be elaborated here.

[0046] In this application, unless otherwise specified, the same or similar parts between the various embodiments can be referred to each other. In the various embodiments and implementation methods of the various embodiments in this application, unless otherwise specified or logically conflicting, the terminology and / or descriptions between different embodiments and between the implementation methods of the various embodiments are consistent and can be mutually referenced. The technical features in different embodiments and between the implementation methods of the various embodiments can be combined according to their inherent logical relationships to form new embodiments, implementation methods, implementation methods, or implementation approaches. The following embodiments of this application do not constitute a limitation on the scope of protection of this application.

[0047] Figure 2 is a schematic diagram of the architecture of a map update system provided in this application. The technical solution of the embodiment of this application can be applied to the map update system shown in Figure 2. As shown in Figure 2, the map update system 20 includes a map update device 21 and an electronic device 22.

[0048] The map update device 21 is directly or indirectly connected to the electronic device 22. This connection can be wired or wireless, and this application embodiment does not limit the connection.

[0049] The map update device 21 can be used to receive data from the electronic device 22.

[0050] Electronic device 22 can be used to send data to map update device 21.

[0051] It should be noted that the map updating device 21 and the electronic device 22 can be independent devices or integrated into the same device; this application does not make any specific limitation in this regard.

[0052] When the map update device 21 and the electronic device 22 are integrated into the same device, the communication method between the map update device 21 and the electronic device 22 is the communication between modules within the device. In this case, the communication process between the two is the same as the communication process between the map update device 21 and the electronic device 22 when they are independent of each other.

[0053] In the following embodiments provided in this application, the map updating device 21 and the electronic device 22 are described as being configured independently of each other.

[0054] In practical applications, the map update method provided in this application embodiment can be applied to the map update device 21, or to the devices included in the map update device 21.

[0055] The map updating method provided in this application embodiment will be described below with reference to the accompanying drawings, taking the application of the map updating method to the map updating device 21 as an example.

[0056] Figure 3 is a flowchart illustrating a map updating method provided in this application. As shown in Figure 3, the method includes the following steps:

[0057] S301, The map update device obtains the location information and road information of the updated roads in the updated map.

[0058] It should be noted that an updated map can be a new version of the map released by the map publishing department. For example, an updated map can be a map with version number 2022M2 released by map company A.

[0059] The updated road can be a straight road or a curved road; this application does not impose specific restrictions. For ease of description, this application will uniformly use the example of an updated road being a straight road, and this will be stated uniformly here and will not be repeated later.

[0060] Location information may include the latitude and longitude of the starting point, the latitude and longitude of the ending point, the latitude and longitude of the turning point, and the road curvature. Of course, location information may also include other information that can indicate the location of the road, and this application does not impose any specific restrictions on this.

[0061] Road information may include at least one of road attributes, road class, and direction of travel.

[0062] As one possible implementation, referring to Figure 2, the map updating device receives a message from an electronic device, which includes the location information and road information of the updated roads in the updated map. The map updating device obtains the location information and road information of the updated roads in the updated map from the message.

[0063] S302. The map updating device determines the first area in the updated map that includes the updated road based on the location information of the updated road.

[0064] As one possible implementation, the map updating device obtains the location information of a first unit road connected to the starting point of the updated road and the location information of a second unit road connected to the ending point of the updated road in the updated map. It then uses the updated road, the first unit road, and the second unit road as the target centerline and determines a first area in the updated map that includes the centerline of the updated road as the target centerline based on the target centerline.

[0065] It should be noted that for a detailed description of this possible implementation method, please refer to the relevant description in the subsequent sections of the specific implementation method of this application, which will not be described here.

[0066] S303, The map updating device determines the second area in the map to be updated.

[0067] The location information of the second region in the map to be updated is the same as the location information of the first region in the updated map.

[0068] It should be noted that the coordinate system used in the map to be updated is the same as that used in the map that has already been updated.

[0069] The updated map can be an older version of the map released by the map publishing department. For example, if the updated map is a map with version number 2022M2 released by map company A, the map to be updated can be a map with version number 2022M1 released by map company A.

[0070] As one possible implementation, after determining the first region, the map updating device can know the location information of the first region in the updated map, and the map device will take the region with the same location information in the map to be updated as the second region.

[0071] S304. The map updating device determines multiple candidate roads in the map to be updated based on the location information of the second area in the map to be updated.

[0072] In this area, some or all sections of each candidate road are located within the second region.

[0073] It should be noted that Figure 4 is a schematic diagram of the location of a candidate road provided in this application. As shown in Figure 4, all road segments of the candidate road are located in the second area.

[0074] Figure 5 is a schematic diagram of the location of another candidate road provided in this application. As shown in Figure 5, a section of the candidate road is located in the second area.

[0075] As one possible implementation, the map updating device determines at least one initial unit road in the map to be updated based on the location information of the second region in the map to be updated; each initial unit road is partially or entirely located in the second region, and multiple candidate roads are determined based on the location information of at least one initial unit road; the candidate roads include multiple initial unit roads connected in sequence, and the included angle between any two adjacent initial unit roads in the candidate roads is greater than a first threshold.

[0076] It should be noted that for a detailed description of this possible implementation method, please refer to the relevant description in the subsequent sections of the specific implementation method of this application, which will not be described here.

[0077] S305. The map updating device determines the target road from multiple candidate roads and updates the map data of the target road based on the map data of the updated roads.

[0078] Among them, the road information of the target road is the same as that of the updated road, and the length deviation between the target road and the updated road is the smallest.

[0079] As one possible implementation, the map updating device identifies at least one candidate road whose road information is the same as that of the updated road among multiple candidate roads as at least one intermediate target road, determines the length deviation value between each intermediate target road and the updated road among the at least one intermediate target road, and identifies the intermediate target road with the smallest length deviation value from the updated road among the at least one intermediate target roads as the target road.

[0080] It should be noted that the specific details of this possible implementation method can be found in the following descriptions of the specific implementation methods in this application, and will not be described here.

[0081] Based on this scheme, a first region containing the updated roads is identified in the updated map. Then, a target road with the same road information as the updated road and the smallest length deviation from the updated road is selected from a second region in the map to be updated that is located in the same position as the first region. Finally, the map data of the target road is updated based on the map data of the updated road. Compared to existing full map update schemes, this application's scheme, by updating only the target road's map data in the map to be updated, can process only the target road's map data when updating different versions of the map, without needing to process the map data of other roads that have not been updated. This reduces the amount of map data that needs to be processed, thus shortening the time required for updating different versions of the map and improving the efficiency of updating different versions of the map.

[0082] The above is a general description of the map updating method provided in this application. The following will provide a further explanation of the map updating method provided in this application in conjunction with the accompanying drawings.

[0083] In one design, Figure 6 is a flowchart illustrating another map updating method provided in this application. As shown in Figure 6, S302 provided in the specific embodiment of this application includes the following steps:

[0084] S601, The map updating device obtains the location information of the first unit road and the location information of the second unit road in the updated map.

[0085] The first unit road is the unit road that connects to the starting point of the updated road, the second unit road is the unit road that connects to the ending point of the updated road, and the unit road is the road between two adjacent point of interest (POI).

[0086] It should be noted that a POI can be a shop, a house, or an intersection; this application does not impose any specific restrictions on this.

[0087] Figure 7 is a schematic diagram of the relative positions of a first unit road and a second unit road provided in this application. As shown in Figure 7, the first unit road is connected to the starting point of the updated road, and the second unit road is connected to the ending point of the updated road.

[0088] As one possible implementation, referring to Figure 2, the map updating device receives a message from an electronic device, which includes the location information of a first unit road in the updated map and the location information of a second unit road in the updated map. The map updating device obtains the location information of the first unit road and the location information of the second unit road in the updated map from the message.

[0089] As another possible implementation, the map updating device determines the unit road connected to the starting point of the updated road in the updated map from the map data storage device based on the location information of the updated road, and identifies the unit road as the first unit road. The map updating server determines the unit road connected to the ending point of the updated road in the updated map, and identifies the unit road as the second unit road. The location information of the first unit road and the location information of the second unit road in the updated map are obtained.

[0090] S602, The map updating device uses the updated road, the first unit road, and the second unit road as the target centerline.

[0091] As one possible implementation, the map updating device merges the first unit road, the second unit road, and the first unit road into one road and uses this road as the target centerline.

[0092] S603, The map updating device determines the first area in the updated map that includes the updated road based on the target centerline.

[0093] The centerline of the first region is the target centerline.

[0094] It should be noted that the two sides of the first region perpendicular to the center line can be connected to the center line, or the two sides of the first region perpendicular to the center line can be not connected to the center line. This application does not impose specific restrictions on this.

[0095] As an example, in the case where the two sides of the first region perpendicular to the center line are connected to the center line, Figure 8 is a schematic diagram of a first region provided by this application. As shown in Figure 8, the two sides of the first region perpendicular to the center line are connected to the center line.

[0096] As another example, when the two sides of the first region perpendicular to the center line are not connected to the center line, Figure 9 is a schematic diagram of another first region provided by this application. As shown in Figure 9, the two sides of the first region perpendicular to the center line are not connected to the center line, and the two sides are curves.

[0097] As another example, when the two sides of the first region perpendicular to the center line are not connected to the center line, Figure 10 is a schematic diagram of another first region provided by this application. As shown in Figure 10, the two sides of the first region perpendicular to the center line are not connected to the center line, and the two sides are straight lines.

[0098] As one possible implementation, taking the example that the two sides of the first region perpendicular to the center line are not connected to the center line and the two sides are straight lines, the map updating device connects the two ends of the target center line to obtain the target connecting line. Along the two perpendicular directions of the target connecting line, the target center line is translated by a preset distance to obtain the two initial sides of the first region. Each side is extended outward by a preset distance to obtain the two target sides of the first region. The two target sides of the first region are connected by two target line segments. The closed area formed by the two target sides and the two target line segments is the first region.

[0099] Based on this scheme, it is possible to determine the first area in the updated map that includes the updated roads based on the location information of the updated roads.

[0100] In one design, Figure 11 is a flowchart illustrating another map updating method provided in this application. As shown in Figure 11, S304 provided in the specific embodiment of this application includes the following steps:

[0101] S1101, The map updating device determines at least one initial unit road in the map to be updated based on the location information of the second area in the map to be updated.

[0102] In this case, part or all of the road in each initial unit is located within the second area.

[0103] As one possible implementation, the map updating device obtains all unit roads in the map to be updated from the map data storage device, and by comparing the positional relationship between each unit road and the second area, determines at least one unit road that is partially or entirely located in the second area, and uses this at least one unit road as at least one initial unit road.

[0104] S1102, The map updating device determines multiple candidate roads based on the location information of at least one initial unit road.

[0105] The candidate road includes multiple initial unit roads connected in sequence, and the angle between any two adjacent initial unit roads in the candidate road is greater than a first threshold.

[0106] It should be noted that the first threshold can be 90°, or the first threshold can be 91°, or the first threshold can be 89°, and this application does not impose any specific restrictions on it.

[0107] The angle between two adjacent initial unit roads is the angle between the vector from the start point to the end point of one initial unit road and the vector from the start point to the end point of the other initial unit road.

[0108] As one possible implementation, the map updating device starts from any initial unit road and sequentially expands outwards to both sides by connecting initial unit roads with an angle greater than a first threshold, until expansion to both sides is impossible, thus obtaining a candidate road. Then, starting from any initial unit road that has not been expanded, it expands outwards to both sides by connecting initial unit roads with an angle greater than the first threshold, until expansion to both sides is impossible, thus obtaining another candidate road. This process continues until at least one initial unit road no longer contains any unexpanded initial unit roads, resulting in multiple candidate roads.

[0109] Based on this scheme, it is possible to determine multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated.

[0110] In one design, Figure 12 is a flowchart illustrating another map updating method provided in this application. As shown in Figure 12, step S305 of the specific embodiment of this application includes the following steps:

[0111] S1201, The map updating device identifies at least one candidate road whose road information is the same as that of the updated road among multiple candidate roads as at least one intermediate target road.

[0112] It should be noted that, where road information may include road attributes, road class, and direction of travel, road attributes may include standard roads, viaducts, auxiliary roads, tunnels, or roundabouts. Of course, road attributes may also include other road attributes, and this application does not impose specific restrictions on this.

[0113] When road information can include road attributes, road grade, and direction of travel, the road grade can include national expressways, provincial expressways, intercity expressways, national highways, provincial highways, county roads, and township roads. Of course, the road grade can also include other road grades, and this application does not impose specific restrictions on this.

[0114] As one possible implementation, Figure 13 is a flowchart of another map updating method provided in this application. As shown in Figure 13, firstly, after the map updating device determines multiple candidate roads, it determines whether the travel direction of the candidate roads is the same as the travel direction of the updated roads. The candidate roads with a negative result are deleted, and the candidate roads with a positive result are retained, resulting in at least one first intermediate candidate road. Then, the map updating device determines whether the road attributes of the first intermediate candidate roads are the same as the road attributes of the updated roads. The first intermediate candidate roads with a negative result are deleted, and the first intermediate candidate roads with a positive result are retained, resulting in at least one second intermediate candidate road. Finally, the map updating device determines whether the road level of the second intermediate candidate roads is the same as the road level of the updated roads. The second intermediate candidate roads with a negative result are deleted, and the second intermediate candidate roads with a positive result are retained, resulting in at least one intermediate target road.

[0115] S1202, The map updating device determines the length deviation value between each intermediate target road and the updated road in at least one intermediate target road, and determines the intermediate target road with the smallest length deviation value from the updated road as the target road.

[0116] It should be noted that the length deviation between the target road and the updated road is the ratio of the first length value to the length value of the updated road, and the first length value is the absolute value of the difference between the length value of the updated road and the length value of the target road.

[0117] As an example, if the length of the target road is 100m and the length of the updated road is 200m, then the first length value is |200-100|=100, and the length deviation between the target road and the updated road is 100÷200=0.5.

[0118] As another example, if the length of the target road is 250m and the length of the updated road is 200m, then the first length value is |200-250|=50, and the length deviation between the target road and the updated road is 50÷200=0.25.

[0119] As one possible implementation, the map updating device determines the length deviation between each intermediate target road and the updated road, obtains multiple deviation values, and selects the intermediate target road corresponding to the smallest deviation value among the multiple deviation values ​​as the target road.

[0120] Based on this scheme, it is possible to determine the target road from multiple candidate roads.

[0121] The foregoing mainly describes the solution provided by the embodiments of this application from the perspective of the map updating device executing the map updating method. To achieve the above functions, the map updating device includes hardware structures and / or software modules corresponding to each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0122] This application embodiment can divide the map update device into functional modules according to the above method example. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. Furthermore, "module" here can refer to an application-specific integrated circuit (ASIC), a circuit, a processor and memory executing one or more software or firmware programs, integrated logic circuits, and / or other devices that can provide the above functions.

[0123] Figure 14 shows a schematic diagram of a map updating device when functional modules are used. As shown in Figure 14, the map updating device 140 includes an acquisition module 1401 and a processing module 1402.

[0124] In some embodiments, the map update device 140 may further include a storage module (not shown in FIG14) for storing program instructions and data.

[0125] The system comprises the following modules: an acquisition module 1401, used to acquire the location information and road information of updated roads in the updated map; a processing module 1402, used to determine a first region in the updated map that includes the updated roads based on the location information of the updated roads; a second region in the map to be updated, wherein the location information of the second region in the map to be updated is the same as that of the first region in the updated map; a multiple candidate roads in the map to be updated, wherein a portion or all of the road segments of each candidate road are located within the second region; and a target road, which is determined from the multiple candidate roads, and the map data of the target road is updated based on the map data of the updated roads, wherein the road information of the target road is the same as that of the updated roads, and the length deviation between the target road and the updated roads is minimized.

[0126] Optionally, the processing module 1402 is used to determine a first region in the updated map that includes the updated road based on the location information of the updated road, including: obtaining the location information of a first unit road and a second unit road in the updated map; the first unit road is a unit road connected to the starting point of the updated road, the second unit road is a unit road connected to the ending point of the updated road, and the unit road is a road between two adjacent target points (POIs); using the updated road, the first unit road, and the second unit road as the target centerline; determining the first region in the updated map that includes the updated road based on the target centerline; the centerline of the first region is the target centerline.

[0127] Optionally, the processing module 1402 is further configured to determine multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated, including: determining at least one initial unit road in the map to be updated based on the location information of the second region in the map to be updated; each initial unit road is partially or entirely located in the second region; determining multiple candidate roads based on the location information of at least one initial unit road; the candidate roads include multiple sequentially connected initial unit roads, and the included angle between any two adjacent initial unit roads in the candidate roads is greater than a first threshold.

[0128] Optionally, the processing module 1402 is further configured to determine a target road from multiple candidate roads, including: determining at least one candidate road whose road information is the same as the road information of the updated road as at least one intermediate target road; determining the length deviation value between each intermediate target road and the updated road, and determining the intermediate target road with the smallest length deviation value from the updated road as the target road.

[0129] All relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0130] Figure 15 shows a schematic diagram of a map update device when the functions of the above-mentioned modules are implemented in hardware. As shown in Figure 15, the map update device 150 includes a processor 1501, a memory 1502, and a bus 1503. The processor 1501 and the memory 1502 can be connected via the bus 1503.

[0131] Processor 1501 is the control center of map update device 150. It can be a single processor or a collective term for multiple processing elements. For example, processor 1501 can be a general-purpose central processing unit (CPU) or other general-purpose processors. The general-purpose processor can be a microprocessor or any conventional processor.

[0132] As one embodiment, processor 1501 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG15.

[0133] The memory 1502 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0134] As one possible implementation, the memory 1502 can exist independently of the processor 1501. The memory 1502 can be connected to the processor 1501 via the bus 1503 and is used to store instructions or program code. When the processor 1501 calls and executes the instructions or program code stored in the memory 1502, it can implement the map update method provided in the embodiments of this application.

[0135] In another possible implementation, the memory 1502 can also be integrated with the processor 1501.

[0136] Bus 1503 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used in Figure 15, but this does not indicate that there is only one bus or one type of bus.

[0137] It should be noted that the structure shown in Figure 15 does not constitute a limitation on the map update device 150. In addition to the components shown in Figure 15, the map update device 150 may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0138] As an example, referring to Figure 14, the acquisition module 1401 and processing module 1402 in the map update device 140 perform the same functions as the processor 1501 in Figure 15.

[0139] Optionally, as shown in FIG15, the map update device 150 provided in this application embodiment may further include a communication interface 1504.

[0140] Communication interface 1504 is used to connect with other devices via a communication network. This communication network can be Ethernet, a wireless access network, a wireless local area network (WLAN), etc. Communication interface 1504 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0141] In one possible implementation, the communication interface 1504 in the map update device 150 provided in this application embodiment can also be integrated into the processor 1501, and this application embodiment does not specifically limit this.

[0142] As a possible product form, the map update device of this application embodiment can also be implemented using the following: one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout this application.

[0143] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0144] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed, causes a computer to perform the various steps in the method flow shown in the above method embodiments.

[0145] Embodiments of this application provide a computer program product containing instructions that, when executed on a computer, cause the computer to perform the various steps in the method flow shown in the above-described method embodiments.

[0146] This application provides a chip system, including: a processor and an interface circuit; the interface circuit is used to receive computer programs or instructions and transmit them to the processor; the processor is used to execute the computer programs or instructions so that the chip system performs each step in the method flow shown in the above method embodiments.

[0147] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), registers, hard disks, optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing, or any other form of computer-readable storage medium in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may reside in a purpose-specific ASIC. In the embodiments of this application, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0148] Since the map updating device, computer-readable storage medium, and computer program product provided in this embodiment can be applied to the map updating method provided in this embodiment, the technical effects they can achieve can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0149] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, the disclosure, and the appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0150] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A map updating method, characterized in that, The method includes: acquiring the location information and road information of updated roads in an updated map; determining a first region in the updated map that includes the updated roads based on the location information of the updated roads; determining a second region in a map to be updated; the location information of the second region in the map to be updated is the same as the location information of the first region in the updated map; determining multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated; a portion or all of the road segments of each candidate road is located within the second region; determining a target road from the multiple candidate roads, and updating the map data of the target road based on the map data of the updated roads; the road information of the target road is the same as the road information of the updated roads, and the length deviation between the target road and the updated roads is minimal.

2. The method according to claim 1, characterized in that, The step of determining a first region in the updated map that includes the updated road based on the location information of the updated road includes: obtaining the location information of a first unit road and a second unit road in the updated map; the first unit road is a unit road connected to the starting point of the updated road, the second unit road is a unit road connected to the ending point of the updated road, and the unit road is a road between two adjacent target points (POIs); using the updated road, the first unit road, and the second unit road as a target centerline; determining a first region in the updated map that includes the updated road based on the target centerline; the centerline of the first region is the target centerline.

3. The method according to claim 1, characterized in that, The step of determining multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated includes: determining at least one initial unit road in the map to be updated based on the location information of the second region in the map to be updated; each initial unit road is partially or entirely located within the second region; determining the multiple candidate roads based on the location information of the at least one initial unit road; the candidate roads include multiple sequentially connected initial unit roads, and the angle between any two adjacent initial unit roads in the candidate roads is greater than a first threshold.

4. The method according to any one of claims 1-3, characterized in that, The step of determining the target road from the plurality of candidate roads includes: determining at least one candidate road whose road information is the same as that of the updated road as at least one intermediate target road; determining the length deviation value between each intermediate target road and the updated road, and determining the intermediate target road with the smallest length deviation value from the updated road as the target road.

5. A map updating device, characterized in that, The map updating device includes: an acquisition module and a processing module; the acquisition module is used to acquire the location information and road information of updated roads in an updated map; the processing module is used to determine a first region in the updated map that includes the updated roads based on the location information of the updated roads; the processing module is also used to determine a second region in the map to be updated; the location information of the second region in the map to be updated is the same as the location information of the first region in the updated map; the processing module is also used to determine multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated; a portion or all of the road segments of each candidate road are located within the second region; the processing module is also used to determine a target road from the multiple candidate roads, and update the map data of the target road based on the map data of the updated roads; the road information of the target road is the same as the road information of the updated roads, and the length deviation between the target road and the updated roads is minimal.

6. The map updating device according to claim 5, characterized in that, The processing module is configured to determine a first region in the updated map that includes the updated road based on the location information of the updated road, including: obtaining the location information of a first unit road and a second unit road in the updated map; the first unit road is a unit road connected to the starting point of the updated road, the second unit road is a unit road connected to the ending point of the updated road, and the unit road is a road between two adjacent target points (POIs); using the updated road, the first unit road, and the second unit road as a target centerline; determining the first region in the updated map that includes the updated road based on the target centerline; the centerline of the first region is the target centerline.

7. The map updating device according to claim 5, characterized in that, The processing module is further configured to determine multiple candidate roads in the map to be updated based on the location information of the second region in the map to be updated, including: determining at least one initial unit road in the map to be updated based on the location information of the second region in the map to be updated; each initial unit road is partially or entirely located within the second region; determining the multiple candidate roads based on the location information of the at least one initial unit road; the candidate roads include multiple sequentially connected initial unit roads, and the included angle between any two adjacent initial unit roads in the candidate roads is greater than a first threshold.

8. A map updating device, characterized in that, The map update device includes a processor coupled to a memory for storing programs or instructions that, when executed by the processor, cause the map update device to perform the method as described in any one of claims 1 to 4.

9. A computer program product, characterized in that, When the computer program product is run on an electronic device, it causes the electronic device to perform the method as described in any one of claims 1-4.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 4.

Images