Road information collection method and device, storage medium and electronic device

Abstract

The present application discloses a road information collection method and device, a storage medium and an electronic device, which are applicable to the fields of mapping, navigation, automatic driving, Internet of Vehicles, intelligent transportation and cloud computing. The method includes: when it is determined that the first device is on the target road, instructing the first device to start collecting first image information related to the target road, and identifying the first image information, receiving the lane where the first device is located uploaded by the first device, instructing the first device to receive the second image information uploaded by the first device when the lane information collected on the target lane does not meet the preset conditions, updating the collected lane information, and determining that the road information of the target road has been collected when the lane information collected on multiple lanes in the target road meets the preset conditions. The present application solves the technical problem of low efficiency in collecting road information due to indiscriminate issuance of collection tasks.

Description

Technical Field

[0001] The present application relates to the field of computers, and more specifically, to a road information collection method and device, a storage medium, and an electronic device. Background Art

[0002] In conventional road data collection planning, the server usually sends tasks to multiple devices indiscriminately, and considers the data collection completed after reaching a fixed number of multi-trip times. Since the server sends tasks to multiple devices indiscriminately, the "fixed number of multi-trip times" adopted for different roads will inevitably cause data collection waste, reduce the efficiency of road information collection, and increase the resource overhead of road information collection.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide a road information collection method and device, a storage medium and an electronic device to at least solve the technical problem of low efficiency in collecting road information due to indiscriminate issuance of collection tasks.

[0005] According to one aspect of an embodiment of the present application, a road information collection method is provided, comprising: when it is determined that a first device is on a target road, sending a first indication message to the first device, wherein the first indication message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information; receiving first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane on the target road where the first device is located; sending a second indication message to the first device according to the first lane information, wherein the second indication message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information being image information obtained by the first device processing the first image information, and the target lane is the lane where the first device is located; receiving the second image information, updating the collected lane information according to the second image information, and determining that the road information of the target road has been collected when the lane information collected on multiple lanes in the target road meets the preset condition.

[0006] According to another aspect of an embodiment of the present application, a road information collection method is also provided, including: when a first device is on a target road, uploading lane trajectory information to a target server, wherein the lane trajectory information includes the movement trajectory of the first device; in response to a first indication message sent by the target server, collecting first image information related to the target road, and identifying the first image information to generate first lane information; uploading the first lane information to the target server, wherein the first lane information is used to indicate the lane on the target road where the first device is located; in response to a second indication message sent by the target server, processing the first image information to generate second image information, and uploading the second image information to the target server, wherein the second indication message is used to indicate that the collected lane information on the target lane does not meet a preset condition, and the target lane is the lane where the first device is located.

[0007] According to another aspect of the embodiment of the present application, a road information collection device is further provided, comprising: a first sending module, configured to send a first indication message to the first device when it is determined that the first device is on a target road, wherein the first indication message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information; a first receiving module, configured to receive first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane on the target road where the first device is located; a second sending module, configured to send a second indication message to the first device according to the first lane information, wherein the second indication message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, wherein the second image information is image information obtained by the first device processing the first image information, and the target lane is the lane where the first device is located; a second receiving module, configured to receive the second image information, update the collected lane information according to the second image information, and determine that the road information of the target road has been collected when the lane information collected on multiple lanes in the target road meets the preset condition.

[0008] Optionally, the device is used to send a second indication message to the first device according to the first lane information in the following manner: obtain a predetermined target task set, wherein the target task set represents a set of road information collection requirements; when the target task set includes a target task, parse the first lane information to determine whether the lane information collected on the target lane meets the preset conditions, wherein the target task indicates that there is a requirement for collecting road information of the target road; when the lane information collected on the target lane does not meet the preset conditions, send the second indication message to the first device.

[0009] Optionally, the device is used to receive the first lane information uploaded by the first device in the following manner: receiving first road element information and the first lane information uploaded by the first device, wherein the first road element information includes the road elements identified by the first device on the target lane; the device is used to parse the first lane information in the following manner when the target task set includes the target task, and determine whether the lane information collected on the target lane meets the preset condition: determining the number of collections corresponding to the road element on the target lane based on the first road element information and the first lane information, and when the number of collections does not meet the preset number of collections, determining that the lane information collected on the target lane does not meet the preset condition.

[0010] Optionally, the device is also used to: in the event that the first device changes lanes, use the lane in which the first device is located after the change as the target lane, receive second road element information and second lane information uploaded by the first device, wherein the second road element information includes road elements identified on the target lane after the first device changes lanes; in the event that the target task set includes a target task, parse the first lane information to determine whether the lane information collected on the target lane meets the preset condition, including: determining the number of collections corresponding to the road element on the target lane based on the second road element information and the second lane information, and in the event that the number of collections does not meet the preset number of collections, determining that the lane information collected on the target lane does not meet the preset condition.

[0011] Optionally, the device is used to send a first indication message to the first device when it is determined that the first device is on a target road in the following manner: obtaining lane trajectory information uploaded by the first device, wherein the lane trajectory information includes the movement trajectory of the first device; and sending the first indication message to the first device when the lane trajectory information includes the target road where the first device is located and the road set for which road information needs to be collected includes the target road.

[0012] Optionally, the apparatus is used to send a first indication message to the first device in the following manner when the lane trajectory information indicates that the first device is on the target road and a preset lane set of road information to be acquired includes the target road: determining whether the target lane is a lane requiring lane-level road information collection based on the lane trajectory information; and sending the first indication message to the first device when the lane requiring lane-level road information collection includes the target lane, wherein the first indication message is also used to instruct the first device to upload the target lane.

[0013] Optionally, the device is used to receive the second image information in the following manner, update the collected lane information according to the second image information, and determine that the road information of the target road has been collected if the lane information collected on multiple lanes in the target road meets the preset condition: receive the second image information, determine the image accuracy of the second image information; if the image accuracy of the second image information meets the preset accuracy condition, update the lane information collected by the first device on the target lane according to the second image information; if the image accuracy of the second image information does not meet the preset accuracy condition, cancel the update of the lane information collected by the first device on the target lane.

[0014] Optionally, the device is also used to: before receiving the second image information and when receiving the third lane information uploaded by the second device, obtain the first device information of the first device and the second device information of the second device, wherein the first device information is used to determine the image acquisition accuracy of the first device, the second device information is used to determine the image acquisition accuracy of the second device, and the third lane information is used to indicate that the second device is in the same section of the target lane as the first device; when the image acquisition accuracy of the first device is higher than that of the second device, receive the second image information, and update the acquired lane information according to the second image information; when the image acquisition accuracy of the first device is lower than that of the second device, receive the third image information, and update the acquired lane information according to the third image information, wherein the third image information is the image information uploaded by the second device.

[0015] Optionally, the device is also used to: when the image acquisition accuracy of the first device is the same as that of the second device and the second image information is received first, update the collected lane information according to the second image information and notify the second device to stop uploading the third image information; when the image acquisition accuracy of the first device is the same as that of the second device and the third image information is received first, update the collected lane information according to the third image information and notify the first device to stop uploading the second image information.

[0016] According to another aspect of an embodiment of the present application, a road information collection device is also provided, including: a first uploading module, used to upload lane trajectory information to a target server when a first device is on a target road, wherein the lane trajectory information includes a moving trajectory of the first device; a first processing module, used to collect first image information related to the target road in response to a first indication message sent by the target server, and identify the first image information to generate first lane information; a second uploading module, used to upload the first lane information to the target server, wherein the first lane information is used to indicate the lane on the target road where the first device is located; a second processing module, used to process the first image information in response to a second indication message sent by the target server, generate second image information, and upload the second image information to the target server, wherein the second indication message is used to indicate that the lane information collected on the target lane does not meet a preset condition, and the target lane is the lane where the first device is located.

[0017] Optionally, the device is also used for: uploading the first lane information to the target server, including: uploading first road element information and the first lane information to the target server, wherein the first road element information includes the road elements identified by the first device on the target lane; the method also includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet a preset number of collections.

[0018] Optionally, the device is also used to: in the event that the first device changes lanes, use the lane in which the first device is located after the change as the target lane, and upload second road element information and second lane information to the target server, wherein the second road element information includes road elements identified in the target lane after the first device changes lanes; the method also includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet a preset number of collections.

[0019] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned road information collection method when running.

[0020] According to another aspect of the embodiment of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the above road information collection method.

[0021] According to another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the road information collection method through the computer program.

[0022] In an embodiment of the present application, when it is determined that the first device is on a target road, a first indication message is sent to the first device, wherein the first indication message is used to instruct the first device to start collecting first image information related to the target road, and identify the first image information, receive first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane where the first device is located on the target road, and send a second indication message to the first device according to the first lane information, wherein the second indication message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information is image information obtained by processing the first image information by the first device, the target lane is the lane where the first device is located, receive the second image information, and update the collected lane information according to the second image information. The method of obtaining lane information uploaded by the first device, and determining whether the lane where the first device is located has completed the road information collection task, and when the lane information collected on multiple lanes in the target road meets the preset conditions, instructing the first device to upload the image information collected by the lane, so as to achieve the purpose of combining the road information collected by the first device from different lanes through the lane information reported by the collection device after the first device has the lane recognition capability, thereby realizing the technical effect of improving the collection efficiency of road information, reducing the number of times the road information of the same road needs to be collected, and reducing the resource overhead of road information collection, thereby solving the technical problem of low road information collection efficiency due to indiscriminate issuance of collection tasks.

[0023] On the other hand, based on the lane information collected under multiple lanes, a multi-lane perspective can be formed, which effectively avoids the loss of road elements caused by linear perspective or the inability to verify multiple perspectives. When the coverage of multiple lanes and multiple perspectives is completed, it can be judged that the current collection is completed, thereby effectively avoiding the cost waste and the inability to evaluate the integrity caused by the multi-pass collection plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0025] Figure 1 is a schematic diagram of an application environment of an optional road information collection method according to an embodiment of the present application;

[0026] Figure 2 is a flow chart of an optional road information collection method according to an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of an optional road information collection method according to an embodiment of the present application;

[0028] Figure 4 is a schematic diagram of another optional road information collection method according to an embodiment of the present application;

[0029] Figure 5 is a schematic diagram of another optional road information collection method according to an embodiment of the present application;

[0030] Figure 6 is a schematic diagram of another optional road information collection method according to an embodiment of the present application;

[0031] Figure 7 is a schematic diagram of another optional road information collection method according to an embodiment of the present application;

[0032] Figure 8 is a schematic diagram of another optional road information collection method according to an embodiment of the present application;

[0033] Fig. 9 is a schematic diagram of another optional road information collection method according to an embodiment of the present application;

[0034] Fig.10 is a schematic diagram of another optional road information collection method according to an embodiment of the present application;

[0035] Fig.11 is a schematic structural diagram of an optional road information collection device according to an embodiment of the present application;

[0036] Fig.12 is a schematic structural diagram of an optional road information collection product according to an embodiment of the present application;

[0037] Fig.13 It is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following interpretation:

[0041] Lane recognition: The on-board sensor has the ability to recognize the environment and can identify the lane information of the current vehicle, including but not limited to the current lane, the total number of lanes, etc.

[0042] Multi-trip data collection planning: Based on the reported data of multiple vehicles, the server makes analysis and planning, selects effective vehicle planning, issues data collection tasks to multiple vehicles, and recovers necessary data collection information.

[0043] The present application is described below in conjunction with embodiments:

[0044] According to one aspect of an embodiment of the present application, a road information collection method is provided. Optionally, in this embodiment, the road information collection method can be applied to Figure 1 In the hardware environment composed of the server 101 and the terminal device 103 shown in FIG. Figure 1As shown, the server 101 is connected to the terminal 103 via a network, and can be used to provide services for the terminal device or an application installed on the terminal device. The application can be a video application, an instant messaging application, a browser application, an educational application, a game application, etc. A database 105 may be set up on the server or independently of the server to provide data storage services for the server 101, for example, a game data storage server. The above-mentioned network may include, but is not limited to, a wired network and a wireless network, wherein the wired network includes, for example, a local area network, a metropolitan area network, and a wide area network; the wireless network includes, for example, Bluetooth, WIFI, and other networks that implement wireless communication; the terminal device 103 may be a terminal configured with an application program, and may include, but is not limited to, at least one of the following: a mobile phone (such as an Android phone, an iOS phone, etc.), a laptop computer, a tablet computer, a PDA, a MID (Mobile Internet Devices), a PAD, a desktop computer, a smart TV, an intelligent voice interaction device, a smart home appliance, a vehicle-mounted terminal, an aircraft, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a mixed reality (MR) terminal, and other computer devices; the above-mentioned server may be a single server, a server cluster consisting of multiple servers, or a cloud server.

[0045] Combination Figure 1 As shown, the above road information collection method can be implemented on the server 101 through the following steps:

[0046] S1, when it is determined that the first device is on a target road, sending a first instruction message to the first device on the server 101, wherein the first instruction message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information;

[0047] S2, receiving, on the server 101, first lane information uploaded by the first device, wherein the first lane information is used to indicate a lane on the target road where the first device is located;

[0048] S3, sending a second instruction message to the first device on the server 101 according to the first lane information, wherein the second instruction message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet the preset condition, the second image information is image information obtained by the first device processing the first image information, and the target lane is the lane where the first device is located;

[0049] S4, receiving the second image information on the server 101, updating the collected lane information according to the second image information, and determining that the road information of the target road has been collected when the collected lane information on multiple lanes in the target road meets a preset condition.

[0050] Optionally, in this embodiment, the above road information collection method can also be implemented by a terminal device, for example, Figure 1 It is implemented in the terminal device 103 shown; or it is implemented by the terminal device and the server together.

[0051] The above is only an example and is not specifically limited in this embodiment.

[0052] Optionally, as an optional implementation, as Figure 2 As shown, the above road information collection method includes:

[0053] S202, when it is determined that the first device is on the target road, sending a first instruction message to the first device, wherein the first instruction message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information;

[0054] Optionally, in this embodiment, the application scenarios of the above-mentioned road information collection method may include but are not limited to road information collection in various application scenarios such as transportation and the Internet of Things.

[0055] Specifically, the road information collection method provided in the embodiments of the present application can be applied to fields such as mapping, navigation, autonomous driving, intelligent vehicle control, Internet of Vehicles, intelligent transportation, and cloud computing, such as the intelligent transportation system (ITS) and intelligent vehicle infrastructure cooperative systems (IVICS) in the transportation field.

[0056] Among them, the intelligent transportation system, also known as the intelligent transportation system (Intelligent Transportation System), is to effectively and comprehensively apply advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) to transportation, service control and vehicle manufacturing, strengthen the connection between vehicles, roads and users, and thus form a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy. Based on the lane-level positioning method provided in the embodiment of this application, the lane of the lane in the road can be determined, thereby providing strong guarantees for transportation, service control and other aspects.

[0057] Among them, the intelligent vehicle-road cooperative system, referred to as the vehicle-road cooperative system, is a development direction of the intelligent transportation system (ITS). The vehicle-road cooperative system adopts advanced wireless communication and new generation Internet technologies to implement all-round dynamic real-time information interaction between vehicles and roads, and carries out active vehicle safety control and road cooperative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective coordination of people, vehicles and roads, ensuring traffic safety, and improving traffic efficiency, thus forming a safe, efficient and environmentally friendly road traffic system.

[0058] Optionally, in this embodiment, the first device may include but is not limited to a vehicle-mounted image acquisition device, and the first device may realize lane-level positioning and image acquisition during movement.

[0059] Among them, lane-level positioning is very important in the field of map navigation. Lane-level positioning is of great significance for the vehicle to determine its lateral position and formulate navigation strategies.

[0060] It should be noted that the first device may include but is not limited to the following devices:

[0061] Inertial sensor: An inertial sensor is a sensor that mainly detects and measures acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom (DoF) motion. It is an important component for solving navigation, orientation, and motion carrier control. Currently, mobile terminals such as smartphones are usually equipped with MEMS inertial sensors.

[0062] Global Navigation Satellite System: The Global Navigation Satellite System, also known as the Global Navigation Satellite System, is an air-based radio navigation and positioning system that can provide users with all-weather 3D coordinates, speed and time information at any location on the Earth's surface or near-Earth space. Common systems include the four major satellite navigation systems: GPS, BDS, GLONASS and GALILEO. The earliest one was the GPS (Global Positioning System) of the United States, and the GPS system is also the most technologically advanced at this stage. With the full service launch of BDS and GLONASS systems in the Asia-Pacific region in recent years, the BDS system has developed faster and faster in the civilian field. Satellite navigation systems have been widely used in various fields, and the general development trend is to provide high-precision services for real-time applications.

[0063] Visual sensor: Visual sensor imaging is actually the process of mapping three-dimensional points in real three-dimensional space to the imaging plane of two-dimensional space. The pinhole imaging model can be used to describe the process. The on-board camera is a visual sensor that uses computer vision to process real-time image data. Computer vision is a rapidly developing frontier field in computer science and robotics. With the improvement of the quality of visual sensor image data, and the continuous decline in their size and price, as well as the availability of many computer vision open source code tools, the field of computer vision is easier and more applicable to a wider range of application scenarios. Computer vision projects the three-dimensional spatial information in the real world onto a two-dimensional plane through a camera or photographic camera. The ultimate goal of computer vision processing is to extract relevant and usable three-dimensional world information from the perceived two-dimensional image.

[0064] On-board image data: On-board image data is provided by on-board cameras. On-board cameras are the basis for realizing many warning and recognition ADAS functions. In most ADAS functions, the visual image processing system is relatively basic, and the camera is the input of the visual image processing system. Therefore, on-board cameras are indispensable for intelligent driving. The types of front cameras of on-board cameras mainly include monocular and dual-camera. Among them, the dual-camera camera has a better ranging function, but it needs to be installed in two different positions, and the cost is about 50% more expensive than the monocular camera. The type of surround view camera is a wide-angle lens. Four cameras are installed around the car for image stitching to achieve a panoramic view. The addition of algorithms can realize road line perception. The rear view camera is a wide-angle or fisheye lens, mainly for reversing rear lenses. On-board cameras mainly include interior view cameras, rear view cameras, front cameras, side view cameras, surround view cameras, etc. At present, the camera in the car is mainly used for reversing images (rear view) and 360-degree panoramic (surround view) scenes. Various auxiliary equipment of high-end cars can be equipped with up to 8 cameras to assist drivers in parking or triggering emergency brakes. When cameras successfully replace side-view mirrors, the number of cameras on a car will reach 12. As driverless technology develops, the demand for cameras in L3 and above smart driving models will increase. The present invention mainly uses image data collected by a front camera or a driving recorder camera to assist satellite positioning equipment. Lane-level positioning is also beneficial for increasing the vehicle traffic rate of the existing road network and alleviating traffic congestion. On the other hand, it can improve vehicle driving safety, reduce traffic accident rates, improve traffic safety, and reduce energy consumption and environmental pollution.

[0065] Optionally, in this embodiment, the target road may be understood as the road where the first device is located, and the road has road Link information, which records whether the road needs to collect road information and whether the accuracy of the road information to be collected is lane level.

[0066] It should be noted that the above-mentioned first indication message is used to instruct the first device to start collecting first image information. That is, when it is identified that the first device is on a target road where road information needs to be collected, the first device can be instructed to start collecting first image information related to the target road and identify the first image information.

[0067] In an exemplary embodiment, the first device includes but is not limited to the following three categories:

[0068] (1) Driving recorder: The raw data collected by cameras and sensors is combined with trajectory information to complete lane identification and element identification, and can complete data processing and reporting;

[0069] (2) High-end vehicle equipment: (referring to vehicle equipment with local computing capabilities) can receive and process data from cameras and various sensors, complete lane recognition and element recognition, and complete data processing and reporting;

[0070] (3) Professional data collection equipment: (A complete set of equipment dedicated to road data collection) During the collection process, various sensors can be used to collect detailed road element data, complete lane identification and element identification, and complete data processing and reporting.

[0071] In the above-mentioned first device, information such as "lane recognition and element recognition" will be reported; after the information is reported, the background service combines all the received "trajectory data, lane information, and identification information" and issues a collection task by combining the "perspective of the collection device in different lanes" to ensure the integrity of the information collection.

[0072] Optionally, in this embodiment, the above-mentioned recognition of the first image information can be understood as recognizing the first image information based on artificial intelligence technology, extracting the road elements contained in the first image information, and then reporting the road elements.

[0073] S204, receiving first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane where the first device is located on the target road;

[0074] Optionally, in this embodiment, the first lane information is used to inform the first device of the lane in which it is located, and the lane is the lane to which the target road belongs.

[0075] For example, Figure 3 is a schematic diagram of an optional road information collection method according to an embodiment of the present application, such as Figure 3As shown, the target road may include but is not limited to three lanes, namely lane 1, lane 2 and lane 3. Through the lane-level positioning technology of the first device, the first device can know the lane it is currently in on the target road, and then report the lane information.

[0076] S206, sending a second instruction message to the first device according to the first lane information, wherein the second instruction message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information being image information obtained by the first device processing the first image information, and the target lane is the lane where the first device is located;

[0077] Optionally, in this embodiment, the second indication message is used to instruct the first device to upload second image information, and the second image information is image information obtained after the first device performs relevant processing on the first image information.

[0078] In an exemplary embodiment, taking the first image information as video information, the second image information can be understood as frame extraction of the video information to obtain multiple frames of images that recognize road elements, and uploading the multiple frames of images as the second image information to avoid uploading the complete video and reduce resource overhead.

[0079] Optionally, in this embodiment, the lane information collected on the above-mentioned target lane can be understood as the lane information collected historically on the above-mentioned target lane, and the lane information may include but is not limited to the number of times the target lane is collected, the clarity of the lane information collected on the target lane, the viewing angle range covered by the lane information collected on the target lane, etc.

[0080] It should be noted that the lane information collected on the above-mentioned target lane fails to meet the preset conditions, which can be understood as the number of collection times for the target lane fails to reach the collection time threshold, the clarity of the lane information collected for the target lane fails to reach the clarity threshold, the viewing angle range covered by the lane information collected for the target lane fails to reach the viewing angle range threshold, etc.

[0081] S208, receiving the second image information, updating the collected lane information according to the second image information, and determining that the road information of the target road has been collected when the collected lane information on multiple lanes in the target road meets a preset condition.

[0082] Optionally, in the present embodiment, the above-mentioned updating of the collected lane information according to the second image information can be understood as collecting the second image information as lane information and increasing the number of collection times for the target lane, collecting the second image information as lane information and optimizing the clarity of the lane information collected for the target lane, collecting the second image information as lane information and expanding the viewing angle range covered by the lane information collected for the target lane.

[0083] It should be noted that the lane information collected on the multiple lanes in the above-mentioned target road satisfies the preset conditions, which can be understood as the lane information collected on each of the multiple lanes satisfying the preset conditions, which can be understood as the number of collection times for each of the multiple lanes reaches the collection time threshold, the clarity of the lane information collected for each of the multiple lanes reaches the clarity threshold, the viewing angle range covered by the lane information collected for each of the multiple lanes reaches the viewing angle range threshold, etc.

[0084] In an exemplary embodiment, the multiple lanes may include but are not limited to all or part of the lanes of the target road, which may be understood as at least two lanes.

[0085] Optionally, in the present embodiment, the above-mentioned determination that the road information of the target road has been collected can be understood as the lane information collected on the target road satisfies a preset condition, can be understood as the lane information collected on each lane of the multiple lanes satisfies a preset condition, can be understood as the number of collection times for each lane of the multiple lanes reaches a collection time threshold, the clarity of the lane information collected for each lane of the multiple lanes reaches a clarity threshold, the viewing angle range covered by the lane information collected for each lane of the multiple lanes reaches a viewing angle range threshold, etc.

[0086] For example, Figure 4 is a schematic diagram of another optional road information collection method according to an embodiment of the present application, such as Figure 4 As shown, the following steps may be included but not limited to:

[0087] S401, the device applies for a temporary ID from the server;

[0088] S402, the server provides access services to the device;

[0089] S403, the device reports the trajectory to the server in real time;

[0090] S404, the server performs trajectory pre-judgment;

[0091] S405, the server sends an identification switch according to the trajectory judgment result;

[0092] S406, the device starts the element recognition function;

[0093] S407, the device reports the road element recognition result to the server, and the result also includes the lane-level positioning information of the device, that is, the lane where the device is located;

[0094] S408, the server saves the identification information;

[0095] S409, the server determines whether the number of reports of the current lane is sufficient. If the judgment result is yes, step S410 is executed, and if the judgment result is no, step S411 is executed;

[0096] S410: The server does not send the collection task and ends the current process;

[0097] S411, the server sends the data requirement to the device;

[0098] S412, the device performs image processing;

[0099] S413, the device generates and returns detailed information;

[0100] S414, the server processes the returned data;

[0101] S415, the server retains the data.

[0102] The above is only an example, and this embodiment does not specifically limit the order in which the steps are executed.

[0103] Through this embodiment, when it is determined that the first device is on the target road, a first indication message is sent to the first device, wherein the first indication message is used to instruct the first device to start collecting first image information related to the target road, and identify the first image information, receive first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane where the first device is located on the target road, and send a second indication message to the first device according to the first lane information, wherein the second indication message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information is image information obtained by the first device processing the first image information, the target lane is the lane where the first device is located, receive the second image information, and update the collected lane according to the second image information The information is obtained by the first device, and when the lane information collected on multiple lanes in the target road meets the preset conditions, it is determined that the road information of the target road has been collected. The lane information uploaded by the first device is obtained to determine whether the lane where the first device is located has completed the road information collection task. When the collection task is not completed, the first device is instructed to upload the image information collected by the lane. After the first device has the lane recognition capability, the lane information reported by the collection device is combined with the road information collected by the first device from different lanes. The technical effect of improving the collection efficiency of road information, reducing the number of times the road information of the same road needs to be collected, and reducing the resource overhead of road information collection is realized, thereby solving the technical problem of low road information collection efficiency due to indiscriminate issuance of collection tasks.

[0104] On the other hand, based on the lane information collected under multiple lanes, a multi-lane perspective can be formed, which effectively avoids the loss of road elements caused by linear perspective or the inability to verify multiple perspectives. When the coverage of multiple lanes and multiple perspectives is completed, it can be judged that the current collection is completed, thereby effectively avoiding the cost waste and the inability to evaluate the integrity caused by the multi-pass collection plan.

[0105] As an optional scheme, sending a second indication message to the first device based on the first lane information includes: obtaining a predetermined target task set, wherein the target task set represents a set of road information collection requirements; when the target task set includes a target task, parsing the first lane information to determine whether the lane information collected on the target lane meets a preset condition, wherein the target task indicates that there is a requirement for collecting road information of the target road; when the lane information collected on the target lane does not meet the preset condition, sending a second indication message to the first device.

[0106] Optionally, in this embodiment, the above-mentioned target task set is a task for collecting road information predetermined by the server (also called the service end). Specifically, the tasks in the target task set can be bound to a road Link, that is, a task in the target task set represents a road for which road information needs to be collected.

[0107] It should be noted that the tasks in the above target task set may be to identify all or part of the road elements, or may be set to identify specific types of road elements.

[0108] Optionally, in this embodiment, the above-mentioned target task can be understood as a task of currently collecting road information of the target road, that is, when the target task set includes the target task, it is currently necessary to collect road information of the target road. At this time, the first lane information uploaded by the first device is parsed to determine whether the lane information collected on the target lane meets the preset conditions.

[0109] As an optional solution, receiving first lane information uploaded by a first device includes: receiving first road element information and first lane information uploaded by the first device, wherein the first road element information includes road elements recognized by the first device on the target lane; when the target task set includes the target task, parsing the first lane information to determine whether the lane information collected on the target lane meets a preset condition, including: determining a number of collections corresponding to the road element on the target lane based on the first road element information and the first lane information, and when the number of collections does not meet the preset number of collections, determining that the lane information collected on the target lane does not meet the preset condition.

[0110] Optionally, in this embodiment, the first road element information includes the type of the first road element obtained by the first device identifying the first image information. The road elements may include but are not limited to road signs, whether the road is connected to an intersection, traffic light signs, zebra crossing signs, etc.

[0111] It should be noted that the number of times the above-mentioned road elements have been collected on the target lane can be understood as the number of times the task of collecting a certain road element or a certain type of road element on the target lane is executed.

[0112] For example, when a collection task for collecting traffic light road elements is pre-configured for the target road, the number of executions of the collection task is determined, wherein each time the second image information reported by the first device (which may be a different collection device or the same collection device at different times) is received, it can be understood that the collection task of traffic light road elements has been executed for the lane once.

[0113] In an exemplary embodiment, the above-mentioned preset number of collections can be preset by the system or flexibly set according to the lane width, road width, surrounding field of view obstruction, etc. The preset number of collections needs to meet the requirements of completing the coverage of multi-lane and multi-perspective road information based on the actual situation of the road as much as possible.

[0114] As an optional solution, the above method also includes: when the first device changes lanes, taking the lane where the first device is located after the change as the target lane, receiving second road element information and second lane information uploaded by the first device, wherein the second road element information includes road elements identified on the target lane after the first device changes lanes; when the target task set includes the target task, parsing the first lane information to determine whether the lane information collected on the target lane meets the preset conditions, including: determining the number of collections corresponding to the road elements on the target lane based on the second road element information and the second lane information, and when the number of collections does not meet the preset number of collections, determining that the lane information collected on the target lane does not meet the preset conditions.

[0115] Optionally, in this embodiment, the lane change of the first device may be understood as a lane change of the lane-level positioning information of the first device.

[0116] For example, Figure 5 is a schematic diagram of another optional road information collection method according to an embodiment of the present application, such as Figure 5 As shown, device A initially travels in lane 1, device B initially travels in lane 2, and device C initially travels in lane 3. The driving trajectory of device A includes changing from lane 1 to lane 2, and then from lane 2 to lane 3. The driving trajectory of device B includes changing from lane 2 to lane 1. The driving trajectory of device C includes changing from lane 3 to lane 2. That is, after the above-mentioned device A changes lanes, lane 3 is used as the target lane, and the corresponding second road element information includes the road element information collected by lane 3. After the above-mentioned device B changes lanes, lane 1 is used as the target lane, and the corresponding second road element information includes the road element information collected by lane 1. After the above-mentioned device C changes lanes, lane 2 is used as the target lane, and the corresponding second road element information includes the road element information collected by lane 2.

[0117] For example, Figure 6 is a schematic diagram of another optional road information collection method according to an embodiment of the present application, such as Figure 6As shown, taking device A as an example, the actual lanes include lane 1, lane 2 and lane 3, and the above three lanes are divided into section 1, section 2 and section 3. Device A initially travels in lane 1, and collects the above road element information for section 1 of lane 1. When device A changes from lane 1 to lane 2, the route of device A in lane 2 is determined as section 2, and the second road element information corresponding to the road elements on lane 2 is collected as the road element information of lane 2. When device A changes from lane 2 to lane 3, the route of device A in lane 3 is determined as section 3, and the second road element information corresponding to the road elements on lane 3 is collected as the road element information of lane 3.

[0118] Optionally, in this embodiment, the second road element information includes the type of the second road element obtained by the first device identifying the first image information collected after the change occurs. The road elements may include but are not limited to road signs, whether the road is connected to an intersection, traffic light signs, zebra crossing signs, etc.

[0119] It should be noted that the number of times the above-mentioned road elements have been collected on the target lane can be understood as the number of times the task of collecting a certain road element or a certain type of road element on the target lane is executed.

[0120] For example, when a collection task for collecting traffic light road elements is pre-configured for the target road, the number of executions of the collection task is determined, wherein each time the second image information reported by the first device (which may be a different collection device or the same collection device at different times) is received, it can be understood that the collection task of traffic light road elements has been executed once for the changed lane.

[0121] In an exemplary embodiment, the above-mentioned preset number of collections can be preset by the system or flexibly set according to the lane width, road width, surrounding field of view obstruction, etc. The preset number of collections needs to meet the requirements of completing the coverage of multi-lane and multi-perspective road information based on the actual situation of the road as much as possible.

[0122] As an optional solution, when it is determined that the first device is on the target road, a first indication message is sent to the first device, including: obtaining lane trajectory information uploaded by the first device, wherein the lane trajectory information includes the movement trajectory of the first device; when the lane trajectory information includes the target road where the first device is located, and the road set for which road information needs to be collected includes the target road, a first indication message is sent to the first device.

[0123] Optionally, in this embodiment, the lane trajectory information may include but is not limited to being set to be uploaded in real time. Taking the lane trajectory information collected by the target application as an example, after the target application is started, the lane trajectory information uploads positioning data according to a preset period to form the lane trajectory information.

[0124] It should be noted that the lane trajectory information can indicate the target road where the first device is located. When the target road is a road that requires road information collection, a first indication message is sent to the first device to instruct the first device to start collecting first image information and performing recognition.

[0125] As an optional solution, when the lane trajectory information indicates that the first device is on the target road and the preset lane set for road information to be acquired includes the target road, a first indication message is sent to the first device, including: determining whether the target lane is a lane that requires lane-level road information collection based on the lane trajectory information; when the lane that requires lane-level road information collection includes the target lane, a first indication message is sent to the first device, wherein the first indication message is also used to instruct the first device to upload the target lane.

[0126] Optionally, in this embodiment, the lane trajectory information may include but is not limited to being set to be uploaded in real time. Taking the lane trajectory information collected by the target application as an example, after the target application is started, the lane trajectory information uploads positioning data according to a preset period to form the lane trajectory information.

[0127] It should be noted that the above-mentioned lane trajectory information can indicate the target lane where the above-mentioned first device is located. When the target lane is a lane that requires lane-level road information collection, a first indication message is sent to the first device to instruct the first device to start collecting first image information and performing identification.

[0128] As an optional solution, receiving second image information, updating the collected lane information according to the second image information, and determining that the road information of the target road has been collected when the lane information collected on multiple lanes in the target road meets preset conditions, including: receiving second image information, determining the image accuracy of the second image information; when the image accuracy of the second image information meets the preset accuracy conditions, updating the lane information collected by the first device on the target lane according to the second image information; when the image accuracy of the second image information does not meet the preset accuracy conditions, canceling the update of the lane information collected by the first device on the target lane.

[0129] Optionally, in this embodiment, the above-mentioned image accuracy may include but is not limited to image clarity, image size, image color richness, etc. The above-mentioned preset accuracy conditions are set by the system according to actual needs to avoid collecting image information with poor image accuracy, thereby improving the collection efficiency and accuracy of road information.

[0130] It should be noted that the above-mentioned updating of the lane information collected by the first device on the target lane can be understood as receiving the second image information, and supplementing the second image information with the lane information collected on the above-mentioned target lane, and the above-mentioned cancellation of updating the lane information collected by the first device on the target lane can be understood as stopping receiving the above-mentioned second image information.

[0131] As an optional solution, the method further includes: before receiving the second image information, and in the case of receiving the third lane information uploaded by the second device, obtaining first device information of the first device and second device information of the second device, wherein the first device information is used to determine the image acquisition accuracy of the first device, the second device information is used to determine the image acquisition accuracy of the second device, and the third lane information is used to indicate that the second device is in the same road section as the first device in the target lane;

[0132] When the image acquisition accuracy of the first device is higher than that of the second device, receiving the second image information, and updating the acquired lane information according to the second image information;

[0133] When the image acquisition accuracy of the first device is lower than that of the second device, third image information is received, and the acquired lane information is updated according to the third image information, wherein the third image information is image information uploaded by the second device.

[0134] In an exemplary embodiment, the second device includes but is not limited to the following three categories:

[0135] (1) Driving recorder: The raw data collected by cameras and sensors is combined with trajectory information to complete lane identification and element identification, and can complete data processing and reporting;

[0136] (2) High-end vehicle equipment: (referring to vehicle equipment with local computing capabilities) can receive and process data from cameras and various sensors, complete lane recognition and element recognition, and complete data processing and reporting;

[0137] (3) Professional data collection equipment: (A complete set of equipment dedicated to road data collection) During the collection process, various sensors can be used to collect detailed road element data, complete lane identification and element identification, and complete data processing and reporting.

[0138] In the above-mentioned second device, information such as "lane recognition and element recognition" will be reported; after the information is reported, the background service combines all the received "trajectory data, lane information, and identification information" and issues a collection task by combining the "perspective of the collection device in different lanes" to ensure the integrity of the information collection.

[0139] It should be noted that the second device is different from the first device, but is in the same lane. For example, two adjacent vehicle-mounted image acquisition devices are located front and back, one of which is the first device and the other is the second device.

[0140] Optionally, in this embodiment, the first device information and the second device information are used to indicate the image acquisition capabilities of the first device and the second device, and then the acquired images can be selectively received according to the first device information and the second device information, and images with higher image accuracy acquired by image acquisition devices with higher image acquisition capabilities are always selected.

[0141] As an optional solution, the above method also includes: when the image acquisition accuracy of the first device is the same as that of the second device and the second image information is received first, updating the collected lane information according to the second image information, and notifying the second device to stop uploading the third image information; when the image acquisition accuracy of the first device is the same as that of the second device and the third image information is received first, updating the collected lane information according to the third image information, and notifying the first device to stop uploading the second image information.

[0142] Optionally, in this embodiment, the fact that the image acquisition accuracy of the first device is the same as that of the second device can be understood as the images acquired by the first device and the second device are images with the same resolution or clarity.

[0143] At this time, the collected lane information is updated according to the order in which the second image information and the third image information are received. For example, if the second image information is received first, the collected lane information is updated according to the second image information; if the third image information is received first, the collected lane information is updated according to the third image information, and an instruction to stop uploading image information is sent to the device that has not received the image information to avoid wasting communication resources.

[0144] For example, Figure 7 is a schematic diagram of another optional road information collection method according to an embodiment of the present application, such as Figure 7 The content may include but is not limited to the following:

[0145] Among them, when the server determines that device A and device B are in the same regional road and the road in the area needs to be judged at the lane level coverage, it sends identification switches to device A and device B respectively. Device A and device B turn on element recognition and start collecting road element information. After the collection is completed, device A and device B will return the collected road element information to the server. At this time, the image acquisition accuracy of device A and device B is first compared. When the difference in image acquisition accuracy between device A and device B is small, if device A returns successfully at time A, and device B has not returned successfully at this time, a notification is sent to device B to instruct device B to stop returning.

[0146] Optionally, as an optional implementation, as Figure 8 As shown, the above road information collection method includes:

[0147] S802, when the first device is on a target road, uploading lane trajectory information to a target server, wherein the lane trajectory information includes a movement trajectory of the first device;

[0148] S804, in response to the first instruction message sent by the target server, collecting first image information related to the target road, identifying the first image information, and generating first lane information;

[0149] S806, uploading first lane information to the target server, where the first lane information is used to indicate the lane where the first device is located on the target road;

[0150] S808, in response to a second indication message sent by the target server, processing the first image information, generating second image information, and uploading the second image information to the target server, wherein the second indication message is used to indicate that the lane information collected on the target lane does not meet the preset conditions, and the target lane is the lane where the first device is located.

[0151] As an optional solution, the above method also includes: uploading first lane information to the target server, including: uploading first road element information and first lane information to the target server, wherein the first road element information includes the road element identified by the first device on the target lane; the above method also includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet the preset number of collections.

[0152] As an optional solution, the above method also includes: when the first device changes lanes, the lane where the first device is located after the change is taken as the target lane, and second road element information and second lane information are uploaded to the target server, wherein the second road element information includes the road elements identified on the target lane after the first device changes lanes; the above method also includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road elements on the target lane does not meet the preset number of collections.

[0153] The present application is further explained below with reference to specific examples:

[0154] During the process of collecting road elements, the collection equipment is constantly iterated and upgraded, and can clearly perceive in which lane the current recognition element is seen by the collection equipment. Therefore, based on multiple lanes, the vehicle's driving trajectory is a surface trajectory.

[0155] Fig. 9 is a schematic diagram of another optional road information collection method according to an embodiment of the present application, such as Fig. 9 As shown, it may include but is not limited to the following processes:

[0156] S1, server access service (road information collection service);

[0157] S2, the device applies for a temporary ID;

[0158] S3, real-time lane recognition on the device side;

[0159] S4, the device reports the lane information trajectory;

[0160] S5, the server performs trajectory preprocessing;

[0161] S6, the server determines whether the current area road needs lane-level coverage;

[0162] S7, the server sends the identification switch;

[0163] S8, turn on element recognition on the device side;

[0164] S9, the device reports "lane information + road element recognition";

[0165] S10, the server sorts out the identification information;

[0166] S11, the server determines that the number of multi-trip times on the current road is sufficient. If the determination result is yes, step S12 is executed, otherwise step S13 is executed;

[0167] S12, the server does not send the collection task;

[0168] S13, the server sends lane-level customized data requirements;

[0169] S14, the device segment performs on-end image processing (image frame extraction and other operations);

[0170] S15, the device sends back detailed information;

[0171] S16, the server processes the returned data;

[0172] S17-1-1, the server confirms that the information has passed the initial screening;

[0173] S17-1-2, the server updates the road lane level coverage;

[0174] S17-2, the server transmits data.

[0175] Focus S14 involves three modules:

[0176] (1) Trajectory coarse filtering module:

[0177] a) When uploading track points, the device reports the “trial lane recognition result”;

[0178] b) After receiving the data, the server will issue the recognition switch based on whether lane-level coverage is currently required: if necessary, the lane information is carried when reporting the recognition element; otherwise, the lane information is not required.

[0179] (2) Lane-level collection planning and judgment:

[0180] a) When the device reports identification information, it reports the current lane information. This information is used to mark the lane and verify the lane information when the trajectory is reported;

[0181] b) The server determines whether to issue a collection task based on the recognition results and the "current road lane coverage situation".

[0182] (3) Data feedback judgment: After the lane-level data is uploaded and reported, the server completes the preliminary data screening and updates the lane-level coverage of the current road to promote data update. There are several situations on the server that need to be explained:

[0183] a) In "Data not returned": the device information of multiple devices is consistent. If other devices have returned, the acquisition device will be notified to stop uploading;

[0184] b) During the "coverage status is not updated" period, the device information of multiple devices is inconsistent. If other devices are uploading, the data with higher accuracy will be updated first based on the data accuracy, and the lane information trajectory will be reported in real time.

[0185] 1) Fig.10 is a schematic diagram of another optional road information collection method according to an embodiment of the present application. When the server makes lane-level area judgment and current lane coverage judgment, the process is as follows Fig.10 As shown:

[0186] S1, the server performs trajectory preprocessing;

[0187] S2, the server determines whether the current area requires lane-level collection. If the result is yes, execute step S3;

[0188] S3, server identification is enabled;

[0189] S4, the server sorts out the identification information;

[0190] S5, the server determines whether the coverage ratio of the road section under the current lane is satisfied. If the determination result is no, step S6 is executed, otherwise step S7 is executed;

[0191] S6, the server does not send the collection;

[0192] S7, the server determines whether the road section under the current lane has not been collected, and if the determination result is no, executes step S8, otherwise executes step S9;

[0193] S8, the device transmits back the full amount of data and executes step S12;

[0194] S9, the server determines whether the number of times the road section is covered under the current lane has been met, and if the result is no, executes step S10, otherwise executes step S11;

[0195] S10, the server does not send data;

[0196] S11, the server extracts data and transmits it back;

[0197] S12, the server sends lane-level customized data requirements;

[0198] S13, the device segment transmits data back;

[0199] S14, the server confirms that the information has passed the initial screening;

[0200] S15, the server updates the road lane level coverage;

[0201] S16, the server saves the collected demand data.

[0202] 2) Simple logic for judging lane coverage

[0203] Because in real collection scenarios, there will be multiple lanes switching back and forth. When judging the lane-level coverage of the road, what granularity should be used? The simple judgment process is as follows:

[0204] (1) The server divides the current road into multiple sections. The principle of road interruption can refer to the interruption granularity of existing high-precision maps;

[0205] (2) When judging the coverage of a single road section, initially, the collection task for the corresponding lane of the road section can be issued only when the road section is fully covered at 100%. If a part of the road section is covered for a long time in the later stage, the interruption granularity can be continuously upgraded.

[0206] Through this embodiment, a multi-lane perspective can be formed based on the feedback of the multi-lane acquisition plan, effectively avoiding the problem of missing road elements or being unable to verify each other from multiple perspectives due to linear perspectives. The original "linear acquisition" can be changed to "surface acquisition". According to the actual situation of the road, as long as the coverage of multiple lanes and multiple perspectives is completed, the current acquisition can be judged to be completed, thereby effectively and directly avoiding the cost waste and inability to evaluate integrity caused by the rigid "multi-pass acquisition plan".

[0207] It should be noted that the above-mentioned server-side road coverage judgment method can complete data integrity judgment based on different road interruption methods. In addition, the client can request lane-level collection status of the current area in real time to avoid relying on the server-side judgment all the time.

[0208] It is understandable that in the specific implementation of this application, related data such as user information is involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0209] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0210] According to another aspect of the embodiment of the present application, a road information collection device for implementing the above road information collection method is also provided. Fig.11 As shown, the device comprises:

[0211] A first sending module 1102 is configured to send a first indication message to the first device when it is determined that the first device is on a target road, wherein the first indication message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information;

[0212] A first receiving module 1104 is used to receive first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane where the first device is located on the target road;

[0213] A second sending module 1106 is configured to send a second instruction message to the first device according to the first lane information, wherein the second instruction message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information being image information obtained by the first device processing the first image information, and the target lane is the lane where the first device is located;

[0214] The second receiving module 1108 is used to receive the second image information, update the collected lane information according to the second image information, and determine that the road information of the target road has been collected if the collected lane information on multiple lanes in the target road meets the preset conditions.

[0215] As an optional scheme, the device is used to send a second indication message to the first device according to the first lane information in the following manner: obtain a predetermined target task set, wherein the target task set represents a set of road information collection requirements; when the target task set includes a target task, parse the first lane information to determine whether the lane information collected on the target lane meets the preset conditions, wherein the target task indicates that there is a requirement for collecting road information of the target road; when the lane information collected on the target lane does not meet the preset conditions, send the second indication message to the first device.

[0216] As an optional solution, the device is used to receive the first lane information uploaded by the first device in the following manner: receiving the first road element information and the first lane information uploaded by the first device, wherein the first road element information includes the road elements identified by the first device on the target lane; the device is used to parse the first lane information in the following manner when the target task set includes the target task, and determine whether the lane information collected on the target lane meets the preset condition: determining the number of collections corresponding to the road element on the target lane based on the first road element information and the first lane information, and when the number of collections does not meet the preset number of collections, determining that the lane information collected on the target lane does not meet the preset condition.

[0217] As an optional solution, the device is also used to: when the first device changes lanes, use the lane where the first device is located after the change as the target lane, receive second road element information and second lane information uploaded by the first device, wherein the second road element information includes road elements identified on the target lane after the first device changes lanes; when the target task set includes a target task, parse the first lane information to determine whether the lane information collected on the target lane meets the preset condition, including: determining the number of collections corresponding to the road element on the target lane based on the second road element information and the second lane information, and when the number of collections does not meet the preset number of collections, determining that the lane information collected on the target lane does not meet the preset condition.

[0218] As an optional scheme, the device is used to send a first indication message to the first device when it is determined that the first device is on a target road in the following manner: obtaining lane trajectory information uploaded by the first device, wherein the lane trajectory information includes the movement trajectory of the first device; and sending the first indication message to the first device when the lane trajectory information includes the target road where the first device is located and the road set for which road information needs to be collected includes the target road.

[0219] As an optional scheme, the device is used to send a first indication message to the first device in the following manner when the lane trajectory information indicates that the first device is on the target road and the preset lane set for road information to be acquired includes the target road: determine whether the target lane is a lane that requires lane-level road information collection based on the lane trajectory information; and send the first indication message to the first device when the lane that requires lane-level road information collection includes the target lane, wherein the first indication message is also used to instruct the first device to upload the target lane.

[0220] As an optional solution, the device is used to receive the second image information in the following manner, update the collected lane information according to the second image information, and determine that the road information of the target road has been collected when the lane information collected on multiple lanes in the target road meets the preset conditions: receive the second image information, determine the image accuracy of the second image information; when the image accuracy of the second image information meets the preset accuracy conditions, update the lane information collected by the first device on the target lane according to the second image information; when the image accuracy of the second image information does not meet the preset accuracy conditions, cancel the update of the lane information collected by the first device on the target lane.

[0221] As an optional scheme, the device is also used to: before receiving the second image information and when receiving the third lane information uploaded by the second device, obtain the first device information of the first device and the second device information of the second device, wherein the first device information is used to determine the image acquisition accuracy of the first device, the second device information is used to determine the image acquisition accuracy of the second device, and the third lane information is used to indicate that the second device is in the same section of the target lane as the first device; when the image acquisition accuracy of the first device is higher than that of the second device, receive the second image information, and update the acquired lane information according to the second image information; when the image acquisition accuracy of the first device is lower than that of the second device, receive the third image information, and update the acquired lane information according to the third image information, wherein the third image information is the image information uploaded by the second device.

[0222] As an optional scheme, the device is also used to: when the image acquisition accuracy of the first device is the same as that of the second device and the second image information is received first, update the collected lane information according to the second image information and notify the second device to stop uploading the third image information; when the image acquisition accuracy of the first device is the same as that of the second device and the third image information is received first, update the collected lane information according to the third image information and notify the first device to stop uploading the second image information.

[0223] According to another aspect of the embodiment of the present application, a road information collection device for implementing the above road information collection method is also provided. The device includes: a first uploading module, used to upload lane trajectory information to a target server when the first device is on a target road, wherein the lane trajectory information includes the movement trajectory of the first device; a first processing module, used to respond to a first indication message sent by the target server, collect first image information related to the target road, and identify the first image information to generate first lane information; a second uploading module, used to upload the first lane information to the target server, wherein the first lane information is used to indicate the lane on the target road where the first device is located; a second processing module, used to respond to a second indication message sent by the target server, process the first image information, generate second image information, and upload the second image information to the target server, wherein the second indication message is used to indicate that the lane information collected on the target lane does not meet a preset condition, and the target lane is the lane where the first device is located.

[0224] As an optional solution, the device is also used to: upload the first lane information to the target server, including: uploading first road element information and the first lane information to the target server, wherein the first road element information includes the road elements identified by the first device on the target lane; the method also includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet the preset number of collections.

[0225] As an optional solution, the device is also used to: in the event that the first device changes lanes, use the lane in which the first device is located after the change as the target lane, and upload second road element information and second lane information to the target server, wherein the second road element information includes road elements identified in the target lane after the first device changes lanes; the method also includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet a preset number of collections.

[0226] According to one aspect of the present application, a computer program product is provided, the computer program product comprising a computer program / instruction, the computer program / instruction comprising a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 1209, and / or installed from a removable medium 1211. When the computer program is executed by the central processor 1201, various functions provided in the embodiments of the present application are executed.

[0227] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0228] Fig.12 The structure block diagram of a computer system for implementing an electronic device according to an embodiment of the present application is schematically shown.

[0229] It should be noted that Fig.12 The computer system 1200 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0230] like Fig.12 As shown, the computer system 1200 includes a central processing unit 1201 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 1202 (ROM) or the program loaded from the storage part 1208 to the random access memory 1203 (RAM). Various programs and data required for system operation are also stored in the random access memory 1203. The central processing unit 1201, the read-only memory 1202 and the random access memory 1203 are connected to each other through a bus 1204. The input / output interface 1205 (Input / Output interface, i.e., I / O interface) is also connected to the bus 1204.

[0231] The following components are connected to the input / output interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1209 is also connected to the input / output interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed so that a computer program read therefrom is installed into the storage section 1208 as needed.

[0232] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1210, and / or installed from the removable medium 1211. When the computer program is executed by the central processor 1201, various functions defined in the system of the present application are executed.

[0233] According to another aspect of the embodiment of the present application, an electronic device for implementing the above-mentioned road information collection method is also provided. The electronic device may be Figure 1 The terminal device or server shown in the figure. This embodiment is described by taking the electronic device as a terminal device as an example. Fig.13 As shown, the electronic device includes a memory 1302 and a processor 1304. The memory 1302 stores a computer program, and the processor 1304 is configured to execute the steps in any of the above method embodiments through the computer program.

[0234] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0235] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0236] S1, when it is determined that the first device is on a target road, sending a first instruction message to the first device, wherein the first instruction message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information;

[0237] S2, receiving first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane where the first device is located on the target road;

[0238] S3, sending a second instruction message to the first device according to the first lane information, wherein the second instruction message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information being image information obtained by the first device processing the first image information, and the target lane is the lane where the first device is located;

[0239] S4, receiving the second image information, updating the collected lane information according to the second image information, and determining that the road information of the target road has been collected when the collected lane information on multiple lanes in the target road meets a preset condition.

[0240] Alternatively, a person skilled in the art may understand that: Fig.13 The structure shown is for illustration only, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (MID), a PAD, and other terminal devices. Fig.13 The electronic device and the electronic equipment described above are not limited in structure. Fig.13 More or fewer components (such as network interfaces, etc.) as shown in, or with Fig.13 Different configurations are shown.

[0241] Among them, the memory 1302 can be used to store software programs and modules, such as the program instructions / modules corresponding to the road information collection method and device in the embodiments of the present application. The processor 1304 executes various functional applications and data processing by running the software programs and modules stored in the memory 1302, that is, to implement the above-mentioned road information collection method. The memory 1302 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1302 may further include a memory remotely located relative to the processor 1304, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 1302 may be specifically, but not limited to, used to store information such as road information or lane information. As an example, such as Fig.13As shown, the memory 1302 may include, but is not limited to, the first sending module 1102, the first receiving module 1104, the second sending module 1106, and the second receiving module 1108 in the road information collection device. In addition, it may also include, but is not limited to, other module units in the road information collection device, which will not be repeated in this example.

[0242] Optionally, the transmission device 1306 is used to receive or send data via a network. Specific examples of the network may include a wired network and a wireless network. In one example, the transmission device 1306 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 1306 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0243] In addition, the electronic device further includes: a display 1308 for displaying the image information; and a connection bus 1310 for connecting various module components in the electronic device.

[0244] In other embodiments, the terminal device or server may be a node in a distributed system, wherein the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes through network communication. Among them, the nodes may form a peer-to-peer (P2P, Peer To Peer) network, and any form of computing device, such as a server, terminal and other electronic devices, may become a node in the blockchain system by joining the peer-to-peer network.

[0245] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the road information collection method provided in various optional implementations of the above-mentioned road information collection aspects.

[0246] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0247] S1, when it is determined that the first device is on a target road, sending a first instruction message to the first device, wherein the first instruction message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information;

[0248] S2, receiving first lane information uploaded by the first device, wherein the first lane information is used to indicate the lane where the first device is located on the target road;

[0249] S3, sending a second instruction message to the first device according to the first lane information, wherein the second instruction message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information being image information obtained by the first device processing the first image information, and the target lane is the lane where the first device is located;

[0250] S4, receiving the second image information, updating the collected lane information according to the second image information, and determining that the road information of the target road has been collected when the collected lane information on multiple lanes in the target road meets a preset condition.

[0251] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0252] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0253] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0254] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0255] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0256] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0257] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0258] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A road information collection method, characterized in that: include: When it is determined that the first device is on the target road, sending a first indication message to the first device, wherein the first indication message is used to instruct the first device to start collecting first image information related to the target road and identify the first image information; Receiving first lane information uploaded by the first device, wherein the first lane information is used to indicate a lane where the first device is located on the target road; sending a second instruction message to the first device according to the first lane information, wherein the second instruction message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information is image information obtained by the first device processing the first image information, the target lane is the lane where the first device is located, and the preset condition indicates that the lane information collected on the target lane includes lane information collected under multiple perspectives; The second image information is received, the collected lane information is updated according to the second image information, and when the collected lane information on multiple lanes in the target road meets the preset condition, it is determined that the road information of the target road has been collected.

2. The method according to claim 1, characterized in that The sending a second indication message to the first device according to the first lane information includes: Acquire a predetermined target task set, wherein the target task set represents a road information collection requirement set; In the case where the target task set includes a target task, parsing the first lane information to determine whether the lane information collected on the target lane meets the preset condition, wherein the target task indicates that there is a need to collect road information of the target road; When the lane information collected on the target lane does not meet the preset condition, the second indication message is sent to the first device.

3. The method according to claim 2, characterized in that The receiving the first lane information uploaded by the first device includes: receiving the first road element information and the first lane information uploaded by the first device, wherein the first road element information includes the road elements recognized by the first device on the target lane; When the target task set includes the target task, parsing the first lane information to determine whether the lane information collected on the target lane meets the preset condition includes: determining the number of collection times corresponding to the road element on the target lane based on the first road element information and the first lane information, and when the number of collection times does not meet the preset number of collection times, determining that the lane information collected on the target lane does not meet the preset condition.

4. The method according to claim 2, characterized in that: The method further comprises: In the case where the first device changes lanes, the lane where the first device is located after the lane change is used as the target lane, and second road element information and second lane information uploaded by the first device are received, wherein the second road element information includes road elements identified on the target lane after the first device changes lanes; When the target task set includes the target task, parsing the first lane information to determine whether the lane information collected on the target lane meets the preset condition includes: determining the number of collection times corresponding to the road element on the target lane based on the second road element information and the second lane information, and when the number of collection times does not meet the preset collection number, determining that the lane information collected on the target lane does not meet the preset condition.

5. The method according to claim 1, characterized in that The sending a first indication message to the first device when it is determined that the first device is on the target road includes: Acquire lane trajectory information uploaded by the first device, wherein the lane trajectory information includes a movement trajectory of the first device; In a case where the lane trajectory information includes the target road where the first device is located, and a road set for which road information needs to be collected includes the target road, the first indication message is sent to the first device.

6. The method according to claim 5, characterized in that The sending a first indication message to the first device when the lane trajectory information indicates that the first device is located on the target road and the preset lane set of road information to be acquired includes the target road includes: Determining whether the target lane is a lane for which lane-level road information collection is required according to the lane trajectory information; In a case where the lanes for which the lane-level road information collection is required include the target lane, the first indication message is sent to the first device, wherein the first indication message is also used to instruct the first device to upload the target lane.

7. The method according to claim 1, characterized in that The receiving the second image information, updating the collected lane information according to the second image information, and determining that the road information of the target road has been collected when the collected lane information on multiple lanes in the target road meets the preset condition, includes: receiving the second image information, and determining image accuracy of the second image information; When the image accuracy of the second image information meets a preset accuracy condition, updating the lane information collected by the first device on the target lane according to the second image information; When the image accuracy of the second image information does not meet the preset accuracy condition, the update of the lane information collected by the first device on the target lane is canceled.

8. The method according to claim 7, characterized in that The method further comprises: Before receiving the second image information, and in the case of receiving the third lane information uploaded by the second device, obtaining the first device information of the first device and the second device information of the second device, wherein the first device information is used to determine the image acquisition accuracy of the first device, the second device information is used to determine the image acquisition accuracy of the second device, and the third lane information is used to indicate that the second device is in the same section of the target lane as the first device; In a case where the image acquisition accuracy of the first device is higher than that of the second device, receiving the second image information, and updating the acquired lane information according to the second image information; When the image acquisition accuracy of the first device is lower than that of the second device, third image information is received, and the acquired lane information is updated according to the third image information, wherein the third image information is image information uploaded by the second device.

9. The method according to claim 8, characterized in that The method further comprises: When the image acquisition accuracy of the first device is the same as that of the second device and the second image information is received first, updating the acquired lane information according to the second image information and notifying the second device to stop uploading the third image information; When the image acquisition accuracy of the first device is the same as that of the second device and the third image information is received first, the acquired lane information is updated according to the third image information, and the first device is notified to stop uploading the second image information.

10. A road information collection method, characterized in that: include: When the first device is on a target road, uploading lane trajectory information to a target server, wherein the lane trajectory information includes a movement trajectory of the first device; In response to a first instruction message sent by the target server, first image information related to the target road is collected, and the first image information is recognized to generate first lane information; Uploading first lane information to the target server, wherein the first lane information is used to indicate the lane where the first device is located on the target road; In response to a second indication message sent by the target server, the first image information is processed to generate second image information, and the second image information is uploaded to the target server, wherein the second indication message is used to indicate that the lane information collected on the target lane does not meet a preset condition, the target lane is the lane where the first device is located, and the preset condition indicates that the lane information collected on the target lane includes lane information collected from multiple perspectives.

11. The method according to claim 10, characterized in that The method further comprises: The uploading of the first lane information to the target server comprises: uploading first road element information and the first lane information to the target server, wherein the first road element information comprises the road elements recognized by the first device on the target lane; The method further includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet a preset number of collections.

12. The method according to claim 10, characterized in that The method further comprises: In the case where the first device changes lanes, taking the lane where the first device is located after the lane change as the target lane, uploading second road element information and second lane information to the target server, wherein the second road element information includes road elements identified on the target lane after the first device changes lanes; The method further includes: receiving a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet a preset number of collections.

13. A road information collection device, characterized in that: include: A first sending module, configured to send a first indication message to the first device when it is determined that the first device is on a target road, wherein the first indication message is used to instruct the first device to start collecting first image information related to the target road and to identify the first image information; A first receiving module, configured to receive first lane information uploaded by the first device, wherein the first lane information is used to indicate a lane where the first device is located on the target road; a second sending module, configured to send a second instruction message to the first device according to the first lane information, wherein the second instruction message is used to instruct the first device to upload second image information when the lane information collected on the target lane does not meet a preset condition, the second image information is image information obtained by the first device processing the first image information, the target lane is the lane where the first device is located, and the preset condition indicates that the lane information collected on the target lane includes lane information collected under multiple perspectives; The second receiving module is used to receive the second image information, update the collected lane information according to the second image information, and determine that the road information of the target road has been collected when the collected lane information on multiple lanes in the target road meets the preset conditions.

14. The device according to claim 13, characterized in that The apparatus is configured to send a second indication message to the first device according to the first lane information in the following manner: Acquire a predetermined target task set, wherein the target task set represents a road information collection requirement set; In the case where the target task set includes a target task, parsing the first lane information to determine whether the lane information collected on the target lane meets the preset condition, wherein the target task indicates that there is a need to collect road information of the target road; When the lane information collected on the target lane does not meet the preset condition, the second indication message is sent to the first device.

15. The device according to claim 14, characterized in that The apparatus is used to receive the first lane information uploaded by the first device in the following manner: receiving the first road element information and the first lane information uploaded by the first device, wherein the first road element information includes the road elements recognized by the first device on the target lane; The device is used to parse the first lane information and determine whether the lane information collected on the target lane meets the preset condition in the following manner when the target task set includes the target task: determine the number of collection times corresponding to the road element on the target lane based on the first road element information and the first lane information, and when the number of collection times does not meet the preset number of collection times, determine that the lane information collected on the target lane does not meet the preset condition.

16. The device according to claim 14, characterized in that The device is also used for: In the case where the first device changes lanes, the lane where the first device is located after the lane change is used as the target lane, and second road element information and second lane information uploaded by the first device are received, wherein the second road element information includes road elements identified on the target lane after the first device changes lanes; When the target task set includes the target task, parsing the first lane information to determine whether the lane information collected on the target lane meets the preset condition includes: determining the number of collection times corresponding to the road element on the target lane based on the second road element information and the second lane information, and when the number of collection times does not meet the preset collection number, determining that the lane information collected on the target lane does not meet the preset condition.

17. The device according to claim 13, characterized in that The apparatus is used to send a first indication message to the first device in the following manner when it is determined that the first device is on a target road: Acquire lane trajectory information uploaded by the first device, wherein the lane trajectory information includes a movement trajectory of the first device; In a case where the lane trajectory information includes the target road where the first device is located, and a road set for which road information needs to be collected includes the target road, the first indication message is sent to the first device.

18. The device according to claim 17, characterized in that The apparatus is configured to send a first indication message to the first device in the following manner when the lane trajectory information indicates that the first device is located on the target road and a set of preset lanes to be acquired for road information includes the target road: Determining whether the target lane is a lane for which lane-level road information collection is required according to the lane trajectory information; In a case where the lanes for which the lane-level road information collection is required include the target lane, the first indication message is sent to the first device, wherein the first indication message is also used to instruct the first device to upload the target lane.

19. The device according to claim 13, characterized in that The device is used to receive the second image information in the following manner, update the collected lane information according to the second image information, and determine that the road information of the target road has been collected if the collected lane information on multiple lanes in the target road meets the preset condition: receiving the second image information, and determining image accuracy of the second image information; When the image accuracy of the second image information meets a preset accuracy condition, updating the lane information collected by the first device on the target lane according to the second image information; When the image accuracy of the second image information does not meet the preset accuracy condition, the update of the lane information collected by the first device on the target lane is canceled.

20. The device according to claim 19, characterized in that The device is also used for: Before receiving the second image information, and in the case of receiving the third lane information uploaded by the second device, obtaining the first device information of the first device and the second device information of the second device, wherein the first device information is used to determine the image acquisition accuracy of the first device, the second device information is used to determine the image acquisition accuracy of the second device, and the third lane information is used to indicate that the second device is in the same section of the target lane as the first device; In a case where the image acquisition accuracy of the first device is higher than that of the second device, receiving the second image information, and updating the acquired lane information according to the second image information; When the image acquisition accuracy of the first device is lower than that of the second device, third image information is received, and the acquired lane information is updated according to the third image information, wherein the third image information is image information uploaded by the second device.

21. The device according to claim 20, characterized in that The device is also used for: When the image acquisition accuracy of the first device is the same as that of the second device and the second image information is received first, updating the acquired lane information according to the second image information and notifying the second device to stop uploading the third image information; When the image acquisition accuracy of the first device is the same as that of the second device and the third image information is received first, the acquired lane information is updated according to the third image information, and the first device is notified to stop uploading the second image information.

22. A road information collection device, characterized in that: include: A first uploading module, configured to upload lane trajectory information to a target server when the first device is on a target road, wherein the lane trajectory information includes a moving trajectory of the first device; a first processing module, configured to collect first image information related to the target road in response to a first instruction message sent by the target server, and to identify the first image information to generate first lane information; A second uploading module, used to upload first lane information to the target server, wherein the first lane information is used to indicate the lane where the first device is located on the target road; A second processing module is used to process the first image information in response to a second indication message sent by the target server, generate second image information, and upload the second image information to the target server, wherein the second indication message is used to indicate that the lane information collected on the target lane does not meet a preset condition, the target lane is the lane where the first device is located, and the preset condition indicates that the lane information collected on the target lane includes lane information collected under multiple perspectives.

23. The device according to claim 22, characterized in that The device is also used for: The uploading of the first lane information to the target server comprises: uploading first road element information and the first lane information to the target server, wherein the first road element information comprises the road elements recognized by the first device on the target lane; The device is also used to: receive a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet a preset number of collections.

24. The device according to claim 22, characterized in that The device is also used for: In the case where the first device changes lanes, taking the lane where the first device is located after the lane change as the target lane, uploading second road element information and second lane information to the target server, wherein the second road element information includes road elements identified on the target lane after the first device changes lanes; The device is also used to: receive a second indication message sent by the target server, wherein the second indication message indicates that the target server determines that the number of collections corresponding to the road element on the target lane does not meet a preset number of collections.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program can be executed by a terminal device or a computer to execute the method described in any one of claims 1 to 9 or 10 to 12.

26. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method described in any one of claims 1 to 9 or 10 to 12 are implemented.

27. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 9 or 10 to 12 through the computer program.

Images