Data updating method, device and equipment of high-precision map and storage medium

Abstract

The application relates to the technical field of automatic driving, and discloses a high-precision map data updating method, device, equipment and storage medium. The method comprises the following steps: acquiring a current position of a vehicle, determining a target tile region corresponding to the current position; detecting whether high-precision map data corresponding to the target tile region needs to be updated; when the high-precision map data needs to be updated, determining a resource downloading state of the vehicle; determining a data updating amount of the high-precision map data based on the resource downloading state; and updating the high-precision map data according to the data updating amount. Through implementation of the technical scheme, the high-precision map data that needs to be updated during vehicle driving can be downloaded in time, real-time pre-updating of the high-precision map data for the target tile region is realized, and the balance between the data updating amount and use is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, and in particular to a high-precision map data updating method and device, equipment and a storage medium. BACKGROUND

[0002] A high-precision map can provide super-sensing distance and surrounding information, expand the sensing boundary, provide sensing redundancy, and improve sensing efficiency, and plays a decisive role in the perception, decision-making and planning control of an autonomous vehicle. Specifically, high-precision map data includes lane data (such as slope, curvature, heading, marking line type, road marking, road restriction information, etc.) and lane surrounding object data (such as traffic signs, traffic lights, lane height limit, obstacles, overhead objects, guardrails, road edge types, roadside facilities, etc.).

[0003] During the operation of an autonomous vehicle, real-time high-precision map data of the current location of the vehicle needs to be called. Therefore, in order to ensure the accuracy of path planning, the high-precision map needs to be updated to ensure that the high-precision map data is up-to-date.

[0004] Since the data volume of a high-precision map is much larger than that of a traditional map, and the road data in most scenarios does not update in a cycle, the related art mostly uses differential updating to update the high-precision map. However, since the high-precision map depicts roads to a centimeter level of accuracy, the data update volume is large and may take a long time to download, which may cause the problem of different data (new data and old data) at the edge during autonomous driving, making it difficult to balance the data update volume and use, and affecting the safety of autonomous driving. SUMMARY

[0005] Therefore, the embodiments of the present application provide a high-precision map data updating method, device, equipment and storage medium to solve the problem of difficult balance between data update volume and use.

[0006] In a first aspect, the embodiments of the present application provide a high-precision map data updating method, which comprises: acquiring a current position of a vehicle, determining a target tile region corresponding to the current position; detecting whether high-precision map data corresponding to the target tile region needs to be updated; when the high-precision map data needs to be updated, determining a resource download state of the vehicle; determining a data update volume of the high-precision map data based on the resource download state; and updating the high-precision map data according to the data update volume.

[0007] The high-precision map data updating method provided by the embodiment of the present application can detect the current position of the ego vehicle through the vehicle end, determine the target tile area where the current position is located, and determine the data updating amount in combination with the target tile area where the ego vehicle is located and the current resource downloading state of the ego vehicle when it is determined that the high-precision map data corresponding to the target tile area needs to be updated, so that the high-precision map data that needs to be updated during the driving of the vehicle can be downloaded in time, and the real-time pre-update of the high-precision map data for the target tile area is realized, and the balance between the data updating amount and the use is ensured.

[0008] In an optional embodiment, the determining of the data updating amount of the high-precision map data based on the resource downloading state comprises: determining the resource consumption required for updating the high-precision map data based on the resource downloading state; adjusting the updating range of the high-precision map data based on the resource consumption; and determining the data updating amount of the high-precision map data according to the updating range.

[0009] The high-precision map data updating method provided by the embodiment of the present application can determine the resource consumption required for downloading the high-precision map data based on the resource downloading state of the vehicle, adjust the updating range of the high-precision map data according to the resource consumption, and minimize the downloading request for the high-precision map data, so that the timely downloading of the high-precision map data that needs to be updated during the driving of the vehicle is ensured, and the flow consumption is reduced.

[0010] In an optional embodiment, the adjusting of the updating range of the high-precision map data based on the resource consumption comprises: detecting whether the resource consumption is greater than a preset consumption threshold; when the resource consumption is greater than the preset consumption threshold, reducing the updating range of the high-precision map data; and when the resource consumption is less than the preset consumption threshold, expanding the updating range of the high-precision map data.

[0011] The high-precision map data updating method provided by the embodiment of the present application can reduce the updating range of the high-precision map data when the resource consumption is greater than the preset consumption threshold, and further ensure the timeliness of the downloading of the high-precision map data required for driving. When the resource consumption is less than the preset consumption threshold, the updating range of the high-precision map data is expanded, the pre-update range of the high-precision map data is improved, and the planning of the driving path is optimized.

[0012] In an optional implementation, when the high-precision map data needs to be updated, a resource download state of the vehicle is determined, including: when the high-precision map data needs to be updated, it is detected whether the current update is a first update; when the current update is the first update, an initial resource state of the vehicle is acquired, and the initial resource state is used to represent the resource download state; when the current update is not the first update, a last data download duration and a current memory space of the vehicle are acquired, and the last data download duration and the current memory space are used to represent the resource download state.

[0013] The high-precision map data updating method provided by the embodiment of the application determines the corresponding resource download state by detecting whether the current update is the first update, facilitates determining the corresponding data update amount in combination with the resource download state, and maximizes the balance between the data update amount and use.

[0014] In an optional implementation, the detection of whether the high-precision map data corresponding to the target tile region needs to be updated includes: acquiring a current version number and a latest version number of the high-precision map data; when the current version number is different from the latest version number, it is determined that the high-precision map data needs to be updated; and when the current version number is the same as the latest version number, it is determined that the high-precision map data does not need to be updated.

[0015] The high-precision map data updating method provided by the embodiment of the application determines whether the current version number is the same as the latest version number to update the high-precision map data, avoids the mixing of different version map data, and maximizes the safety of autonomous driving.

[0016] In an optional implementation, the current position of the vehicle is acquired, and a target tile region corresponding to the current position is determined, including: a first tile region corresponding to the current position is acquired, a second tile region associated with the first tile region is determined, and the level identifier of the first tile region is the same as the level identifier of the second tile region; and the first tile region and the second tile region are determined as the target tile region.

[0017] The high-precision map data updating method provided by the embodiment of the application takes the first tile region corresponding to the current position and the associated second tile region as the target tile region to update the high-precision map data of the target tile region, thereby ensuring the update accuracy of the high-precision map data and avoiding the influence of data edge on the path planning.

[0018] In an optional implementation, the method further includes: acquiring a boundary corresponding to the target tile region; and when it is detected that the current position of the vehicle crosses the boundary, a next tile region after crossing the boundary is determined, and the update of the high-precision map data of the next tile region is triggered.

[0019] The high-precision map data updating method provided by the embodiment of the present application updates the next tile region when detecting that the current position of the vehicle crosses the boundary, guarantees the consistency of the high-precision map data between the target tile region and the next tile region, and reduces the occurrence of the map data jointing situation.

[0020] In the second aspect, the embodiment of the present application provides a high-precision map data updating device, which comprises: an acquisition module, configured to acquire the current position of a vehicle and determine a target tile region corresponding to the current position; a detection module, configured to detect whether the high-precision map data corresponding to the target tile region needs to be updated; a download detection module, configured to determine the resource download state of the vehicle when the high-precision map data needs to be updated; a data update amount determination module, configured to determine the data update amount of the high-precision map data based on the resource download state; and an updating module, configured to update the high-precision map data according to the data update amount.

[0021] In the third aspect, the embodiment of the present application provides a computer device, which comprises a memory and a processor, the memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the high-precision map data updating method of the first aspect or any of the corresponding embodiments thereof.

[0022] In the fourth aspect, the embodiment of the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make the computer perform the high-precision map data updating method of the first aspect or any of the corresponding embodiments thereof.

[0023] The present application has the following beneficial effects:

[0024] (1) The present application determines the data update amount in combination with the target tile region where the vehicle is located and the current resource download state of the vehicle, guarantees that the high-precision map data that needs to be updated during the vehicle driving process can be downloaded in time, and thus realizes the real-time pre-update of the high-precision map data for the target tile region and guarantees the balance between the data update amount and the use.

[0025] (2) The present application adjusts the update range of the high-precision map data according to the resource consumption, maximally reduces the download request for the high-precision map data, thereby guarantees the timely download of the high-precision map data that needs to be updated during the vehicle driving process, and reduces the flow consumption.

[0026] (3) The present application updates the map data of the next tile region when the vehicle crosses the boundary of the current tile region, guarantees the consistency of the high-precision map data between the target tile region and the next tile region, and reduces the occurrence of the map data jointing situation. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the specific embodiments or prior art of the present application, the drawings required to be used in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0028] Figure 1 is a flowchart of a data updating method of a high-precision map according to an embodiment of the present application;

[0029] Figure 2 is a flowchart of another data updating method of a high-precision map according to an embodiment of the present application;

[0030] Figure 3 is a flowchart of still another data updating method of a high-precision map according to an embodiment of the present application;

[0031] Figure 4 is a division schematic diagram of a tile area according to an embodiment of the present application;

[0032] Figure 5 is a structural block diagram of a data updating device of a high-precision map according to an embodiment of the present application;

[0033] Figure 6 is a hardware structure schematic diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] The powerful spatial analysis function of the high-precision map can improve the upper limit of the decision distance, not only can reduce the vehicle end computing power threshold at the same ability level, but also can make the automatic driving smoother. The high-precision map can provide data for optimizing the vehicle planning control system, so as to calculate a suitable driving path for the vehicle to travel according to the information perceived by the vehicle and the state of the vehicle. The "driving path" contains not only the driving route, but also the speed, acceleration, steering and other information of the vehicle. Through the information such as curvature, slope, entrance and exit, ramp provided by the high-precision map, the planning control system can effectively optimize the decision of the driving path of the vehicle.

[0036] During operation, autonomous vehicles need to access high-precision maps of their current location in real time. To ensure effective route planning, high-precision map data must be accurate. Related technologies typically use differential updates to update high-precision map data. However, since high-precision maps depict roads with centimeter-level accuracy, even with differential updates, the data update volume for all differential data packets is large and may take a long time to download. This can lead to issues with the integration of different data (new and old) during autonomous driving, making it difficult to maintain a balance between data update volume and usage, impacting the safety of autonomous driving.

[0037] At the same time, since high-precision maps have different versions, data from different versions may also have connection problems due to factors such as changes in production process and positioning epochs between adjacent tile data, which poses a huge safety hazard to autonomous driving. Therefore, it is required that different versions of high-precision maps on the vehicle side cannot be mixed. This requires the unification of high-precision map versions, which will lead to a larger amount of updated data, longer download time, and more difficulty in avoiding data update volume and connection problems between different data during use.

[0038] Based on this, the technical solution of this application combines the DNS principle of geographic information data storage, that is, the geographical areas on the earth are divided into 13 different levels of tile areas. The larger the level number of the tile, the lower the level, and the smaller the geographic information area described. Each high-level tile area is composed of 9 secondary tile areas, and all map data of the high-precision map is geometrically stored according to the lowest level (i.e., level 13 tiles), and tile areas of different levels are associated in descending order of level, such as level 10, level 9, level 8, level 7, etc. The tile areas on the earth have fixed location divisions and are globally unique. According to the vehicle's positioning information, the level identification ID of the tile area it is currently in and the tile areas of different levels associated with the level identification ID can be accurately determined. Using this association relationship, the required map data range can be quickly located, and the amount of data that needs to be updated can be quickly determined in combination with the differential information between versions. Subsequently, the required data update amount is adjusted in combination with the vehicle's location and the vehicle resource download status, thereby ensuring the balance between the data update amount and map usage to the greatest extent.

[0039] According to the embodiment of the present application, a high-precision map data updating method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0040] In the present embodiment, a high-precision map data updating method is provided, which can be used in intelligent driving vehicle terminals such as autonomous vehicles and new energy vehicles, Figure 1 is a flowchart of the high-precision map data updating method according to the embodiment of the present application, as shown in Figure 1 , the flow includes the following steps:

[0041] Step S101, obtaining the current position of the vehicle and determining the target tile region corresponding to the current position.

[0042] The target tile region is the tile region where the vehicle is currently located and the level identifier tile-ID of the tile region, for example, a 10-level tile region, an 11-level tile region, a 13-level tile region, etc. The target tile region has corresponding initial information, for example, the initial information of a 10-level tile region can be determined according to the factory memory parameters of the vehicle and the download capability of the vehicle, which is not limited here.

[0043] The current position of the vehicle is the ego position, and the vehicle is provided with a positioning module containing one or more positioning sensors. The vehicle can locate the current position where the vehicle is located through the positioning sensors in the positioning module. The current position can be the position detected in real time during driving, or the position of the departure place of the vehicle. Through the current position of the vehicle, the tile region where the vehicle is currently located and the region level identifier tile-ID corresponding to the tile region can be positioned according to the current position of the vehicle.

[0044] Step S102, detecting whether the high-precision map data corresponding to the target tile region needs to be updated.

[0045] The cloud stores the latest high-precision map data, extracts the high-precision map data corresponding to the target tile region from the downloaded high-precision map data stored in the vehicle end, and sends the high-precision map data of the target tile region to the cloud for data comparison to determine whether the high-precision map data corresponding to the target tile region needs to be updated.

[0046] When the high-precision map data corresponding to the target tile region needs to be updated, step S103 is executed, otherwise it means that the high-precision map data of the target tile region stored in the vehicle end does not need to be updated, and the path planning can continue according to the high-precision map data.

[0047] Step S103, when the high-precision map data needs to be updated, determine the resource download state of the vehicle.

[0048] The resource download state is used to represent the resource consumption state in the last map data download update process, which can include the download time and data download amount required by the high-precision map data, etc. In each update process of the high-precision map data, the vehicle terminal can automatically record the resource download state of the map data.

[0049] When the high-precision map data corresponding to the target tile region needs to be updated, the vehicle can pull the update parameters of the last high-precision map data to obtain the resource download state of the last high-precision map data.

[0050] Step S104, determine the data update amount of the high-precision map data based on the resource download state.

[0051] The data update amount represents the map data update range that can be supported by the current resource download state. According to the resource download state, it is determined that what level of tile region map data can be updated at present. Specifically, if the resource download state exceeds the download threshold, the tile region to be updated at present is larger than the level of the tile region updated last time, that is, the data update amount of this update is smaller. On the contrary, the data update amount of this update is larger.

[0052] Step S105, update the high-precision map data according to the data update amount.

[0053] According to the data update amount, the corresponding high-precision map data is downloaded from the cloud, and the downloaded high-precision map data is used to replace the existing high-precision map data corresponding to the target tile region at the vehicle terminal, so as to realize the real-time pre-update of the high-precision map data corresponding to the target tile region.

[0054] The data update method of the high-precision map provided in the embodiment determines the target tile region in which the current position of the ego vehicle is located, and determines the data update amount in combination with the target tile region and the current resource download state of the ego vehicle when it is determined that the high-precision map data corresponding to the target tile region needs to be updated, so as to ensure that the high-precision map data that needs to be updated during the driving of the vehicle can be downloaded in time, thereby realizing the real-time pre-update of the high-precision map data corresponding to the target tile region and ensuring the balance between the data update amount and the use.

[0055] In the embodiment, a data update method of a high-precision map is provided, which can be used in the intelligent driving vehicle terminal of the above-mentioned autonomous vehicle, new energy vehicle, Figure 2: is a flow chart of a method for updating data of a high-precision map according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0056] Step S201: Acquire the current position of the vehicle and determine the target tile area corresponding to the current position. Detailed descriptions refer to the corresponding descriptions of the above embodiments, which will not be repeated here.

[0057] Step S202: Detect whether the high-precision map data corresponding to the target tile area needs to be updated.

[0058] Specifically, the above step S202 may include:

[0059] Step S2021, obtain the current version number and the latest version number of the high-precision map data.

[0060] The current version number is the version number of the high-precision map data stored in the vehicle's memory. The latest version number is the version number of the high-precision map data held in the cloud. After determining the target tile area where the vehicle is located, the vehicle reads the current version number of the high-precision map data for the target tile area stored in its memory and sends the current version number and target tile area to the cloud. The cloud then determines the latest version number corresponding to the target tile area and the current version number.

[0061] Step S2022: When the current version number is different from the latest version number, it is determined that the high-precision map data needs to be updated.

[0062] The current version number is compared with the latest version number. If the current version number is different from the latest version number, it means that the high-precision map data for the target tile area needs to be updated. The cloud can then send feedback on the data update to the vehicle and determine the map difference data between the current version number and the latest version number for packaging and distribution.

[0063] Step S2023: When the current version number is the same as the latest version number, it is determined that the high-precision map data does not need to be updated.

[0064] If the current version number is the same as the latest version, it means that the HD map data for the target tile area does not need to be updated, meaning the HD map data stored on the vehicle is the latest. At this point, the cloud can send feedback to the vehicle indicating that no data update is required, allowing the vehicle to continue route planning based on the current HD map data.

[0065] Specifically, if Figure 3The tile storage division relationship of the illustrated high-precision map data is that the smallest grid represents a 13-level tile region. Normally, since the road changes are not large, only a small part of the tile region map data is updated in each update cycle (for example, a quarter) in the case of division into a 13-level tile region (2km*2.3km). When there is data update, only the tile region where the map data update occurs needs to be downloaded.

[0066] Since the amount of data update of the 13-level tile region is small, requesting download of multiple 13-level tile regions will increase the load of the cloud server, so if the resource download state is within the predetermined download threshold, the map difference data can be requested to be packaged and downloaded for multiple 13-level tile regions, that is, the map data of a higher level tile region is packaged, for example, the map data is packaged according to the 12-level tile region.

[0067] Step S203, when the high-precision map data needs to be updated, determining the resource download state of the vehicle.

[0068] Specifically, the above step S203 can include:

[0069] Step S2031, when the high-precision map data needs to be updated, detecting whether the current update is the first update.

[0070] When the high-precision map data of the vehicle is first enabled, the vehicle needs to update the high-precision map data of the target tile region once to ensure the availability of the high-precision map data. Therefore, when it is determined that the high-precision map data of the vehicle needs to be updated, it can be further detected whether the high-precision map data of the target tile region is the first update. If the current update is the first update, step S2032 is executed, otherwise step S2033 is executed.

[0071] Step S2032, when the current update is the first update, obtaining the initial resource state of the vehicle, and using the initial resource state to represent the resource download state.

[0072] The initial resource state represents the current memory size possessed by the vehicle and the download time required for initial download of high-precision map data. When the current update is the first update, the map data is downloaded and updated according to the initial information of the target tile region, and the download time and the memory occupied by the map data are recorded to determine the remaining memory space of the vehicle, and the current resource download state of the vehicle is represented by the initial resource state.

[0073] Step S2033, when the current update is not the first update, obtaining the last data download time and the current memory space of the vehicle, and using the last data download time and the current memory space to represent the resource download state.

[0074] The last data download duration indicates the download time required to update the high-precision map data for the target tile area. If the current update is not the first, the vehicle can retrieve the last data download duration and the vehicle's current memory space and use them as a reference to determine the vehicle's current resource download status.

[0075] Step S204: determining the data update amount of the high-precision map data based on the resource download status.

[0076] Specifically, the above step S204 may include:

[0077] Step S2041: Determine the resource consumption required to update the high-precision map data based on the resource download status.

[0078] Resource consumption indicates the download duration of map data updates and the amount of memory space occupied by high-precision map data on the vehicle. Since the resource download status is the resource consumption status recorded during the last high-precision map data update, the resource consumption of the high-precision map data for the target tile area can be determined by combining the resource download status.

[0079] Step S2042: Adjust the update range of the high-precision map data based on resource consumption.

[0080] The update range indicates the size of the updated tile area. The update range corresponding to the target tile area is adjusted based on resource consumption to ensure that the required high-precision map data can be downloaded and used in a timely manner.

[0081] In some optional embodiments, the above step S2042 may include:

[0082] Step a1: Detect whether resource consumption is greater than a preset consumption threshold.

[0083] Step a2: When the resource consumption is greater than a preset consumption threshold, the update scope for the high-precision map data is narrowed.

[0084] Step a3: When the resource consumption is less than a preset consumption threshold, the update scope for the high-precision map data is expanded.

[0085] The preset consumption threshold is a pre-set download consumption threshold. Specifically, the preset consumption threshold may include a download duration threshold and a memory usage threshold of the vehicle-side map resource.

[0086] The resource consumption is compared with a preset consumption threshold to determine whether the resource consumption is greater than the preset consumption threshold, that is, whether the download time length of the map data is greater than a download time length threshold, and whether the memory space occupation amount of the high-precision map data at the vehicle end is greater than a memory occupation threshold of the map resources at the vehicle end.

[0087] When the resource consumption is greater than the preset consumption threshold, it indicates that the download amount of the high-precision map data is large, the download time length is long, and the memory space occupation amount at the vehicle end is large. At this time, the update range of the high-precision map data can be reduced, and the download amount of the high-precision map data is reduced to ensure that the high-precision map data can be downloaded and used in time.

[0088] When the resource consumption is less than the preset consumption threshold, it indicates that the download amount of the high-precision map data is small, the download time length is short, and the memory space occupation amount at the vehicle end is small. At this time, in order to reduce the frequent request of the high-precision map data, the update range of the high-precision map data can be appropriately expanded, the download amount of the high-precision map data is increased, and the vehicle driving path planning is optimized.

[0089] In step S2043, the data update amount of the high-precision map data is determined according to the update range.

[0090] The vehicle end determines the tile region to be updated according to the determined update range, and determines the high-precision map data to be updated in the tile region to be updated. The data amount of the high-precision map data to be updated is superimposed to determine the data update amount of the tile region to be updated.

[0091] For example, in the initial update, the memory size of the vehicle at the factory can be used as a default to download the tile region of 10 levels and another 8 tile regions of 10 levels associated with the current update range as the current update range. The high-precision map data in the current update range is downloaded, and the download time length of the high-precision map data and the remaining size of the memory at the vehicle end are recorded as the basis for determining the update range of the map data next time.

[0092] In the non-initial update, the download time length required for the last update of the map data and the size of the remaining memory at the vehicle end are used to determine the tile region to be downloaded, that is, the current update range. If the download time length of the last update of the map data is short and the remaining memory at the vehicle end does not reach a predetermined memory occupation threshold, the level of the tile region to be downloaded decreases, that is, the current update range expands. Conversely, the current update range is reduced.

[0093] In step S205, the high-precision map data is updated according to the data update amount. For details, refer to the related description of the above embodiment, which will not be repeated here.

[0094] The data updating method of the high-precision map provided by the embodiment can detect whether the current version number is the same as the latest version number to update the high-precision map data, avoid the mixing of different version map data, and maximize the safety of autonomous driving. By detecting whether the current update is the first update, the corresponding resource download state is determined, which facilitates the determination of the corresponding data update amount in combination with the resource download state, and maximizes the balance between the data update amount and the use. The resource consumption required for downloading the high-precision map data is determined according to the resource download state of the vehicle, so as to adjust the update range of the high-precision map data according to the resource consumption, thereby minimizing the download request for the high-precision map data, thereby ensuring the timely download of the high-precision map data that must be updated during the driving of the vehicle, and reducing the flow consumption.

[0095] In the embodiment, a data updating method of a high-precision map is provided, which can be used in a navigation device of an autonomous driving vehicle, a new energy vehicle, or the like. The navigation device is arranged in the intelligent driving vehicle to provide a navigation path for the vehicle, Figure 4 is a flowchart of the data updating method of the high-precision map according to the embodiment of the application, as Figure 4 shown, the flowchart includes the following steps:

[0096] In step S301, the current position of the vehicle is obtained, and a target tile region corresponding to the current position is determined.

[0097] Specifically, step S301 can include the following steps.

[0098] In step S3011, a first tile region corresponding to the current position is obtained, a second tile region associated with the first tile region is determined, and the level identifier of the first tile region is the same as the level identifier of the second tile region.

[0099] The first tile region is the tile region in which the vehicle is currently located. The tile region can be determined in combination with the last map data update, for example, the first tile region can be the same as the last tile region (e.g., both are 11-level tile regions), or smaller than the last tile region (e.g., the last tile region is 11-level, and the current tile region is 12-level).

[0100] The second tile region is an adjacent tile region associated with the first tile region. As Figure 3 shown, the first tile region is a 13-level tile region, and the second tile region is eight 13-level tile regions surrounding the first tile region.

[0101] In step S3012, the first tile region and the second tile region are determined as the target tile region.

[0102] The first tile region and the second tile region are fused into a target tile region. Taking the first tile region as a tile region of level 13 and the second tile region as eight tile regions of level 13 surrounding the first tile region as an example, the target tile region is a tile region of level 12.

[0103] In step S302, it is detected whether the high-precision map data corresponding to the target tile region needs to be updated. For details, refer to the related description of the above embodiments, which will not be repeated here.

[0104] In step S303, when the high-precision map data needs to be updated, the resource download state of the vehicle is determined. For details, refer to the related description of the above embodiments, which will not be repeated here.

[0105] In step S304, the data update amount of the high-precision map data is determined based on the resource download state. For details, refer to the related description of the above embodiments, which will not be repeated here.

[0106] In step S305, the high-precision map data is updated according to the data update amount. For details, refer to the related description of the above embodiments, which will not be repeated here.

[0107] In step S306, the boundary corresponding to the target tile region is obtained.

[0108] The boundary of the target tile region represents the demarcation line between different target tile regions. The path of the vehicle from the starting point to the ending point can be composed of multiple sub-paths, and different sub-paths can correspond to different target tile regions. In the process of driving from the starting point to the ending point, the vehicle can detect the boundary corresponding to the target tile region in real time during driving to determine the length of the current driving position of the vehicle from the boundary of the target tile region.

[0109] In step S307, when it is detected that the current position of the vehicle crosses the boundary, the next tile region after crossing the boundary is determined, and the update of the high-precision map data for the next tile region is triggered.

[0110] As the vehicle drives, it gets closer and closer to the boundary of the target tile region. When it is detected that the current position of the vehicle crosses the boundary, the next tile region connected to the target tile region is determined. The corresponding high-precision map data for the next tile region is re-judged and updated, and the update method is the same as that of the map data of the target tile region, which will not be repeated here.

[0111] The data updating method of the high-precision map provided in the embodiment can ensure the updating accuracy of the high-precision map data and avoid affecting the formal path planning due to data edge matching by taking the first tile region corresponding to the current position and the associated second tile region as a target tile region to update the high-precision map data of the target tile region. When it is detected that the current position of the vehicle crosses the boundary, the next tile region is updated to ensure the consistency of the high-precision map data between the target tile region and the next tile region, thereby reducing the occurrence of the map data edge matching.

[0112] In the embodiment, a data updating device of a high-precision map is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and details are not repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation of hardware or a combination of software and hardware is also possible and is contemplated.

[0113] The embodiment provides a data updating device of a high-precision map, as shown in the accompanying drawings, comprising: Figure 5

[0114] The acquisition module 401 is configured to acquire the current position of the vehicle and determine a target tile region corresponding to the current position.

[0115] The detection module 402 is configured to detect whether the high-precision map data corresponding to the target tile region needs to be updated.

[0116] The download detection module 403 is configured to determine the resource download state of the vehicle when the high-precision map data needs to be updated.

[0117] The data updating amount determination module 404 is configured to determine the data updating amount of the high-precision map data based on the resource download state.

[0118] The updating module 405 is configured to update the high-precision map data according to the data updating amount.

[0119] In some optional embodiments, the detection module 402 can include:

[0120] The version acquisition unit is configured to acquire a current version number and a latest version number of the high-precision map data.

[0121] The first determination unit is configured to determine that the high-precision map data needs to be updated when the current version number is different from the latest version number.

[0122] The second determination unit is configured to determine that the high-precision map data does not need to be updated when the current version number is the same as the latest version number.

[0123] ​In some optional embodiments, the download detection module 403 described above can include:

[0124] An update detection unit, configured to detect whether the current update is the first update when the high-precision map data needs to be updated.

[0125] A first download state determination unit, configured to obtain an initial resource state of the vehicle when the current update is the first update, so as to represent the resource download state by the initial resource state.

[0126] A second download state determination unit, configured to obtain a last data download duration and a current memory space of the vehicle when the current update is not the first update, so as to represent the resource download state by the last data download duration and the current memory space.

[0127] In some optional embodiments, the data update amount determination module 404 described above can include:

[0128] A resource consumption unit, configured to determine resource consumption required for updating the high-precision map data based on the resource download state.

[0129] An adjustment unit, configured to adjust the update range for the high-precision map data based on the resource consumption.

[0130] An update amount determination unit, configured to determine the data update amount for the high-precision map data according to the update range.

[0131] In some optional embodiments, the adjustment unit described above can include:

[0132] A detection subunit, configured to detect whether the resource consumption is greater than a preset consumption threshold.

[0133] A narrowing control subunit, configured to narrow the update range for the high-precision map data when the resource consumption is greater than the preset consumption threshold.

[0134] An expansion control subunit, configured to expand the update range for the high-precision map data when the resource consumption is less than the preset consumption threshold.

[0135] In some optional embodiments, the obtaining module 401 described above can include:

[0136] A tile region obtaining unit, configured to obtain a first tile region corresponding to the current position, determine a second tile region associated with the first tile region, and the level identifier of the first tile region is the same as the level identifier of the second tile region.

[0137] A target determination unit, configured to determine the first tile region and the second tile region as target tile regions.

[0138] In some optional embodiments, the high-precision map data updating device may further include:

[0139] The boundary acquisition module is used to obtain the boundary corresponding to the target tile area.

[0140] The update trigger module is used to determine the next tile area after crossing the boundary when it is detected that the current position of the vehicle crosses the boundary, and trigger the update of the high-precision map data for the next tile area.

[0141] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0142] The data update device for the high-precision map in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0143] The embodiment of the present invention further provides a computer device, which is deployed on a vehicle side for planning a driving route, such as a navigation device. Figure 5 The data updating device of the high-precision map shown.

[0144] See also Figure 6 , Figure 6 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 6 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0145] The processor 10 can be a central processing unit, a network processing unit, or a combination thereof. The processor 10 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

[0146] The memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform the methods illustrated in the above embodiments.

[0147] The memory 20 can include a program storage area and a data storage area. The program storage area can store an operating system and application programs required by at least one function. The data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can further include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some alternative embodiments, the memory 20 can optionally include a memory disposed remotely with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0148] The memory 20 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid state disk. The memory 20 can further include a combination of the above-mentioned types of memories.

[0149] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 can be connected by a bus or other means, Figure 6 For example, by a bus connection.

[0150] The input device 30 can receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), a tactile feedback device (e.g., a vibration motor), etc. The display device includes, but is not limited to, a liquid crystal display, a light emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0151] The computer device further includes a communication interface for the computer device to communicate navigation data with other devices or communication networks.

[0152] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or be implemented as computer codes stored in a remote storage medium or a non-transitory machine readable storage medium and stored in a local storage medium to be downloaded through a network, so that the method described herein can be processed by such software on a storage medium using a general computer, a special processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer codes, and when the software or computer codes are accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0153] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A data updating method of a high-precision map, characterized by, The method comprises: acquiring a current position of a vehicle, and determining a target tile region corresponding to the current position; detecting whether high-precision map data corresponding to the target tile region needs to be updated; when the high-precision map data needs to be updated, determining a resource download state of the vehicle, comprising: when the high-precision map data needs to be updated, detecting whether the current update is a first update; when the current update is the first update, acquiring an initial resource state of the vehicle, and taking the initial resource state as the resource download state; when the current update is not the first update, acquiring a last data download duration and a current memory space of the vehicle, and taking the last data download duration and the current memory space as the resource download state; determining a data update amount of the high-precision map data based on the resource download state; updating the high-precision map data according to the data update amount.

2. The data update method of a high-precision map according to claim 1, characterized by, The determination of the data update amount of the high-precision map data based on the resource download state comprises: determining a resource consumption required for updating the high-precision map data based on the resource download state; adjusting an update range for the high-precision map data based on the resource consumption; determining the data update amount for the high-precision map data according to the update range.

3. The data update method of a high-precision map according to claim 2, characterized by, The adjustment of the update range for the high-precision map data based on the resource consumption comprises: detecting whether the resource consumption is greater than a preset consumption threshold; when the resource consumption is greater than the preset consumption threshold, reducing the update range for the high-precision map data; when the resource consumption is less than the preset consumption threshold, expanding the update range for the high-precision map data.

4. The data updating method of a high-precision map according to any one of claims 1 to 3, characterized by, The detection of whether the high-precision map data corresponding to the target tile region needs to be updated comprises: acquiring a current version number and a latest version number of the high-precision map data; when the current version number is different from the latest version number, determining that the high-precision map data needs to be updated; when the current version number is the same as the latest version number, determining that the high-precision map data does not need to be updated.

5. The data update method of a high-precision map according to claim 1, characterized by, The acquisition of the current position of the vehicle and the determination of the target tile region corresponding to the current position comprise: acquiring a first tile region corresponding to the current position, determining a second tile region associated with the first tile region, the level identifier of the first tile region being the same as the level identifier of the second tile region; and determining the first tile region and the second tile region as the target tile region.

6. The data update method of a high-precision map according to claim 1 or 5, characterized by, Further comprising: acquiring a boundary corresponding to the target tile region; when detecting that the current position of the vehicle crosses the boundary, determining a next tile region after crossing the boundary, and triggering updating of high-precision map data of the next tile region.

7. A data updating apparatus for a high-precision map, characterized by comprising: The device comprises: an acquisition module, configured to acquire a current position of a vehicle, and determine a target tile region corresponding to the current position; a detection module, configured to detect whether high-precision map data corresponding to the target tile region needs to be updated; The download detection module is configured to determine a resource download state of the vehicle when the high-precision map data needs to be updated. The data update amount determination module is configured to determine a data update amount of the high-precision map data based on the resource download state. The update module is configured to update the high-precision map data according to the data update amount. The download detection module includes: an update detection unit configured to detect whether the current update is the first update when the high-precision map data needs to be updated; a first download state determination unit configured to obtain an initial resource state of the vehicle to represent the resource download state when the current update is the first update; and a second download state determination unit configured to obtain a last data download time length and a current memory space of the vehicle to represent the resource download state when the current update is not the first update.

8. A computer device, comprising: The memory and the processor are communicatively connected, and the memory stores computer instructions. The processor executes the computer instructions to perform the data update method of the high-precision map according to any one of claims 1 to 6. The computer readable storage medium stores computer instructions for causing a computer to perform the data update method of the high-precision map according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, ​

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