High-precision map updating method and device, equipment and storage medium

Abstract

The application provides a high-precision map updating method and device, equipment and a storage medium, which can be used in the field of intelligent transportation technology. The method comprises the following steps: obtaining layer vehicle speed limit sign information in a preset area obtained through crowdsourcing data, the layer vehicle speed limit sign information being stored in a preset layer, the preset layer being located in a vehicle cloud device, and the preset layer storing layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area; in response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information, obtaining a collection result when an actual vehicle speed limit sign information is collected by a vehicle sensor; obtaining an original high-precision map in the preset area; and updating the original high-precision map according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-precision map. The method of the application increases the safety of intelligent driving vehicles and improves the user experience.

Description

TECHNICAL FIELD

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

[0002] With the continuous development of intelligent transportation technology, as an important part of intelligent transportation technology, the timeliness and accuracy of high-precision map data included in the high-precision map are closely related to the safety of intelligent driving vehicles.

[0003] Vehicle speed limit sign information, as relatively important and frequently updated information in high-precision map data, is currently obtained in the original high-precision map included in the intelligent driving vehicle, and the intelligent driving vehicle is controlled to travel according to the vehicle speed limit sign information included in the original high-precision map.

[0004] However, the vehicle speed limit sign information is frequently updated, and the frequency of updating the original high-precision map by the high-precision map manufacturer is one quarter or more. If the vehicle speed limit sign information changes during the update of the original high-precision map, the actual vehicle speed limit sign information will be different from the vehicle speed limit sign information obtained in the original high-precision map, which will cause the intelligent driving vehicle to travel incorrectly, and thus reduce the safety and user experience of the intelligent driving vehicle. SUMMARY

[0005] The present application provides a high-precision map updating method, device, equipment and storage medium to solve the technical problem that the actual vehicle speed limit sign information is different from the vehicle speed limit sign information obtained in the original high-precision map, which causes the intelligent driving vehicle to travel incorrectly, and thus reduces the safety and user experience of the intelligent driving vehicle.

[0006] In a first aspect, the present application provides a high-precision map updating method, comprising:

[0007] Obtaining layer vehicle speed limit sign information obtained through crowd-sourced data in a preset area, the layer vehicle speed limit sign information being stored in a preset layer, the preset layer being located in a vehicle cloud device, and the preset layer storing layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area;

[0008] In response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information, obtaining a collection result when an actual vehicle speed limit sign information is collected by a vehicle sensor;

[0009] Obtaining an original high-precision map in the preset area;

[0010] Updating the original high-precision map according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-precision map.

[0011] In a possible design, before the obtaining of the layer vehicle speed limit sign information in the preset area through the crowd-sourced data, the method further includes: obtaining crowd-sourced data sent by a plurality of vehicle terminals in the preset area; extracting vehicle road information in the preset area from the crowd-sourced data; extracting vehicle speed limit sign information from the vehicle road information, and storing the vehicle speed limit sign information in the vehicle road information in a preset layer; and the obtaining of the layer vehicle speed limit sign information in the preset area through the crowd-sourced data includes: accessing the preset layer, and obtaining the layer vehicle speed limit sign information from the preset layer.

[0012] In a possible design, the updating of the original high-definition map according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-definition map includes: in response to the collection result being that actual vehicle speed limit sign information is collected, and the actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, updating the original high-definition map by using the layer corresponding vehicle speed limit sign information to obtain the updated high-definition map; in response to the collection result being that actual vehicle speed limit sign information is not collected, and / or, the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, sending a layer vehicle speed limit sign information update request to a user terminal, and in response to receiving updated layer vehicle speed limit sign information sent by the user terminal through a vehicle cloud device, updating the original high-definition map by using the updated layer vehicle speed limit sign information to obtain the updated high-definition map.

[0013] In a possible design, the updating of the original high-definition map according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-definition map includes: in response to the original high-definition map having original vehicle speed limit sign information, replacing the original vehicle speed limit sign information by using the layer corresponding vehicle speed limit sign information, and fusing the vehicle speed limit sign information after the original vehicle speed limit sign information is replaced with the original high-definition map to obtain the updated high-definition map; and in response to the original high-definition map not having original vehicle speed limit sign information, fusing the layer corresponding vehicle speed limit sign information with the original high-definition map to obtain the updated high-definition map.

[0014] In a possible design, the method further includes: in response to receiving updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, replacing the latest stored vehicle speed limit sign information by using the updated layer vehicle speed limit sign information, to complete the updating of the layer vehicle speed limit sign information.

[0015] In a possible design, in response to the original high-definition map not having the original vehicle speed limit sign information, the method further includes: in response to the collection result being that the actual vehicle speed limit sign information is not collected and the actual vehicle speed limit sign information does not exist in the layer vehicle speed limit sign information, prohibiting updating of the original high-definition map.

[0016] In a possible design, after the original high-definition map is updated according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-definition map, the method further includes: generating electronic horizon data according to the updated high-definition map, to control a target vehicle to travel according to the electronic horizon data.

[0017] In a second aspect, the present application provides a high-definition map updating device, including: an acquisition module, configured to acquire layer vehicle speed limit sign information in a preset area obtained through crowdsourcing data, the layer vehicle speed limit sign information being stored in a preset layer, the preset layer being located in a vehicle cloud device, and the preset layer storing layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area;

[0018] The acquisition module is further configured to acquire a collection result when an actual vehicle speed limit sign information is collected by a vehicle sensor, in response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information.

[0019] The acquisition module is further configured to acquire an original high-definition map in the preset area.

[0020] An updating module is configured to update the original high-definition map according to the collection result and the layer vehicle speed limit sign information, to obtain an updated high-definition map.

[0021] In a third aspect, the present application provides a high-definition map updating device, including: a processor, and a memory connected with the processor in communication;

[0022] The memory stores computer execution instructions.

[0023] The processor executes the computer execution instructions stored in the memory, to implement the method in the first aspect.

[0024] In a fourth aspect, the present application provides a computer readable storage medium, the computer readable storage medium storing computer execution instructions, the computer execution instructions being executed by a processor to implement the method in the first aspect.

[0025] In a fifth aspect, the present application provides a computer program product, including a computer program, the computer program being executed by a processor to implement the method in the first aspect.

[0026] The high-precision map updating method, device, equipment and storage medium provided by the application obtain the layer vehicle speed limit sign information in a preset area through crowd-sourced data, the layer vehicle speed limit sign information is stored in a preset layer, the preset layer is located in a vehicle cloud device, and the preset layer stores layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area; in response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information, the acquisition result of the actual vehicle speed limit sign information collected by the vehicle sensor is obtained; the original high-precision map in the preset area is obtained; and the original high-precision map is updated according to the acquisition result and the layer vehicle speed limit sign information, so as to obtain an updated high-precision map. Since the preset layer is previously set in the vehicle cloud device, the layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area can be stored in the preset layer. When the vehicle speed limit sign information needs to be updated, the vehicle speed limit sign information can be quickly updated through the preset layer. Therefore, when the vehicle is driven, the acquisition result of the actual vehicle speed limit sign information collected by the vehicle sensor is obtained after it is determined that the vehicle speed limit sign information in the preset layer is the latest stored vehicle speed limit sign information. The actual vehicle speed limit sign information can be accurately determined based on the acquisition result and the layer vehicle speed limit sign information. Then, after the original high-precision map is obtained, the original high-precision map is updated based on the actual vehicle speed limit sign information, so as to obtain an updated high-precision map. Therefore, when the actual vehicle speed limit sign information changes, the high-precision map can be automatically updated, so that the vehicle speed limit sign information included in the updated high-precision map is always the actual vehicle speed limit sign information, so that the intelligent driving vehicle can accurately drive according to the actual situation, thereby improving the safety of the intelligent driving vehicle and improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0028] Figure 1 An application scenario diagram of the high-precision map updating method provided by an embodiment of the application;

[0029] Figure 2 A flowchart of the high-precision map updating method provided by an embodiment of the application;

[0030] Figure 3 A flowchart of the high-precision map updating method provided by another embodiment of the application;

[0031] Figure 4 A structural schematic diagram of the high-precision map updating device provided by an embodiment of the application;

[0032] Figure 5A structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0033] The specific embodiments of the present application have been shown through the above-described drawings, and will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the present application in any way, but to explain the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0034] Exemplary embodiments will be described in detail with reference to the drawings, of which examples are shown. Unless otherwise noted, the same numbers on different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments are not meant to represent all implementations consistent with the present application. Rather, they are examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0035] In order to clearly understand the technical solutions of the present application, the prior art solutions are first described in detail.

[0036] At present, when the intelligent driving vehicle obtains the vehicle speed limit sign information, it is usually obtained in the original high-precision map included in the intelligent driving vehicle. Specifically, the original high-precision map provided by the high-precision map manufacturer is obtained by manual operation in advance, and then the original high-precision map is uploaded to all intelligent driving vehicles through a cloud server. In response to the intelligent driving vehicle entering a certain region, the original high-precision map of the current region is obtained in the original high-precision map. Based on the obtained original high-precision map of the current region, the original high-precision map of the current region is analyzed, and the original high-precision map data of the current region after analysis is read. In response to passing through a certain road in the current region, the vehicle speed limit sign information of the current road is obtained in the original high-precision map data of the current region, and the intelligent driving vehicle is controlled to travel according to the obtained vehicle speed limit sign information. If the actual vehicle speed limit sign information of the current road changes, and the original high-precision map is not updated, the vehicle speed limit sign information of the current road is still obtained according to the original high-precision map, so that the actual vehicle speed limit sign information is different from the vehicle speed limit sign information obtained in the original high-precision map, which leads to the error driving of the intelligent driving vehicle, and further reduces the safety and user experience of the intelligent driving vehicle.

[0037] Therefore, in the face of the technical problems in the prior art, in order to keep the actual vehicle speed limit sign information consistent with the vehicle speed limit sign information obtained in the original high-definition map, instead of directly obtaining the vehicle speed limit sign information in the original high-definition map provided by the high-definition map manufacturer, a layer storing all vehicle speed limit sign information of each region is set in the cloud server in advance. When the intelligent driving vehicle enters a certain road in a certain region, the latest vehicle speed limit sign information corresponding to the current road of the current region included in the layer is obtained, and the result of collecting the actual vehicle speed limit sign information by the vehicle sensor is obtained. According to the latest vehicle speed limit sign information corresponding to the current road of the current region and the collection result, the original high-definition map provided by the high-definition map manufacturer is updated, so as to complete the update of the vehicle speed limit sign information included in the original high-definition map, and control the intelligent driving vehicle to drive according to the updated original high-definition map. Therefore, the actual vehicle speed limit sign information can be kept consistent with the vehicle speed limit sign information obtained in the original high-definition map, and the intelligent driving vehicle can accurately drive according to the actual vehicle speed limit sign information, thereby improving the safety of the intelligent driving vehicle and improving the user experience.

[0038] Figure 1 The application scenario diagram of the high-definition map updating method provided by an embodiment of the present application is as follows, Figure 1As shown, the high-precision map updating method in the embodiment of the application corresponds to a system including a target vehicle 1, a vehicle cloud device 2, a vehicle sensor 3, and a high-precision map updating device 4. The target vehicle 1 is a smart driving vehicle. The vehicle cloud device 2 is a cloud server that stores a preset layer and issues layer vehicle speed limit sign information. The high-precision map updating device 4 is an electronic device that updates a high-precision map. The vehicle cloud device 2 is in communication connection with the high-precision map updating device 4 and is configured to issue a preset layer. The vehicle sensor 3 is in communication connection with the high-precision map updating device 4 and is configured to collect actual vehicle speed limit sign information. The high-precision map updating device 4 and the vehicle sensor 3 can both be located in the target vehicle 1. In response to the target vehicle 1 being in a driving state, the high-precision map updating device 4 sends a request for acquisition to the vehicle cloud device 2 through the communication connection with the vehicle cloud device 2, and acquires layer vehicle speed limit sign information in a preset area obtained through crowdsourcing data. The layer vehicle speed limit sign information is stored in a preset layer, the preset layer is located in the vehicle cloud device 2, and the preset layer stores layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area. In response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information, the high-precision map updating device 4 sends a request for acquisition to the vehicle sensor 3 through the communication connection with the vehicle sensor 3, acquires a collection result when the vehicle sensor 3 collects actual vehicle speed limit sign information, and acquires an original high-precision map stored in the preset area. The high-precision map updating device 4 updates the original high-precision map according to the collection result and the layer vehicle speed limit sign information, to obtain an updated high-precision map.

[0039] The technical solutions of the application and how the technical solutions of the application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0040] Figure 2 The flowchart of the high-precision map updating method provided by an embodiment of the application is shown in Figure 2 As shown, the execution subject of the embodiment is a high-precision map updating device. The high-precision map updating device is located in an electronic device. The high-precision map updating method provided by the embodiment includes the following steps:

[0041] In step 201, layer vehicle speed limit sign information in a preset area obtained through crowdsourcing data is acquired. The layer vehicle speed limit sign information is stored in a preset layer, the preset layer is located in a vehicle cloud device, and the preset layer stores layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area.

[0042] The preset region is a region with a speed limit road that is preset. The preset region can be divided according to provinces, cities, districts, or other manners, and the embodiment is not limited in this regard.

[0043] The crowd-sourced data is a data set formed by a plurality of vehicle driving information collected by a plurality of vehicle sensors included in a plurality of target vehicles in a preset region.

[0044] The vehicle driving information is related information required and generated by a vehicle during driving, which can include vehicle road information, vehicle driving parameters, or other information. The vehicle road information is road-related information required by a vehicle during driving, which can include vehicle speed limit sign information, traffic light information, road attribute information, and other road-related information. The vehicle driving parameter is parameter change information generated by a vehicle during driving, which can include vehicle speed, vehicle pose, and other parameter information.

[0045] The vehicle speed limit sign information is information representing the geographic location of the vehicle speed limit sign and the speed limit standard. For example, it can be "North Latitude xx degrees xx minutes, East Longitude xx degrees xx minutes; 80Km / h", or other representations, and the embodiment is not limited in this regard. The layer vehicle speed limit sign information is vehicle speed limit sign information included in a preset layer.

[0046] Specifically, when obtaining the layer vehicle speed limit sign information in the preset region obtained through the crowd-sourced data, the vehicle speed limit sign information corresponding to a plurality of roads in each preset region is obtained by a developer according to the crowd-sourced data corresponding to each preset region, and the vehicle speed limit sign information corresponding to the plurality of roads in each preset region is stored in a preset layer, and the vehicle speed limit sign information stored in the preset layer is determined as the layer vehicle speed limit sign information. Then, in response to the target vehicle entering the starting state in the preset region, the preset region where the target vehicle is located is identified, and a request for obtaining layer information is sent to the vehicle cloud device. After the vehicle cloud device receives the request for obtaining layer information, the layer vehicle speed limit sign information corresponding to the preset region is selected in the preset layer according to the request for obtaining layer information, and the layer vehicle speed limit sign information is sent to the high-precision map updating device corresponding to the target vehicle, so as to obtain the layer vehicle speed limit sign information in the preset region obtained through the crowd-sourced data.

[0047] The obtaining layer information request is a request for instructing the vehicle cloud device to issue layer information. When the layer vehicle speed limit sign information corresponding to the preset area in the preset layer is selected according to the obtaining layer information request, the preset area identifier can be stored in the obtaining layer information request in advance, the preset area identifier stored in the obtaining layer information request is read in response to the vehicle cloud device receiving the obtaining layer information request, and the layer vehicle speed limit sign information corresponding to the preset area in the preset layer is selected according to the identifier.

[0048] The preset area identifier can be a preset area name, a number or other identifiers that can represent a preset area, and the embodiment is not limited thereto.

[0049] In step 202, in response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information, the acquisition result of the actual vehicle speed limit sign information collected by the vehicle sensor is obtained.

[0050] The latest stored vehicle speed limit sign information is the latest stored vehicle speed limit sign information in the preset layer according to the actual road condition.

[0051] The actual vehicle speed limit sign information is the vehicle speed limit sign information actually collected by the vehicle sensor when the target vehicle drives in the preset area.

[0052] Specifically, based on the layer vehicle speed limit sign information obtained in the preset area through the crowd-sourced data, it is determined whether the layer vehicle speed limit sign information is the latest stored vehicle speed limit sign information. If it is determined that the layer vehicle speed limit sign information is the latest stored vehicle speed limit sign information, the target vehicle enters a driving state in the preset area, the vehicle sensor collects the actual vehicle speed limit sign information, generates a corresponding acquisition result, and sends the acquisition result to the high-precision map updating device, and then the acquisition result is obtained.

[0053] The acquisition result includes collecting the actual vehicle speed limit sign information or not collecting the actual vehicle speed limit sign information.

[0054] When it is determined whether the layer vehicle speed limit sign information is the latest stored vehicle speed limit sign information, the preset strategy identifier can be added in the field where the layer vehicle speed limit sign information is located when the vehicle speed limit sign information corresponding to a plurality of roads in each preset area is stored in the preset layer. Then, after obtaining the layer vehicle speed limit sign information in the preset area through the crowd-sourced data, the preset strategy identifier included in the layer vehicle speed limit sign information is identified, and it is determined whether the layer vehicle speed limit sign information is the latest stored vehicle speed limit sign information according to the preset strategy.

[0055] The preset strategy can be a strategy of determining the latest stored vehicle speed limit sign information according to the latest storage date, or a strategy of determining the latest stored vehicle speed limit sign information according to the latest release version, or other strategies. The preset strategy identifier can be the date of storing the vehicle speed limit sign information of the layer, the version of releasing the vehicle speed limit sign information of the layer, or other identifiers.

[0056] For example, if the preset order strategy is a strategy of determining the latest stored vehicle speed limit sign information according to the latest release version, the preset strategy identifier is the version of releasing the vehicle speed limit sign information of the layer. When determining whether the vehicle speed limit sign information of the layer is the latest stored vehicle speed limit sign information, the version of releasing the vehicle speed limit sign information of the layer can be determined by obtaining the preset strategy identifier included in the vehicle speed limit sign information of the layer. If the version is the latest version, the vehicle speed limit sign information of the layer is the latest stored vehicle speed limit sign information. If not, the vehicle speed limit sign information of the layer is not the latest stored vehicle speed limit sign information.

[0057] It can be understood that if it is determined that the vehicle speed limit sign information of the layer is not the latest stored vehicle speed limit sign information, the acquisition result does not need to be obtained, and the target vehicle is directly controlled to travel according to the high-definition map stored by the target vehicle.

[0058] In step 203, the original high-definition map in the preset area is obtained.

[0059] The original high-definition map is a high-definition map obtained by a developer through a high-definition map manufacturer and pre-stored in the target vehicle.

[0060] The original high-definition map can be stored in a storage medium corresponding to the high-definition map updating device, which is not limited in the embodiment.

[0061] Specifically, based on the obtained latest stored vehicle speed limit sign information in the preset area and the acquisition result, the stored original high-definition map is obtained, and the original high-definition map in the preset area is identified in the original high-definition map. In response to identifying the original high-definition map in the preset area, the original high-definition map in the preset area is obtained.

[0062] In step 204, the original high-definition map is updated according to the acquisition result and the vehicle speed limit sign information of the layer to obtain an updated high-definition map.

[0063] Specifically, after obtaining the vehicle speed limit sign information of the layer and the acquisition result, the acquisition result is read, and it is determined whether the actual vehicle speed limit sign information is collected. If the acquisition result is that the actual vehicle speed limit sign information is collected, and the vehicle speed limit sign information of the layer includes the actual vehicle speed limit sign information, the original high-definition map is directly updated according to the vehicle speed limit sign information of the layer, thereby obtaining the updated high-definition map.

[0064] If the collection result is that no actual vehicle speed limit sign information is collected, and / or the layer vehicle speed limit sign information does not include the actual vehicle speed limit sign information, whether the original high-definition map is directly updated according to the layer vehicle speed limit sign information is determined by the R&D personnel. If yes, the original high-definition map is directly updated according to the layer vehicle speed limit sign information, so as to obtain the updated high-definition map. If no, the layer vehicle speed limit sign information is adjusted by the R&D personnel on the user terminal to form updated layer vehicle speed limit sign information, and the original high-definition map is updated according to the updated layer vehicle speed limit sign information to obtain the updated high-definition map.

[0065] The high-definition map updating method provided in the embodiment can store the layer vehicle speed limit sign information corresponding to multiple roads in the preset area in the preset layer, and the preset layer is located in the vehicle cloud device. When the layer vehicle speed limit sign information is the latest stored vehicle speed limit sign information, the collection result of collecting the actual vehicle speed limit sign information by the vehicle sensor is obtained. The original high-definition map in the preset area is obtained. The original high-definition map is updated according to the collection result and the layer vehicle speed limit sign information to obtain the updated high-definition map. The preset layer is set in the vehicle cloud device in advance, so that the layer vehicle speed limit sign information corresponding to multiple roads in the preset area can be stored in the preset layer. When the vehicle speed limit sign information needs to be updated, the vehicle speed limit sign information can be quickly updated through the preset layer. When the vehicle is driving, the collection result of collecting the actual vehicle speed limit sign information by the vehicle sensor is obtained when the vehicle speed limit sign information in the preset layer is determined to be the latest stored vehicle speed limit sign information. The actual vehicle speed limit sign information can be accurately determined based on the collection result and the layer vehicle speed limit sign information. Then, after obtaining the original high-definition map, the original high-definition map is updated based on the actual vehicle speed limit sign information to obtain the updated high-definition map. Therefore, when the actual vehicle speed limit sign information changes, the high-definition map can be automatically updated, so that the vehicle speed limit sign information included in the updated high-definition map is always the actual vehicle speed limit sign information, so that the intelligent driving vehicle can accurately drive according to the actual situation, thereby improving the safety of the intelligent driving vehicle and improving the user experience.

[0066] As an optional embodiment, before obtaining the layer vehicle speed limit sign information obtained by the crowd data in the preset area, the following steps are further included in the embodiment:

[0067] Step 301: Obtain the crowd data sent by multiple vehicle terminals in the preset area.

[0068] The vehicle terminal is a terminal corresponding to a vehicle computer included in the target vehicle.

[0069] It can be understood that the layer vehicle speed limit sign information is obtained through crowdsourcing data, so before obtaining the layer vehicle speed limit sign information in the preset area through crowdsourcing data, crowdsourcing data sent by the plurality of vehicle terminals in the preset area needs to be obtained.

[0070] Specifically, in response to the plurality of target vehicles in the preset area entering a driving state, the plurality of vehicle sensors collect a plurality of vehicle driving information around the corresponding target vehicles, and send the collected plurality of vehicle driving information to the vehicle terminal included in the corresponding target vehicle. After the vehicle terminal receives the plurality of vehicle driving information collected by the vehicle sensor, the plurality of vehicle driving information is sent to the vehicle cloud device. In response to the vehicle cloud device receiving the plurality of vehicle driving information collected by the plurality of vehicle sensors, the plurality of vehicle driving information is integrated to form crowdsourcing data, so as to obtain the crowdsourcing data sent by the vehicle terminal included in the plurality of target vehicles in the preset area.

[0071] Step 302, extracting vehicle road information in the preset area in the crowdsourcing data.

[0072] The crowdsourcing data can be in the form of a data table, so when extracting the vehicle road information in the preset area in the crowdsourcing data, the data table corresponding to the crowdsourcing data is obtained, and the field corresponding to the position of the vehicle driving information in the data table is obtained. Then, after obtaining the field corresponding to the position of the vehicle driving information, it is determined that the vehicle driving information in the preset area in the crowdsourcing data is extracted.

[0073] Further, by reading the field of the vehicle driving information, the field corresponding to the position of the vehicle road information included in the vehicle driving information can be obtained, so as to extract the vehicle road information in the preset area.

[0074] Step 303, extracting vehicle speed limit sign information in the vehicle road information, and storing the vehicle speed limit sign information in the vehicle road information in a preset layer.

[0075] Specifically, after extracting the vehicle road information in the preset area in the crowdsourcing data, the field of the vehicle road information is read, the field corresponding to the position of the vehicle speed limit sign information in the vehicle road information is obtained, so as to extract the vehicle speed limit sign information in the vehicle road information, and store the vehicle speed limit sign information in the preset layer.

[0076] Correspondingly, in the embodiment, the layer vehicle speed limit sign information obtained through crowdsourcing data in the preset area is further refined, so that when the layer vehicle speed limit sign information obtained through crowdsourcing data in the preset area is obtained, the following steps are included:

[0077] Access the preset layer, and obtain the layer vehicle speed limit sign information from the preset layer.

[0078] Specifically, since the vehicle speed limit sign information in the vehicle road information is stored in the preset layer, when the layer vehicle speed limit sign information obtained by the crowd-sourced data in the preset area is obtained, the layer vehicle speed limit sign information in the preset area is searched in the preset layer by accessing the preset layer, and then the layer vehicle speed limit sign information is obtained.

[0079] The high-definition map updating method provided in the embodiment further includes: obtaining the crowd-sourced data sent by the plurality of vehicle terminals in the preset area; extracting the vehicle road information in the preset area from the crowd-sourced data; extracting the vehicle speed limit sign information in the vehicle road information, and storing the vehicle speed limit sign information in the vehicle road information in the preset layer; and when the layer vehicle speed limit sign information obtained by the crowd-sourced data in the preset area is obtained, accessing the preset layer, and obtaining the layer vehicle speed limit sign information from the preset layer. Since the layer vehicle speed limit sign information is obtained by the crowd-sourced data, the vehicle road information in the preset area can be extracted from the crowd-sourced data by obtaining the crowd-sourced data sent by the plurality of vehicle terminals in the preset area, so that the vehicle speed limit sign information in the vehicle road information can be further extracted. By storing the vehicle speed limit sign information in the preset layer, the layer vehicle speed limit sign information in the preset area stored in the preset layer can be ensured to be consistent with the actual vehicle speed limit sign information in the preset area when the crowd-sourced data is obtained, so that the layer vehicle speed limit sign information can accurately reflect the actual vehicle speed limit sign information when the crowd-sourced data is obtained. When the layer vehicle speed limit sign information obtained by the crowd-sourced data in the preset area is obtained, the layer vehicle speed limit sign information in the preset area when the crowd-sourced data is obtained can be accurately obtained from the preset layer by accessing the preset layer.

[0080] Figure 3 The flowchart of the high-definition map updating method provided in another embodiment of the application is shown in Figure 3 When the original high-definition map is updated according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-definition map for further refinement, the following steps are included:

[0081] Step 401: It is determined whether the collection result is the actual vehicle speed limit sign information collected and whether the actual vehicle speed limit sign information exists in the layer vehicle speed limit sign information. If yes, step 402 is performed, otherwise step 403 is performed.

[0082] In response to the collection result being that the actual vehicle speed limit sign information is collected and the actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, the original high-definition map is updated using the vehicle speed limit sign information corresponding to the layer to obtain an updated high-definition map.

[0083] Specifically, after obtaining the layer vehicle speed limit sign information and the collection result of the vehicle sensor collecting the actual vehicle speed limit sign information, it is determined whether the actual vehicle speed limit sign information is collected. In response to the collection result being that the actual vehicle speed limit sign information is collected and the actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, it is indicated that the layer vehicle speed limit sign information is consistent with the actual vehicle speed limit sign information, and the layer vehicle speed limit sign information is obtained. The original high-definition map is updated using the vehicle speed limit sign information corresponding to the layer to obtain an updated high-definition map.

[0084] In response to the collection result being that the actual vehicle speed limit sign information is not collected and / or the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, a request for whether the layer vehicle speed limit sign information is updated is sent to the user terminal, and in response to receiving the updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, the original high-definition map is updated using the updated layer vehicle speed limit sign information to obtain an updated high-definition map.

[0085] Specifically, in response to the collection result being that the actual vehicle speed limit sign information is not collected and / or the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, it is indicated that the layer vehicle speed limit sign information may be inconsistent with the actual vehicle speed limit sign information, and the specific reason for the inconsistency is not determined. Therefore, a request for whether the layer vehicle speed limit sign information is updated is generated and sent to the user terminal to determine whether the layer vehicle speed limit sign information is used to update the original high-definition map by the developer.

[0086] If yes, the layer vehicle speed limit sign information update component is triggered by the developer on the user terminal. Then, in response to the layer vehicle speed limit sign information update component being triggered, the user terminal sends a layer vehicle speed limit sign information update instruction through the vehicle cloud device, and the original high-definition map is updated using the vehicle speed limit sign information corresponding to the layer to obtain an updated high-definition map. The specific updating method is similar to step 402, which will not be described here.

[0087] If no, the R&D personnel adjusts the layer vehicle speed limit sign information according to the actual vehicle speed limit sign information, and sends the updated layer vehicle speed limit sign information to the user terminal through the vehicle cloud device. In response to receiving the updated layer vehicle speed limit sign information sent by the user terminal, the original high-precision map is updated using the updated layer vehicle speed limit sign information to obtain an updated high-precision map. The specific updating method and steps are similar to step 402, and will not be described here.

[0088] The layer vehicle speed limit sign information update instruction is an instruction indicating that the high-precision map updating device updates the original high-precision map according to the layer vehicle speed limit sign information.

[0089] It should be noted that in the case where the collection result is that no actual vehicle speed limit sign information is collected, and there is actual vehicle speed limit sign information in the layer vehicle speed limit sign information, if the R&D personnel confirms to select to update the original high-precision map using the layer vehicle speed limit sign information, it means that the current road cancels the setting of the vehicle speed limit sign information due to external interference, and the actual vehicle speed limit sign information in the layer vehicle speed limit sign information is actual vehicle speed limit sign information not interfered by the outside world, so the layer vehicle speed limit sign information is used to update the original vehicle speed limit sign information. If the R&D personnel confirms to select not to update the original high-precision map using the layer vehicle speed limit sign information, it means that the current road actually needs to cancel the setting of the vehicle speed limit sign information, and the layer vehicle speed limit sign information is not updated in time, so the high-precision map needs to be updated according to the actual vehicle speed limit sign information not interfered by the outside world, so that the original high-precision map is updated using the updated layer vehicle speed limit sign information.

[0090] The external interference can include vehicle speed limit sign damage, non-actual need to remove, etc.

[0091] It should be noted that in the case where the collection result is that the actual vehicle speed limit sign information is collected, and there is no actual vehicle speed limit sign information in the layer vehicle speed limit sign information, the R&D personnel confirms to select not to update the original high-precision map using the layer vehicle speed limit sign information, which means that the current road has newly set vehicle speed limit sign information, and the layer vehicle speed limit sign information has not been updated in time, so the layer vehicle speed limit sign information needs to be updated according to the newly set actual vehicle speed limit sign information, so that the original high-precision map is updated using the updated layer vehicle speed limit sign information.

[0092] It can be understood that in the case that the collection result is that no actual vehicle speed limit sign information is collected, and there is no actual vehicle speed limit sign information in the layer vehicle speed limit sign information. Based on the original high-precision map having original vehicle speed limit sign information, if the R&D personnel confirm to update the original high-precision map with the layer vehicle speed limit sign information, it means that the actual vehicle speed limit sign information needs to be cancelled on the current road, so the original high-precision map is updated with the layer corresponding vehicle speed limit sign information. If the R&D personnel confirm not to update the original high-precision map with the layer vehicle speed limit sign information, it means that the vehicle speed limit sign information is cancelled due to external interference on the current road, so the layer corresponding vehicle speed limit sign information needs to be updated according to the actual vehicle speed limit sign information not affected by external interference, so as to update the original high-precision map with the updated layer vehicle speed limit sign information.

[0093] The original vehicle speed limit sign information is the vehicle speed limit sign information existing in the original high-precision map.

[0094] The high-precision map updating method provided in the embodiment, when updating the original high-precision map according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-precision map, comprises: in response to the collection result being that the actual vehicle speed limit sign information is collected, and the actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, updating the original high-precision map with the layer corresponding vehicle speed limit sign information to obtain the updated high-precision map; in response to the collection result being that the actual vehicle speed limit sign information is not collected, and / or the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, sending a layer vehicle speed limit sign information update request to a user terminal, and in response to receiving the updated layer vehicle speed limit sign information sent by the user terminal through a vehicle cloud device, updating the original high-precision map with the updated layer vehicle speed limit sign information to obtain the updated high-precision map. Since the actual vehicle speed limit sign information is always in dynamic change, the layer vehicle speed limit sign information may not always be consistent with the actual vehicle speed limit sign information at all times, so in order to enable the R&D personnel to monitor the change of the actual vehicle speed limit sign information at all times, when updating the original high-precision map according to the collection result and the layer vehicle speed limit sign information to obtain the updated high-precision map, the collection result can be determined by obtaining the collection result whether the actual vehicle speed limit sign information is collected.

[0095] If yes, in the case that the actual vehicle speed limit sign information exists in the layer vehicle speed limit sign information, the original high-definition map is updated by using the layer corresponding vehicle speed limit sign information, so as to obtain the updated high-definition map. If no, and / or in the case that the actual vehicle speed limit sign information does not exist in the layer vehicle speed limit sign information, the layer vehicle speed limit sign information update request is sent to the user terminal, so that the developer determines whether to update the original high-definition map according to the layer vehicle speed limit sign information according to the actual situation. And the updated layer vehicle speed limit sign information is received from the user terminal, so that the original high-definition map is updated by using the updated layer vehicle speed limit sign information, so as to obtain the updated high-definition map. Thus, the original high-definition map can be accurately updated according to the actual situation, and the vehicle speed limit sign information included in the updated high-definition map can be consistent with the actual vehicle speed limit sign information.

[0096] As an optional embodiment, in the embodiment, the step 402 of updating the original vehicle speed limit sign information by using the layer corresponding vehicle speed limit sign information to obtain the updated high-definition map comprises the following steps:

[0097] In step 402a, in response to the original high-definition map having the original vehicle speed limit sign information, the original vehicle speed limit sign information is replaced by using the layer corresponding vehicle speed limit sign information, and the vehicle speed limit sign information after replacing the original vehicle speed limit sign information is fused with the original high-definition map to obtain the updated high-definition map.

[0098] Specifically, when the original high-definition map is updated by using the layer corresponding vehicle speed limit sign information, in response to the original high-definition map having the original vehicle speed limit sign information, the field where the layer corresponding vehicle speed limit sign information is located is obtained, and the field where the original vehicle speed limit sign information is located is obtained. The field where the layer corresponding vehicle speed limit sign information is located is replaced by the field where the original vehicle speed limit sign information is located, so as to replace the original vehicle speed limit sign information with the layer corresponding vehicle speed limit sign information. After replacing the original vehicle speed limit sign information with the layer corresponding vehicle speed limit sign information, the vehicle speed limit sign information after replacing the original vehicle speed limit sign information is fused with other high-definition map information included in the original high-definition map, so as to complete the update of the original high-definition map. The specific fusion process is not described in detail.

[0099] In step 402b, in response to the original high-definition map not having the original vehicle speed limit sign information, the layer corresponding vehicle speed limit sign information is fused with the original high-definition map to obtain the updated high-definition map.

[0100] Specifically, in response to the original high-precision map not having the original vehicle speed limit sign information, a field where the vehicle speed limit sign information corresponding to the layer is located is obtained, and the original high-precision map is obtained, the field is written into the field corresponding to the original high-precision map, so as to add the vehicle speed limit sign information of the layer to the original high-precision map. After adding the vehicle speed limit sign information of the layer to the original high-precision map, the field of the original high-precision map where the vehicle speed limit sign information of the layer is added is fused with other high-precision map information, so as to complete the update of the original high-precision map. The specific fusion process will not be described in detail.

[0101] The high-precision map updating method provided in the embodiment, when the original high-precision map is updated by using the vehicle speed limit sign information corresponding to the layer to obtain the updated high-precision map, includes: in response to the original high-precision map having the original vehicle speed limit sign information, replacing the original vehicle speed limit sign information by using the vehicle speed limit sign information corresponding to the layer, and fusing the vehicle speed limit sign information after replacing the original vehicle speed limit sign information with the original high-precision map, so as to obtain the updated high-precision map; in response to the original high-precision map not having the original vehicle speed limit sign information, fusing the vehicle speed limit sign information corresponding to the layer with the original high-precision map, so as to obtain the updated high-precision map. Since in the case that the original high-precision map has the original vehicle speed limit sign information, the original vehicle speed limit sign information is replaced by the vehicle speed limit sign information corresponding to the layer, the vehicle speed limit sign information after replacing the original vehicle speed limit sign information can be fused with the original high-precision map. And in the case that the original high-precision map does not have the original vehicle speed limit sign information, the vehicle speed limit sign information corresponding to the layer is added to the original high-precision map, so that the vehicle speed limit sign information corresponding to the layer can be fused with the original high-precision map. Therefore, the vehicle speed limit sign information included in the original high-precision map can be accurately updated, and the accurate update of the original high-precision map is completed.

[0102] As an optional embodiment, the embodiment is based on the corresponding embodiment and further includes the following steps: Figure 3 The corresponding embodiment is based on the corresponding embodiment and further includes the following steps:

[0103] In response to receiving the updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, the updated layer vehicle speed limit sign information is used to replace the latest stored vehicle speed limit sign information, so as to complete the update of the layer vehicle speed limit sign information.

[0104] Specifically, in response to receiving the updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, it is determined that the updated layer vehicle speed limit sign information is used to replace the latest stored vehicle speed limit sign information, and the method is similar to steps 402a-402b, which will not be described one by one.

[0105] The high-precision map updating method provided in the embodiment further includes: in response to receiving the updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, replacing the latest stored vehicle speed limit sign information with the updated layer vehicle speed limit sign information to complete updating of the layer vehicle speed limit sign information. Since the R&D personnel determine the updated layer vehicle speed limit sign information according to the actual situation, the updated layer vehicle speed limit sign information sent by the user terminal is received, the updated layer vehicle speed limit sign information is used to replace the latest stored vehicle speed limit sign information, and the layer vehicle speed limit sign information in the preset layer can always be the actual speed limit sign information that can accurately control the vehicle driving.

[0106] As an optional embodiment, the embodiment is based on the corresponding embodiment Figure 3 In response to the original high-precision map not having the original vehicle speed limit sign information, the corresponding embodiment further includes the following steps:

[0107] In response to the collection result being that no actual vehicle speed limit sign information is collected and no actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, the original high-precision map is prohibited from being updated.

[0108] Specifically, based on the original high-precision map not having the original vehicle speed limit sign information, in response to the collection result being that no actual vehicle speed limit sign information is collected and no actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, it is indicated that the original vehicle speed limit sign information, the layer vehicle speed limit sign information, and the actual vehicle speed limit sign information all do not exist, and it is indicated that the vehicle speed limit sign information is indeed cancelled for the current road. Therefore, the original high-precision map is not updated.

[0109] The high-precision map updating method provided in the embodiment is in response to the original high-precision map not having the original vehicle speed limit sign information, and further includes: in response to the collection result being that no actual vehicle speed limit sign information is collected and no actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, the original high-precision map is prohibited from being updated. Since some roads in the preset area are roads without vehicle speed limit requirements, in the case where it is determined that the original high-precision map does not have the original vehicle speed limit sign information and it is determined that the collection result is that no actual vehicle speed limit sign information is collected and no actual vehicle speed limit sign information exists in the layer vehicle speed limit sign information, the original high-precision map is prohibited from being updated, the target vehicle can be controlled to drive according to the no vehicle speed limit requirement, so that the target vehicle can drive according to the actual situation, the safety of the intelligent driving vehicle is improved, and the user experience is improved.

[0110] As an optional embodiment, the embodiment is based on any of the above embodiments, and according to the collection result and the layer vehicle speed limit sign information, the original high-precision map is updated to obtain an updated high-precision map, and then the following steps are further included:

[0111] According to the updated high-precision map, electronic horizon data is generated to control the target vehicle to travel according to the electronic horizon data.

[0112] The electronic horizon data is data generated by an electronic horizon module according to the high-precision map, and is used to control the target vehicle to travel.

[0113] The electronic horizon module can include an electronic horizon receiver (EHP) and an electronic horizon resolver (EHR).

[0114] Specifically, in response to generating the updated high-precision map, the electronic horizon module obtains the updated high-precision map, controls the EHP to read high-precision map data included in the updated high-precision map, and controls the EHR to analyze the high-precision map signal. Thus, according to the high-precision map data and the analyzed high-precision map signal, the electronic horizon data is generated, and the target vehicle is controlled to travel according to the electronic horizon data.

[0115] The high-precision map updating method provided by the embodiment includes: after updating the original high-precision map according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-precision map, generating electronic horizon data according to the updated high-precision map, and controlling the target vehicle to travel according to the electronic horizon data. Since the electronic horizon data is data for controlling the target vehicle to travel, after obtaining the updated high-precision map, the electronic horizon data is generated according to the updated high-precision map, so that the target vehicle can be controlled to travel according to the electronic horizon data, so that the target vehicle can adjust the vehicle speed according to the actual situation, increase the safety of the intelligent driving vehicle, and improve the user experience.

[0116] Figure 4 The structure diagram of the high-precision map updating device provided by an embodiment of the present application is shown in Figure 4 The high-precision map updating device provided by the embodiment is located in an electronic device, and specifically can be located in a high-precision map updating device of a target vehicle. The high-precision map updating device 50 provided by the embodiment includes an obtaining module 51 and an updating module 52.

[0117] The acquisition module 51 is configured to acquire layer vehicle speed limit sign information obtained by crowd-sourced data in a preset area, the layer vehicle speed limit sign information is stored in a preset layer, the preset layer is located in a vehicle cloud device, and the preset layer stores layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area. The acquisition module 51 is further configured to acquire a collection result when a vehicle sensor collects actual vehicle speed limit sign information in response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information. The acquisition module 51 is further configured to acquire an original high-definition map in the preset area. The update module 52 is configured to update the original high-definition map according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-definition map.

[0118] The high-definition map updating device provided in the embodiment can perform the method shown in the method embodiment, and the specific implementation principles and technical effects are similar, and will not be described here. Figure 2

[0119] Optionally, the high-definition map updating device provided in the embodiment further includes an extraction module.

[0120] The acquisition module 51 is configured to acquire a plurality of vehicle road information in the preset area before acquiring the layer vehicle speed limit sign information obtained by the crowd-sourced data in the preset area. The extraction module is configured to extract the vehicle road information in the preset area from the crowd-sourced data. The extraction module is further configured to extract vehicle speed limit sign information in the vehicle road information and store the vehicle speed limit sign information in the vehicle road information in the preset layer.

[0121] Correspondingly, when the acquisition module 51 acquires the layer vehicle speed limit sign information obtained by the crowd-sourced data in the preset area, the acquisition module 51 is specifically configured to:

[0122] Access the preset layer and acquire the layer vehicle speed limit sign information from the preset layer.

[0123] Optionally, when the update module 52 updates the original high-definition map according to the collection result and the layer vehicle speed limit sign information to obtain the updated high-definition map, the update module 52 is specifically configured to:

[0124] In response to the collection result being the actual vehicle speed limit sign information collected and the actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, the original high-definition map is updated by using the layer corresponding vehicle speed limit sign information to obtain the updated high-definition map.

[0125] ​In response to the acquisition result being that no actual vehicle speed limit sign information is acquired, and / or, the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, the layer vehicle speed limit sign information update request is sent to the user terminal, and in response to receiving the updated layer vehicle speed limit sign information sent by the vehicle cloud device of the user terminal, the original high-definition map is updated using the updated layer vehicle speed limit sign information to obtain an updated high-definition map.

[0126] Optionally, the update module 52, when updating the original vehicle speed limit sign information using the layer corresponding vehicle speed limit sign information to obtain an updated high-definition map, is specifically used for:

[0127] In response to the original high-definition map having the original vehicle speed limit sign information, the original vehicle speed limit sign information is replaced using the layer corresponding vehicle speed limit sign information, and the vehicle speed limit sign information after replacing the original vehicle speed limit sign information is fused with the original high-definition map to obtain an updated high-definition map;

[0128] In response to the original high-definition map not having the original vehicle speed limit sign information, the layer corresponding vehicle speed limit sign information is fused with the original high-definition map to obtain an updated high-definition map.

[0129] Optionally, the high-definition map updating device provided in the embodiment further comprises a replacement module.

[0130] The replacement module is configured to, in response to receiving the updated layer vehicle speed limit sign information sent by the vehicle cloud device of the user terminal, replace the latest stored vehicle speed limit sign information using the updated layer vehicle speed limit sign information to complete the update of the layer vehicle speed limit sign information.

[0131] Optionally, the high-definition map updating device provided in the embodiment further comprises a prohibition update module.

[0132] The prohibition update module is configured to, in response to the original high-definition map not having the original vehicle speed limit sign information, prohibit updating the original high-definition map in response to the acquisition result being that no actual vehicle speed limit sign information is acquired and the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information.

[0133] Optionally, the high-definition map updating device provided in the embodiment further comprises a generation module.

[0134] The generation module is configured to, after the update module 52 updates the original high-definition map according to the acquisition result and the layer vehicle speed limit sign information to obtain an updated high-definition map, generate electronic horizon data according to the updated high-definition map to control the target vehicle to travel according to the electronic horizon data.

[0135] The high-definition map updating device provided by the embodiment can perform Figure 3 The method embodiment shown, the specific implementation principle and technical effect are similar, here will not repeat them.

[0136] Figure 5 The structural schematic diagram of the electronic device provided by an embodiment of the present application is shown in the figure Figure 5 The electronic device 60 provided by the embodiment includes a processor 62 and a memory 61 connected with the processor.

[0137] The memory 61 stores computer execution instructions; the processor 62 executes the computer execution instructions stored in the memory to realize the high-definition map updating method provided by any one of the above embodiments. The relevant description can be understood by referring to the relevant description and effect corresponding to the steps in the figure, and will not be repeated here.

[0138] The program can include program code, and the program code includes computer execution instructions. The memory 61 can include a high-speed RAM memory and can also include a non-volatile memory such as at least one disk memory.

[0139] In the embodiment, the memory 61 and the processor 62 are connected through a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 5 Only one thick line is used in the figure to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0140] The computer readable storage medium provided by the embodiment of the present application stores computer execution instructions, and the computer execution instructions are executed by the processor to realize the high-definition map updating method provided by any one of the above embodiments. For example, the computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0141] The computer program product provided by the embodiment of the present application includes a computer program, and the computer program is executed by the processor to realize the high-definition map updating method provided by any one of the above embodiments.

[0142] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0143] Further, although each step in the flowchart is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or sub-steps or stages of other steps.

[0144] It should be understood that the above-described device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-described embodiments is only a logical functional division, and actual implementation can have another division manner. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0145] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application can be integrated in one unit / module, or each unit / module can exist physically, or two or more units / modules can be integrated together. The integrated unit / module can be realized in the form of hardware or in the form of a software program module.

[0146] If the integrated units / modules are implemented in the form of hardware, the hardware can be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the artificial intelligence processor can be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. Unless otherwise specified, the storage unit can be any appropriate magnetic storage medium or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), etc.

[0147] If the integrated units / modules are implemented in the form of software program modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the essential part or all or part of the technical solutions that make contributions to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0148] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0149] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0150] It is to be understood that the application is not limited to the precise construction herein described and as shown in the attached drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is to be indicated by the appended claims, rather than the description and examples.

Claims

1. A high-definition map updating method, characterized in that, The method comprises: acquiring layer vehicle speed limit sign information in a preset area obtained through crowdsourcing data, the layer vehicle speed limit sign information being stored in a preset layer, the preset layer being located in a vehicle cloud device, and the preset layer storing layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area; in response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information, acquiring a collection result when an actual vehicle speed limit sign information is collected by a vehicle sensor; acquiring an original high-definition map in the preset area; in response to the collection result being that the actual vehicle speed limit sign information is collected and the actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, updating the original high-definition map using the layer corresponding vehicle speed limit sign information to obtain an updated high-definition map; in response to the collection result being that the actual vehicle speed limit sign information is not collected and / or the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, sending a layer vehicle speed limit sign information update request to a user terminal, and in response to receiving updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, updating the original high-definition map using the updated layer vehicle speed limit sign information to obtain an updated high-definition map.

2. The method of claim 1, wherein, Before the acquiring of the layer vehicle speed limit sign information in the preset area obtained through the crowdsourcing data, the method further comprises: acquiring crowdsourcing data sent by a plurality of vehicle terminals in the preset area; extracting vehicle road information in the preset area from the crowdsourcing data; extracting vehicle speed limit sign information in the vehicle road information and storing the vehicle speed limit sign information in the vehicle road information in a preset layer; the acquiring of the layer vehicle speed limit sign information in the preset area obtained through the crowdsourcing data comprises: accessing the preset layer and acquiring the layer vehicle speed limit sign information from the preset layer.

3. The method of claim 1, wherein, The updating of the original high-definition map using the layer corresponding vehicle speed limit sign information to obtain an updated high-definition map comprises: in response to the original high-definition map having original vehicle speed limit sign information, replacing the original vehicle speed limit sign information with the layer corresponding vehicle speed limit sign information, and fusing the vehicle speed limit sign information after the replacement of the original vehicle speed limit sign information with the original high-definition map to obtain an updated high-definition map; in response to the original high-definition map not having original vehicle speed limit sign information, fusing the layer corresponding vehicle speed limit sign information with the original high-definition map to obtain an updated high-definition map.

4. The method of claim 1, wherein, The method further comprises: in response to receiving the updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, replacing the latest stored vehicle speed limit sign information with the updated layer vehicle speed limit sign information to complete the update of the layer vehicle speed limit sign information.

5. The method of claim 1, wherein, in response to the original high-definition map not having original vehicle speed limit sign information, the method further comprises: In response to the collection result being that no actual vehicle speed limit sign information is collected and the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, the original high-definition map is prohibited from being updated.

6. The method according to any one of claims 1 to 5, characterized in that, After the original high-definition map is updated according to the collection result and the layer vehicle speed limit sign information to obtain an updated high-definition map, the method further comprises: generating electronic horizon data according to the updated high-definition map, so as to control a target vehicle to travel according to the electronic horizon data. 7.A high-definition map updating apparatus, characterized by comprising: Comprise: an acquisition module, configured to acquire layer vehicle speed limit sign information in a preset area obtained through crowdsourcing data, the layer vehicle speed limit sign information being stored in a preset layer, the preset layer being located in a vehicle cloud device, and the preset layer storing layer vehicle speed limit sign information corresponding to a plurality of roads in the preset area; the acquisition module is further configured to, in response to the layer vehicle speed limit sign information being the latest stored vehicle speed limit sign information, acquire a collection result when an actual vehicle speed limit sign information is collected by a vehicle sensor; the acquisition module is further configured to acquire an original high-definition map in the preset area; an update module, configured to: in response to the collection result being that the actual vehicle speed limit sign information is collected and the actual vehicle speed limit sign information existing in the layer vehicle speed limit sign information, update the original high-definition map by using the layer corresponding vehicle speed limit sign information to obtain an updated high-definition map; in response to the collection result being that the actual vehicle speed limit sign information is not collected and / or the actual vehicle speed limit sign information not existing in the layer vehicle speed limit sign information, send a layer vehicle speed limit sign information update request to a user terminal, and in response to receiving updated layer vehicle speed limit sign information sent by the user terminal through the vehicle cloud device, update the original high-definition map by using the updated layer vehicle speed limit sign information to obtain an updated high-definition map.

8. An electronic device, comprising: Comprise: a processor and a memory connected with the processor in communication; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method according to any one of claims 1 to 5.

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