A map updating method, device, medium, equipment and map updating system

Abstract

The application discloses a map updating method and device, a medium, equipment and a map updating system, and belongs to the technical field of computers. Mainly includes: acquiring a to-be-updated map road network of a predetermined area; updating the road network in the area to obtain an updated road network in the area; acquiring a boundary connecting road section and a connected part road section of a road in a neighboring area connected with a road in the predetermined area to obtain a road section at the boundary of the predetermined area, and merging the road section at the boundary of the predetermined area with the updated road network in the area to obtain an extended updated road network of the predetermined area; segmenting the extended updated road network to obtain a plurality of road network segmentation units, and making a map according to the plurality of road network segmentation units to obtain an extended updated map of the predetermined area; and replacing the to-be-updated map of the predetermined area in a complete map with the extended updated map of the predetermined area. The application can avoid large-scale map element matching, thereby efficiently and accurately updating the map of the predetermined area in the complete map.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a map updating method, apparatus, medium, device and map updating system. Background Technology

[0002] When updating maps, such as updating a portion of a map, directly updating map data on an existing map can lead to significant changes. This necessitates re-matching numerous map features, and may even require re-matching the entire map for that specific area. Therefore, the update process involves a large amount of data, is labor-intensive, has low efficiency, and is prone to errors. Summary of the Invention

[0003] To address the problems existing in the prior art, this application mainly provides a map updating method, apparatus, medium, device, and map updating system. By deleting all maps of a predetermined area in the complete map, and then creating a new map based on the extended road network to obtain an extended and updated map, the extended and updated map is then merged with maps of adjacent areas. This avoids large-scale map element matching, thereby enabling efficient and accurate updating of the map of a predetermined area in the complete map.

[0004] In a first aspect, embodiments of this application provide a map updating method, which includes:

[0005] The process involves: obtaining the road network to be updated for a predetermined area in the complete map; updating the road network within the area to be updated, excluding boundary connecting road segments that intersect with the boundary line of the predetermined area, to obtain the updated road network within the area; obtaining the boundary connecting road segments and the connecting road segments of adjacent areas within the predetermined area that are connected to roads within the predetermined area, to obtain the road segments at the boundary of the predetermined area; merging the road segments at the boundary with the updated road network within the area to obtain the extended updated road network of the predetermined area; dividing the extended updated road network into multiple road network segmentation units, and creating a map based on these multiple road network segmentation units to obtain the extended updated map of the predetermined area; and deleting the map to be updated for the predetermined area from the complete map, and merging the extended updated map of the predetermined area with the maps of adjacent areas of the predetermined area in the complete map.

[0006] Secondly, embodiments of this application provide a map updating apparatus, which includes:

[0007] The system comprises the following modules: a road network acquisition module for the unupdated map, used to acquire the road network of a predetermined area in the complete map; a road network acquisition module for the updated area, used to update the road network within the unupdated map, excluding boundary connecting road segments that intersect with the boundary line of the predetermined area, to obtain the updated road network within the area; a road segment acquisition module for the boundary of the predetermined area, used to acquire boundary connecting road segments and connecting road segments in adjacent areas of the predetermined area that are connected to roads in the predetermined area, to obtain the boundary segments of the predetermined area; a road network acquisition module for the extended updated area, used to merge the boundary segments with the updated road network within the area, to obtain the extended updated road network of the predetermined area; a map acquisition module for the extended updated area, used to divide the extended updated road network into multiple road network segmentation units, and to create a map based on these multiple road network segmentation units, to obtain the extended updated map of the predetermined area; and a map merging module, used to delete the unupdated map of the predetermined area from the complete map and merge the extended updated map of the predetermined area with the maps of adjacent areas of the predetermined area in the complete map.

[0008] Thirdly, this application provides a map updating system, which includes the map updating device described above.

[0009] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions that are operated to perform the map update method described above.

[0010] Fifthly, embodiments of this application provide a vehicle that includes the aforementioned map update system.

[0011] The beneficial effects that the technical solution of this application can achieve are: by deleting all the maps of the predetermined area in the complete map, and then creating a new map based on the extended road network to obtain the extended and updated map, and then merging the extended and updated map with the maps of the adjacent areas, it is possible to avoid large-scale map element matching, thereby enabling efficient and accurate updating of the maps of the predetermined area in the complete map. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description exemplarily illustrate some embodiments of this application.

[0013] Figure 1 This is a schematic diagram illustrating a specific implementation of a map updating method according to this application;

[0014] Figure 2This is a schematic diagram of a Y-shaped branch node in a specific embodiment of a map updating method of this application;

[0015] Figure 3 This is a schematic diagram of the intersection points of roads with high and low confidence levels in a specific embodiment of a map updating method of this application;

[0016] Figure 4 This is a schematic diagram of a specific embodiment of a map updating device according to this application;

[0017] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0018] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby making a clearer and more explicit definition of the scope of protection of this application.

[0019] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0020] When updating maps, such as updating a portion of a map, directly updating map data on an existing map can lead to significant changes. This necessitates re-matching numerous map features, and may even require re-matching the entire map for that specific area. Therefore, the update process involves a large amount of data, is labor-intensive, has low efficiency, and is prone to errors.

[0021] This application provides a map updating method, apparatus, medium, device, and map updating system. By deleting all maps of a predetermined area in the complete map, and then creating a new map based on the extended road network, an extended and updated map is obtained. The extended and updated map is then merged with maps of adjacent areas. This avoids large-scale map feature matching, thereby enabling efficient and accurate updating of the map of the predetermined area in the complete map.

[0022] The technical solutions of this application will now be described in detail with reference to specific embodiments and accompanying drawings. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0023] Figure 1 This application illustrates a specific implementation of a map updating method.

[0024] exist Figure 1 The specific implementation of the map updating method of this application shown includes the following steps: Step S101: Obtain the road network of the map to be updated in a predetermined area of ​​the complete map; Step S102: Update the road network in the area to be updated, excluding the boundary connecting road segments that intersect with the boundary line of the predetermined area, to obtain the updated road network in the area; Step S103: Obtain the boundary connecting road segments and the connecting road segments of the adjacent areas of the predetermined area connected to the boundary connecting road segments, to obtain the road segments at the boundary of the predetermined area; Step S104: Merge the road segments at the boundary with the updated road network in the area to obtain the extended updated road network of the predetermined area; Step S105: Divide the extended updated road network into multiple road network segmentation units, and perform map production based on the multiple road network segmentation units to obtain the extended updated map of the predetermined area; and Step S106: Delete the map to be updated in the predetermined area from the complete map, and merge the extended updated map of the predetermined area with the maps of the adjacent areas of the predetermined area in the complete map.

[0025] The map updating method proposed in this application involves deleting all maps of a predetermined area from the complete map, then creating a new map based on the extended road network to obtain an extended and updated map. The extended and updated map is then merged with maps of adjacent areas, which avoids large-scale map feature matching and thus enables efficient and accurate updating of maps of predetermined areas from the complete map.

[0026] Process S101 represents obtaining the road network of the predetermined area in the complete map to be updated, which can facilitate further updating of the road network of the predetermined area.

[0027] Specifically, the road network to be updated in the aforementioned predetermined area is a traditional road network in an open-source map database. The traditional road network of the aforementioned predetermined area can be obtained from the open-source map database. Obtaining the traditional road network directly from the open-source map database can utilize existing resources and improve work efficiency.

[0028] Process S102 represents the process of updating the road network in the area of ​​the map to be updated, excluding the boundary connecting road segments that intersect with the boundary line of the predetermined area, to obtain the updated road network in the area. This process can be used to obtain the extended updated road network of the predetermined area, and then to obtain the extended updated map of the predetermined area, so as to further facilitate the integration of the updated map of the predetermined area into the complete map.

[0029] Specifically, the boundary connecting road segments not only connect to roads within the designated area, but also to roads in adjacent areas outside the boundary. Therefore, using boundary connecting road segments to connect the updated road network within the area with roads in adjacent areas outside the boundary can make the connection process more efficient and accurate.

[0030] In one specific embodiment of this application, the aforementioned boundary connection road segment includes the boundary line of the predetermined area and the road segment between the non-endpoint road node that intersects the boundary line of the predetermined area and the nearest non-endpoint road node to the boundary line.

[0031] Specifically, each road in the map has multiple road nodes, including endpoint road nodes at the endpoints and non-endpoint road nodes at the non-endpoints. By using the boundary lines of the predetermined area and the road segments between the non-endpoint road nodes closest to the boundary lines to connect the updated road network within the area and the roads in the adjacent areas outside the boundary, the existing data can be fully utilized, the amount of computation can be reduced, and the efficiency can be improved.

[0032] In one specific embodiment of this application, the aforementioned boundary connecting road segment includes a first predetermined length of road segment where each road intersects the boundary line of the predetermined area and is connected to the boundary line of the predetermined area.

[0033] Specifically, the value of the first predetermined length mentioned above can be 50m.

[0034] In this embodiment, the first predetermined length of road segment connected to the boundary line is defined as the boundary connection road segment, which simplifies the calculation.

[0035] Process S103 represents the process of obtaining the boundary connecting road segment and the connecting part of the adjacent area of ​​the predetermined area connected to the boundary connecting road segment, and the road segment of the adjacent area connected to the road in the predetermined area, to obtain the road segment at the boundary of the predetermined area. This process can facilitate the further merging of the road segment at the boundary with the updated road network in the area to obtain the extended updated road network of the predetermined area.

[0036] Specifically, the length of the connecting section of the road in the adjacent area that is connected to the road in the predetermined area can be a predetermined value, such as any value between 200m and 300m.

[0037] Process S104 represents the process of merging the road segments at the boundary with the updated road network within the region to obtain the extended updated road network of the predetermined region. This process can obtain the extended updated road network of the predetermined region, which includes the connected road segments of adjacent regional roads connected to the roads within the predetermined region. This facilitates map production based on the extended updated road network of the predetermined region, resulting in a map that includes the extended portion outside the boundary of the predetermined region. This is beneficial for merging the updated map of the predetermined region with the maps of adjacent regions to complete the update of the complete map.

[0038] In one specific embodiment of this application, the endpoints are matched by merging based on the coordinates of the road endpoints at the updated road network boundary within the aforementioned area and the coordinates of the road segments at the boundary within the boundary. Then, the two matched endpoints are connected.

[0039] Process S105 represents the process of dividing the extended and updated road network into multiple road network segmentation units, and then creating a map based on these multiple road network segmentation units to obtain an extended and updated map of the predetermined area. This process facilitates the replacement of the map to be updated with the updated map of the predetermined area. Since the updated map has an extension outside the area, it avoids splicing errors caused by the distance between the corresponding road network splicing points of the two maps due to satellite positioning errors or other reasons.

[0040] In one specific embodiment of this application, the process of dividing the extended and updated road network into multiple road network segmentation units includes dividing the extended and updated road network into multiple minimum road network units, each including at least one indivisible road network unit, and using the multiple minimum road network units to obtain multiple road network segmentation units; wherein each indivisible road network unit includes at least one sensitive point, and errors are likely to occur when merging the sensitive points after the task of creating multiple high-precision map segments based on the segmentation of the extended and updated road network.

[0041] Specifically, when map creation involves many elements and a large amount of data, it is not possible to directly build a map based on the tile units of a traditional map. Each mapping task cannot complete the mapping of the road network length included in a traditional map tile unit in one go. Therefore, it is necessary to first divide the traditional map road network into road network units that meet the requirements of high-precision map creation, so as to facilitate the creation of segmented map tasks based on the segmented units of the traditional map road network, as well as the merging of segmented map tasks.

[0042] Furthermore, when merging map segments during the map building process, errors can easily occur if the merging is performed at sensitive points. Therefore, in this embodiment, sensitive points are completed in one map building task, which avoids merging at sensitive points and prevents merging errors.

[0043] In one specific embodiment of this application, the aforementioned sensitive points include Y-shaped junction nodes and intersections of roads with high and low confidence levels, wherein the intersection of roads with high and low confidence levels is the intersection of road segments with relatively good satellite signals and road segments with relatively poor satellite signals. For example, the intersection of the lower layer area of ​​an overpass with poor satellite signals and the upper layer area of ​​an overpass with relatively good satellite signals.

[0044] Specifically, Y-shaped branch nodes such as Figure 3 As shown at point O, because the number of roads on both sides of the Y-shaped fork node is different, it is not easy to determine the correspondence between the roads on both sides during merging. Merging map data obtained by mapping at the corresponding road locations increases the algorithm's difficulty and makes it prone to errors. The intersection points of roads with high and low confidence are shown below. Figure 4 Points B and C, as shown, are connected at one end to the low-confidence road segment BC located under the viaduct, where satellite signals are poor and trajectory positioning is inaccurate. At the other end, they are connected to the high-confidence road segments AB and CD, where trajectory positioning is relatively accurate. Therefore, when merging the segmented map data obtained from the mapping at the intersection of high- and low-confidence roads, the algorithm becomes more difficult and prone to errors.

[0045] In one specific embodiment of this application, the process of dividing the extended and updated road network into multiple minimum road network units including at least one indivisible road network unit includes breaking each road connected to each sensitive point at a second predetermined distance from the corresponding sensitive point to obtain multiple sensitive point buffer road segments connected to the corresponding sensitive point, and using the sensitive point and the corresponding multiple sensitive point buffer road segments to obtain an indivisible road network unit including the corresponding sensitive point.

[0046] Specifically, the second predetermined length mentioned above can be 50m.

[0047] This embodiment reserves connection buffer sections for sensitive points, making it easier to merge connection buffer sections when merging segmented map data later, thereby reducing the complexity of merging calculations, reducing merging errors, and improving merging efficiency.

[0048] Process S106 represents the process of deleting the map of the predetermined area to be updated from the complete map and merging the map of the predetermined area after extension and update with the map of the adjacent area of ​​the predetermined area in the complete map. This process can stitch the map of the predetermined area after update into the complete map, and on the basis of the previous steps, efficiently and accurately complete the update of the map of the predetermined area in the complete map.

[0049] In one specific embodiment of this application, the process of merging the updated map of the predetermined area with the maps of the adjacent areas of the predetermined area includes: obtaining the adjacent map overlapping road segments in the adjacent area map that overlap with the outer boundary road segments of cross-boundary map roads in each extended updated map of the predetermined area; deleting the adjacent map overlapping road segments in the adjacent area map; and connecting the remaining map roads in the adjacent area map with the cross-boundary map roads in the newly created map of the extended predetermined area according to the adjacent map overlapping road segments.

[0050] Specifically, during the merging process, overlapping road segments in the newly created map of the extended predetermined area and the map of the adjacent area are used for map merging, which makes the merging of the road network of the predetermined area and its adjacent areas more accurate and efficient.

[0051] In one specific embodiment of this application, a map road in an adjacent area map whose minimum distance to each cross-boundary map road is less than a preset distance threshold and whose included angle is less than a preset angle value is determined as an adjacent area map matching road that represents the same real road as the corresponding cross-boundary map road, and adjacent map overlapping road segments are obtained from the adjacent area map matching road.

[0052] This embodiment first obtains adjacent area map matching roads that represent the same real roads as the cross-boundary map roads in the newly created map of the extended predetermined area based on distance and angle. Then, it obtains adjacent map overlapping road segments that overlap with the cross-boundary map roads on the adjacent area map matching roads. This can obtain overlapping road segments more accurately, which can help to further update the predetermined area based on the overlapping road segments and merge it into the complete map.

[0053] In one specific embodiment of this application, the process of deleting overlapping road segments in adjacent area maps and connecting the remaining map roads in adjacent area maps with cross-boundary map roads in newly created maps of extended predetermined areas based on the overlapping road segments includes: when a cross-boundary map road has a matching adjacent area map matching road, directly connecting the road endpoints obtained by deleting overlapping road segments in adjacent area maps with the endpoints of the cross-boundary map road outside the boundary of the corresponding predetermined area after the map is extended and updated.

[0054] In one specific embodiment of this application, the process of deleting overlapping road segments in adjacent area maps and connecting the remaining map roads in adjacent area maps with cross-boundary map roads in newly created maps of extended predetermined areas based on the overlapping road segments includes determining whether the entire segment of the matching road in the adjacent area map is an overlapping road segment. If the entire segment is an overlapping road segment, the corresponding matching road in the adjacent area map is directly deleted; otherwise, the road endpoints obtained by deleting the overlapping road segments in the adjacent area map are connected to the endpoints of the corresponding road segments outside the boundary that are far from the predetermined area.

[0055] Specifically, if adjacent map regions have overlapping road segments, the adjacent road segments need to be connected to the cross-boundary roads in the newly created map at the corresponding predetermined area boundary. However, if adjacent map regions have overlapping road segments, no further connection is needed, and they can be directly deleted, simplifying the calculation process. This makes the road network merging process simpler and more accurate.

[0056] Specifically, it can be determined whether each of the aforementioned adjacent area map matching roads is an entire overlapping road segment of adjacent maps.

[0057] Preferably, the determination of whether the adjacent area map matching road is an entire overlapping road segment of adjacent maps is only made when there are multiple matching adjacent area map matching roads on the same cross-boundary map road.

[0058] In one specific embodiment of this application, before obtaining the adjacent map overlapping road segments that overlap with the outer boundary road segments of cross-boundary map roads in each predetermined area extended and updated map, other map elements of the outer boundary map portion of the predetermined area extended and updated map are matched and fused with the corresponding map elements of the adjacent area map.

[0059] Specifically, the other map elements mentioned above can be signs, buildings, and other elements on the map.

[0060] By first merging other map elements, the positions of the same actual roads in the updated map of the predetermined area and the adjacent area maps can be corrected to be closer to each other. This will facilitate subsequent matching, deletion of duplicate road segments, and further merging.

[0061] Figure 4 This application illustrates a specific embodiment of a map updating apparatus.

[0062] exist Figure 4 The specific implementation of the map updating device of this application shown includes:

[0063] The system comprises the following modules: a road network acquisition module 401, which acquires the road network of a predetermined area in the complete map; an updated road network acquisition module within the area, which updates the road network within the area except for the boundary connecting road segments that intersect with the boundary line of the predetermined area; a road segment acquisition module 402, which acquires the boundary connecting road segments and the connecting road segments of adjacent areas of the predetermined area connected to the boundary connecting road segments, which acquire the connecting road segments of the boundary of the predetermined area; an extended updated road network acquisition module 403, which merges the road segments at the boundary with the updated road network within the area to obtain the extended updated road network of the predetermined area; an extended updated map acquisition module 404, which divides the extended updated road network into multiple road network segmentation units, and performs map production based on the multiple road network segmentation units to obtain the extended updated map of the predetermined area; and a map merging module 405, which deletes the map of the predetermined area from the complete map and merges the extended updated map of the predetermined area with the maps of adjacent areas of the predetermined area in the complete map.

[0064] The map updating device proposed in this application can obtain an extended and updated map by deleting all maps of a predetermined area in the complete map, then creating a new map based on the extended road network, and then merging the extended and updated map with maps of adjacent areas. This avoids large-scale map feature matching and thus enables efficient and accurate updating of maps of predetermined areas in the complete map.

[0065] The unupdated map road network acquisition module 401 is used to obtain the unupdated map road network of a predetermined area in the complete map, which can facilitate further road network updates on the unupdated map road network of the acquired predetermined area.

[0066] The module 402 is used to update the road network in the area of ​​the map to be updated, excluding the boundary connecting road segments that intersect with the boundary line of the predetermined area, and to obtain the updated road network in the area. It can use the obtained updated road network in the area to obtain the extended updated road network of the predetermined area, and then obtain the extended updated map of the predetermined area, so as to further facilitate the integration of the updated map of the predetermined area into the complete map.

[0067] The module 403, which is used to obtain the boundary connecting road segments and the connecting road segments of the adjacent areas of the predetermined area connected to the boundary connecting road segments, and the connecting road segments of the adjacent areas of the predetermined area connected to the boundary connecting road segments, can further merge the boundary road segments with the updated road network in the area to obtain the extended updated road network of the predetermined area.

[0068] The pre-defined extended updated road network acquisition module 404 is used to merge road segments at the boundary with the updated road network within the region to obtain a pre-defined extended updated road network. It can obtain a pre-defined extended updated road network including the connected road segments of adjacent areas connected to roads within the pre-defined region, thereby facilitating map production based on the pre-defined extended updated road network and obtaining a map including the extended part outside the boundary of the pre-defined region. This is beneficial for merging the updated pre-defined region map with adjacent region maps to complete the update of the complete map.

[0069] The module 405 is used to divide the extended and updated road network into multiple road network segmentation units, and to create a map based on the multiple road network segmentation units to obtain the extended and updated map of the predetermined area. This module can facilitate the replacement of the map to be updated with the updated map of the predetermined area. Because the updated map has an extension outside the area, it can avoid splicing errors caused by the corresponding road network splicing points of the two maps being far apart due to satellite positioning errors or other reasons.

[0070] The map merging module 406 is used to delete the map of the predetermined area to be updated from the complete map and merge the map of the predetermined area after the map is extended and updated with the map of the adjacent area of ​​the predetermined area in the complete map. It can stitch the map of the predetermined area after the map is updated into the complete map, and efficiently and accurately complete the update of the map of the predetermined area in the complete map.

[0071] The computer resource reduction device provided by the present invention can be used to execute the computer resource reduction method in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0072] In one specific embodiment of this application, the functional modules of the map update device of this application may be directly in hardware, in software modules executed by a processor, or in a combination of both.

[0073] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0074] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0075] In another specific embodiment of this application, a map updating system includes a map updating device, which optionally includes a processor and a memory coupled together; the map updating device is used to execute the map updating method in any of the above schemes.

[0076] In another specific embodiment of this application, a vehicle includes the map update system described in the above embodiments.

[0077] In another specific embodiment of this application, a computer-readable storage medium is provided, which stores computer instructions that are operated to perform the map update method in any of the above embodiments.

[0078] In another specific embodiment of this application, a computer device includes a processor and a memory, the memory storing computer instructions that are operated to perform the map update method in any of the above embodiments.

[0079] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0080] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0081] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A map updating method, characterized in that, include: Get the road network of the designated area in the complete map that needs to be updated; The road network within the area of ​​the map to be updated, excluding the boundary connecting road segments that intersect with the boundary line of the predetermined area, is updated to obtain the updated road network within the area; Obtain the boundary connecting road segment and the connecting part of the adjacent area of ​​the predetermined area connected to the boundary connecting road segment, which is connected to the road in the adjacent area of ​​the predetermined area, and obtain the road segment at the boundary of the predetermined area. The road segment at the boundary is merged with the updated road network within the region to obtain the extended updated road network of the predetermined region; The extended and updated road network is divided into multiple road network segmentation units. Maps are then created based on these multiple road network segmentation units to obtain an extended and updated map of the predetermined area. The extended and updated road network is divided into multiple minimum road network units, each including at least one indivisible road network unit, and the multiple minimum road network units are used to obtain the multiple road network segmentation units. Each of the aforementioned indivisible road network units includes at least one sensitive point, including Y-shaped junctions and intersections of roads with high and low confidence levels; and The map of the predetermined area to be updated is deleted from the complete map, and the map of the predetermined area after extension and update is merged with the maps of the adjacent areas of the predetermined area in the complete map.

2. The map updating method according to claim 1, characterized in that, The boundary connection road segment includes the boundary line of the predetermined area and the road segment between the nearest non-endpoint road node of each road that intersects the boundary line of the predetermined area.

3. The map updating method according to claim 1, characterized in that, The boundary connection segment includes a first predetermined length of road segment where each road intersects the boundary line of the predetermined area and is connected to the boundary line of the predetermined area.

4. The map updating method according to claim 1, characterized in that, The step of merging the updated map of the predetermined area with the maps of adjacent areas of the predetermined area includes: Obtain adjacent map overlapping road segments in the adjacent area map that overlap with the outer boundary road segments of cross-boundary map roads in each of the predetermined area extension and updated maps. as well as The overlapping road segments in the adjacent area map are deleted, and the remaining map roads in the adjacent area map are connected to the cross-boundary map roads in the newly created map of the extended predetermined area according to the overlapping road segments.

5. The map updating method according to claim 4, characterized in that, Before obtaining the adjacent map overlapping road segments that overlap with the outer boundary road segments of each cross-boundary map road in the adjacent area map after the predetermined area extension and update, the other map elements of the outer boundary map portion of the predetermined area extension and update map are matched and merged with the corresponding map elements of the adjacent area map.

6. A map updating device, characterized in that, include: The module for obtaining the road network of the map to be updated is used to obtain the road network of the map to be updated for a predetermined area in the complete map. The regional updated road network acquisition module is used to update the regional road network in the map road network to be updated, excluding the boundary connecting road segments that intersect with the boundary line of the predetermined area, to obtain the regional updated road network. The boundary road segment acquisition module of the predetermined area is used to acquire the boundary connecting road segment and the connecting part of the adjacent area of ​​the predetermined area connected to the road in the predetermined area, so as to obtain the boundary road segment of the predetermined area. The pre-defined area extended and updated road network acquisition module is used to merge the road segments at the boundary with the updated road network within the area to obtain the pre-defined area extended and updated road network. The pre-defined area extended and updated map acquisition module is used to segment the extended and updated road network into multiple road network segmentation units, and to create a map based on the multiple road network segmentation units to obtain the pre-defined area extended and updated map. Specifically, the extended and updated road network is divided into multiple minimum road network units, each including at least one indivisible road network unit, and the multiple road network segmentation units are obtained using these minimum road network units. Each indivisible road network unit includes at least one sensitive point, which includes Y-shaped junction nodes and intersections of roads with high and low confidence levels. as well as The map merging module is used to delete the map of the predetermined area to be updated from the complete map, and to merge the map of the predetermined area after extension and update with the maps of the adjacent areas of the predetermined area in the complete map.

7. A map updating system, characterized in that, The map update system includes the map update device as described in claim 6.

8. A computer-readable storage medium storing computer instructions, characterized in that, When the computer instructions are executed, the computer performs the map update method according to any one of claims 1-5.

9. A vehicle, characterized in that, Includes the map update system as described in claim 7.

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