High-precision map processing method and device, storage medium, electronic equipment and vehicle

Abstract

This application discloses a method, apparatus, storage medium, electronic device, and vehicle for processing high-precision maps, which can solve the problem that using version numbers, names, etc. as unique identifiers for high-precision maps is easily tampered with. The method includes: calculating a first function value for the target point-like road element information based on a mapping function, the location information and attribute labels of the target point-like road element information, where the target point-like road element includes a first point-like road element and a second point-like road element; calculating a second function value for the linear road element information based on the mapping function, the first function value of the second point-like road element information, and the attribute labels of the linear road element; calculating a third function value for road relationship information based on the mapping function, the first function value, the second function value, and the attribute labels of road relationships; and determining a unique identifier for the high-precision map based on the mapping function, the first function value, the second function value, and the third function value.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more specifically, to a method, apparatus, storage medium, electronic device, and vehicle for processing high-precision maps. Background Technology

[0002] In addition to basic road topology and connectivity information found in regular maps, high-definition maps also include information required by autonomous driving algorithms and instruments, such as lane centerlines, road centerlines, and boundary lines. Therefore, compared to regular maps, high-definition maps offer more precise and comprehensive map information.

[0003] As high-definition maps are updated, multiple versions of high-definition maps are generated. To uniquely identify each high-definition map, a combination of one or more of the following is typically used: version number, name, and random number. However, during data transmission, these unique identifiers are easily tampered with, preventing successful updates and posing a risk to vehicle operation. For example, if the unique identifier of an older version is altered to match the latest version, the vehicle will assume no update is needed, making autonomous driving using older high-definition maps highly risky. Summary of the Invention

[0004] This application provides a method, apparatus, storage medium, electronic device, and vehicle for processing high-precision maps, which can solve the problem that using version numbers, names, etc. as unique identifiers for high-precision maps is easily tampered with, thus causing high-precision maps to fail to update successfully.

[0005] The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a method for processing a high-precision map. The high-precision map includes target point-like road element information, line-like road element information, and road relationship information. The target point-like road element information includes the location information and attribute labels of the target point-like road element. The target point-like road element includes a first point-like road element and a second point-like road element. The first point-like road element is a road element that is point-like in its complete state. The second point-like road element is a point-like road element obtained by discretizing a line-like road element. The line-like road element information includes a set of second point-like road element information and the attribute labels of the line-like road element. The second point-like road element information includes the location information and the attribute labels of the second point-like road element. The road relationship information includes the target point-like road element information, the line-like road element information, and attribute labels used to represent the road relationship between the target point-like road element information and the line-like road element information. The method includes:

[0007] Based on the mapping function, the location information of the target point road element included in the target point road element information, and the attribute label of the target point road element, a first function value of the target point road element information is calculated, wherein the mapping function is a compression function that can map to integers;

[0008] Based on the mapping function, the first function value of the second point road element information contained in the linear road element information, and the attribute label of the linear road element contained in the linear road element information, the second function value of the linear road element information is calculated.

[0009] Based on the mapping function, the first function value of the target point road element information contained in the road relationship information, the second function value of the line road element information contained in the road relationship information, and the attribute label of the road relationship contained in the road relationship information, the third function value of the road relationship information is calculated.

[0010] The unique identifier of the high-precision map is determined based on the mapping function, the first function value, the second function value, and the third function value of the target point road element.

[0011] As can be seen from the above scheme, this application embodiment can not only obtain three types of road-related information with hierarchical inclusion relationships—target point road element information, linear road element information, and road relationship information—from the high-precision map, but also iteratively calculate the unique identifier of the high-precision map based on these three types of information and the compression mapping function. Since the unique identifier in this application embodiment is obtained through iterative calculation of the road content itself contained in the high-precision map, rather than simply calculated from attribute information outside the high-precision map content (such as version number, name, or random number), it is difficult for others to know the calculation rules of the unique identifier, thus making it difficult to successfully tamper with it into a unique identifier acceptable to the recipient. Furthermore, even if others blindly tamper with the unique identifier, the recipient (such as a vehicle) can use the above algorithm to verify the correctness of the unique identifier after receiving the high-precision map. They can also use the calculated unique identifier and the received unique identifier to verify whether the high-precision map content has been tampered with, thus ensuring that high-precision map updates are not delayed and update errors are prevented, thereby improving vehicle driving safety.

[0012] In a first possible implementation of the first aspect, when the high-precision map is divided into multiple map partitions, and the map partitions include the target point-like road element information, the line-like road element information, the road relationship information, and the attribute labels of the map partitions, determining the unique identifier of the high-precision map based on the mapping function, the first function value of the target point-like road element, the second function value, and the third function value includes:

[0013] Based on the mapping function, the first function value of the target point road element information contained in the map partition, the second function value of the linear road element information contained in the map partition, the third function value of the road relationship information contained in the map partition, and the attribute label of the map partition, the unique identifier of the map partition is determined;

[0014] The unique identifier of the high-precision map is determined based on the mapping function and the unique identifier of each map partition.

[0015] As can be seen from the above scheme, the embodiments of this application can not only determine the unique identifier of the complete high-precision map, but also divide the high-precision map into multiple map partitions and determine the unique identifier of each map partition. This not only further prevents others from successfully tampering with the unique identifier, but also allows the unique identifier of the map partition to accurately locate whether the content of the map partition has been tampered with.

[0016] In a second possible implementation of the first aspect, calculating the first function value of the target point road element information based on the mapping function, the position information of the target point road element included in the target point road element information, and the attribute tags of the target point road element includes: calculating the first function value f(point) of the target point road element information based on a first formula, wherein the first formula includes: f(point) = f(f(lon) + f(lat) + ∑f(tag1) ∈tags1 f() represents the mapping function, point represents the target point road element information, lon represents the longitude in the location information, lat represents the latitude in the location information, and tag1 ∈tags1 This represents any attribute tag1 in the attribute tag set tags1 of the target point road element;

[0017] And / or, calculating the second function value of the linear road element information based on the mapping function, the first function value of the second point road element information included in the linear road element information, and the attribute tags of the linear road elements included in the linear road element information, includes: calculating the second function value f(line) of the linear road element information based on a second formula, wherein the second formula includes: f(line) = f(∑f(point) ∈line )+∑f(tag2 ∈tags2 The line represents the linear road element information, and the f(point) ∈line ) represents the first function value of the second point-like road element information contained in the linear road element information, and the tag2 ∈tags2 This refers to any attribute tag2 in the attribute tag set tags2 contained in the linear road element information;

[0018] And / or, calculating the third function value of the road relationship information based on the mapping function, the first function value of the target point road element information included in the road relationship information, the second function value of the line road element information included in the road relationship information, and the attribute label of the road relationship included in the road relationship information, includes: calculating the third function value f(association) of the road relationship information based on a third formula, wherein the third formula includes:

[0019] f(association) = f(∑f(point) ∈association )+∑f(line ∈association )+∑f(tag3 ∈tags3 )),

[0020] The f(point) ∈association ) represents the first function value of the target point road element information contained in the road relationship information, where f(line) ∈association The tag3 represents the second function value of the linear road element information contained in the road relationship information. ∈tags3 This refers to any attribute tag 'tag3' in the attribute tag set 'tags3' containing the road relationship information;

[0021] And / or, based on the mapping function, the first function value of the target point road element information contained in the map partition, the second function value of the linear road element information contained in the map partition, the third function value of the road relationship information contained in the map partition, and the attribute label of the map partition, the unique identifier of the map partition is determined. Determining the unique identifier of the high-precision map based on the mapping function and the unique identifiers of each map partition includes: determining the unique identifier f(region) of the map partition based on a fourth formula, and determining the unique identifier f(map) of the high-precision map based on a fifth formula, wherein the fourth formula includes f(region) = f(∑f(point) ∈region )+∑f(line ∈region )+∑f(association ∈region )+∑f(tag4 ∈tags4 The region represents the map partition, and f(point) ∈region ) represents the first function value of the target point road element information contained in the map partition, where f(line) ∈region ) represents the second function value of the linear road element information contained in the map partition, where f(association) ∈region The tag4 represents the third function value of the road relationship information contained in the map partition. ∈tags4 The fifth formula represents any attribute tag4 in the attribute tag set tags4 contained in the map partition, and includes: f(map) = f(∑f(region) ∈map ), the f(region) ∈map ) represents the unique identifier of any of the map partitions in the high-precision map.

[0022] In the third possible implementation of the first aspect, when tagx is the target tag, f(tagx) is... ∈tagsxThe value of x is assigned to 0, where x takes the value of 1, 2 or 3, and the target label is the attribute label that is unrelated to determining whether the road element itself in the high-precision map has changed;

[0023] And / or, if the target point road element belongs to the first target road element, the first function value corresponding to the target point road element belonging to the first target road element is assigned to 0, wherein the first target road element is a road element that is unrelated to determining whether the second target road element itself in the high-precision map has changed;

[0024] And / or, if the linear road element belongs to the first target road element, the second function value corresponding to the linear road element belonging to the first target road element is assigned to 0.

[0025] As can be seen from the above scheme, by setting the attribute labels and the function values ​​corresponding to the road elements that are unrelated to determining whether a road element in a high-precision map has changed to 0, the unique identifier can be made more targeted, thereby further improving the accuracy of the unique identifier.

[0026] In a fourth possible implementation of the first aspect, after determining the unique identifier of the high-precision map, the method further includes:

[0027] If the unique identifier of the first high-precision map is the same as the unique identifier of the second high-precision map, then the first high-precision map and the second high-precision map are determined to be the same.

[0028] If the unique identifier of the first high-precision map is different from the unique identifier of the second high-precision map, then the first high-precision map and the second high-precision map are determined to be different.

[0029] As can be seen from the above scheme, the embodiments of this application can directly determine whether two high-precision maps are the same by using a unique identifier, without having to compare the contents of the two high-precision maps one by one, thereby improving the efficiency of determining whether two high-precision maps are the same.

[0030] In a fifth possible implementation of the first aspect, if the version of the second high-precision map is higher than that of the first high-precision map, after determining that the first high-precision map and the second high-precision map are different, the method further includes:

[0031] Replace the first high-precision map with the second high-precision map;

[0032] Alternatively, if a target map partition exists, the target map partition in the second high-precision map replaces the target map partition in the first high-precision map, wherein the target map partition is a map partition in the first high-precision map and the second high-precision map with different unique identifiers.

[0033] As can be seen from the above scheme, after determining that two high-precision maps are different through a unique identifier, the high-version high-precision map can be directly used to replace the low-version high-precision map to realize the update of the high-precision map. Alternatively, the unique identifier of the map partition can be used to determine which map partition is different, and incremental updates can be achieved by replacing the content of the map partition, thereby improving the efficiency of high-precision map updates.

[0034] Secondly, embodiments of this application provide a high-precision map processing apparatus. The high-precision map includes target point-like road element information, line-like road element information, and road relationship information. The target point-like road element information includes the location information and attribute labels of the target point-like road elements. The target point-like road elements include a first point-like road element and a second point-like road element. The first point-like road element is a point-like road element in its complete state, and the second point-like road element is a point-like road element obtained by discretizing a line-like road element. The line-like road element information includes a set of second point-like road element information and the attribute labels of the line-like road elements. The second point-like road element information includes the location information and the attribute labels of the second point-like road elements. The road relationship information includes the target point-like road element information, the line-like road element information, and attribute labels representing the road relationship between the target point-like road element information and the line-like road element information. The apparatus includes:

[0035] The first calculation unit is used to calculate a first function value of the target point road element information based on a mapping function, the position information of the target point road element included in the target point road element information, and the attribute label of the target point road element, wherein the mapping function is a compression function that can map to integers;

[0036] The second calculation unit is used to calculate the second function value of the linear road element information based on the mapping function, the first function value of the second point road element information contained in the linear road element information, and the attribute label of the linear road element contained in the linear road element information.

[0037] The third calculation unit is used to calculate the third function value of the road relationship information based on the mapping function, the first function value of the target point road element information contained in the road relationship information, the second function value of the line road element information contained in the road relationship information, and the attribute label of the road relationship contained in the road relationship information;

[0038] The identifier determination unit is used to determine the unique identifier of the high-precision map based on the mapping function, the first function value, the second function value, and the third function value of the target point road element.

[0039] In a first possible implementation of the second aspect, the identifier determination unit includes:

[0040] The first determining module is configured to, when the high-precision map is divided into multiple map partitions, and the map partitions include the target point road element information, the line road element information, the road relationship information, and the attribute labels of the map partitions, determine the unique identifier of the map partition based on the mapping function, the first function value of the target point road element information included in the map partition, the second function value of the line road element information included in the map partition, the third function value of the road relationship information included in the map partition, and the attribute labels of the map partition;

[0041] The second determining module is used to determine the unique identifier of the high-precision map based on the mapping function and the unique identifier of each map partition.

[0042] In a second possible implementation of the second aspect, the first calculation unit is used to calculate a first function value f(point) of the target point road element information based on a first formula, wherein the first formula includes: f(point) = f(f(lon) + f(lat) + ∑f(tag1) ∈tags1 f() represents the mapping function, point represents the target point road element information, lon represents the longitude in the location information, lat represents the latitude in the location information, and tag1 ∈tags1 This represents any attribute tag1 in the attribute tag set tags1 of the target point road element;

[0043] And / or, the second calculation unit is used to calculate a second function value f(line) of the linear road element information based on a second formula, wherein the second formula includes: f(line) = f(∑f(point) ∈line )+∑f(tag2 ∈tags2The line represents the linear road element information, and the f(point) ∈line ) represents the first function value of the second point-like road element information contained in the linear road element information, and the tag2 ∈tags2 This refers to any attribute tag2 in the attribute tag set tags2 contained in the linear road element information;

[0044] And / or, the third calculation unit is used to calculate a third function value f(association) of the road relationship information based on a third formula, wherein the third formula includes: f(association) = f(∑f(point) ∈association )+∑f(line ∈association )+∑f(tag3 ∈tags3 f(point) ∈association ) represents the first function value of the target point road element information contained in the road relationship information, where f(line) ∈association The tag3 represents the second function value of the linear road element information contained in the road relationship information. ∈tags3 This refers to any attribute tag 'tag3' in the attribute tag set 'tags3' containing the road relationship information;

[0045] And / or, the first determining module is used to determine the unique identifier f(region) of the map partition based on the fourth formula, and the second determining module is used to determine the unique identifier f(map) of the high-precision map based on the fifth formula, wherein the fourth formula includes f(region) = f(∑f((point)). ∈region )+∑f(line ∈region )+∑f(association ∈region )+

[0046] ∑f(tag4 ∈tags4 The region represents the map partition, and f(point) ∈region ) represents the first function value of the target point road element information contained in the map partition, where f(line) ∈region ) represents the second function value of the linear road element information contained in the map partition, where f(association) ∈region The tag4 represents the third function value of the road relationship information contained in the map partition. ∈tags4 The fifth formula represents any attribute tag4 in the attribute tag set tags4 contained in the map partition, and includes: f(map) = f(∑f(region)∈map ), the f(region) ∈map ) represents the unique identifier of any of the map partitions in the high-precision map.

[0047] In a third possible implementation of the second aspect, the first calculation unit is configured to, when tag1 is the target tag, calculate f(tag1)... ∈tags1 The value is assigned to 0, where the target label is the attribute label that is unrelated to determining whether the road element itself in the high-precision map has changed;

[0048] And / or, the second calculation unit is configured to, when tag2 is the target tag, calculate f(tag2) ∈tags2 The value is assigned to 0;

[0049] And / or, the third calculation unit is configured to, when tag3 is the target tag, calculate f(tag3) ∈tags3 The value is assigned to 0;

[0050] And / or, the first calculation unit is configured to, when the target point road element belongs to the first target road element, assign the first function value corresponding to the target point road element belonging to the first target road element to 0, wherein the first target road element is a road element that is unrelated to determining whether the second target road element itself in the high-precision map has changed;

[0051] And / or, the second calculation unit is configured to assign the second function value corresponding to the linear road element belonging to the first target road element to 0 when the linear road element belongs to the first target road element.

[0052] In a fourth possible implementation of the second aspect, the device further includes:

[0053] The first difference determination unit is configured to determine that the first high-precision map and the second high-precision map are the same if, after the unique identifier of the high-precision map is determined, the unique identifier of the first high-precision map is the same as the unique identifier of the second high-precision map.

[0054] The second difference determination unit is used to determine that the first high-precision map and the second high-precision map are different when the unique identifier of the first high-precision map is different from the unique identifier of the second high-precision map.

[0055] In a fifth possible implementation of the second aspect, the device further includes:

[0056] An update unit is configured to, when the version of the second high-precision map is higher than that of the first high-precision map, replace the first high-precision map with the second high-precision map after determining that the first high-precision map and the second high-precision map are different; or, when a target map partition exists, replace the target map partition in the first high-precision map with the target map partition in the second high-precision map, wherein the target map partition is a map partition in the first high-precision map and the second high-precision map whose unique identifiers are different.

[0057] The high-precision map processing device provided in this application embodiment can not only obtain three types of road-related information with hierarchical inclusion relationships—target point road element information, linear road element information, and road relationship information—from the high-precision map, but also iteratively calculate a unique identifier for the high-precision map based on these three types of information and a compression mapping function. Since the unique identifier in this application embodiment is obtained through iterative calculation of the road content itself contained in the high-precision map, rather than simply calculated from attribute information outside the high-precision map content (such as version number, name, or random number), it is difficult for others to know the calculation rules of the unique identifier, thus making it difficult to successfully tamper with it to create a unique identifier acceptable to the recipient. Furthermore, even if others blindly tamper with the unique identifier, the recipient (such as a vehicle) can verify the correctness of the unique identifier using the above algorithm after receiving the high-precision map. They can also use the calculated unique identifier and the received unique identifier to verify whether the high-precision map content has been tampered with, thus ensuring that high-precision map updates are not delayed and update errors are prevented, thereby improving vehicle driving safety.

[0058] Thirdly, embodiments of this application provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any possible implementation of the first aspect.

[0059] Fourthly, embodiments of this application provide an electronic device, which includes:

[0060] One or more processors;

[0061] Storage device for storing one or more programs.

[0062] When one or more programs are executed by one or more processors, the electronic device performs the method as described in any possible implementation of the first aspect.

[0063] Fifthly, embodiments of this application provide a vehicle that includes the means as described in any possible implementation of the second aspect, or includes electronic equipment as described in the fourth aspect. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0065] Figure 1 A flowchart illustrating a high-precision map processing method provided in an embodiment of this application;

[0066] Figure 2 A block diagram illustrating the composition of a high-precision map processing apparatus provided in an embodiment of this application;

[0067] Figure 3 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0068] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0069] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0070] Figure 1 This is a flowchart illustrating a high-precision map processing method that can be applied to electronic or computer equipment, specifically vehicles or servers.

[0071] First, the high-precision map is used to determine three types of road-related information with a hierarchical relationship: target point road element information, linear road element information, and road relationship information. Then, these road-related information are used to iteratively calculate and obtain the unique identifier of the high-precision map.

[0072] The target point-like road element information includes the location information and attribute tags of the target point-like road element. The target point-like road element includes a first point-like road element and a second point-like road element. The first point-like road element is a point-like road element in its complete state, and the second point-like road element is a point-like road element obtained by discretizing a linear road element. The first point-like road element includes traffic lights and point-like obstacles (such as road signs). The second point-like road element includes discrete points obtained by discretizing lane center lines, discrete points obtained by discretizing road surface landmarks (such as lane lines and arrows), and discrete points obtained by discretizing linear obstacles (such as flower beds, roundabouts, and physical barriers). Attribute tags are strings reflecting a certain attribute of the element. Each target point-like road element can include at least one attribute tag, such as the shape and name of the target point-like road element.

[0073] The linear road element information includes a collection of second-point road element information and attribute tags for the linear road elements. The second-point road element information includes the location information and attribute tags of the second-point road elements. Linear road elements include lane centerlines, road surface landmarks, and linear obstacles, etc. Each linear road element may include at least one attribute tag, such as the shape and name of the linear road element.

[0074] Road relationship information includes target point-like road element information, linear road element information, and attribute labels representing the road relationships between the target point-like road element information and the linear road element information. The attribute labels for road relationships include labels indicating the constraints between the target point-like road element information and the linear road element information, and each road relationship attribute label includes at least one, such as straight, right turn, and left turn. For example, the constraint relationships between traffic lights and the multiple lanes they control (i.e., lane centerlines) include straight, right turn, and left turn.

[0075] The method for calculating a unique identifier using the above information may include the following steps:

[0076] S110: Calculate the first function value of the target point road element information based on the mapping function, the location information of the target point road element contained in the target point road element information, and the attribute labels of the target point road element.

[0077] The mapping function is a compression function that can map to integers, meaning the amount of data output by the mapping function is less than the amount of data input to the mapping function. To prevent others from reverse engineering the algorithm of the mapping function, the mapping function used in this embodiment can be a hash function.

[0078] This application embodiment can calculate the first function value f(point) of the target point road element information based on the first formula, wherein the first formula includes: f(point) = f(f(lon) + f(lat) + ∑f(tag1) ∈tags1 f() represents the mapping function, point represents the target point road element information, lon represents the longitude in the location information, lat represents the latitude in the location information, and tag1 ∈tags1 The attribute tag1 represents any attribute tag1 in the attribute tag set tags1 of the target point-like road element. The attribute tag set of the target point-like road element refers to the set consisting of at least one attribute tag corresponding to the target point-like road element.

[0079] It should be added that, in the embodiments of this application, multiplication and other methods can also be used to calculate the function values ​​of the various information (longitude, latitude, attribute labels) contained in the target point road element information. Multiplication and other methods can also be used to calculate the function values ​​of the various information contained in the linear road element information and road relationship information in the following steps. However, when using other methods, attention should be paid to the order of these information. Addition, on the other hand, has no restrictions on the order. Therefore, addition can improve the calculation efficiency and avoid the final unique identifier error due to incorrect order.

[0080] S120: Calculate the second function value of the linear road element information based on the mapping function, the first function value of the second point road element information contained in the linear road element information, and the attribute labels of the linear road elements contained in the linear road element information.

[0081] This application embodiment can calculate the second function value f(line) of linear road element information based on the second formula, wherein the second formula includes: f(line) = f(∑f(point) ∈line )+∑f(tag2 ∈tags2 )), line represents linear road element information, point ∈line This indicates that the linear road element information includes the second point-like road element information, f(point). ∈line ) represents the first function value of the second point-like road element information contained in the linear road element information, tag2 ∈tags2 This represents any attribute tag2 in the set of attribute tags2 contained in the linear road element information. The set of attribute tags contained in the linear road element information refers to the set consisting of at least one attribute tag contained in the linear road element information.

[0082] S130: Calculate the third function value of the road relationship information based on the mapping function, the first function value of the target point road element information contained in the road relationship information, the second function value of the line road element information contained in the road relationship information, and the attribute labels of the road relationship contained in the road relationship information.

[0083] This application embodiment can calculate the third function value f(association) of road relationship information based on the third formula, wherein the third formula includes: f(association) = f(∑f(point) ∈association )+∑f(line ∈association )+∑f(tag3 ∈tags3 In this context, "association" represents road relationship information, and "point" represents... ∈association The road relationship information represents the target point-like road element information, f(point). ∈association f(line) represents the first function value of the target point road element information contained in the road relationship information. ∈association The second function value, tag3, represents the linear road element information contained in the road relationship information. ∈tags3 This represents any attribute tag 'tag3' in the set of attribute tags 'tags3' containing road relationship information.

[0084] S140: Determine the unique identifier of the high-precision map based on the mapping function, the first function value, the second function value, and the third function value of the target point road element.

[0085] This application embodiment can calculate the unique identifier f(map) of a high-precision map based on the sixth formula, wherein the sixth formula includes f(map) = f(∑f(point)). ∈map )+∑f(line ∈map )+∑f(association ∈map f(point) ∈map f(line) represents the first function value of the target point-like road element information contained in the high-precision map. ∈map f(association) represents the second function value of the linear road element information contained in the high-precision map. ∈map ) represents the third function value of the road relationship information contained in the high-precision map.

[0086] When the server sends a high-definition map to the vehicle, it can first use the above method to calculate the unique identifier of the high-definition map, and then send a message containing the unique identifier and the high-definition map to the vehicle. After the vehicle receives the unique identifier and the high-definition map sent by the server, it can first use the above method to calculate the unique identifier of the high-definition map, and then compare whether the unique identifier calculated locally is the same as the received unique identifier. If they are the same, it can be determined that not only the unique identifier has not been tampered with, but also that the content of the high-definition map has not been tampered with. If they are different, it can be determined that either the unique identifier or the content of the high-definition map has been tampered with.

[0087] The high-precision map processing method provided in this application can not only obtain three types of road-related information with hierarchical inclusion relationships—target point road element information, linear road element information, and road relationship information—from the high-precision map, but also iteratively calculate a unique identifier for the high-precision map based on these three types of information and a compression mapping function. Since the unique identifier in this application is obtained through iterative calculation of the road content itself contained in the high-precision map, rather than simply calculated from attribute information outside the high-precision map content (such as version number, name, or random number), it is difficult for others to know the calculation rules of the unique identifier, thus making it difficult to successfully tamper with it into a unique identifier acceptable to the recipient. Furthermore, even if others blindly tamper with the unique identifier, the recipient (such as a vehicle) can verify the correctness of the unique identifier using the above algorithm after receiving the high-precision map. They can also use the calculated unique identifier and the received unique identifier to verify whether the high-precision map content has been tampered with, thus ensuring that high-precision map updates are not delayed and update errors are prevented, thereby improving vehicle driving safety.

[0088] In one implementation, when the high-precision map is divided into multiple map partitions, and each map partition includes target point road element information, line road element information, road relationship information, and attribute labels of the map partition, step S140 includes: determining a unique identifier for the map partition based on a mapping function, a first function value of the target point road element information contained in the map partition, a second function value of the line road element information contained in the map partition, a third function value of the road relationship information contained in the map partition, and the attribute labels of the map partition; and determining a unique identifier for the high-precision map based on the mapping function and the unique identifier of each map partition.

[0089] This application embodiment can determine the unique identifier f(region) of a map partition based on the fourth formula, and determine the unique identifier f(map) of a high-precision map based on the fifth formula. The fourth formula includes f(region) = f(∑f(point)). ∈region )+∑f(line ∈region )+∑f(association ∈region )+∑f(tag4∈tags4 )), region represents a map partition, f((point ∈region f(line) represents the first function value of the target point road element information contained in the map partition. ∈region f(association) represents the second function value of the linear road element information contained in the map partition. ∈region ) represents the third function value of the road relationship information contained in the map partition, tag4 ∈tags4 The fifth formula represents any attribute label tag4 in the set of attribute labels tags4 contained in the map partition. ∈map ), f(region) ∈map This represents the unique identifier of any map partition in a high-precision map.

[0090] The high-precision map processing method provided in this application can not only determine the unique identifier of the complete high-precision map, but also divide the high-precision map into multiple map partitions and determine the unique identifier of each map partition. This not only further prevents others from successfully tampering with the unique identifier, but also allows the unique identifier of the map partition to be used to accurately locate whether the content of the map partition has been tampered with.

[0091] In one implementation, when tagx is the target tag, f(tagx) is used. ∈tagsx The value is assigned to 0, where x takes the value of 1, 2 or 3, and the target label is an attribute label that is unrelated to determining whether the road element itself in the high-precision map has changed;

[0092] And / or, if the target point road element belongs to the first target road element, the first function value corresponding to the target point road element belonging to the first target road element is assigned to 0, wherein the first target road element is a road element that is unrelated to whether the second target road element in the high-precision map itself has changed;

[0093] And / or, if the linear road element belongs to the first target road element, the second function value corresponding to the linear road element belonging to the first target road element is assigned to 0.

[0094] The target labels include time, lane line information, and other details. Both the first and second target road elements can include target point-like road elements and / or line-like road elements, and the specific content of both elements is related to the changes in the high-definition map of interest. For example, when the high-definition map change of interest is related to lane lines, lane lines can be designated as the second target road element, and all other road elements can be designated as the first target road element, with the corresponding function values ​​set to 0.

[0095] The high-precision map processing method provided in this application, by setting the attribute labels and function values ​​corresponding to the road elements that are unrelated to determining whether a road element in the high-precision map has changed to 0, can make the unique identifier more targeted, thereby further improving the accuracy of the unique identifier.

[0096] In one implementation, after determining the unique identifier of the high-definition map, this embodiment can directly determine whether two high-definition maps are the same based on the unique identifier, without needing to compare the content of the two high-definition maps one by one, thereby improving the efficiency of determining whether two high-definition maps are the same. The specific determination method includes: if the unique identifier of the first high-definition map is the same as the unique identifier of the second high-definition map, then the first high-definition map and the second high-definition map are determined to be the same; if the unique identifier of the first high-definition map is different from the unique identifier of the second high-definition map, then the first high-definition map and the second high-definition map are determined to be different.

[0097] In one implementation, if the version of the second high-precision map is higher than that of the first high-precision map, after determining that the first high-precision map and the second high-precision map are different, the embodiments of this application can replace the first high-precision map with the second high-precision map; or, if there is a target map partition, the target map partition in the second high-precision map can replace the target map partition in the first high-precision map, wherein the target map partition is a map partition in the first high-precision map and the second high-precision map that has a unique identifier that is different.

[0098] The high-precision map processing method provided in this application embodiment can directly replace the low-version high-precision map with the high-version high-precision map after determining that two high-precision maps are different through a unique identifier, thereby realizing the update of the high-precision map. Alternatively, the unique identifier of the map partition can be used to determine which map partition is different, and incremental updates can be achieved by replacing the content of the map partition, thereby improving the efficiency of high-precision map updates.

[0099] Corresponding to the above method embodiments, another embodiment of this application provides a high-precision map processing device. The high-precision map includes target point-like road element information, line-like road element information, and road relationship information. The target point-like road element information includes the location information and attribute labels of the target point-like road elements. The target point-like road elements include first point-like road elements and second point-like road elements. The first point-like road element is a road element that is point-like in its complete state. The second point-like road element is a point-like road element obtained by discretizing line-like road elements. The line-like road element information includes a set of second point-like road element information and attribute labels of the line-like road elements. The second point-like road element information includes the location information and attribute labels of the second point-like road elements. The road relationship information includes target point-like road element information, line-like road element information, and attribute labels used to represent the road relationship between the target point-like road element information and the line-like road element information, such as... Figure 2 As shown, the device includes:

[0100] The first calculation unit 21 is used to calculate the first function value of the target point road element information based on the mapping function, the position information of the target point road element contained in the target point road element information and the attribute label of the target point road element, wherein the mapping function is a compression function that can be mapped to an integer;

[0101] The second calculation unit 22 is used to calculate the second function value of the linear road element information based on the mapping function, the first function value of the second point road element information contained in the linear road element information, and the attribute label of the linear road element contained in the linear road element information.

[0102] The third calculation unit 23 is used to calculate the third function value of the road relationship information based on the mapping function, the first function value of the target point road element information contained in the road relationship information, the second function value of the line road element information contained in the road relationship information, and the attribute label of the road relationship contained in the road relationship information.

[0103] The identifier determination unit 24 is used to determine the unique identifier of the high-precision map based on the mapping function, the first function value, the second function value, and the third function value of the target point road element.

[0104] In one possible implementation, the identifier determination unit 24 includes:

[0105] The first determining module is used to determine the unique identifier of a map partition when the high-precision map is divided into multiple map partitions, and the map partitions include target point road element information, line road element information, road relationship information, and the attribute labels of the map partitions, based on a mapping function, a first function value of the target point road element information contained in the map partition, a second function value of the line road element information contained in the map partition, a third function value of the road relationship information contained in the map partition, and the attribute labels of the map partitions.

[0106] The second determination module is used to determine the unique identifier of the high-precision map based on the mapping function and the unique identifier of each map partition.

[0107] In one possible implementation, the first calculation unit 21 is used to calculate a first function value f(point) of the target point road element information based on a first formula, wherein the first formula includes: f(point) = f(f(lon) + f(lat) + ∑f(tag1) ∈tags1 f() represents the mapping function, point represents the target point road element information, lon represents the longitude in the location information, lat represents the latitude in the location information, and tag1 ∈tags1 The attribute tag1 in the attribute tag set tags1 of the target point road element;

[0108] And / or, the second calculation unit 22 is used to calculate the second function value f(line) of the linear road element information based on the second formula, wherein the second formula includes: f(line) = f(∑f(point) ∈line )+∑f(tag2 ∈tags2 ), line represents linear road element information, f(point ∈line ) represents the first function value of the second point-like road element information contained in the linear road element information, tag2 ∈tags2 This represents any attribute tag 'tag2' in the set of attribute tags 'tags2' containing the linear road element information;

[0109] And / or, the third calculation unit 23 is used to calculate the third function value f(association) of road relationship information based on the third formula, wherein the third formula includes: f(association) = f(∑f(point) ∈association )+∑f(line ∈association )+∑f(tag3 ∈tags3 f(point) ∈association f(line) represents the first function value of the target point road element information contained in the road relationship information. ∈associationThe second function value, tag3, represents the linear road element information contained in the road relationship information. ∈tags3 Represents any attribute tag tag3 in the attribute tag set tags3 containing road relationship information;

[0110] And / or, the first determining module is used to determine the unique identifier f(region) of the map partition based on the fourth formula, and the second determining module is used to determine the unique identifier f(map) of the high-precision map based on the fifth formula, wherein the fourth formula includes f(region) = f(∑f(point) ∈region )+∑f(line ∈region )+∑f(association ∈region )+

[0111] ∑f(tag4 ∈tags4 )), region represents a map partition, f(point ∈region f(line) represents the first function value of the target point road element information contained in the map partition. ∈region f(association) represents the second function value of the linear road element information contained in the map partition. ∈region ) represents the third function value of the road relationship information contained in the map partition, tag4 ∈tags4 The fifth formula represents any attribute label tag4 in the set of attribute labels tags4 contained in the map partition. ∈map ), f(region) ∈map This represents the unique identifier of any map partition in a high-precision map.

[0112] In one possible implementation, the first calculation unit 21 is used to calculate f(tag1) when tag1 is the target tag. ∈tags1 The value is assigned to 0, where the target label is an attribute label that is irrelevant to determining whether the road elements themselves in the high-precision map have changed;

[0113] And / or, the second calculation unit 22 is used to calculate f(tag2) when tag2 is the target tag. ∈tags2 The value is assigned to 0;

[0114] And / or, the third calculation unit 23 is used to calculate f(tag3) when tag3 is the target tag. ∈tags3 The value is assigned to 0;

[0115] And / or, the first calculation unit 21 is used to assign the first function value corresponding to the target point road element that belongs to the first target road element to 0 when the target point road element belongs to the first target road element, wherein the first target road element is a road element that is unrelated to whether the second target road element in the high-precision map itself has changed.

[0116] And / or, the second calculation unit 22 is used to assign the second function value corresponding to the linear road element that belongs to the first target road element to 0 when the linear road element belongs to the first target road element.

[0117] In one possible implementation, the device further includes:

[0118] The first difference determination unit is used to determine that the first high-precision map and the second high-precision map are the same after determining the unique identifier of the high-precision map and the unique identifier of the second high-precision map are the same.

[0119] The second difference determination unit is used to determine that the first high-precision map and the second high-precision map are different when the unique identifier of the first high-precision map is different from the unique identifier of the second high-precision map.

[0120] In one possible implementation, the device further includes:

[0121] The update unit is used to replace the first high-precision map with the second high-precision map when the version of the second high-precision map is higher than that of the first high-precision map, after determining that the first high-precision map and the second high-precision map are different; or, when there is a target map partition, to replace the target map partition in the first high-precision map with the target map partition in the second high-precision map, wherein the target map partition is a map partition in the first high-precision map and the second high-precision map that is uniquely identified as different.

[0122] The high-precision map processing device provided in this application embodiment can not only obtain three types of road-related information with hierarchical inclusion relationships—target point road element information, linear road element information, and road relationship information—from the high-precision map, but also iteratively calculate a unique identifier for the high-precision map based on these three types of information and a compression mapping function. Since the unique identifier in this application embodiment is obtained through iterative calculation of the road content itself contained in the high-precision map, rather than simply calculated from attribute information outside the high-precision map content (such as version number, name, or random number), it is difficult for others to know the calculation rules of the unique identifier, thus making it difficult to successfully tamper with it to create a unique identifier acceptable to the recipient. Furthermore, even if others blindly tamper with the unique identifier, the recipient (such as a vehicle) can verify the correctness of the unique identifier using the above algorithm after receiving the high-precision map. They can also use the calculated unique identifier and the received unique identifier to verify whether the high-precision map content has been tampered with, thus ensuring that high-precision map updates are not delayed and update errors are prevented, thereby improving vehicle driving safety.

[0123] Based on the above method embodiments, another embodiment of this application provides a storage medium storing executable instructions thereon, which, when executed by a processor, cause the processor to implement the method described in any of the above embodiments.

[0124] Based on the above method embodiments, another embodiment of this application provides an electronic device or computer device, including:

[0125] One or more processors;

[0126] Storage device for storing one or more programs.

[0127] When the one or more programs are executed by the one or more processors, the electronic device or computer device performs the method as described in any of the above embodiments.

[0128] Based on the above method embodiments, another embodiment of this application provides a vehicle that includes the apparatus as described in any of the above embodiments, or includes electronic devices as described above.

[0129] like Figure 3As shown, the vehicle includes a CPU (Central Processing Unit) 31, a GPS (Global Positioning System) positioning device 32, a T-Box (Telematics Box) 33, a V2X (Vehicle-to-Everything) module 34, a radar 35, and a camera 36. The GPS positioning device 32 is used to obtain the vehicle's current geographical location; the T-Box 33 can act as a gateway to communicate with the server; the CPU 31 can execute the high-precision map processing method mentioned in the above embodiments; the radar 35 or camera 36 is used to perceive road environment information in front and / or other directions, and the radar 35 or camera 36 can be configured at the front and / or rear of the vehicle.

[0130] The above-described apparatus embodiments correspond to the method embodiments and have the same technical effects. For detailed descriptions, please refer to the method embodiments. The apparatus embodiments are derived from the method embodiments; detailed descriptions can be found in the method embodiments section, and will not be repeated here. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0131] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for processing high-precision maps, characterized in that, The high-precision map includes target point-like road element information, line-like road element information, and road relationship information. The target point-like road element information includes the location information and attribute labels of the target point-like road element. The target point-like road element includes a first point-like road element and a second point-like road element. The first point-like road element is a road element that is point-like in its complete state. The second point-like road element is a point-like road element obtained by discretizing a line-like road element. The line-like road element information includes a set of second point-like road element information and the attribute labels of the line-like road element. The second point-like road element information includes the location information and the attribute labels of the second point-like road element. The road relationship information includes the target point-like road element information, the line-like road element information, and the attribute labels used to represent the road relationship between the target point-like road element information and the line-like road element information. The method includes: Based on the mapping function, the location information of the target point road element included in the target point road element information, and the attribute label of the target point road element, a first function value of the target point road element information is calculated, wherein the mapping function is a compression function that can map to integers; Based on the mapping function, the first function value of the second point road element information contained in the linear road element information, and the attribute label of the linear road element contained in the linear road element information, the second function value of the linear road element information is calculated. Based on the mapping function, the first function value of the target point road element information contained in the road relationship information, the second function value of the line road element information contained in the road relationship information, and the attribute label of the road relationship contained in the road relationship information, the third function value of the road relationship information is calculated. The unique identifier of the high-precision map is determined based on the mapping function, the first function value, the second function value, and the third function value of the target point road element.

2. The method according to claim 1, characterized in that, When the high-precision map is divided into multiple map partitions, and each map partition includes the target point road element information, the line road element information, the road relationship information, and the attribute labels of the map partition, determining the unique identifier of the high-precision map based on the mapping function, the first function value of the target point road element, the second function value, and the third function value includes: Based on the mapping function, the first function value of the target point road element information contained in the map partition, the second function value of the linear road element information contained in the map partition, the third function value of the road relationship information contained in the map partition, and the attribute label of the map partition, the unique identifier of the map partition is determined; The unique identifier of the high-precision map is determined based on the mapping function and the unique identifier of each map partition.

3. The method according to claim 2, characterized in that, The step of calculating the first function value of the target point road element information based on the mapping function, the location information of the target point road element included in the target point road element information, and the attribute tags of the target point road element includes: calculating the first function value f(point) of the target point road element information based on a first formula, wherein the first formula includes: f(point) = f(f(lon) + f(lat) + ∑f(tag1) ∈tags1 f() represents the mapping function, point represents the target point road element information, lon represents the longitude in the location information, lat represents the latitude in the location information, and tag1 ∈tags1 This represents any attribute tag1 in the attribute tag set tags1 of the target point road element; And / or, calculating the second function value of the linear road element information based on the mapping function, the first function value of the second point road element information included in the linear road element information, and the attribute tags of the linear road elements included in the linear road element information, includes: calculating the second function value f(line) of the linear road element information based on a second formula, wherein the second formula includes: f(line) = f(∑f(point) ∈line )+∑f(tag2 ∈tags2 The line represents the linear road element information, and the f(point) ∈line ) represents the first function value of the second point-like road element information contained in the linear road element information, and the tag2 ∈tags2 This refers to any attribute tag2 in the attribute tag set tags2 contained in the linear road element information; And / or, calculating the third function value of the road relationship information based on the mapping function, the first function value of the target point road element information included in the road relationship information, the second function value of the line road element information included in the road relationship information, and the attribute label of the road relationship included in the road relationship information, includes: calculating the third function value f(association) of the road relationship information based on a third formula, wherein the third formula includes: f(association) = f(∑f(point) ∈association )+∑f(line ∈association )+∑f(tag3 ∈tags3 f(point) ∈association ) represents the first function value of the target point road element information contained in the road relationship information, where f(line) ∈association The tag3 represents the second function value of the linear road element information contained in the road relationship information. ∈tags3 This refers to any attribute tag 'tag3' in the attribute tag set 'tags3' containing the road relationship information; And / or, based on the mapping function, the first function value of the target point road element information contained in the map partition, the second function value of the linear road element information contained in the map partition, the third function value of the road relationship information contained in the map partition, and the attribute label of the map partition, the unique identifier of the map partition is determined. Determining the unique identifier of the high-precision map based on the mapping function and the unique identifiers of each map partition includes: determining the unique identifier f(region) of the map partition based on a fourth formula, and determining the unique identifier f(map) of the high-precision map based on a fifth formula, wherein the fourth formula includes f(region) = f(∑f(point) ∈region )+∑f(line ∈region )+∑f(association ∈region )+∑f(tag4 ∈tags4 The region represents the map partition, and f(point) ∈region ) represents the first function value of the target point road element information contained in the map partition, where f(line) ∈region ) represents the second function value of the linear road element information contained in the map partition, where f(association) ∈region The tag4 represents the third function value of the road relationship information contained in the map partition. ∈tags4 The fifth formula represents any attribute tag4 in the attribute tag set tags4 contained in the map partition, and includes: f(map) = f(∑f(region) ∈map ), the f(region) ∈map ) represents the unique identifier of any of the map partitions in the high-precision map.

4. The method according to claim 3, characterized in that, When tagx is the target tag, f(tagx) ∈tagsx The value of x is assigned to 0, where x takes the value of 1, 2 or 3, and the target label is the attribute label that is unrelated to determining whether the road element itself in the high-precision map has changed; And / or, if the target point road element belongs to the first target road element, the first function value corresponding to the target point road element belonging to the first target road element is assigned to 0, wherein the first target road element is a road element that is unrelated to determining whether the second target road element itself in the high-precision map has changed; And / or, if the linear road element belongs to the first target road element, the second function value corresponding to the linear road element belonging to the first target road element is assigned to 0.

5. The method according to any one of claims 2-4, characterized in that, After determining the unique identifier of the high-precision map, the method further includes: If the unique identifier of the first high-precision map is the same as the unique identifier of the second high-precision map, then the first high-precision map and the second high-precision map are determined to be the same. If the unique identifier of the first high-precision map is different from the unique identifier of the second high-precision map, then the first high-precision map and the second high-precision map are determined to be different.

6. The method according to claim 5, characterized in that, If the version of the second high-precision map is higher than that of the first high-precision map, after determining that the first high-precision map and the second high-precision map are different, the method further includes: Replace the first high-precision map with the second high-precision map; Alternatively, if a target map partition exists, the target map partition in the second high-precision map replaces the target map partition in the first high-precision map, wherein the target map partition is a map partition in the first high-precision map and the second high-precision map with different unique identifiers.

7. A high-precision map processing device, characterized in that, The high-precision map includes target point-like road element information, line-like road element information, and road relationship information. The target point-like road element information includes the location information and attribute labels of the target point-like road elements. The target point-like road elements include a first point-like road element and a second point-like road element. The first point-like road element is a road element that is point-like in its complete state. The second point-like road element is a point-like road element obtained by discretizing a line-like road element. The line-like road element information includes a set of second point-like road element information and the attribute labels of the line-like road elements. The second point-like road element information includes the location information and the attribute labels of the second point-like road elements. The road relationship information includes the target point-like road element information, the line-like road element information, and attribute labels used to represent the road relationship between the target point-like road element information and the line-like road element information. The device includes: The first calculation unit is used to calculate a first function value of the target point road element information based on a mapping function, the position information of the target point road element included in the target point road element information, and the attribute label of the target point road element, wherein the mapping function is a compression function that can map to integers; The second calculation unit is used to calculate the second function value of the linear road element information based on the mapping function, the first function value of the second point road element information contained in the linear road element information, and the attribute label of the linear road element contained in the linear road element information. The third calculation unit is used to calculate the third function value of the road relationship information based on the mapping function, the first function value of the target point road element information contained in the road relationship information, the second function value of the line road element information contained in the road relationship information, and the attribute label of the road relationship contained in the road relationship information; The identifier determination unit is used to determine the unique identifier of the high-precision map based on the mapping function, the first function value, the second function value, and the third function value of the target point road element.

8. The apparatus according to claim 7, characterized in that, The identifier determination unit includes: The first determining module is configured to, when the high-precision map is divided into multiple map partitions, and the map partitions include the target point road element information, the line road element information, the road relationship information, and the attribute labels of the map partitions, determine the unique identifier of the map partition based on the mapping function, the first function value of the target point road element information included in the map partition, the second function value of the line road element information included in the map partition, the third function value of the road relationship information included in the map partition, and the attribute labels of the map partition; The second determining module is used to determine the unique identifier of the high-precision map based on the mapping function and the unique identifier of each map partition.

9. The apparatus according to claim 8, characterized in that, The first calculation unit is used to calculate a first function value f(point) of the target point road element information based on a first formula, wherein the first formula includes: f(point) = f(f(lon) + f(lat) + ∑f(tag1) ∈tags1 f() represents the mapping function, point represents the target point road element information, lon represents the longitude in the location information, lat represents the latitude in the location information, and tag1 ∈tags1 This represents any attribute tag1 in the attribute tag set tags1 of the target point road element; And / or, the second calculation unit is used to calculate a second function value f(line) of the linear road element information based on a second formula, wherein the second formula includes: f(line) = f(∑f(point) ∈line )+∑f(tag2 ∈tags2 The line represents the linear road element information, and the f(point) ∈line ) represents the first function value of the second point-like road element information contained in the linear road element information, and the tag2 ∈tags2 This refers to any attribute tag2 in the attribute tag set tags2 contained in the linear road element information; And / or, the third calculation unit is used to calculate a third function value f(association) of the road relationship information based on a third formula, wherein the third formula includes: f(association) = f(∑f(point) ∈association )+∑f(line ∈association )+∑f(tag3 ∈tags3 f(point) ∈association ) represents the first function value of the target point road element information contained in the road relationship information, where f(line) ∈association The tag3 represents the second function value of the linear road element information contained in the road relationship information. ∈tags3 This refers to any attribute tag 'tag3' in the attribute tag set 'tags3' containing the road relationship information; And / or, the first determining module is used to determine the unique identifier f(region) of the map partition based on the fourth formula, and the second determining module is used to determine the unique identifier f(map) of the high-precision map based on the fifth formula, wherein the fourth formula includes f(region) = f(∑f(point) ∈region )+∑f(line ∈region )+∑f(association ∈region )+∑f(tag4 ∈tags4 The region represents the map partition, and f(point) ∈region ) represents the first function value of the target point road element information contained in the map partition, where f(line) ∈region ) represents the second function value of the linear road element information contained in the map partition, where f(association) ∈region The tag4 represents the third function value of the road relationship information contained in the map partition. ∈tags4 The fifth formula represents any attribute tag4 in the attribute tag set tags4 contained in the map partition, and includes: f(map) = f(∑f(region) ∈map ), the f(region) ∈map ) represents the unique identifier of any of the map partitions in the high-precision map.

10. The apparatus according to claim 9, characterized in that, The first calculation unit is configured to, when tag1 is the target tag, calculate f(tag1) ∈tags1 The value is assigned to 0, where the target label is the attribute label that is unrelated to determining whether the road element itself in the high-precision map has changed; And / or, the second calculation unit is configured to, when tag2 is the target tag, calculate f(tag2) ∈tags2 The value is assigned to 0; And / or, the third calculation unit is configured to, when tag3 is the target tag, calculate f(tag3) ∈tags3 The value is assigned to 0; And / or, the first calculation unit is configured to, when the target point road element belongs to the first target road element, assign the first function value corresponding to the target point road element belonging to the first target road element to 0, wherein the first target road element is a road element that is unrelated to determining whether the second target road element itself in the high-precision map has changed; And / or, the second calculation unit is configured to assign the second function value corresponding to the linear road element belonging to the first target road element to 0 when the linear road element belongs to the first target road element.

11. The apparatus according to any one of claims 8-10, characterized in that, The device further includes: The first difference determination unit is configured to determine that the first high-precision map and the second high-precision map are the same if, after the unique identifier of the high-precision map is determined, the unique identifier of the first high-precision map is the same as the unique identifier of the second high-precision map. The second difference determination unit is used to determine that the first high-precision map and the second high-precision map are different when the unique identifier of the first high-precision map is different from the unique identifier of the second high-precision map.

12. The apparatus according to claim 11, characterized in that, The device further includes: An update unit is configured to, when the version of the second high-precision map is higher than that of the first high-precision map, replace the first high-precision map with the second high-precision map after determining that the first high-precision map and the second high-precision map are different; or, when a target map partition exists, replace the target map partition in the first high-precision map with the target map partition in the second high-precision map, wherein the target map partition is a map partition in the first high-precision map and the second high-precision map whose unique identifiers are different.

13. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

14. An electronic device, characterized in that, The electronic device includes: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the electronic device performs the method as described in any one of claims 1-6.

15. A vehicle, characterized in that, The vehicle includes the device as described in any one of claims 7-12, or the electronic device as described in claim 14.

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