Map construction method, storage medium, electronic device, and vehicle

Abstract

The present disclosure relates to a map construction method, a storage medium, an electronic device and a vehicle, and aims to solve the technical problem of low map construction efficiency in the prior art. The method comprises the following steps: determining target position information of a region to be constructed; sending the target position information to a target vehicle, so that the target vehicle executes a map collection operation to obtain initial map information of the region to be constructed under the condition that the target vehicle meets a preset triggering condition according to the target position information, and sends the initial map information to the server; and constructing a high-definition map of the region to be constructed according to the initial map information.

Description

Technical Field

[0001] This disclosure relates to the field of navigation technology, and more specifically, to a map building method, storage medium, electronic device, and vehicle. Background Technology

[0002] With the popularization of intelligent driving technology, most advanced autonomous driving technologies rely heavily on high-definition maps to complete unmanned driving tasks in complex scenarios. Therefore, high-definition maps play an irreplaceable role in autonomous driving.

[0003] Traditional SLAM (Simultaneous Localization and Mapping) technology requires professionals to collect data in pre-planned areas and road scenarios using equipment or vehicles. Subsequent data processing involves extensive map stitching and redundancy filtering to obtain the final high-precision map. The initial data collection consumes significant human and equipment resources, has poor real-time performance, causes inconvenience for subsequent data processing, and results in low map building efficiency. Summary of the Invention

[0004] The purpose of this disclosure is to provide a map building method, storage medium, electronic device, and vehicle to solve the technical problem of low map building efficiency in related technologies.

[0005] To achieve the above objectives, a first aspect of this disclosure provides a map construction method applied to a server, the method comprising:

[0006] Determine the target location information of the area to be constructed;

[0007] The target location information is sent to the target vehicle, so that the target vehicle determines that it meets the preset triggering conditions based on the target location information, performs a map acquisition operation to obtain the initial map information of the area to be constructed, and sends the initial map information to the server.

[0008] A high-precision map of the area to be constructed is built based on the initial map information.

[0009] Optionally, determining the target location information of the region to be constructed includes:

[0010] Obtain the coordinate information of manually marked locations in the area to be constructed, and determine the coordinate information of the manually marked locations as the target location information; and / or,

[0011] Obtain the coordinate information of the positioning device set in the area to be constructed, and determine the coordinate information of the positioning device as the target location information.

[0012] Optionally, constructing a high-precision map of the area to be constructed based on the initial map information includes:

[0013] If the area to be constructed does not have a corresponding historical high-precision map, then a high-precision map of the area to be constructed is constructed based on the initial map information;

[0014] The method further includes:

[0015] If the area to be constructed corresponds to the historical high-precision map, then the initial map information and the historical high-precision map are compared in terms of features;

[0016] If the number of identical features between the initial map information and the historical high-precision map is less than a first preset ratio, the historical high-precision map is updated based on the initial map information.

[0017] Optionally, the number of target vehicles is multiple, and the method further includes:

[0018] Before constructing a high-precision map of the area to be constructed based on the initial map information, feature comparison is performed on multiple initial map information sent by multiple target vehicles;

[0019] The step of constructing a high-precision map of the area to be constructed based on the initial map information includes:

[0020] If the same feature of the plurality of initial map information is greater than a second preset ratio, a high-precision map of the area to be constructed is constructed based on at least one of the plurality of initial map information.

[0021] Optionally, the method further includes:

[0022] If the initial map information meets a preset first stop acquisition condition, a stop acquisition command is sent to the target vehicle to cause the target vehicle to stop performing the map acquisition operation. The preset first stop acquisition condition includes at least one of the following:

[0023] The combination of the initial map information and other map information includes all the information required to construct a high-precision map of the area to be constructed, wherein the other map information is historical map information of the area to be constructed stored on the server.

[0024] The initial map information includes all the information required to construct a high-precision map of all or part of the area to be constructed.

[0025] The initial map information collection duration is greater than the preset collection duration.

[0026] A second aspect of this disclosure also provides a map construction method applied to a target vehicle, the method comprising:

[0027] Receive the target location information of the region to be built sent by the server;

[0028] If the target vehicle meets the preset triggering conditions based on the target location information, a map acquisition operation is performed to obtain the initial map information of the area to be constructed.

[0029] The initial map information is sent to the server so that the server can construct a high-precision map of the area to be constructed based on the initial map information.

[0030] Optionally, the target location information includes at least one of the following:

[0031] The coordinate information of manually marked locations in the area to be constructed;

[0032] The coordinate information of the positioning device set in the area to be constructed.

[0033] Optionally, the step of performing a map acquisition operation to obtain initial map information of the area to be constructed when the target vehicle is determined to meet a preset triggering condition based on the target location information includes:

[0034] Determine the current location information of the target vehicle;

[0035] Based on the current location information and the target location information, determine the target distance between the target vehicle and the area to be constructed;

[0036] If the target distance is less than a preset distance, and the direction of travel of the target vehicle is the direction of the area to be constructed, then the map acquisition operation is performed to obtain the initial map information of the area to be constructed.

[0037] Optionally, determining the current location information of the target vehicle includes:

[0038] The current location information of the target vehicle is determined according to the target vehicle's positioning system; or,

[0039] The system performs data communication operations with a positioning device located in the area to be constructed, and determines the current location information of the target vehicle based on the data communication operations.

[0040] Optionally, the initial map information of the area to be constructed includes at least one of the following:

[0041] Image information obtained by the image acquisition device of the target vehicle through image acquisition operation;

[0042] The radar detection information obtained by the radar equipment of the target vehicle through radar detection operation;

[0043] The positioning information is obtained by the positioning device of the target vehicle through positioning operation.

[0044] Optionally, the method further includes:

[0045] Upon receiving a stop-collection command from the server, the map collection operation is stopped; or,

[0046] If the initial map information meets the preset second stop collection condition, the map collection operation is stopped. The preset second stop collection condition includes at least one of the following: the collection duration corresponding to the map collection operation is greater than the preset collection duration and the collection area corresponding to the map collection operation is greater than the preset area range.

[0047] A third aspect of this disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any one of the first or second aspects.

[0048] A fourth aspect of this disclosure also provides an electronic device, comprising:

[0049] A memory on which computer programs are stored;

[0050] A processor for executing the computer program in the memory to implement the steps of the method of any one of the first aspects.

[0051] The fifth aspect of this disclosure also provides a vehicle, comprising:

[0052] Sensors are used to collect map information;

[0053] A memory on which computer programs are stored;

[0054] A processor for executing the computer program in the memory to implement the steps of the method in any of the second aspects.

[0055] The above technical solution can achieve at least the following technical effects:

[0056] First, the target location information of the area to be constructed is determined. Then, this target location information is sent to the target vehicle. Based on this, the target vehicle, upon meeting preset trigger conditions, performs map data collection to obtain initial map information for the area to be constructed. This initial map information is then sent to the server. Finally, a high-precision map of the area to be constructed is built based on this initial map information. Using this method, the server sends the target location information of the area to be constructed to the target vehicle, ensuring that the collected data is returned to the server when the preset trigger conditions are met. This approach offers high real-time performance, does not rely on specialized personnel or equipment, and reduces the server's data processing complexity by selectively collecting data from the area to be constructed, effectively improving map construction efficiency.

[0057] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0058] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0059] Figure 1 This is a schematic flowchart illustrating a map construction method according to an embodiment of this disclosure;

[0060] Figure 2 This is a schematic flowchart illustrating a map construction method according to an embodiment of this disclosure;

[0061] Figure 3 This is a schematic diagram illustrating a process of server-side interaction with target vehicle to construct a high-precision map, as shown in an embodiment of this disclosure;

[0062] Figure 4 This is a schematic diagram of an electronic device shown in an embodiment of this disclosure. Detailed Implementation

[0063] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0064] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0065] It should be understood that the various steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect. The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions for other terms will be given in the description below.

[0066] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules, or units, and are not used to limit the order of functions performed by these devices, modules, or units or their interdependencies. It should also be noted that the modifications of "a" and "a plurality of" mentioned in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0067] As mentioned in the background section, traditional SLAM technology requires professionals to collect data in pre-planned areas and road scenarios using equipment or vehicles. This consumes significant human and equipment resources. Post-collection data processing is then necessary, resulting in poor real-time performance, large data volumes, and redundant data, which hinders subsequent processing and leads to low map building efficiency. Furthermore, it cannot promptly capture changes in the actual scene. If subsequent random sampling is performed without a clear purpose to determine whether high-precision maps need updating, it easily leads to resource waste and increased data processing complexity.

[0068] In view of this, the present disclosure provides a map construction method, a storage medium, an electronic device, and a vehicle to solve the above-mentioned technical problems.

[0069] Reference Figure 1 This disclosure provides a map construction method applied to a server, the method comprising:

[0070] S101. Determine the target location information of the area to be constructed.

[0071] S102. Send the target location information to the target vehicle so that the target vehicle can perform map acquisition operation to obtain the initial map information of the area to be constructed when it determines that the target vehicle meets the preset trigger conditions based on the target location information, and send the initial map information to the server.

[0072] It should be noted that as vehicles are equipped with increasingly sophisticated hardware, the data collected by the various sensors on many civilian vehicles is generally sufficient to meet the data requirements for building high-precision maps. Compared to professionals collecting data using specialized equipment or vehicles, civilian vehicles are not only numerous but also widely distributed. Therefore, by obtaining authorization from the owners of these vehicles, authorized civilian vehicles (i.e., the target vehicles) can be connected to the server to collect the data needed for building high-precision maps. This not only reduces the investment in professional personnel or equipment, lowering costs and improving the efficiency of building high-precision maps, but also provides high real-time performance and facilitates subsequent updates and maintenance of the high-precision maps.

[0073] S103. Construct a high-precision map of the area to be constructed based on the initial map information.

[0074] Using the above method, the server sends the target location information of the area to be constructed to the target vehicle, so that the target vehicle collects data and returns it to the server when the preset trigger conditions are met. It has high real-time performance and does not rely on professional personnel or equipment. Furthermore, by collecting data in a targeted manner for the area to be constructed, the data processing difficulty of the server is reduced, and the efficiency of map construction is effectively improved.

[0075] It should be noted that the server can be in the cloud, where powerful data processing capabilities can further improve map building efficiency.

[0076] To enable those skilled in the art to better understand the map construction method provided in this disclosure, the above steps are illustrated in detail below.

[0077] In some possible ways, determining the target location information of the area to be constructed may be: obtaining the coordinate information of manually marked location points in the area to be constructed and determining the coordinate information of the manually marked location points as the target location information, and / or obtaining the coordinate information of the positioning device set in the area to be constructed and determining the coordinate information of the positioning device as the target location information.

[0078] For example, based on the blank high-precision map to be built or the existing high-precision map of discontinuous areas stored on the server, the area where the map needs to be built (the area to be built) is marked. The location points in the area to be built can be manually marked according to the actual road conditions or requirements. Based on the principle of "points forming lines, lines forming areas," a certain number of location points are marked at reasonable intervals to cover the area to be built, such as a section of road or a region. Location points can also be marked in areas where high-precision maps have already been built, facilitating subsequent map updates for those areas. Furthermore, the location coordinates (absolute location coordinates) corresponding to each manually marked point can be directly obtained through a Global Positioning System (GPS) or BeiDou Navigation Satellite System, etc., which is not limited in this disclosure.

[0079] For example, in certain scenarios, such as tunnels, underground parking garages, and under elevated roads where there is no or a weak location signal, positioning devices storing absolute position coordinates can be installed in these areas. These positioning devices, also known as electronic anchors, are hardware devices capable of transmitting their location information via Bluetooth, WiFi, or near-field communication (NFC) and communicating with the vehicle. The electronic anchor is fixed in a specific location, and its accurate absolute position coordinates are pre-calculated by other devices. This allows it to assist the target vehicle in locating itself or trigger the vehicle to perform map data collection. It is worth noting that positioning devices are simple to install and can cover areas where the Global Positioning System (GPS) cannot accurately locate, achieving full coverage of high-precision maps and eliminating information blind spots.

[0080] In one possible approach, constructing a high-precision map of the area to be constructed based on initial map information could be as follows: if the area to be constructed does not have a corresponding historical high-precision map, then a high-precision map of the area to be constructed is constructed based on the initial map information. The method further includes: if the area to be constructed has a corresponding historical high-precision map, then a feature comparison is performed between the initial map information and the historical high-precision map; if the number of identical features between the initial map information and the historical high-precision map is less than a first preset proportion, then the historical high-precision map is updated based on the initial map information.

[0081] For example, if there is no corresponding historical high-definition map for the area to be constructed, a high-definition map of the area can be constructed based on the initial map information. If there is a corresponding historical high-definition map for the area to be constructed, the initial map information and the historical high-definition map are compared by feature analysis to determine whether the historical high-definition map of the area to be constructed needs to be updated. For example, if a road segment is under construction with fencing, the initial map information collected by the target vehicle for that road segment will differ significantly from the corresponding historical high-definition map, meaning that the common features between the two are less than a first preset ratio. In this case, the historical high-definition map can be updated based on the initial map information. If the initial map information collected by the target vehicle for that road segment differs slightly from the corresponding historical high-definition map, meaning that the common features between the two are greater than the first preset ratio, then there is no need to update the historical high-definition map. The first preset ratio can be set according to requirements, and this disclosure does not impose any restrictions on it.

[0082] It is worth noting that, taking the construction of a high-precision map of a city as an example, multiple location points (manually marked location points or installation locations of positioning devices) covering the entire city area can be set as the area to be constructed. This allows for real-time collection of initial map information across the entire area via target vehicles. Maps can then be constructed for areas within the entire area that do not correspond to historical high-precision maps, and updated for areas that do have historical high-precision maps. Alternatively, areas within the entire area that do not correspond to historical high-precision maps can be set as the area to be constructed, while areas with historical high-precision maps can be set as the area to be constructed at preset intervals. This allows for periodic updates of historical high-precision maps, reducing resource waste and server-side data processing workload. The preset interval can be set according to requirements, and this disclosure does not impose any restrictions on it.

[0083] Furthermore, when building or updating maps for a portion of the entire region, the high-definition map of that portion needs to be stitched together with the high-definition maps of its adjacent areas to obtain the final high-definition map of the entire region. Additionally, each location point in the high-definition map can be categorized and marked, such as "with high-definition map" and "without high-definition map." This way, when a target vehicle passes through any location point and triggers a map acquisition operation, uploading the initial map information, the cloud can directly determine whether to build or update the map based on the location point's categorization, or determine whether the initial map information is intended for map building or map updating.

[0084] In one possible approach, the number of target vehicles is multiple, and the method further includes: performing feature comparison on multiple initial map information sent by multiple target vehicles before constructing a high-precision map of the area to be constructed based on the initial map information. Constructing a high-precision map of the area to be constructed based on the initial map information can be achieved by: constructing a high-precision map of the area to be constructed based on at least one of the multiple initial map information if the shared features of the multiple initial map information are greater than a second preset ratio.

[0085] For example, to ensure the validity of the initial map information, multiple initial map messages sent by multiple target vehicles can be compared. If the common features of the multiple initial map messages are greater than a second preset ratio, then the multiple initial map messages are considered valid information. A high-precision map of the area to be constructed is then built based on at least one of the multiple initial map messages. The second preset ratio can be set according to requirements, and this disclosure does not impose any restrictions on it. This avoids constructing a high-precision map from occasional map information. For example, if a road segment is undergoing short-term repairs, and target vehicle 1 passes through a section where some areas are fenced off, while target vehicle 2 passes through a section where the fences have been removed and the road conditions are normal, the initial map information collected by target vehicle 1 and target vehicle 2 differs significantly and can be considered invalid information. The high-precision map is then constructed only after other target vehicles upload valid information.

[0086] Accordingly, before updating the historical high-precision map based on the initial map information, multiple initial map information can be obtained for feature comparison. After confirming that the multiple initial map information is valid, the historical high-precision map can be updated based on at least one of the multiple initial map information. This disclosure will not elaborate further here.

[0087] In one possible approach, the method further includes: sending a stop acquisition command to the target vehicle when the initial map information meets a preset first stop acquisition condition, so as to stop the target vehicle from performing map acquisition operations, wherein the preset first stop acquisition condition includes at least one of the following: the combination of the initial map information and other map information includes all the information required to construct a high-precision map of the area to be constructed, and the other map information is historical map information of the area to be constructed stored on the server; the initial map information includes all the information required to construct a high-precision map of all or part of the area to be constructed; and the acquisition duration corresponding to the initial map information is greater than a preset acquisition duration.

[0088] For example, a stop-collection command can be sent to the target vehicle to avoid wasting resources by continuously collecting map data. Taking a road segment as an example, points A, B, and C (points forming a line) are marked as location points to trigger the target vehicle to collect map information for that segment. When the target vehicle travels to the vicinity of point A, it triggers the map collection operation. If the server has already stored the initial map information for segment BC collected by other target vehicles, the target vehicle only needs to collect the initial map information for segment AB. After receiving the initial map information for segment AB from the target vehicle, the server can stitch it together with the initial map information for segment BC collected by other target vehicles. In this case, the server can send a stop-collection command to the target vehicle after receiving the initial map information for segment AB from the target vehicle.

[0089] For example, taking this road segment as an example again, if the target vehicle has collected complete initial map information for segment AC, or if the target vehicle turns after collecting initial map information for segment AB and cannot continue collecting initial map information for segment BC, the server can send a stop collection command to the target vehicle. Alternatively, a preset collection duration can be set. If the target vehicle's collection duration exceeds the preset duration, the server can also send a stop collection command to the target vehicle. The preset collection duration can be determined according to requirements, and this disclosure does not impose any restrictions on it.

[0090] It is worth noting that after a high-precision map of the entire region is obtained by map construction or map update of the region to be constructed, the high-precision map of the entire region is sent to the vehicle to assist the vehicle in more accurate positioning and correction. The high-precision map can be sent not only to the target vehicle, but also to other vehicles that need to use the high-precision map. This disclosure does not impose any restrictions on this.

[0091] Based on the same inventive concept, referring to Figure 2 This disclosure also provides a map construction method applied to a target vehicle, the method comprising:

[0092] S201. Receive the target location information of the region to be constructed sent by the server.

[0093] S202. If the target vehicle meets the preset triggering conditions based on the target location information, perform a map acquisition operation to obtain the initial map information of the area to be constructed.

[0094] S203. Send the initial map information to the server so that the server can build a high-precision map of the area to be built based on the initial map information.

[0095] Using the above method, the target location information of the area to be constructed is sent by the server. If the target vehicle meets the preset trigger conditions, a map acquisition operation is performed to obtain initial map information, which is then returned to the server. The server then constructs a high-precision map of the area to be constructed based on this initial map information. This allows for targeted data collection of the area to be constructed, reducing the data processing complexity on the server and effectively improving map construction efficiency.

[0096] In possible ways, the target location information includes at least one of the following: the coordinate information of manually marked location points in the area to be constructed, and the coordinate information of the positioning device set in the area to be constructed.

[0097] For example, the target location information is the absolute coordinates of a location point determined based on the Global Positioning System (GPS). These location points include manually marked locations or the installation locations of positioning devices. Positioning devices are typically installed in areas with no or poor positioning signals, such as under overpasses, tunnels, and underground parking garages. Vehicles in these areas are usually unable to be located using GPS, so positioning devices can be used to achieve full coverage of high-precision maps. It should be noted that the positioning device can pre-determine coordinate information using GPS in conjunction with other measuring equipment; relevant technologies can be referenced, and this disclosure will not elaborate further.

[0098] In one possible approach, if the target vehicle meets the preset triggering conditions based on the target location information, the initial map information of the area to be constructed can be obtained by performing a map acquisition operation: determining the current location information of the target vehicle, determining the target distance between the target vehicle and the area to be constructed based on the current location information and the target location information, and if the target distance is less than the preset distance, and if the direction of travel of the target vehicle is the direction of the area to be constructed, then the initial map information of the area to be constructed can be obtained by performing a map acquisition operation.

[0099] For example, the target vehicle can determine its current location information through its built-in high-precision positioning system (or global positioning system). The coordinate system corresponding to the high-precision positioning system can be the same as the coordinate system corresponding to the global positioning system, so that the distance can be calculated directly based on the positioning coordinates of the target vehicle and the location coordinates of the area to be constructed. Alternatively, the coordinate system corresponding to the high-precision positioning system can be different from the coordinate system corresponding to the global positioning system, and the target vehicle can perform distance calculation after coordinate transformation. This disclosure does not impose any restrictions on this.

[0100] For example, if the target distance is less than a preset distance, it is further determined whether the vehicle's travel direction is consistent with the data collection direction required to construct the high-precision map (the direction of the area to be constructed). For instance, for a road segment OPQ, a high-precision map of segment PQ needs to be constructed. If the target vehicle travels to the vicinity of point P and its travel direction is PO, then the map collection operation is not performed; if the target vehicle's travel direction is PQ, then the map collection operation is performed. The preset distance can be determined according to requirements, and this disclosure does not impose any restrictions on it.

[0101] In some possible ways, the current location information of the target vehicle can be determined by: determining the current location information of the target vehicle based on the target vehicle's positioning system; or by performing data communication operations with a positioning device set in the area to be constructed, and determining the current location information of the target vehicle based on the data communication operations.

[0102] For example, the positioning system can be a high-precision positioning system, a global positioning system, or other positioning systems. The positioning system can directly determine the current location information of the target vehicle. The positioning device can continuously broadcast within its communication range. After receiving the broadcast information from the positioning device, the target vehicle establishes data communication with it. The distance between the target vehicle and the positioning device can be determined based on the feedback time of the communication signal. For details, please refer to relevant technologies; this disclosure will not elaborate further.

[0103] In addition, the positioning device can continuously broadcast its own coordinate information within the communication range. When a vehicle is near the positioning device, if the vehicle's location cannot be determined by its own positioning system, the coordinates of the positioning device can be used as the vehicle's positioning coordinates. Alternatively, the vehicle's positioning coordinates can be calculated based on the coordinates of the positioning device and data communication operations, enabling the vehicle to achieve accurate positioning even in areas not covered by the positioning system.

[0104] In possible ways, the initial map information of the area to be constructed includes at least one of the following: image information obtained by the image acquisition device of the target vehicle, radar detection information obtained by the radar device of the target vehicle, and positioning information obtained by the positioning device of the target vehicle.

[0105] For example, the target vehicle is typically equipped with image acquisition equipment (image sensors) and radar equipment (radar sensors) to perform autonomous driving tasks. The image acquisition equipment can be a camera device, such as a monocular, binocular, or tricular camera, and the radar equipment can be lidar, millimeter-wave radar, etc. This disclosure does not impose any limitations on this. Accurate geographic pose can be obtained through the positioning equipment, image acquisition equipment, and radar equipment, and map information in different scenarios such as roads and parking lots can be collected. The positioning information, image information, and radar detection information are processed to obtain the map information required to construct a high-precision map. Alternatively, the original positioning information, image information, and radar detection information can be sent to a server, where the data is processed to obtain the map information for constructing a high-precision map. This disclosure does not impose any limitations on this either. Obtaining initial map information by performing map acquisition operations using the target vehicle's existing equipment reduces the investment in specialized equipment and lowers the cost of constructing a high-precision map.

[0106] In some possible approaches, the method further includes: receiving a stop-collection command sent by the server and stopping the map collection operation. Alternatively, if the initial map information meets a preset second stop-collection condition, the map collection operation is stopped, wherein the preset second stop-collection condition includes at least one of the following: the collection duration corresponding to the map collection operation is greater than a preset collection duration, and the collection area corresponding to the map collection operation is greater than a preset area range.

[0107] For example, in addition to stopping map data collection upon receiving a stop command from the server, the target vehicle can also stop map data collection if the collection duration exceeds a preset duration or the collection area exceeds a preset area. Taking the requirement to collect data for segment AB of road segment ABC as an example, if the target vehicle travels from point A to point B and then continues towards point C, it can stop map data collection if the collection area exceeds the preset area.

[0108] It should be noted that the target vehicle can send initial map information to the server in real time, such as sending data every 5 seconds, or it can send initial map information to the server after the target vehicle stops performing map collection operations. This disclosure does not impose any restrictions on this.

[0109] The following is combined with Figure 3 Provide a detailed example illustrating the process of data interaction between the server and the target vehicle to build a high-precision map. For example... Figure 3 As shown:

[0110] S301. The server plans the area where a high-precision map needs to be built in the initial high-precision map.

[0111] The initial high-precision map can be a blank high-precision map (a newly constructed high-precision map), a discontinuous map with high-precision maps corresponding to some areas (partially constructed and partially updated), or a full-area high-precision map with high-precision maps corresponding to all areas (the high-precision map can be updated). This disclosure does not impose any restrictions on this.

[0112] S302. Manually mark the location points in the area where the high-precision map needs to be constructed in the initial high-precision map, and obtain the coordinates of the location points.

[0113] S303. Obtain the coordinates of the installation location point of the positioning device.

[0114] Furthermore, the server can send the coordinates of manually marked location points and the coordinates of the installation location of the positioning device to the target vehicle.

[0115] S304. When the distance between the current location of the target vehicle and the location point is less than the preset distance, and the driving direction of the target vehicle is the direction in which a high-precision map needs to be built, the target vehicle performs a map acquisition operation.

[0116] S305. When the distance between the target vehicle and the positioning device, determined through data communication operations, is less than a preset distance, and the target vehicle's driving direction is the direction in which a high-precision map needs to be constructed, the target vehicle performs a map acquisition operation.

[0117] S306. The target vehicle sends initial map information, including positioning information collected by the positioning device, image information collected by the image acquisition device, and radar detection information collected by the radar device, to the server.

[0118] S307. For areas where there is no corresponding historical high-precision map, the server obtains the initial map information sent by N target vehicles and compares the features. If the number of identical features is greater than a preset ratio, the initial map information is determined to be valid, and a high-precision map is constructed.

[0119] S308. For areas with historical high-precision maps, the server obtains the initial map information sent by N target vehicles and compares it with the historical high-precision maps. If the number of identical features is greater than a preset ratio, the initial map information is determined to be valid, and the high-precision map is updated.

[0120] Where N is greater than or equal to 2.

[0121] S309. The server re-plans the initial high-precision map to obtain a new initial high-precision map, distinguishing between areas where high-precision maps have been built and areas where high-precision maps have not been built.

[0122] Furthermore, after obtaining the new initial high-precision map, S306 can be executed to further improve or update the high-precision map, or S301 can be executed to replan the area where a high-precision map needs to be built.

[0123] S310: The server sends the new initial high-precision map to the target vehicle and other vehicles.

[0124] Furthermore, the target vehicle and other vehicles can perform autonomous driving based on the new initial high-precision map.

[0125] By employing the above method, remote collaboration between the server (or cloud) and target vehicles eliminates the need for professional personnel or equipment to collect data in the area to be mapped. Leveraging big data, vehicle-to-everything (V2X) technology, and social vehicle resources, data collection costs are reduced. Furthermore, by combining the Global Positioning System (GPS) and positioning devices, full coverage of high-precision maps is achieved. In addition, simultaneous data collection from multiple vehicles is possible, and cloud-based data processing capabilities allow for timely classification of high-precision maps. High-precision maps are built for unmapped areas and updated for already mapped areas, reducing data redundancy and repetitive, invalid data collection, thus improving the efficiency of high-precision map construction and subsequent updates.

[0126] Based on the same inventive concept, this disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described in the map construction method.

[0127] Based on the same inventive concept, this disclosure also provides an electronic device, comprising:

[0128] A memory on which computer programs are stored;

[0129] A processor for executing the computer program in the memory to implement the steps of any of the map building methods.

[0130] Based on the same inventive concept, this disclosure also provides a vehicle, including:

[0131] Sensors are used to collect map information;

[0132] A memory on which computer programs are stored;

[0133] A processor for executing the computer program in the memory to implement the steps of any of the map building methods.

[0134] The sensors include image sensors and / or radar sensors.

[0135] Figure 4 This is a block diagram illustrating an electronic device 400 according to an exemplary embodiment. The electronic device may be a server or an electronic device in a vehicle, such as an in-vehicle controller. (Refer to...) Figure 4 The electronic device 400 includes a processor 401, which may be one or more, and a memory 402 for storing computer programs executable by the processor 401. The computer programs stored in the memory 402 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 401 may be configured to execute the computer program to perform the map building method described above.

[0136] Additionally, the electronic device 400 may also include a power supply component 405 and a communication component 403. The power supply component 405 can be configured to perform power management of the electronic device 400, and the communication component 403 can be configured to enable communication of the electronic device 400, such as wired or wireless communication. Furthermore, the electronic device 400 may also include an input / output (I / O) interface 404. The electronic device 400 can operate on an operating system, such as Windows Server, stored in the memory 402. TM Mac OSX TM Unix TM Linux TM etc.

[0137] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the map building method described above. For example, the non-transitory computer-readable storage medium may be the memory 402 including the program instructions described above, which may be executed by the processor 401 of the electronic device 400 to complete the map building method described above.

[0138] In another exemplary embodiment, a computer program product is also provided, which includes a computer program executable by a programmable device, the computer program having a code portion for performing the map construction method described above when executed by the programmable device.

[0139] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0140] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0141] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A map construction method, characterized in that, Applied to the server side, the method includes: Determine the target location information of the area to be constructed; the target location information includes the coordinate information of multiple manually marked location points covering the area to be constructed and / or the coordinate information of the installation location points of multiple positioning devices; The target location information is sent to the target vehicle, so that if the target vehicle determines that it meets a preset trigger condition based on the target location information, it performs a map acquisition operation to obtain initial map information of the area to be constructed, and sends the initial map information to the server; wherein, the step of performing a map acquisition operation to obtain initial map information of the area to be constructed based on the target location information includes: determining the current location information of the target vehicle; determining the target distance between the target vehicle and the area to be constructed based on the current location information and the target location information; if the target distance is less than a preset distance, and if the driving direction of the target vehicle is in the direction of the area to be constructed, then performing the map acquisition operation to obtain initial map information of the area to be constructed; constructing a high-precision map of the area to be constructed based on the initial map information; and classifying and marking each location point in the high-precision map; The number of target vehicles is multiple, and the method further includes: before constructing a high-precision map of the area to be constructed based on the initial map information, performing feature comparison on multiple initial map information sent by multiple target vehicles; constructing a high-precision map of the area to be constructed based on the initial map information includes: when the same feature of the multiple initial map information is greater than a second preset ratio, constructing a high-precision map of the area to be constructed based on at least one of the multiple initial map information.

2. The method according to claim 1, characterized in that, The step of constructing a high-precision map of the area to be constructed based on the initial map information includes: If the area to be constructed does not have a corresponding historical high-precision map, then a high-precision map of the area to be constructed is constructed based on the initial map information; The method further includes: If the area to be constructed corresponds to the historical high-precision map, then the initial map information and the historical high-precision map are compared in terms of features; If the number of identical features between the initial map information and the historical high-precision map is less than a first preset ratio, the historical high-precision map is updated based on the initial map information.

3. The method according to any one of claims 1-2, characterized in that, The method further includes: If the initial map information meets a preset first stop acquisition condition, a stop acquisition command is sent to the target vehicle to cause the target vehicle to stop performing the map acquisition operation. The preset first stop acquisition condition includes at least one of the following: The combination of the initial map information and other map information includes all the information required to construct a high-precision map of the area to be constructed, wherein the other map information is historical map information of the area to be constructed stored on the server. The initial map information includes all the information required to construct a high-precision map of all or part of the area to be constructed. The initial map information collection duration is greater than the preset collection duration.

4. A map construction method, characterized in that, Applied to a target vehicle, the method includes: Receive target location information of the area to be constructed sent by the server; the target location information includes coordinate information of multiple manually marked location points covering the area to be constructed and / or coordinate information of the installation location points of multiple positioning devices; If, based on the target location information, the target vehicle meets a preset triggering condition, a map acquisition operation is performed to obtain initial map information for the area to be constructed. This process includes: determining the current location information of the target vehicle; determining the target distance between the target vehicle and the area to be constructed based on the current location information and the target location information; if the target distance is less than a preset distance, and if the target vehicle's travel direction is the direction of the area to be constructed, then performing the map acquisition operation to obtain initial map information for the area to be constructed; sending the initial map information to the server so that the server can construct a high-precision map of the area to be constructed based on the initial map information; and classifying and marking each location point in the high-precision map. The number of target vehicles is multiple, and the method further includes: before constructing a high-precision map of the area to be constructed based on the initial map information, performing feature comparison on multiple initial map information sent by multiple target vehicles; constructing a high-precision map of the area to be constructed based on the initial map information includes: when the same feature of the multiple initial map information is greater than a second preset ratio, constructing a high-precision map of the area to be constructed based on at least one of the multiple initial map information.

5. The method according to claim 4, characterized in that, Determining the current location information of the target vehicle includes: The current location information of the target vehicle is determined according to the target vehicle's positioning system; or, The system performs data communication operations with a positioning device located in the area to be constructed, and determines the current location information of the target vehicle based on the data communication operations.

6. The method according to any one of claims 4-5, characterized in that, The initial map information for the area to be constructed includes at least one of the following: Image information obtained by the image acquisition device of the target vehicle through image acquisition operation; The radar detection information obtained by the radar equipment of the target vehicle through radar detection operation; The positioning information is obtained by the positioning device of the target vehicle through positioning operation.

7. The method according to any one of claims 4-5, characterized in that, The method further includes: Upon receiving a stop-collection command from the server, the map collection operation is stopped; or, If the initial map information meets the preset second stop collection condition, the map collection operation is stopped. The preset second stop collection condition includes at least one of the following: the collection duration corresponding to the map collection operation is greater than the preset collection duration and the collection area corresponding to the map collection operation is greater than the preset area range.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method as described in any one of claims 1-3 or 4-7.

9. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-3.

10. A vehicle, characterized in that, include: Sensors are used to collect map information; A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 4-7.

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