Electronic map updating method and device based on Internet of Vehicles and electronic equipment

Abstract

The invention provides an electronic map updating method and device based on the Internet of Vehicles and electronic equipment, and relates to the technical field of the Internet of Vehicles. The method comprises the following steps: receiving a to-be-processed image comprising a traffic sign and positioning information uploaded by a vehicle-mounted terminal, wherein the positioning information is used for representing the position of the traffic sign; when the position indicated by the positioning information is in a predetermined area, identifying a traffic sign from the to-be-processed image; acquiring recorded traffic signs within a preset range around the positioning information in the electronic map; judging whether the recorded traffic signs comprise traffic signs or not; when the recorded traffic signs do not include the traffic sign, adding the traffic sign at a position indicated by the positioning information in the electronic map; and sending the data of the predetermined area to a central server, so that the central server updates the electronic map according to the data of the predetermined area, and sends the updated electronic map to the vehicle-mounted terminal. In this way, the real-time performance of electronic map updating is improved.

Description

Background Art

[0002] With the development of Internet of Vehicles technology, electronic maps on vehicle terminals are becoming more and more accurate and complete, and providing electronic maps in vehicle terminals for navigation has facilitated people's travel. However, as the number of roads continues to increase and improve, traffic signs on the roads are also increasing or changing, and electronic maps also need to be updated.

[0003] In the related art, the electronic map is updated by manually marking traffic signs in the electronic map.

[0004] However, the method of manually marking traffic signs in electronic maps to update the electronic maps has the problem of poor real-time performance of updating the electronic maps. Summary of the invention

[0005] The present application provides an electronic map updating method, device and electronic device based on the Internet of Vehicles, which at least to a certain extent overcome the problem of poor real-time updating of electronic maps in related technologies.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0007] According to one aspect of the present application, a method for updating an electronic map based on an Internet of Vehicles is provided, which is applied to a first edge device, wherein the edge device maintains a predetermined area in the electronic map, and a central server maintains the entire area of ​​the electronic map, including: receiving an image to be processed and positioning information including a traffic sign uploaded by a vehicle-mounted terminal, wherein the positioning information is used to indicate the position of the traffic sign; when the position indicated by the positioning information is in the predetermined area, identifying the traffic sign from the image to be processed; obtaining recorded traffic signs within a preset range around the positioning information in the electronic map; determining whether the recorded traffic signs include the traffic signs; when the recorded traffic signs do not include the traffic signs, adding the traffic signs at the position indicated by the positioning information in the electronic map; sending data of the predetermined area to the central server so that the central server can update the electronic map according to the data of the predetermined area, and sending the updated electronic map to the vehicle-mounted terminal.

[0008] In some embodiments, identifying the traffic sign from the image to be processed includes: determining the shape of the traffic sign included in the image to be processed; obtaining a traffic sign recognition model corresponding to the shape; and identifying the traffic sign from the image to be processed using the traffic sign recognition model.

[0009] In some embodiments, obtaining the traffic sign recognition model corresponding to the shape includes: obtaining multiple traffic sign recognition models, each traffic sign recognition model is used to recognize a traffic sign in a shape; and selecting the traffic sign recognition model corresponding to the shape from the multiple traffic sign recognition models.

[0010] In some embodiments, obtaining recorded traffic signs within a preset range around the positioning information in the electronic map includes: obtaining multiple traffic signs within a preset range around the positioning information in the electronic map; selecting a traffic sign of the shape from the multiple traffic signs to obtain the recorded traffic signs.

[0011] In some embodiments, the first edge device stores multiple areas, each area corresponds to a second edge device, and also includes: when the position indicated by the positioning information is not in the predetermined area, determining the area including the position indicated by the positioning information from the multiple areas to obtain the target area; sending the image to be processed and the positioning information to the second edge device corresponding to the target area, so that the second edge device updates the electronic map corresponding to the target area according to the image to be processed and the positioning information.

[0012] According to another aspect of the present application, there is also provided an electronic map updating device based on the Internet of Vehicles, which is applied to a first edge device, wherein the edge device maintains a predetermined area in the electronic map, and the central server maintains the entire area of ​​the electronic map, and includes: a receiving module, which is used to receive an image to be processed and positioning information including a traffic sign uploaded by a vehicle-mounted terminal, wherein the positioning information is used to indicate the position of the traffic sign; an identification module, which is used to identify the traffic sign from the image to be processed when the position indicated by the positioning information is in the predetermined area; an acquisition module, which is used to acquire recorded traffic signs within a preset range around the positioning information in the electronic map; a judgment module, which is used to judge whether the recorded traffic signs include the traffic signs; an adding module, which is used to add the traffic sign at the position indicated by the positioning information in the electronic map when the recorded traffic signs do not include the traffic signs; and a sending module, which is used to send the data of the predetermined area to the central server, so that the central server updates the electronic map according to the data of the predetermined area, and sends the updated electronic map to the vehicle-mounted terminal.

[0013] In some embodiments, the recognition module is used to determine the shape of the traffic sign included in the image to be processed; obtain a traffic sign recognition model corresponding to the shape; and recognize the traffic sign from the image to be processed using the traffic sign recognition model.

[0014] In some embodiments, the acquisition module is used to acquire multiple traffic sign recognition models, each traffic sign recognition model is used to recognize a traffic sign in a shape; and a traffic sign recognition model corresponding to the shape is selected from the multiple traffic sign recognition models.

[0015] In some embodiments, the acquisition module is used to acquire multiple traffic signs within a preset range around the positioning information in the electronic map; select a traffic sign of the shape from the multiple traffic signs to obtain the recorded traffic sign.

[0016] In some embodiments, the first edge device stores multiple areas, each area corresponds to a second edge device, and the device also includes: a transfer processing module, which is used to determine, when the position indicated by the positioning information is not in the predetermined area, an area including the position indicated by the positioning information from the multiple areas to obtain a target area; and send the image to be processed and the positioning information to the second edge device corresponding to the target area, so that the second edge device updates the electronic map corresponding to the target area according to the image to be processed and the positioning information.

[0017] According to another aspect of the present application, an electronic device is also provided, which includes: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute any one of the above-mentioned electronic map update methods based on the Internet of Vehicles by executing the executable instructions.

[0018] According to another aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the electronic map updating method based on the Internet of Vehicles described in any one of the above is implemented.

[0019] According to another aspect of the present application, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the computer program implements any one of the above-mentioned electronic map updating methods based on the Internet of Vehicles.

[0020] The technical solutions provided in the embodiments of the present application include at least the following intended effects:

[0021] The technical solution provided in the embodiments of the present application, after receiving the image to be processed and the positioning information uploaded by the vehicle-mounted terminal through the first edge device, when it is determined that the electronic map does not include the traffic sign included in the image to be processed at the positioning information, adds the traffic sign at the positioning information of the electronic map to update the electronic map. Compared with manually updating the electronic map by marking traffic signs in the electronic map, this method of updating the electronic map avoids the need to wait for manual confirmation of the addition or change of traffic signs on the road before updating the electronic map, thereby improving the real-time nature of the electronic map update.

[0022] Furthermore, the automatic updating of traffic signs in the electronic map is achieved by utilizing the vehicle-mounted terminal to automatically upload the image to be processed including the traffic signs, and the edge device to identify the traffic signs from the image to be processed and update them on the electronic map.

[0023] Furthermore, by maintaining the entire electronic map through a central server and using each edge device to maintain a partial electronic map of its own predetermined area, frequent updates of the overall electronic map can be avoided and waste of computing resources can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A schematic diagram showing an electronic map updating system based on the Internet of Vehicles in one embodiment of the present application;

[0026] Figure 2 A flow chart of an electronic map updating method based on the Internet of Vehicles in one embodiment of the present application is shown;

[0027] Figure 3 A schematic diagram showing an electronic map updating device based on the Internet of Vehicles in one embodiment of the present application;

[0028] Figure 4 A structural block diagram of an electronic device in one embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0030] In addition, the accompanying drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0031] It should be noted that the acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations, and the various types of data such as the images to be processed and positioning information obtained in the embodiments of this application have all been authorized.

[0032] The specific implementation of the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0033] Figure 1 FIG. 1 is a schematic diagram showing an electronic map updating system based on the Internet of Vehicles in one embodiment of the present application. Figure 1 As shown, the system architecture may include multiple vehicle-mounted terminals 11 , multiple edge devices 12 and a central server 13 .

[0034] The vehicle terminal 11 is configured on the vehicle, and the vehicle is also configured with a shooting device, through which images including traffic signs can be captured. After the shooting device captures the image, the captured image can be transmitted to the vehicle terminal 11 through the in-vehicle communication line, and the vehicle terminal 11 then uploads the image to the edge device 12. The image can be an image to be processed including a traffic sign. In addition, when the vehicle terminal 11 sends the image to the edge device 12, it can also send the positioning information of the vehicle terminal when the image was captured. For example, when the image is in the image to be processed, the positioning information can indicate the position of the traffic sign in the image to be processed.

[0035] The edge device 12 can process the image sent by the vehicle terminal 11, including but not limited to identifying traffic signs from the image to be processed, and determining whether the traffic sign is included around the position indicated by the positioning information in the electronic map maintained by the edge device 12. If the traffic sign is not included, the traffic sign is added at the position indicated by the positioning information in the electronic map.

[0036] The edge device 12 is responsible for maintaining a partial area in the electronic map. After the partial area in the electronic map is updated, the edge device 12 may send data of the updated partial area to the central server 13 .

[0037] The central server 13 can update the overall electronic map based on the data of the partial area sent by the edge device 12. After the central server 13 aggregates the data sent by multiple edge devices 12, it obtains a globally updated electronic map, and further sends the updated electronic map to multiple vehicle terminals 11, so that the vehicle terminals 11 can use the latest electronic map to accurately predict the situation of traffic signs on the road ahead.

[0038] The network is a medium used to provide a communication link between the vehicle-mounted terminal 11, the edge device 12 and the central server 13, and can be a wired network or a wireless network.

[0039] Optionally, the wireless network or wired network described above uses standard communication technology and / or protocol. The network is typically the Internet, but may also be any network, including but not limited to a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), a mobile, wired or wireless network, a dedicated network or any combination of a virtual private network). In some embodiments, technologies and / or formats including Hyper Text Mark-up Language (HTML), Extensible Markup Language (XML), etc. are used to represent data exchanged over the network. In addition, conventional encryption technologies such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Network (VPN), Internet Protocol Security (IPSec) and the like may be used to encrypt all or some links. In other embodiments, customized and / or dedicated data communication technologies may also be used to replace or supplement the above-mentioned data communication technologies.

[0040] The vehicle-mounted terminal can be various electronic devices, including but not limited to smart phones, car computers, etc.

[0041] The edge device 12 may be a server that provides various services.

[0042] The center server 13 may be a server that provides various services.

[0043] Optionally, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), as well as big data and artificial intelligence platforms.

[0044] Those skilled in the art will know that Figure 1 The number of the vehicle-mounted terminals 11 and edge devices 12 is only illustrative, and any number of terminal devices, networks, and servers may be provided according to actual needs. This embodiment of the present application does not limit this.

[0045] Under the above system architecture, an embodiment of the present application provides an electronic map updating method based on the Internet of Vehicles, which can be executed by any electronic device with computing and processing capabilities. For example, the method is executed by an edge device.

[0046] Figure 2 A flow chart of an electronic map updating method based on the Internet of Vehicles in an embodiment of the present application is shown as follows: Figure 2 As shown, the electronic map updating method based on the Internet of Vehicles provided in the embodiment of the present application includes the following S201 to S206. Among them, the method is applied to a first edge device, the first edge device maintains a predetermined area in the electronic map, and the central server maintains all areas of the electronic map. The first edge device is any one of the multiple edge devices responsible for maintaining the electronic map.

[0047] S201, a first edge device receives an image to be processed including a traffic sign and positioning information uploaded by a vehicle-mounted terminal, where the positioning information is used to indicate a position of the traffic sign.

[0048] Among them, the equipment configured on the vehicle can capture images. After the capturing device captures the image, it transmits the image to the vehicle-mounted terminal, and the vehicle-mounted terminal can send the image to the first edge device.

[0049] In one embodiment, after capturing an image, the vehicle-mounted terminal may perform preliminary identification and classification on the image to determine whether the image includes a traffic sign. If the image includes a traffic sign, the image may be uploaded to the first edge device as an image to be processed.

[0050] In another embodiment, the vehicle-mounted terminal may upload all images captured by the camera to the first edge device, and the first edge device performs preliminary recognition and classification on the images uploaded by the vehicle-mounted terminal to select images to be processed including traffic signs.

[0051] The vehicle-mounted terminal has a positioning function. When sending an image (for example, an image to be processed) to the first edge device, the positioning information of the current vehicle-mounted terminal is sent together, so that when a traffic sign is included in the image, the first edge device uses the positioning information as the positioning information of the traffic sign.

[0052] S202: When the position indicated by the positioning information is in a predetermined area, the first edge device identifies a traffic sign from the image to be processed.

[0053] After the first edge device receives the image to be processed and the positioning information, it can determine whether the location indicated by the positioning information belongs to a predetermined area in the electronic map maintained by the first edge device. When the location indicated by the positioning information belongs to the predetermined area, the first edge device identifies the traffic sign from the image to be processed.

[0054] The first edge device stores data of multiple areas, each area corresponds to a second edge device, and the second device maintains the electronic map of the corresponding area. That is to say, all areas in the electronic map are divided into multiple partial areas, and each second edge device and the first edge device are responsible for maintaining a partial area respectively.

[0055] If the location indicated by the first positioning information does not belong to the predetermined area, the first edge device determines an area including the location indicated by the positioning information from multiple areas to obtain the target area; and sends the image to be processed and the positioning information to the second edge device corresponding to the target area, so that the second edge device updates the electronic map corresponding to the target area according to the image to be processed and the positioning information.

[0056] The embodiments of the present application do not limit how to identify traffic signs from the image to be processed.

[0057] In one embodiment, identifying a traffic sign from an image to be processed may include: directly processing the image to be processed using a trained target recognition model that can directly identify a specific traffic sign from an image, thereby identifying a traffic sign from the image to be processed.

[0058] The shapes of traffic signs include circular, triangular and square. Traffic signs of different shapes usually belong to the same category of traffic signs. For example, circular traffic signs usually indicate meanings such as "prohibited", "mandatory", and "only allowed". For another example, triangular traffic signs usually warn drivers and pedestrians of danger or need for attention (for example, watch out for falling rocks, watch out for crosswinds, etc.). For another example, square traffic signs are usually used for instruction signs and wayfinding signs. Moreover, traffic signs of the same shape are basically consistent in design background color and pattern color. Therefore, it is necessary to use a target recognition model specifically for a certain shape to identify what kind of traffic sign the traffic sign under that shape is. Using a target recognition model specially trained for a traffic sign of a certain shape to identify what kind of traffic sign the traffic sign of that shape is can improve the accuracy and efficiency of identifying traffic signs.

[0059] In another embodiment, identifying a traffic sign from an image to be processed may include: determining the shape of the traffic sign included in the image to be processed; acquiring a traffic sign recognition model corresponding to the shape; and identifying the traffic sign from the image to be processed using the traffic sign recognition model.

[0060] In one embodiment, determining the shape of a traffic sign included in an image to be processed may include: processing the image to be processed by a pre-trained model for identifying the shape of a traffic sign, thereby determining the shape of the traffic sign. The embodiments of the present application do not limit the specific model. For example, the model may be any type of CNN (Convolutional Neural Network), such as VGG (Visual Geometry Group), ResNet (Residual Network), etc.

[0061] In one embodiment, the first edge device stores a plurality of traffic sign recognition models, each of which is used to recognize a traffic sign of a certain shape. For example, the plurality of traffic sign recognition models include a circular traffic sign recognition model, a square traffic sign recognition model, and a triangular traffic sign recognition model.

[0062] The embodiments of the present application do not limit whether different traffic sign recognition models in the multiple traffic sign recognition models belong to the same type of models. For example, each traffic sign recognition model in the multiple traffic sign recognition models can be trained by any one of the models such as R-CNN (Regions with Convolutional Neural Networks), Fast R-CNN (Fast Region-based Convolutional Neural Network), Faster R-CNN (Faster Region Detection Based on Convolutional Neural Network), SSD (Single Shot MultiBox Detector), etc.

[0063] In one embodiment, obtaining a traffic sign recognition model corresponding to a shape may include: obtaining multiple traffic sign recognition models, each traffic sign recognition model is used to recognize a traffic sign in a shape; and selecting a traffic sign recognition model corresponding to the shape from the multiple traffic sign recognition models.

[0064] In one embodiment, the plurality of traffic sign recognition models are stored in the first edge device. In another embodiment, obtaining the plurality of traffic sign recognition models may include: obtaining a plurality of initial models, respectively training the plurality of initial recognition models using traffic signs of different shapes, each initial recognition model being trained using a traffic representation of one shape.

[0065] By first identifying the shape of the traffic sign in the image to be processed, and then identifying the traffic sign in the image to be processed through a target recognition model specifically used to identify the traffic sign of the shape, it is possible to avoid the model comparing the similarity between each known traffic sign and the traffic sign in the image to be processed when identifying the traffic sign. Instead, it is only necessary to compare the similarity between the known traffic signs under the shape and the traffic signs in the image to be processed, thereby improving the recognition efficiency.

[0066] Furthermore, since traffic signs of the same shape are similar in design and basically use the same background color and pattern color, the traffic signs in the image to be processed can be identified more quickly and accurately by using a target recognition model specifically for traffic signs of a certain shape.

[0067] S203: The first edge device obtains recorded traffic signs within a preset range around the positioning information in the electronic map.

[0068] The first edge device maintains data of a predetermined area of ​​the electronic map.

[0069] In one embodiment, based on the positioning information, the first edge device can query and obtain all traffic signs within a preset range around the positioning information from the data of the predetermined area to obtain recorded traffic signs.

[0070] The embodiment of the present application does not limit the specific size of the surrounding preset range. For example, the surrounding preset range may be a range of 50 meters around the location indicated by the positioning information.

[0071] In another embodiment, the first edge device obtains recorded traffic signs within a preset range around the positioning information in the electronic map, which may include: obtaining multiple traffic signs within a preset range around the positioning information in the electronic map; selecting a traffic sign of the shape (the traffic sign in the image to be processed) from the multiple traffic signs to obtain the recorded traffic signs.

[0072] The number of recorded traffic signs that are screened out can be reduced by using the shape, thereby making it easier to determine whether the traffic sign in the image to be processed is recorded in the electronic map more quickly.

[0073] S204: The first edge device determines whether the recorded traffic signs include the traffic sign.

[0074] The traffic sign is a traffic sign in the image to be processed.

[0075] S205: When the recorded traffic signs do not include the traffic sign, the first edge device adds the traffic sign at the position indicated by the positioning information in the electronic map.

[0076] In one embodiment, if the recorded traffic signs include the traffic sign, the electronic map is not processed.

[0077] S206: The first edge device sends data of a predetermined area to the central server, so that the central server updates the electronic map according to the data of the predetermined area, and sends the updated electronic map to the vehicle terminal.

[0078] The technical solution provided in the embodiments of the present application, after receiving the image to be processed and the positioning information uploaded by the vehicle-mounted terminal through the first edge device, when it is determined that the electronic map does not include the traffic sign included in the image to be processed at the positioning information, adds the traffic sign at the positioning information of the electronic map to update the electronic map. Compared with manually updating the electronic map by marking traffic signs in the electronic map, this method of updating the electronic map avoids the need to wait for manual confirmation of the addition or change of traffic signs on the road before updating the electronic map, thereby improving the real-time nature of the electronic map update.

[0079] Furthermore, the automatic updating of traffic signs in the electronic map is achieved by utilizing the vehicle-mounted terminal to automatically upload the image to be processed including the traffic signs, and the edge device to identify the traffic signs from the image to be processed and update them on the electronic map.

[0080] Furthermore, by maintaining the entire electronic map through a central server and using each edge device to maintain a partial electronic map of its own predetermined area, frequent updates of the overall electronic map can be avoided and waste of computing resources can be reduced.

[0081] Based on the same inventive concept, the embodiment of the present application also provides an electronic map updating device based on the Internet of Vehicles, as described in the following embodiment. Since the principle of solving the problem in the embodiment of the device is similar to that in the above method embodiment, the implementation of the embodiment of the device can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0082] Figure 3 A schematic diagram of an electronic map updating device based on the Internet of Vehicles in an embodiment of the present application is shown. Figure 3 As shown, the device is applied to a first edge device, the edge device maintains a predetermined area in the electronic map, and the central server maintains the entire area of ​​the electronic map, including: a receiving module 31, used to receive a to-be-processed image and positioning information including a traffic sign uploaded by a vehicle-mounted terminal, the positioning information being used to indicate the position of the traffic sign; an identification module 32, used to identify the traffic sign from the to-be-processed image when the position indicated by the positioning information is in the predetermined area; an acquisition module 33, used to acquire recorded traffic signs within a preset range around the positioning information in the electronic map; a judgment module 34, used to judge whether the recorded traffic signs include the traffic sign; an adding module 35, used to add the traffic sign at the position indicated by the positioning information in the electronic map when the recorded traffic signs do not include the traffic sign; a sending module 36, used to send the data of the predetermined area to the central server, so that the central server updates the electronic map according to the data of the predetermined area, and sends the updated electronic map to the vehicle-mounted terminal.

[0083] In some embodiments, the recognition module 32 is used to determine the shape of the traffic sign included in the image to be processed; obtain a traffic sign recognition model corresponding to the shape; and recognize the traffic sign from the image to be processed using the traffic sign recognition model.

[0084] In some embodiments, the acquisition module 33 is used to acquire multiple traffic sign recognition models, each traffic sign recognition model is used to recognize a traffic sign in a certain shape; and select a traffic sign recognition model corresponding to the shape from the multiple traffic sign recognition models.

[0085] In some embodiments, the acquisition module 33 is used to acquire multiple traffic signs within a preset range around the positioning information in the electronic map; select a traffic sign of the shape from the multiple traffic signs to obtain the recorded traffic sign.

[0086] In some embodiments, the first edge device stores multiple areas, each area corresponds to a second edge device, and the device also includes: a transfer processing module, which is used to determine the area including the location indicated by the positioning information from the multiple areas to obtain the target area when the location indicated by the positioning information is not in the predetermined area; send the image to be processed and the positioning information to the second edge device corresponding to the target area, so that the second edge device updates the electronic map corresponding to the target area according to the image to be processed and the positioning information.

[0087] The technical solution provided in the embodiments of the present application, after receiving the image to be processed and the positioning information uploaded by the vehicle-mounted terminal through the first edge device, when it is determined that the electronic map does not include the traffic sign included in the image to be processed at the positioning information, adds the traffic sign at the positioning information of the electronic map to update the electronic map. Compared with manually updating the electronic map by marking traffic signs in the electronic map, this method of updating the electronic map avoids the need to wait for manual confirmation of the addition or change of traffic signs on the road before updating the electronic map, thereby improving the real-time nature of the electronic map update.

[0088] Furthermore, the automatic updating of traffic signs in the electronic map is achieved by utilizing the vehicle-mounted terminal to automatically upload the image to be processed including the traffic signs, and the edge device to identify the traffic signs from the image to be processed and update them on the electronic map.

[0089] Furthermore, by maintaining the entire electronic map through a central server and using each edge device to maintain a partial electronic map of its own predetermined area, frequent updates of the overall electronic map can be avoided and waste of computing resources can be reduced.

[0090] It should be noted that the receiving module 31, the identifying module 32, the acquiring module 33, the judging module 34, the adding module 35 and the sending module 36 correspond to S201 to S206 in the method embodiment, and the examples and application scenarios implemented by the modules and the corresponding steps are the same, but are not limited to the contents disclosed in the method embodiment. It should be noted that the modules as part of the device can be executed in a computer system such as a set of computer executable instructions.

[0091] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0092] Refer to the following Figure 4 The electronic device 400 according to this embodiment of the present application is described. Figure 4 The electronic device 400 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0093] like Figure 4 As shown, the electronic device 400 is in the form of a general computing device. The components of the electronic device 400 may include but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including the storage unit 420 and the processing unit 410).

[0094] The storage unit stores program codes, which can be executed by the processing unit 410, so that the processing unit 410 performs the steps of various exemplary embodiments of the present application described in the above "Exemplary Method" section of this specification. For example, the processing unit 410 can perform the following steps of the above method embodiment: S201 to S206.

[0095] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 4201 and / or a cache storage unit 4202 , and may further include a read-only storage unit (ROM) 4203 .

[0096] The storage unit 420 may also include a program / utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0097] Bus 430 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0098] The electronic device 400 may also communicate with one or more external devices 440 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 400, and / or communicate with any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 450. Furthermore, the electronic device 400 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 460. As shown, the network adapter 460 communicates with other modules of the electronic device 400 via a bus 430. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0099] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0100] In particular, according to an embodiment of the present application, the process described in the above reference flowchart can be implemented as a computer program product, which includes: a computer program, which implements the above-mentioned electronic map updating method based on the Internet of Vehicles when executed by a processor.

[0101] In an exemplary embodiment of the present application, a computer-readable storage medium is also provided, which may be a readable signal medium or a readable storage medium. The computer-readable storage medium stores a program product capable of implementing the above method of the present application.

[0102] In some possible implementations, various aspects of the present application may also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of various exemplary implementations of the present application described in the above “Exemplary Method” section of this specification.

[0103] More specific examples of computer-readable storage media in the present application may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0104] In the present application, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0105] Alternatively, the program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0106] In specific implementation, the program code for performing the operation of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0107] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0108] In addition, although the steps of the method in the present application are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0109] Through the description of the above implementation modes, it is easy for those skilled in the art to understand that the example implementation modes described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation mode of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation mode of the present application.

[0110] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

Claims

1. A method for updating an electronic map based on a vehicle network, characterized in that: Applied to a first edge device, the first edge device maintains a predetermined area in the electronic map, and the central server maintains all areas of the electronic map, including: Receiving an image to be processed and positioning information including a traffic sign uploaded by a vehicle-mounted terminal, wherein the positioning information is used to indicate the position of the traffic sign; When the position indicated by the positioning information is in the predetermined area, identifying the traffic sign from the image to be processed; Obtaining recorded traffic signs within a preset range around the positioning information in the electronic map; determining whether the recorded traffic signs include the traffic sign; When the recorded traffic signs do not include the traffic sign, adding the traffic sign at the position indicated by the positioning information in the electronic map; The data of the predetermined area is sent to the central server so that the central server updates the electronic map according to the data of the predetermined area, and the updated electronic map is sent to the vehicle terminal.

2. The method for updating electronic maps based on the Internet of Vehicles according to claim 1, characterized in that: The step of identifying the traffic sign from the image to be processed comprises: Determining the shape of the traffic sign included in the image to be processed; Obtaining a traffic sign recognition model corresponding to the shape; The traffic sign is recognized from the image to be processed using the traffic sign recognition model.

3. The method for updating electronic maps based on the Internet of Vehicles according to claim 1, characterized in that: The step of obtaining a traffic sign recognition model corresponding to the shape includes: Acquire multiple traffic sign recognition models, each traffic sign recognition model is used to recognize a traffic sign in a certain shape; A traffic sign recognition model corresponding to the shape is selected from the multiple traffic sign recognition models.

4. The electronic map updating method based on the Internet of Vehicles according to claim 2 or 3, characterized in that: The step of obtaining recorded traffic signs within a preset range around the positioning information in the electronic map includes: Acquire a plurality of traffic signs within a preset range around the positioning information in the electronic map; A traffic sign of the shape is selected from the plurality of traffic signs to obtain the recorded traffic sign.

5. The method for updating electronic maps based on the Internet of Vehicles according to claim 1, characterized in that: The first edge device stores a plurality of regions, each region corresponding to a second edge device, and further includes: When the position indicated by the positioning information is not in the predetermined area, determining an area including the position indicated by the positioning information from the multiple areas to obtain a target area; The image to be processed and the positioning information are sent to a second edge device corresponding to the target area, so that the second edge device updates the electronic map corresponding to the target area according to the image to be processed and the positioning information.

6. An electronic map updating device based on Internet of Vehicles, characterized in that: Applied to a first edge device, the edge device maintains a predetermined area in the electronic map, and the central server maintains all areas of the electronic map, including: A receiving module, used for receiving an image to be processed and positioning information including a traffic sign uploaded by a vehicle-mounted terminal, wherein the positioning information is used for indicating the position of the traffic sign; a recognition module, configured to recognize the traffic sign from the image to be processed when the position indicated by the positioning information is in the predetermined area; An acquisition module, used for acquiring recorded traffic signs within a preset range around the positioning information in the electronic map; A judging module, used for judging whether the recorded traffic signs include the traffic sign; An adding module, configured to add the traffic sign at the position indicated by the positioning information in the electronic map when the recorded traffic signs do not include the traffic sign; The sending module is used to send the data of the predetermined area to the central server so that the central server can update the electronic map according to the data of the predetermined area, and send the updated electronic map to the vehicle terminal.

7. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the electronic map updating method based on the Internet of Vehicles as described in any one of claims 1 to 5 by executing the executable instructions.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the electronic map updating method based on the Internet of Vehicles as claimed in any one of claims 1 to 5 is implemented.

9. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for updating an electronic map based on an Internet of Vehicles as claimed in any one of claims 1 to 5 is implemented.

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